version: 66.12
glider: 197
mission: 6
dive: 217
start: 8 28 114 2 30 41
data:
$ID,197
$MISSION,6
$DIVE,217
$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,21
$R_STBD_OVSHOOT,21
$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,27.58
$_SM_ANGLEo,-14.7
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,34,-0.81,-145.9,2480,1814,3094,3279,0.0,0.0,0,50,0.00,0.00,-6.97,0.000,16390,0.000,0.000,2479,1813,3781,3745,3818,0,0,0,0,0,0,28.83,28.83,14.71
$GC,52,-0.81,-145.9,2479,1814,3748,3819,33.5,0.0,1,64,0.73,2.50,0.00,0.000,4612,0.072,0.089,2212,389,3783,3748,3819,0,0,0,0,0,0,14.50,14.45,28.83
$GC,289,-0.77,-145.9,2213,388,3750,3820,88.7,-19.8,47,299,0.17,2.47,0.00,0.000,3078,0.299,0.084,2238,1801,3785,3751,3819,0,0,0,0,0,0,14.27,14.46,28.83
$GC,605,-0.77,-145.9,2238,1801,3752,3820,142.1,-15.7,79,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1801,3785,3751,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,909,-0.77,-145.9,2238,1802,3752,3820,188.4,-14.2,109,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1801,3785,3751,3820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1214,-0.78,-145.9,2238,1802,3752,3820,229.6,-12.8,139,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1801,3785,3751,3820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1539,-0.81,-145.9,2238,1802,3751,3820,267.9,-11.6,161,1549,0.00,2.50,0.00,0.000,260,0.000,0.106,2229,3218,3785,3750,3820,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1604,-0.82,-145.9,2230,3219,3751,3820,275.6,-12.3,173,1614,0.00,2.40,0.00,0.000,1030,0.000,0.067,2229,1798,3785,3750,3820,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1939,-0.84,-145.9,2229,1797,3751,3819,312.8,-11.0,189,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1796,3785,3751,3820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2240,-0.87,-145.9,2229,1797,3751,3820,345.1,-10.7,199,2250,0.00,2.50,0.00,0.000,260,0.000,0.105,2218,3216,3784,3751,3818,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2279,-0.88,-145.9,2219,3217,3751,3820,349.6,-11.1,206,2289,0.00,2.40,0.00,0.000,1030,0.000,0.068,2217,1794,3785,3750,3820,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2609,-0.90,-145.9,2219,1794,3751,3820,385.4,-10.8,221,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1794,3785,3751,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2910,-0.93,-145.9,2219,1795,3751,3820,417.8,-10.8,231,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1794,3785,3751,3820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3210,-0.95,-145.9,2219,1794,3751,3820,449.4,-10.4,241,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1794,3785,3751,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3510,-0.97,-145.9,2219,1794,3751,3820,480.9,-10.4,251,3520,0.12,0.00,0.00,0.000,4102,0.142,0.000,2164,1793,3785,3751,3819,0,0,0,0,0,0,14.76,28.83,28.83
$GC,3811,-0.95,-145.9,2164,1794,3751,3820,519.3,-13.0,261,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,1793,3785,3751,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4110,-0.94,-145.9,2165,1794,3751,3820,557.8,-12.9,271,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,1793,3785,3751,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-0.92,-145.9,2164,1794,3752,3820,595.7,-12.6,281,4420,0.12,2.40,0.00,0.000,2564,0.291,0.086,2192,389,3785,3751,3819,0,0,0,0,0,0,14.52,14.71,28.83
$GC,4465,-0.92,-145.9,2193,389,3751,3820,602.4,-11.4,291,4475,0.00,2.42,0.00,0.000,1030,0.000,0.083,2185,1801,3784,3749,3819,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4781,-0.92,-145.9,2186,1801,3751,3821,638.7,-11.5,303,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1801,3785,3751,3820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5081,-0.92,-145.9,2185,1801,3752,3820,673.4,-11.6,313,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1801,3785,3751,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5885,-0.92,-145.9,2186,1801,3751,3821,705.6,-1.2,323,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1800,3785,3751,3819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6186,-0.92,-145.9,2186,1801,3751,3820,739.7,-11.3,333,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1801,3785,3751,3819,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6303,begin apogee
$GC,6308,-0.16,0.0,2183,2187,3751,3820,753.3,-11.3,337,6439,0.95,0.00,123.65,1.847,10246,0.259,0.000,2433,2187,3180,3131,3230,0,0,0,0,0,0,14.42,28.83,13.25
$STATE,6440,end apogee,CONTROL_FINISHED_OK
$STATE,6440,begin climb
$GC,6442,0.81,145.9,2433,2188,3125,3229,756.2,0.0,341,6598,1.05,0.00,124.43,1.820,10246,0.135,0.000,2749,2187,2578,2497,2660,0,0,0,0,0,0,13.97,28.83,12.78
$GC,6892,0.78,145.9,2750,2187,2495,2658,701.0,14.9,356,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2187,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7196,0.75,145.9,2750,2187,2496,2657,656.5,14.6,366,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2187,2576,2496,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7500,0.72,145.9,2750,2187,2496,2656,612.2,14.6,376,7532,0.00,2.45,0.00,0.000,516,0.000,0.086,2760,768,2575,2495,2656,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7557,0.69,145.9,2760,769,2494,2656,604.0,14.6,378,7591,0.15,2.45,0.00,0.000,5126,0.252,0.083,2721,2182,2575,2495,2655,0,0,0,0,0,0,14.34,14.50,28.83
$GC,7958,0.69,145.9,2722,2183,2496,2656,552.0,12.9,392,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2182,2575,2495,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8262,0.69,145.9,2722,2182,2495,2656,513.0,12.8,402,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2182,2575,2495,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8566,0.69,145.9,2722,2182,2496,2655,474.7,12.7,412,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2182,2575,2495,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8869,0.69,145.9,2722,2183,2496,2656,436.7,12.6,422,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2182,2575,2495,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9172,0.69,145.9,2722,2182,2495,2654,398.8,12.4,432,9205,0.00,2.42,0.00,0.000,516,0.000,0.086,2730,767,2575,2495,2655,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9252,0.69,145.9,2730,768,2496,2656,389.1,12.6,435,9286,0.00,2.42,0.00,0.000,1030,0.000,0.084,2730,2177,2575,2495,2655,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9630,0.69,145.9,2730,2177,2496,2656,340.9,12.7,448,9663,0.00,2.45,0.00,0.000,260,0.000,0.101,2730,3581,2575,2495,2655,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9688,0.67,145.9,2731,3581,2495,2656,333.5,12.9,450,9722,0.10,2.33,0.00,0.000,5126,0.264,0.060,2715,2177,2575,2495,2655,0,0,0,0,0,0,14.42,14.62,28.83
$GC,10089,0.69,161.1,2715,2177,2496,2656,287.2,10.8,464,10124,0.00,0.00,13.18,1.360,8198,0.000,0.000,2715,2177,2517,2439,2596,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10418,0.73,184.4,2714,2178,2439,2596,251.8,10.4,475,10454,0.00,0.00,19.73,1.291,8198,0.000,0.000,2715,2177,2424,2349,2500,0,0,0,0,0,0,28.83,28.83,13.90
$GC,11112,0.81,244.6,2715,2178,2347,2497,187.3,8.4,506,11190,0.12,0.00,50.70,1.158,10246,0.142,0.000,2775,2177,2176,2097,2256,0,0,0,0,0,0,14.59,28.83,13.79
$GC,11847,0.84,273.6,2775,2177,2087,2254,106.3,10.1,539,11880,0.00,0.00,22.12,1.097,8198,0.000,0.000,2775,2177,2063,1978,2149,0,0,0,0,0,0,28.83,28.83,13.89
$GC,12538,1.00,430.9,2775,2177,1967,2143,52.0,3.3,570,12639,0.12,2.62,69.72,0.335,10500,0.135,0.103,2832,3592,1425,1322,1528,0,0,0,0,0,0,14.42,14.23,14.09
$GC,12880,1.06,467.8,2833,3593,1315,1528,23.9,9.7,585,12914,0.00,2.42,16.50,0.249,9222,0.000,0.062,2838,2177,1274,1165,1384,0,0,0,0,0,0,28.83,14.34,14.16
$FREEZE,8.44,-1.111,-1.442,2,3,0
$FREEZE,7.22,-1.098,-1.440,2,3,0
$FREEZE,6.19,-1.049,-1.438,2,3,0
$FREEZE,4.82,-1.061,-1.437,2,3,0
$FREEZE,3.86,-1.065,-1.436,2,3,0
$FREEZE,2.78,-1.068,-1.435,2,3,0
$FREEZE,1.50,-1.077,-1.416,2,3,0
$STATE,13264,end climb,SURFACE_DEPTH_REACHED
$STATE,13264,begin surface coast
$FREEZE,1.46,-1.085,-1.434,2,3,0
$FREEZE,1.42,-1.092,-1.434,2,3,0
$FREEZE,1.42,-1.092,-1.434,2,3,0
$FINISH,1.4,1.021145
$STATE,13287,end surface coast,CONTROL_FINISHED_OK
$STATE,13287,begin surface
$SM_CCo,13305,82.12,0.190,0,0,500,657.89
$SM_GC,2.35,8.18,0.65,82.12,0.103,0.087,0.190,182,1804,500,-7.18,0.96,657.89,0,0,0,0,0,0,14.43,14.46,14.31
$RAFOS_CLK,723248
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7312.24,-14703.77,270814,142635
$TT8_MAMPS,0.041944,0.041944
$HUMID,42.20
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3840960
$TM_FREEKB,4057044
$24V_AH,12.78,93.687
$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,11.825,43.600,440.025,82.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,5959.688,364.369,6429.631,245.097,0.000,1571.307,0.000,912.501,1482.000,0.531,0.000
$DEVICE_MAMPS,299.115,108.630,1846.710,189.720,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13331.000,327.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.337,7.641,0.000,0.000
$MEM,199384
$DATA_FILE_SIZE,20080,605
$CAP_FILE_SIZE,239883,0
$CFSIZE,1047117824,1001439232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$GPS,280814,052426,7357.913,-14654.728,33,0.9,53,29.1