version: 66.12
glider: 197
mission: 6
dive: 339
start: 9 15 114 16 38 35
data:
$ID,197
$MISSION,6
$DIVE,339
$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,-11706.579
$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,30
$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,1
$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
$GPS1,140914,140913,7354.945,-14444.481,41,1.1,61,30.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.63
$_SM_ANGLEo,-18.5
$GPS2,140914,140913,7354.945,-14444.481,41,1.1,61,30.3
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,4
$TGT_LATLONG,7420.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,30.3,94445,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.81,-145.9,2574,1805,1663,1788,0.0,0.0,0,32,0.00,0.00,-12.00,0.000,16386,0.000,0.000,2574,1805,2352,2285,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.81,-145.9,2575,1805,2287,2419,14.4,0.0,1,68,1.00,2.58,-24.60,0.000,20740,0.072,0.121,2208,3202,3781,3764,3799,0,0,0,0,0,0,14.40,14.30,14.66
$GC,204,-0.73,-145.9,2208,3203,3766,3802,68.2,-27.9,35,209,0.20,2.42,0.00,0.000,3078,0.295,0.063,2250,1800,3784,3767,3801,0,0,0,0,0,0,14.10,14.39,28.83
$GC,514,-0.73,-145.9,2250,1800,3766,3803,122.3,-15.4,67,519,0.00,2.55,0.00,0.000,260,0.000,0.103,2242,3210,3784,3766,3803,0,0,0,0,0,0,28.83,14.40,28.83
$GC,554,-0.71,-145.9,2243,3211,3766,3803,128.9,-16.7,75,559,0.00,2.42,0.00,0.000,1030,0.000,0.063,2242,1795,3784,3766,3802,0,0,0,0,0,0,28.83,14.47,28.83
$GC,864,-0.71,-145.9,2242,1794,3766,3804,177.3,-14.8,107,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1793,3784,3766,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1164,-0.73,-145.9,2242,1794,3766,3803,219.2,-12.0,137,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1793,3784,3766,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1464,-0.75,-145.9,2243,1794,3766,3804,254.5,-11.5,165,1469,0.00,2.55,0.00,0.000,260,0.000,0.103,2232,3209,3784,3766,3803,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1576,-0.76,-145.9,2233,3210,3766,3804,267.3,-11.8,187,1581,0.00,2.42,0.00,0.000,1030,0.000,0.063,2232,1793,3784,3765,3803,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1888,-0.78,-145.9,2232,1793,3766,3803,302.3,-11.2,199,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1792,3784,3765,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2187,-0.81,-145.9,2232,1793,3766,3804,333.9,-10.3,209,2191,0.00,2.53,0.00,0.000,260,0.000,0.103,2223,3209,3784,3765,3803,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2247,-0.83,-145.9,2223,3210,3765,3804,340.7,-11.3,221,2252,0.00,2.40,0.00,0.000,1030,0.000,0.063,2223,1796,3783,3764,3803,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2579,-0.85,-145.9,2223,1796,3765,3804,376.6,-10.7,237,2584,0.00,2.53,0.00,0.000,260,0.000,0.103,2215,3209,3783,3764,3803,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2614,-0.87,-145.9,2216,3210,3764,3803,380.6,-11.2,244,2618,0.00,2.40,0.00,0.000,1030,0.000,0.062,2216,1796,3783,3764,3803,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2941,-0.88,-145.9,2216,1796,3764,3803,415.9,-10.8,259,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1796,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3239,-0.90,-145.9,2216,1795,3764,3803,447.2,-10.4,269,3244,0.00,2.53,0.00,0.000,260,0.000,0.102,2210,3213,3783,3764,3802,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3294,-0.91,-145.9,2210,3214,3764,3803,452.9,-10.8,280,3300,0.00,2.40,0.00,0.000,1030,0.000,0.062,2209,1799,3783,3764,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3601,-0.93,-145.9,2210,1799,3765,3804,485.3,-10.6,291,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1799,3783,3764,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3899,-0.95,-145.9,2210,1799,3764,3803,517.0,-10.5,301,3904,0.00,2.53,0.00,0.000,260,0.000,0.102,2202,3217,3783,3764,3803,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3969,-0.95,-145.9,2203,3218,3766,3804,524.9,-11.2,315,3974,0.00,2.42,0.00,0.000,1030,0.000,0.062,2202,1798,3783,3764,3803,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4291,-0.96,-145.9,2203,1797,3764,3804,559.5,-10.8,329,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1796,3783,3764,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4590,-0.97,-145.9,2202,1797,3764,3804,591.7,-10.7,339,4594,0.00,2.50,0.00,0.000,260,0.000,0.101,2194,3209,3783,3764,3803,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4634,-0.97,-145.9,2195,3210,3764,3804,596.9,-12.2,348,4639,0.00,2.38,0.00,0.000,1030,0.000,0.061,2194,1800,3783,3764,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4951,-0.97,-145.9,2194,1800,3764,3804,631.5,-10.9,361,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,1799,3784,3764,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5250,-0.97,-145.9,2195,1800,3764,3805,664.0,-10.8,371,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,1800,3784,3764,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5549,-0.97,-145.9,2195,1800,3764,3805,696.3,-10.8,381,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,1799,3784,3764,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5850,-0.97,-145.9,2194,1800,3765,3805,728.6,-10.8,391,5854,0.00,2.50,0.00,0.000,260,0.000,0.102,2189,3209,3784,3764,3805,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5899,-0.97,-145.9,2190,3210,3765,3805,734.2,-10.9,401,5904,0.00,2.40,0.00,0.000,1030,0.000,0.062,2189,1796,3784,3764,3804,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,6057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6057,begin apogee
$GC,6063,-0.16,0.0,2190,2186,3764,3805,752.0,-11.0,408,6190,0.93,0.00,124.78,1.831,10246,0.246,0.000,2434,2186,3186,3138,3234,0,0,0,0,0,0,14.28,28.83,13.21
$STATE,6191,end apogee,CONTROL_FINISHED_OK
$STATE,6191,begin climb
$GC,6194,0.81,145.9,2434,2186,3127,3231,754.8,0.0,412,6332,1.02,2.75,124.82,1.807,10500,0.133,0.096,2752,3585,2575,2488,2662,0,0,0,0,0,0,13.95,13.47,12.74
$GC,6557,0.76,145.9,2752,3586,2487,2659,706.3,16.3,487,6562,0.00,2.47,0.00,0.000,1030,0.000,0.056,2762,2166,2572,2487,2658,0,0,0,0,0,0,28.83,14.06,28.83
$GC,6874,0.73,145.9,2762,2165,2487,2657,658.8,15.0,500,6879,0.12,2.42,0.00,0.000,4612,0.295,0.074,2742,775,2571,2486,2656,0,0,0,0,0,0,14.14,14.38,28.83
$GC,7099,0.73,145.9,2743,775,2487,2655,628.0,13.1,545,7104,0.00,2.47,0.00,0.000,1030,0.000,0.082,2743,2183,2571,2487,2655,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7416,0.72,145.9,2743,2184,2487,2656,584.1,14.0,558,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2184,2570,2486,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7715,0.71,145.9,2743,2184,2487,2656,542.2,13.9,568,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2184,2570,2486,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8015,0.70,145.9,2743,2184,2487,2656,500.6,13.9,578,8020,0.00,2.42,0.00,0.000,516,0.000,0.078,2752,774,2570,2486,2655,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8050,0.68,145.9,2753,775,2487,2656,495.7,14.5,585,8055,0.17,2.45,0.00,0.000,5126,0.265,0.081,2713,2181,2570,2486,2655,0,0,0,0,0,0,14.32,14.56,28.83
$GC,8377,0.70,145.9,2714,2183,2487,2656,456.7,11.8,600,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2182,2571,2487,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8675,0.72,149.5,2714,2183,2487,2656,422.3,11.4,610,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2182,2570,2486,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8976,0.73,151.4,2714,2182,2487,2655,387.8,11.5,620,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2181,2570,2486,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9275,0.76,162.1,2714,2182,2487,2655,354.0,11.1,630,9290,0.00,0.00,13.70,1.373,8198,0.000,0.000,2713,2182,2520,2439,2601,0,0,0,0,0,0,28.83,28.83,13.96
$GC,9577,0.78,162.9,2713,2183,2428,2589,319.6,11.6,640,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2182,2507,2427,2588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9876,0.83,190.6,2710,2186,2427,2589,287.6,10.2,650,9907,0.15,0.00,24.35,1.283,10246,0.134,0.000,2777,2182,2394,2319,2470,0,0,0,0,0,0,14.65,28.83,13.95
$GC,10207,0.81,190.6,2778,2182,2316,2464,242.9,13.0,663,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2182,2389,2315,2463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10505,0.82,196.5,2778,2182,2316,2464,205.9,11.3,693,10506,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2182,2388,2314,2463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10805,0.84,230.0,2778,2182,2315,2468,175.8,9.8,723,10846,0.00,2.50,32.95,1.151,8708,0.000,0.078,2787,772,2233,2159,2308,0,0,0,0,0,0,28.83,14.52,13.93
$GC,10883,0.86,235.5,2787,771,2158,2303,167.8,11.3,738,10889,0.00,2.47,0.00,0.000,1030,0.000,0.082,2787,2182,2229,2157,2302,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11187,0.87,258.4,2787,2182,2153,2302,134.1,10.4,769,11217,0.00,0.00,24.40,1.108,8198,0.000,0.000,2787,2182,2122,2037,2207,0,0,0,0,0,0,28.83,28.83,13.92
$GC,11518,0.91,277.6,2787,2182,2028,2197,100.1,10.6,802,11538,0.00,0.00,15.70,1.079,8198,0.000,0.000,2787,2181,2042,1955,2130,0,0,0,0,0,0,28.83,28.83,13.90
$GC,11838,1.00,352.1,2787,2182,1944,2126,71.3,7.7,834,11878,0.00,2.58,32.05,0.385,8452,0.000,0.103,2787,3597,1745,1657,1833,0,0,0,0,0,0,28.83,14.33,14.05
$GC,11943,1.06,394.7,2787,3598,1663,1834,61.3,9.4,855,11970,0.12,2.45,20.27,0.357,11270,0.137,0.058,2850,2168,1573,1478,1668,0,0,0,0,0,0,14.35,14.36,14.06
$GC,13438,1.14,462.0,2850,2168,1487,1669,33.2,8.0,890,13479,0.00,2.50,32.08,0.274,8708,0.000,0.080,2862,784,1296,1197,1396,0,0,0,0,0,0,28.83,14.26,14.05
$GC,13490,1.24,530.4,2858,784,1197,1396,29.4,8.0,899,13530,0.12,2.50,31.60,0.262,11270,0.132,0.083,2910,2182,1017,908,1127,0,0,0,0,0,0,14.30,14.24,14.07
$FREEZE,8.49,-1.378,-1.432,2,8,0
$STATE,13739,end climb,FINISH_DEPTH_REACHED
$STATE,13739,begin subsurface finish
$FINISH1,8.5,1.021032,360
$GC,13745,0.25,360.4,2911,2183,914,1127,8.5,5.7,928,13772,1.20,2.60,-17.88,0.000,20740,0.219,0.125,2572,3591,1715,1650,1781,0,0,0,0,0,0,14.07,14.26,14.59
$FINISH2,8.3
$STATE,13772,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13772,begin surface
$RAFOS_CLK,56392
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7312.24,-14454.76,140914,101642
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.19
$INTERNAL_PRESSURE,8.70812
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3786272
$24V_AH,12.74,133.674
$10V_AH,12.65,0.000
$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,5.050,78.375,476.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10102.503,536.939,1877.570,207.475,0.000,1276.248,0.000,1393.892,1498.000,0.533,0.000
$DEVICE_MAMPS,295.290,124.695,1831.410,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13823.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.306,0.000,0.000,0.000
$MEM,132544
$DATA_FILE_SIZE,33269,933
$CAP_FILE_SIZE,140546,0
$CFSIZE,1047117824,986693632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13741.40,0x2378b6,5,5
$SOUNDSPEED,1450.8
$GPS,140914,140913,7354.945,-14444.481,41,1.1,61,30.3