version: 66.12
glider: 197
mission: 6
dive: 216
start: 8 27 114 22 34 47
data:
$ID,197
$MISSION,6
$DIVE,216
$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,-8063.1465
$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,26
$R_STBD_OVSHOOT,18
$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
$GPS1,270814,182514,7353.170,-14652.330,10,1.2,30,29.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-2.3
$GPS2,270814,182514,7353.170,-14652.330,10,1.2,30,29.0
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,331.5,123773,-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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,33,-0.81,-145.9,2580,1799,894,1067,0.0,0.0,0,99,0.00,0.00,-57.67,0.000,16386,0.000,0.000,2579,1799,2339,2280,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.81,-145.9,2580,1799,2282,2401,3.3,-1.8,6,157,1.00,2.60,-38.40,0.000,20740,0.067,0.124,2208,3215,3780,3762,3798,0,0,0,0,0,0,14.50,14.40,14.71
$GC,383,-0.75,-145.9,2206,3213,3763,3804,80.3,-21.3,61,393,0.17,2.42,0.00,0.000,3078,0.295,0.069,2245,1802,3782,3762,3803,0,0,0,0,0,0,14.29,14.48,28.83
$GC,689,-0.75,-145.9,2245,1801,3762,3805,132.9,-16.2,92,699,0.00,2.53,0.00,0.000,260,0.000,0.105,2236,3218,3783,3762,3804,0,0,0,0,0,0,28.83,14.46,28.83
$GC,774,-0.74,-145.9,2236,3219,3763,3805,147.4,-16.5,108,783,0.00,2.42,0.00,0.000,1030,0.000,0.068,2237,1799,3783,3762,3804,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1089,-0.74,-145.9,2237,1798,3763,3805,195.0,-14.5,140,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1798,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1395,-0.75,-145.9,2237,1798,3762,3805,236.6,-12.2,170,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1798,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-0.77,-145.9,2237,1798,3763,3806,274.6,-11.2,188,1729,0.00,2.53,0.00,0.000,260,0.000,0.107,2227,3212,3783,3762,3804,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1773,-0.78,-145.9,2229,3213,3763,3805,281.0,-11.8,198,1783,0.00,2.40,0.00,0.000,1030,0.000,0.069,2227,1801,3783,3762,3804,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2090,-0.80,-145.9,2228,1800,3763,3805,316.5,-11.1,210,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1799,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2389,-0.83,-145.9,2228,1800,3762,3805,349.6,-11.0,220,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1799,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.85,-145.9,2228,1800,3762,3805,381.8,-10.6,230,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1799,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2989,-0.88,-145.9,2228,1799,3761,3805,412.7,-10.2,240,2999,0.00,2.50,0.00,0.000,260,0.000,0.106,2220,3215,3782,3761,3804,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3039,-0.90,-145.9,2221,3216,3761,3805,418.2,-10.5,249,3049,0.00,2.40,0.00,0.000,1030,0.000,0.068,2220,1798,3782,3760,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3359,-0.92,-145.9,2221,1797,3761,3811,451.7,-10.4,262,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1796,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3660,-0.95,-145.9,2221,1797,3761,3805,482.9,-10.3,272,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1795,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3960,-0.98,-145.9,2221,1797,3761,3805,514.2,-10.4,282,3970,0.15,0.00,0.00,0.000,4102,0.130,0.000,2159,1796,3782,3760,3805,0,0,0,0,0,0,14.76,28.83,28.83
$GC,4260,-0.96,-145.9,2158,1793,3761,3805,552.7,-13.0,292,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,1795,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4560,-0.94,-145.9,2161,1796,3761,3805,591.4,-12.7,302,4570,0.12,2.42,0.00,0.000,2564,0.301,0.087,2187,390,3782,3760,3805,0,0,0,0,0,0,14.51,14.71,28.83
$GC,4636,-0.94,-145.9,2188,391,3761,3805,600.6,-12.6,316,4645,0.00,2.42,0.00,0.000,1030,0.000,0.082,2179,1801,3782,3760,3805,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4960,-0.94,-145.9,2180,1801,3761,3805,638.6,-11.8,330,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1801,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5749,-0.94,-145.9,2179,1801,3761,3805,671.5,-1.4,340,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1801,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6051,-0.94,-145.9,2180,1801,3760,3805,706.3,-11.5,350,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1801,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6351,-0.94,-145.9,2180,1801,3761,3805,740.8,-11.5,360,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1801,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6438,begin apogee
$GC,6442,-0.16,0.0,2177,2188,3761,3806,751.1,-11.4,363,6572,0.98,0.00,123.05,1.845,10246,0.256,0.000,2433,2187,3181,3139,3223,0,0,0,0,0,0,14.45,28.83,13.27
$STATE,6573,end apogee,CONTROL_FINISHED_OK
$STATE,6573,begin climb
$GC,6575,0.81,145.9,2434,2187,3133,3222,753.6,0.0,367,6729,1.05,0.00,124.10,1.818,10502,0.134,0.000,2751,2188,2579,2498,2661,0,0,0,0,0,0,13.99,28.83,12.80
$GC,7053,0.78,145.9,2752,2188,2497,2658,693.2,15.2,384,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2188,2576,2496,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7356,0.75,145.9,2751,2188,2497,2657,647.2,15.2,394,7388,0.00,2.50,0.00,0.000,516,0.000,0.086,2761,765,2576,2496,2656,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7435,0.72,145.9,2762,765,2495,2656,635.4,15.3,397,7469,0.12,2.45,0.00,0.000,5126,0.255,0.084,2730,2176,2575,2496,2655,0,0,0,0,0,0,14.27,14.42,28.83
$GC,7813,0.71,145.9,2730,2177,2497,2656,582.7,13.7,410,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2176,2575,2496,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8117,0.71,145.9,2730,2177,2497,2656,541.3,13.6,420,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2176,2575,2496,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8421,0.71,145.9,2730,2177,2497,2656,500.4,13.5,430,8453,0.00,2.42,0.00,0.000,516,0.000,0.086,2738,764,2575,2496,2655,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8500,0.71,145.9,2739,765,2497,2656,489.8,13.6,433,8534,0.00,2.42,0.00,0.000,1030,0.000,0.083,2739,2180,2575,2496,2655,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8878,0.69,145.9,2739,2180,2496,2656,437.7,13.6,446,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2180,2575,2496,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9182,0.68,145.9,2739,2180,2496,2656,396.7,13.4,456,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2180,2575,2496,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9486,0.66,145.9,2739,2180,2497,2656,356.2,13.4,466,9496,0.15,0.00,0.00,0.000,4102,0.290,0.000,2711,2180,2575,2496,2655,0,0,0,0,0,0,14.46,28.83,28.83
$GC,9789,0.69,155.3,2708,2180,2496,2656,321.3,11.1,476,9822,0.00,0.00,8.68,1.430,8710,0.000,0.000,2707,2180,2541,2461,2621,0,0,0,0,0,0,28.83,28.83,13.94
$GC,10229,0.72,174.3,2707,2181,2461,2621,273.0,10.6,492,10263,0.00,2.53,16.67,1.324,8708,0.000,0.083,2715,761,2464,2390,2539,0,0,0,0,0,0,28.83,14.50,13.93
$GC,10310,0.76,199.6,2716,762,2390,2537,265.0,10.3,495,10367,0.00,2.45,21.35,1.291,9222,0.000,0.084,2716,2181,2362,2290,2435,0,0,0,0,0,0,28.83,14.52,13.86
$GC,10972,0.83,251.2,2716,2181,2289,2433,198.6,8.9,524,11052,0.12,2.58,43.78,1.179,10500,0.138,0.101,2776,3585,2148,2066,2231,0,0,0,0,0,0,14.58,14.32,13.81
$GC,11075,0.83,251.2,2777,3586,2064,2232,186.6,11.7,528,11109,0.00,2.40,0.00,0.000,1030,0.000,0.060,2787,2173,2147,2063,2231,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11767,0.84,262.4,2788,2173,2060,2231,102.4,11.0,559,11799,0.00,2.47,3.83,1.133,8708,0.000,0.085,2798,777,2114,2032,2197,0,0,0,0,0,0,28.83,14.46,13.66
$GC,11846,0.87,287.3,2798,783,2037,2201,94.1,10.3,562,11879,0.00,2.47,12.38,0.457,9222,0.000,0.084,2797,2185,2009,1923,2095,0,0,0,0,0,0,28.83,14.43,14.09
$GC,12536,1.04,471.0,2798,2187,1927,2099,45.0,1.9,593,12638,0.00,2.58,82.68,0.314,8452,0.000,0.102,2798,3585,1262,1156,1368,0,0,0,0,0,0,28.83,14.26,14.11
$GC,12859,1.19,551.4,2799,3585,1147,1369,23.9,7.4,607,12917,0.17,2.38,36.22,0.247,11270,0.070,0.061,2889,2175,933,823,1043,0,0,0,0,0,0,14.38,14.39,14.17
$FREEZE,8.24,-1.151,-1.442,2,2,0
$FREEZE,6.19,-1.141,-1.439,2,2,0
$FREEZE,3.99,-1.139,-1.437,2,2,0
$FREEZE,2.11,-1.081,-1.434,2,2,0
$FREEZE,1.41,-1.039,-0.670,2,2,0
$STATE,13135,end climb,FINISH_DEPTH_REACHED
$STATE,13135,begin subsurface finish
$FINISH1,1.4,1.009820,0
$GC,13140,0.00,0.0,2890,2177,820,1042,1.4,8.1,619,13251,1.33,2.58,-96.07,0.000,20740,0.156,0.130,2479,3590,3185,3093,3277,0,0,0,0,0,0,14.29,14.35,14.62
$FINISH2,6.5
$STATE,13252,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13252,begin surface
$RAFOS_CLK,728380
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7312.24,-14703.77,270814,142635
$TT8_MAMPS,0.041195,0.041195
$HUMID,42.32
$INTERNAL_PRESSURE,8.84484
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3841408
$TM_FREEKB,4057044
$24V_AH,12.80,93.333
$10V_AH,12.88,0.000
$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,5.375,58.225,472.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,5898.641,397.402,6331.683,250.302,0.000,1751.376,0.000,954.324,1415.000,0.532,0.000
$DEVICE_MAMPS,301.410,130.050,1845.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13303.000,334.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.102,7.510,0.000,0.000
$MEM,199868
$DATA_FILE_SIZE,20030,635
$CAP_FILE_SIZE,240736,0
$CFSIZE,1047117824,1001586688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13137.69,0x2378b6,5,5
$SOUNDSPEED,1449.7
$GPS,270814,182514,7353.170,-14652.330,10,1.2,30,29.0