version: 66.12
glider: 197
mission: 6
dive: 218
start: 8 28 114 5 44 58
data:
$ID,197
$MISSION,6
$DIVE,218
$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,-8064.4092
$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,22
$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
$GPS1,280814,052426,7357.913,-14654.728,33,0.9,53,29.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-66.6
$GPS2,280814,054439,7357.934,-14654.590,13,1.3,33,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,332.0,114968,-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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,33,-0.81,-145.9,182,1802,419,564,0.0,0.0,0,128,0.00,0.00,-86.97,0.000,16386,0.000,0.000,181,1801,2404,2407,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.81,-145.9,182,1802,2409,2402,3.8,-3.1,9,177,10.25,2.58,-25.10,0.000,18948,0.424,0.109,2218,386,3781,3762,3800,0,0,0,0,0,0,14.07,14.31,14.59
$GC,401,-0.76,-145.9,2222,386,3765,3805,81.0,-20.9,62,412,0.15,2.50,0.00,0.000,3078,0.309,0.083,2244,1802,3784,3764,3805,0,0,0,0,0,0,14.23,14.38,28.83
$GC,708,-0.76,-145.9,2245,1803,3764,3805,134.9,-17.0,93,717,0.00,2.45,0.00,0.000,516,0.000,0.088,2244,392,3784,3764,3805,0,0,0,0,0,0,28.83,14.46,28.83
$GC,942,-0.76,-145.9,2241,393,3765,3805,172.5,-15.8,139,952,0.00,2.47,0.00,0.000,1030,0.000,0.083,2236,1808,3784,3764,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1256,-0.76,-145.9,2237,1808,3764,3806,219.2,-13.8,171,1266,0.00,2.47,0.00,0.000,260,0.000,0.105,2225,3213,3784,3764,3805,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1322,-0.76,-145.9,2225,3214,3764,3806,228.6,-14.7,183,1332,0.00,2.40,0.00,0.000,1030,0.000,0.067,2225,1806,3784,3764,3805,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1636,-0.76,-145.9,2226,1802,3764,3805,269.8,-12.5,205,1646,0.00,2.45,0.00,0.000,516,0.000,0.091,2225,386,3784,3763,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1716,-0.76,-145.9,2226,387,3764,3805,279.9,-12.5,220,1726,0.12,2.47,0.00,0.000,3078,0.295,0.084,2242,1803,3784,3764,3805,0,0,0,0,0,0,14.45,14.59,28.83
$GC,2036,-0.79,-145.9,2242,1804,3764,3806,314.9,-10.7,233,2046,0.00,2.47,0.00,0.000,260,0.000,0.106,2235,3214,3784,3764,3804,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2107,-0.81,-145.9,2234,3214,3763,3805,322.9,-11.6,246,2117,0.00,2.40,0.00,0.000,1030,0.000,0.068,2233,1797,3784,3763,3805,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2436,-0.84,-145.9,2234,1797,3764,3800,359.2,-10.7,261,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1792,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,-0.87,-145.9,2234,1797,3763,3805,390.6,-10.4,271,2748,0.00,2.50,0.00,0.000,260,0.000,0.106,2224,3213,3783,3762,3805,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2804,-0.89,-145.9,2224,3214,3763,3805,397.9,-11.4,283,2814,0.00,2.40,0.00,0.000,1030,0.000,0.067,2223,1796,3783,3762,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3139,-0.91,-145.9,2224,1795,3762,3806,434.2,-10.7,299,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1795,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3440,-0.94,-145.9,2224,1795,3762,3805,465.9,-10.6,309,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1795,3787,3762,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3740,-0.96,-145.9,2224,1795,3762,3806,497.0,-10.3,319,3750,0.12,2.53,0.00,0.000,4356,0.146,0.103,2156,3218,3783,3762,3805,0,0,0,0,0,0,14.71,14.64,28.83
$GC,3780,-0.92,-145.9,2155,3218,3763,3805,502.5,-14.1,326,3790,0.17,2.40,0.00,0.000,3078,0.295,0.067,2191,1794,3783,3762,3805,0,0,0,0,0,0,14.47,14.67,28.83
$GC,4110,-0.92,-145.9,2192,1794,3762,3805,541.6,-11.7,341,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1794,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4411,-0.92,-145.9,2191,1794,3763,3806,576.7,-11.7,351,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1794,3784,3762,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4711,-0.92,-145.9,2191,1794,3763,3807,611.5,-11.6,361,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,1794,3784,3762,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5011,-0.92,-145.9,2192,1794,3763,3808,646.2,-11.5,371,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1794,3784,3762,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5311,-0.92,-145.9,2191,1794,3763,3808,680.6,-11.5,381,5321,0.00,2.40,0.00,0.000,516,0.000,0.089,2191,389,3785,3762,3808,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5370,-0.92,-145.9,2190,389,3763,3808,687.9,-11.8,392,5380,0.00,2.42,0.00,0.000,1030,0.000,0.083,2185,1801,3784,3762,3807,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5677,-0.92,-145.9,2185,1802,3763,3808,723.8,-11.6,403,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1801,3784,3762,3807,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5913,begin apogee
$GC,5918,-0.16,0.0,2182,2188,3763,3808,752.0,-11.6,411,6049,0.95,0.00,123.43,1.841,10246,0.257,0.000,2433,2188,3181,3137,3225,0,0,0,0,0,0,14.49,28.83,13.31
$STATE,6050,end apogee,CONTROL_FINISHED_OK
$STATE,6050,begin climb
$GC,6052,0.81,145.9,2434,2188,3127,3226,754.9,0.0,415,6194,1.05,0.00,123.97,1.815,10502,0.135,0.000,2752,2188,2580,2498,2662,0,0,0,0,0,0,14.01,28.83,12.81
$GC,6580,0.78,145.9,2752,2188,2493,2659,687.1,15.0,434,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2188,2575,2493,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6885,0.74,145.9,2752,2188,2493,2657,641.7,14.9,444,6917,0.00,2.47,0.00,0.000,516,0.000,0.085,2761,772,2574,2493,2656,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6964,0.71,145.9,2762,772,2494,2657,630.1,15.0,447,6998,0.15,2.45,0.00,0.000,5126,0.255,0.083,2724,2178,2574,2493,2656,0,0,0,0,0,0,14.26,14.42,28.83
$GC,7342,0.71,145.9,2724,2178,2495,2656,579.5,13.1,460,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2178,2574,2493,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7646,0.71,145.9,2724,2178,2493,2656,540.1,12.9,470,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2178,2574,2493,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7950,0.71,145.9,2724,2178,2493,2656,501.2,12.9,480,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2177,2574,2493,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9027,0.71,145.9,2724,2178,2494,2656,462.6,12.6,490,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2178,2576,2496,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9331,0.71,145.9,2724,2177,2494,2656,424.0,12.6,500,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2178,2574,2493,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9635,0.71,145.9,2724,2178,2494,2657,385.7,12.6,510,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2178,2574,2493,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9938,0.71,145.9,2724,2178,2494,2657,348.2,12.2,520,9971,0.00,2.42,0.00,0.000,516,0.000,0.086,2733,769,2574,2493,2655,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9995,0.71,145.9,2733,770,2494,2656,341.4,12.3,522,10030,0.00,2.42,0.00,0.000,1030,0.000,0.083,2733,2177,2574,2493,2656,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10397,0.71,145.9,2733,2178,2493,2656,292.0,12.0,536,10431,0.00,2.47,0.00,0.000,260,0.000,0.100,2733,3588,2575,2494,2656,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10456,0.70,145.9,2733,3589,2493,2662,284.7,12.3,538,10490,0.00,2.35,0.00,0.000,1030,0.000,0.060,2743,2173,2574,2493,2656,0,0,0,0,0,0,28.83,14.60,28.83
$GC,10940,0.71,169.7,2743,2170,2494,2656,229.1,10.4,557,10974,0.00,2.45,20.12,1.258,8708,0.000,0.083,2753,766,2484,2408,2561,0,0,0,0,0,0,28.83,14.50,13.91
$GC,11086,0.74,204.1,2754,766,2408,2557,214.9,9.8,563,11144,0.00,2.45,29.17,1.209,9222,0.000,0.083,2753,2178,2341,2268,2414,0,0,0,0,0,0,28.83,14.47,13.79
$GC,11798,0.79,253.9,2754,2178,2263,2413,144.7,9.0,595,11855,0.00,2.55,42.00,1.118,8452,0.000,0.099,2754,3589,2141,2057,2225,0,0,0,0,0,0,28.83,14.30,13.78
$GC,11943,0.79,253.9,2760,3589,2051,2223,129.4,11.7,601,11977,0.00,2.38,0.00,0.000,1030,0.000,0.061,2763,2184,2136,2050,2223,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12655,0.89,344.2,2764,2184,2047,2222,65.9,6.8,633,12711,0.00,0.00,39.50,0.371,8454,0.000,0.000,2763,2183,1777,1684,1870,0,0,0,0,0,0,28.83,28.83,14.02
$GC,13387,1.09,491.6,2764,2184,1683,1870,32.6,3.8,666,13489,0.22,2.60,66.30,0.269,10500,0.096,0.103,2860,3584,1175,1071,1280,0,0,0,0,0,0,14.39,14.26,14.14
$FREEZE,8.21,-1.160,-1.441,2,1,0
$FREEZE,6.31,-1.169,-1.438,2,1,0
$FREEZE,4.19,-1.169,-1.436,2,1,0
$GC,13709,1.20,562.1,2860,3584,1065,1281,6.3,7.9,680,13768,0.00,2.38,31.05,0.190,9222,0.000,0.063,2869,2185,887,782,993,0,0,0,0,0,0,28.83,14.34,14.16
$FREEZE,1.70,-1.206,-1.433,2,1,0
$STATE,13788,end climb,SURFACE_DEPTH_REACHED
$STATE,13789,begin surface coast
$FREEZE,1.67,-1.207,-1.434,2,1,0
$FREEZE,1.78,-1.206,-1.434,2,1,0
$FREEZE,1.70,-1.207,-1.433,2,1,0
$FINISH,1.7,1.021132
$STATE,13811,end surface coast,CONTROL_FINISHED_OK
$STATE,13811,begin surface
$SM_CCo,13830,40.97,0.190,0,0,497,658.39
$SM_GC,3.09,8.25,0.68,40.97,0.098,0.087,0.190,177,1800,497,-7.18,0.85,658.39,0,0,0,0,0,0,14.40,14.40,14.28
$RAFOS_CLK,482202
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7312.24,-14659.54,280814,053122
$TT8_MAMPS,0.042693,0.042693
$HUMID,41.96
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3840512
$TM_FREEKB,4057044
$24V_AH,12.81,94.095
$10V_AH,12.90,0.000
$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,21.450,70.075,475.550,40.975,0.000,0.000,0.000,795.600,0.000,0.000,35.959,0.000,5948.766,414.378,7519.451,417.852,0.000,2568.376,0.000,1031.527,1472.000,0.532,0.000
$DEVICE_MAMPS,423.810,109.395,1840.590,190.485,0.000,0.000,0.000,184.365,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13853.000,335.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.002,7.571,0.000,0.000
$MEM,198708
$DATA_FILE_SIZE,23428,686
$CAP_FILE_SIZE,264927,0
$CFSIZE,1047117824,1001291776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11655.98,0x2378b6,7,5
$SOUNDSPEED,1449.9
$GPS,280814,054439,7357.934,-14654.590,181,99.0,181,29.1