version: 66.12
glider: 197
mission: 6
dive: 199
start: 8 25 114 5 56 34
data:
$ID,197
$MISSION,6
$DIVE,199
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,4.5
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.07
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54283
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,657.89459
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7681.9648
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2492
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3182
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-65.523643
$PRESSURE_SLOPE,0.000117962
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,250814,053826,7339.733,-14652.185,28,0.9,48,28.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-69.3
$GPS2,250814,055615,7339.684,-14652.153,10,1.5,30,28.9
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7400.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,332.8,37641,-22.6,-11.628,-25.63,1932
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.81,-145.9,172,1802,423,562,0.0,0.0,0,84,0.00,0.00,-61.35,0.000,16386,0.000,0.000,174,1802,1926,1931,1922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.81,-145.9,175,1802,1931,1916,3.1,-1.6,6,156,10.43,2.60,-53.03,0.000,18948,0.430,0.109,2219,387,3779,3760,3799,0,0,0,0,0,0,14.03,14.27,14.50
$GC,202,-0.72,-145.9,2219,387,3763,3802,29.4,-32.5,29,210,0.20,2.53,0.00,0.000,3078,0.314,0.084,2254,1799,3782,3763,3802,0,0,0,0,0,0,14.12,14.26,28.83
$GC,508,-0.70,-145.9,2254,1800,3763,3804,94.0,-17.6,60,515,0.00,2.55,0.00,0.000,260,0.000,0.106,2251,3217,3785,3768,3803,0,0,0,0,0,0,28.83,14.28,28.83
$GC,554,-0.69,-145.9,2246,3216,3758,3808,102.4,-17.7,69,562,0.00,2.45,0.00,0.000,1030,0.000,0.066,2246,1798,3783,3763,3803,0,0,0,0,0,0,28.83,14.35,28.83
$GC,859,-0.69,-145.9,2246,1798,3763,3805,153.3,-15.7,100,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1804,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1159,-0.69,-145.9,2247,1798,3762,3804,198.3,-15.0,130,1166,0.00,2.55,0.00,0.000,260,0.000,0.106,2235,3214,3783,3763,3804,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1225,-0.69,-145.9,2235,3214,3763,3805,208.5,-15.7,143,1233,0.15,2.42,0.00,0.000,3078,0.285,0.067,2265,1803,3783,3762,3804,0,0,0,0,0,0,14.28,14.44,28.83
$GC,1532,-0.72,-145.9,2265,1803,3764,3805,244.6,-11.1,174,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1803,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1832,-0.77,-145.9,2265,1803,3763,3805,275.0,-10.0,188,1838,0.00,2.53,0.00,0.000,260,0.000,0.106,2258,3214,3783,3762,3804,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1888,-0.81,-145.9,2258,3214,3763,3805,281.1,-10.7,199,1896,0.00,2.45,0.00,0.000,1030,0.000,0.069,2258,1791,3783,3762,3804,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2194,-0.85,-145.9,2258,1790,3762,3804,311.4,-9.9,210,2197,0.12,0.00,0.00,0.000,4102,0.148,0.000,2207,1790,3783,3762,3804,0,0,0,0,0,0,14.55,28.83,28.83
$GC,2493,-0.85,-145.9,2207,1790,3762,3804,348.2,-12.3,220,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1790,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2793,-0.85,-145.9,2207,1790,3761,3804,384.2,-11.8,230,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1790,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3093,-0.85,-145.9,2208,1790,3761,3804,419.0,-11.4,240,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1790,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3393,-0.86,-145.9,2207,1790,3762,3805,453.5,-11.5,250,3400,0.00,2.55,0.00,0.000,260,0.000,0.106,2196,3215,3782,3761,3804,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3439,-0.86,-145.9,2197,3215,3760,3804,459.1,-12.2,259,3446,0.00,2.42,0.00,0.000,1030,0.000,0.067,2196,1799,3782,3760,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3757,-0.86,-145.9,2197,1799,3760,3805,497.7,-12.2,272,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1798,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4056,-0.86,-145.9,2196,1799,3761,3805,533.6,-11.9,282,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1799,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4356,-0.86,-145.9,2196,1799,3761,3805,568.4,-11.6,292,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1799,3785,3761,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4656,-0.86,-145.9,2196,1799,3761,3805,602.7,-11.4,302,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1799,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4956,-0.86,-145.9,2196,1798,3760,3806,637.0,-11.5,312,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1796,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5256,-0.86,-145.9,2195,1799,3760,3805,671.1,-11.4,322,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1798,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5556,-0.86,-145.9,2193,1800,3760,3805,705.4,-11.4,332,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1798,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5856,-0.86,-145.9,2197,1799,3760,3806,739.3,-11.3,342,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1799,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5974,begin apogee
$GC,5979,-0.16,0.0,2194,2188,3761,3806,752.8,-11.2,346,6107,0.93,0.00,123.82,1.838,10246,0.256,0.000,2434,2187,3182,3136,3228,0,0,0,0,0,0,14.36,28.83,13.31
$STATE,6109,end apogee,CONTROL_FINISHED_OK
$STATE,6109,begin climb
$GC,6111,0.81,145.9,2435,2187,3129,3227,755.6,0.0,350,6248,1.05,0.00,123.82,1.819,10246,0.135,0.000,2749,2188,2585,2504,2666,0,0,0,0,0,0,13.93,28.83,12.74
$GC,6546,0.78,145.9,2750,2188,2499,2662,700.2,14.8,365,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2188,2580,2498,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,0.75,145.9,2750,2188,2498,2661,655.5,14.8,375,6852,0.00,2.55,0.00,0.000,516,0.000,0.086,2761,761,2579,2498,2661,0,0,0,0,0,0,28.83,14.30,28.83
$GC,6877,0.72,145.9,2762,761,2499,2661,650.8,15.4,381,6884,0.17,2.53,0.00,0.000,5126,0.283,0.083,2724,2185,2579,2498,2661,0,0,0,0,0,0,14.17,14.31,28.83
$GC,7209,0.72,145.9,2725,2185,2499,2658,606.7,13.2,397,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2185,2579,2498,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8200,0.72,145.9,2724,2185,2499,2661,569.4,13.0,407,8206,0.00,2.53,0.00,0.000,516,0.000,0.086,2733,756,2579,2498,2661,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8235,0.72,145.9,2733,755,2499,2661,564.4,13.8,414,8242,0.00,2.50,0.00,0.000,1030,0.000,0.083,2733,2178,2579,2498,2660,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8563,0.70,145.9,2733,2176,2499,2661,520.8,13.4,429,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2178,2579,2498,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8862,0.69,145.9,2733,2179,2499,2661,480.9,13.3,439,8868,0.00,2.50,0.00,0.000,516,0.000,0.085,2744,761,2580,2500,2660,0,0,0,0,0,0,28.83,14.42,28.83
$GC,8898,0.67,145.9,2744,761,2499,2661,475.9,13.8,446,8904,0.15,2.50,0.00,0.000,5126,0.274,0.083,2712,2187,2578,2497,2660,0,0,0,0,0,0,14.31,14.45,28.83
$GC,9224,0.67,145.9,2713,2188,2499,2661,436.1,12.1,461,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2184,2579,2498,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9524,0.67,145.9,2713,2187,2499,2661,400.0,12.0,471,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2187,2579,2498,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9824,0.67,145.9,2713,2187,2499,2661,364.5,11.9,481,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2189,2579,2498,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10124,0.68,151.5,2713,2187,2498,2661,329.8,11.3,491,10132,0.00,2.50,1.75,0.376,8708,0.000,0.084,2713,763,2569,2487,2651,0,0,0,0,0,0,28.83,14.52,14.06
$GC,10161,0.70,159.0,2717,764,2496,2661,325.7,11.2,498,10182,0.00,2.50,11.82,1.409,9222,0.000,0.084,2717,2190,2529,2450,2609,0,0,0,0,0,0,28.83,14.50,13.89
$GC,10487,0.70,159.0,2717,2190,2447,2607,287.2,11.8,513,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2190,2527,2447,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10787,0.72,172.0,2717,2191,2447,2608,253.4,10.9,523,10802,0.00,0.00,12.18,1.326,8198,0.000,0.000,2717,2190,2479,2402,2557,0,0,0,0,0,0,28.83,28.83,13.90
$GC,11087,0.77,210.4,2717,2191,2395,2551,222.1,9.6,549,11122,0.00,0.00,32.05,1.219,8198,0.000,0.000,2717,2190,2323,2246,2401,0,0,0,0,0,0,28.83,28.83,13.81
$GC,11418,0.84,259.1,2717,2190,2236,2395,190.7,9.0,582,11463,0.15,0.00,41.00,1.166,10246,0.128,0.000,2781,2190,2124,2040,2209,0,0,0,0,0,0,14.46,28.83,13.75
$GC,11757,0.84,259.1,2781,2190,2028,2202,147.8,12.3,616,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2189,2114,2027,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12058,0.86,266.4,2781,2191,2025,2201,111.8,11.2,646,12070,0.00,2.58,1.75,0.395,8708,0.000,0.086,2790,770,2099,2013,2186,0,0,0,0,0,0,28.83,14.40,14.03
$GC,12116,0.87,266.4,2790,770,2021,2188,105.2,11.8,657,12124,0.00,2.50,0.00,0.000,1030,0.000,0.084,2789,2186,2104,2021,2187,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12421,0.91,304.3,2790,2188,2022,2188,72.6,9.6,688,12443,0.00,0.00,18.35,0.399,8198,0.000,0.000,2790,2187,1940,1849,2032,0,0,0,0,0,0,28.83,28.83,14.11
$GC,12741,1.02,402.4,2790,2187,1852,2034,46.4,6.4,720,12792,0.00,0.00,44.78,0.316,8198,0.000,0.000,2790,2186,1540,1440,1640,0,0,0,0,0,0,28.83,28.83,14.11
$GC,13090,1.20,527.6,2790,2187,1434,1640,23.5,5.0,755,13152,0.28,0.00,56.08,0.243,10246,0.088,0.000,2899,2187,1028,923,1133,0,0,0,0,0,0,14.38,28.83,14.14
$FREEZE,8.61,-0.631,-1.444,2,1,0
$FREEZE,7.70,-0.633,-1.444,2,1,0
$FREEZE,6.61,-0.661,-1.443,2,1,0
$FREEZE,5.60,-0.653,-1.442,2,1,0
$FREEZE,4.67,-0.682,-1.441,2,1,0
$FREEZE,3.64,-0.685,-1.440,2,1,0
$FREEZE,2.59,-0.701,-1.439,2,1,0
$FREEZE,1.65,-0.700,-1.439,2,1,0
$STATE,13328,end climb,SURFACE_DEPTH_REACHED
$STATE,13328,begin surface coast
$FREEZE,1.54,-0.721,-0.870,2,1,0
$FREEZE,1.62,-0.725,-0.809,2,1,0
$FINISH,1.6,1.011919
$STATE,13348,end surface coast,CONTROL_FINISHED_OK
$STATE,13348,begin surface
$SM_CCo,13371,55.22,0.187,0,0,500,657.89
$SM_GC,2.51,8.23,0.70,55.22,0.086,0.090,0.187,176,1795,500,-7.19,0.65,657.89,0,0,0,0,0,0,14.42,14.42,14.31
$RAFOS_CLK,514464
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7257.42,-14656.65,250814,020124
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.29
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3849024
$TM_FREEKB,4355196
$24V_AH,12.74,84.269
$10V_AH,12.83,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.850,51.625,467.400,55.225,0.000,0.000,0.000,769.950,0.000,0.000,32.628,0.000,10286.413,659.681,2556.451,280.844,0.000,2137.030,0.000,1177.567,1489.000,0.531,0.000
$DEVICE_MAMPS,429.930,109.395,1838.295,186.660,0.000,0.000,0.000,195.075,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13381.000,13387.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.186,43.180,0.000,0.000
$MEM,209056
$DATA_FILE_SIZE,26704,781
$CAP_FILE_SIZE,150274,0
$CFSIZE,1047117824,1004912640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13769.27,0x2378b6,7,5
$SOUNDSPEED,1449.0
$GPS,250814,092955,7341.309,-14652.338,23,0.9,43,28.9