version: 66.12
glider: 197
mission: 6
dive: 159
start: 8 19 114 2 18 33
data:
$ID,197
$MISSION,6
$DIVE,159
$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,-7632.8794
$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,2470
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$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
$GPS1,190814,020455,7301.959,-14545.351,26,0.9,46,29.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-74.2
$GPS2,190814,021815,7301.944,-14545.231,9,1.4,29,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,151.9,159193,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.81,-145.9,160,2466,418,573,0.0,0.0,0,79,0.00,0.00,-51.88,0.000,16386,0.000,0.000,158,2466,1731,1748,1715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.81,-145.9,158,2467,1741,1717,3.1,-1.7,5,160,10.88,2.45,-59.65,0.000,19204,0.451,0.103,2219,1066,3779,3760,3799,0,0,0,0,0,0,14.06,14.38,14.64
$GC,386,-0.76,-145.9,2219,1065,3760,3805,75.8,-21.1,66,394,0.15,2.50,0.00,0.000,3078,0.338,0.099,2241,2469,3781,3759,3804,0,0,0,0,0,0,14.29,14.45,28.83
$GC,691,-0.76,-145.9,2241,2471,3759,3806,129.9,-17.0,97,698,0.00,2.42,0.00,0.000,516,0.000,0.081,2241,1067,3782,3759,3805,0,0,0,0,0,0,28.83,14.49,28.83
$GC,923,-0.76,-145.9,2242,1066,3759,3805,166.5,-14.3,143,930,0.00,2.50,0.00,0.000,1030,0.000,0.097,2233,2477,3782,3759,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1234,-0.76,-145.9,2233,2478,3760,3806,213.4,-14.3,175,1241,0.00,2.42,0.00,0.000,516,0.000,0.081,2233,1069,3782,3759,3805,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1466,-0.77,-145.9,2234,1069,3759,3805,243.4,-11.8,221,1473,0.00,2.47,0.00,0.000,1030,0.000,0.098,2222,2470,3782,3759,3805,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1798,-0.78,-145.9,2223,2471,3760,3806,285.2,-12.4,237,1804,0.00,2.40,0.00,0.000,516,0.000,0.083,2222,1073,3782,3759,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2028,-0.80,-145.9,2223,1073,3759,3806,313.1,-11.7,283,2035,0.00,2.47,0.00,0.000,1030,0.000,0.099,2215,2472,3781,3758,3805,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2340,-0.81,-145.9,2215,2473,3758,3805,350.0,-11.9,295,2347,0.00,2.42,0.00,0.000,516,0.000,0.083,2214,1066,3781,3758,3805,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2572,-0.83,-145.9,2215,1066,3758,3805,377.4,-11.4,341,2579,0.00,2.47,0.00,0.000,1030,0.000,0.099,2208,2470,3781,3758,3804,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2883,-0.83,-145.9,2209,2471,3758,3805,414.5,-11.9,353,2891,0.00,2.40,0.00,0.000,516,0.000,0.083,2208,1073,3781,3758,3805,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3115,-0.84,-145.9,2208,1074,3758,3805,441.9,-11.7,399,3122,0.00,2.47,0.00,0.000,1030,0.000,0.099,2201,2474,3781,3757,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3426,-0.84,-145.9,2201,2475,3758,3806,479.7,-12.2,411,3432,0.00,2.40,0.00,0.000,516,0.000,0.083,2201,1073,3781,3757,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3657,-0.84,-145.9,2201,1072,3758,3804,507.8,-12.5,457,3664,0.12,2.47,0.00,0.000,3078,0.321,0.099,2214,2477,3780,3757,3803,0,0,0,0,0,0,14.45,14.61,28.83
$GC,3969,-0.86,-145.9,2214,2478,3757,3806,542.8,-11.1,469,3976,0.00,2.40,0.00,0.000,516,0.000,0.080,2214,1072,3781,3757,3805,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4201,-0.88,-145.9,2214,1072,3758,3806,568.9,-11.0,515,4207,0.00,2.45,0.00,0.000,1030,0.000,0.096,2209,2471,3781,3757,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4513,-0.89,-145.9,2209,2472,3758,3806,604.8,-11.5,527,4519,0.00,2.17,0.00,0.000,260,0.000,0.112,2199,3709,3781,3757,3805,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4743,-0.89,-145.9,2199,3707,3758,3806,634.4,-12.9,573,4751,0.00,2.03,0.00,0.000,1030,0.000,0.059,2199,2459,3778,3757,3800,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5056,-0.89,-145.9,2199,2460,3758,3805,672.0,-12.0,585,5063,0.00,2.20,0.00,0.000,260,0.000,0.112,2188,3712,3783,3758,3808,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5227,-0.89,-145.9,2189,3716,3758,3806,694.6,-13.4,619,5234,0.00,2.03,0.00,0.000,1030,0.000,0.060,2189,2470,3781,3757,3805,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5540,-0.89,-145.9,2189,2470,3758,3805,732.3,-12.1,631,5546,0.00,2.38,0.00,0.000,516,0.000,0.083,2189,1074,3781,3757,3805,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,5683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5684,begin apogee
$GC,5689,-0.16,0.0,2180,2408,3758,3806,750.0,-11.9,660,5817,1.00,0.00,123.65,1.817,10246,0.278,0.000,2436,2408,3181,3134,3228,0,0,0,0,0,0,14.47,28.83,13.29
$STATE,5819,end apogee,CONTROL_FINISHED_OK
$STATE,5820,begin climb
$GC,5821,0.81,145.9,2437,2408,3125,3226,753.1,0.0,664,5960,1.02,2.58,122.07,1.800,10500,0.143,0.103,2749,3721,2580,2500,2661,0,0,0,0,0,0,13.97,13.48,12.85
$GC,6628,0.88,352.0,2749,3721,2493,2659,726.8,0.7,709,6815,0.00,2.30,178.60,1.733,9222,0.000,0.057,2758,2406,1745,1649,1841,0,0,0,0,0,0,28.83,13.80,12.51
$GC,7124,0.88,352.0,2759,2406,1632,1827,635.0,19.1,758,7131,0.00,2.55,0.00,0.000,516,0.000,0.087,2769,1005,1730,1630,1831,0,0,0,0,0,0,28.83,13.96,28.83
$GC,7285,0.88,352.0,2766,1009,1629,1824,602.4,20.1,790,7291,0.00,2.53,0.00,0.000,1030,0.000,0.090,2768,2399,1726,1630,1823,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7607,0.88,352.0,2769,2400,1631,1823,537.7,20.0,804,7613,0.00,2.50,0.00,0.000,516,0.000,0.090,2769,994,1726,1630,1823,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7698,0.88,352.0,2769,994,1630,1823,519.2,20.2,822,7704,0.00,2.50,0.00,0.000,1030,0.000,0.090,2769,2401,1726,1630,1822,0,0,0,0,0,0,28.83,14.40,28.83
$GC,8029,0.88,352.0,2770,2402,1630,1823,454.0,19.5,838,8036,0.00,2.45,0.00,0.000,516,0.000,0.089,2773,1003,1725,1629,1822,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8136,0.88,352.0,2770,1002,1631,1823,432.9,19.4,859,8143,0.00,2.45,0.00,0.000,1030,0.000,0.091,2769,2400,1725,1629,1822,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8453,0.88,352.0,2770,2399,1630,1823,371.6,19.1,872,8460,0.00,2.45,0.00,0.000,516,0.000,0.090,2769,995,1726,1630,1822,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8544,0.88,352.0,2770,996,1631,1822,353.5,19.4,890,8552,0.00,2.45,0.00,0.000,1030,0.000,0.091,2769,2402,1725,1629,1822,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8877,0.88,352.0,2769,2403,1631,1822,291.2,18.5,906,8884,0.00,2.42,0.00,0.000,516,0.000,0.090,2769,1002,1729,1636,1822,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8973,0.88,352.0,2769,1001,1630,1818,272.6,18.7,925,8980,0.00,2.45,0.00,0.000,1030,0.000,0.092,2769,2400,1725,1630,1821,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9280,0.90,352.0,2770,2402,1631,1822,218.9,16.8,950,9287,0.00,2.42,0.00,0.000,516,0.000,0.089,2769,1003,1726,1630,1822,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9421,0.92,352.0,2770,1001,1631,1821,196.2,14.9,978,9428,0.00,2.45,0.00,0.000,1030,0.000,0.092,2770,2401,1725,1629,1822,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9734,0.95,352.0,2770,2402,1631,1823,150.9,13.7,1010,9740,0.00,2.45,0.00,0.000,516,0.000,0.090,2769,994,1726,1630,1822,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9826,0.99,352.0,2770,995,1631,1825,138.2,14.1,1028,9833,0.12,2.47,0.00,0.000,3078,0.142,0.092,2822,2406,1726,1630,1822,0,0,0,0,0,0,14.59,14.55,28.83
$GC,10138,0.99,352.0,2822,2407,1630,1823,88.4,14.8,1060,10146,0.00,2.45,0.00,0.000,516,0.000,0.089,2825,1003,1726,1630,1822,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10250,0.99,352.0,2826,1003,1630,1822,71.8,15.2,1082,10256,0.00,2.45,0.00,0.000,1030,0.000,0.091,2825,2402,1726,1630,1822,0,0,0,0,0,0,28.83,14.59,28.83
$GC,10562,1.05,412.2,2825,2403,1631,1822,38.5,8.4,1114,10594,0.00,2.53,24.73,0.292,8708,0.000,0.089,2826,1003,1501,1399,1604,0,0,0,0,0,0,28.83,14.54,14.38
$GC,10689,1.15,475.7,2826,1003,1409,1606,28.5,8.2,1139,10727,0.12,2.45,29.65,0.260,11270,0.140,0.090,2882,2400,1240,1136,1344,0,0,0,0,0,0,14.59,14.55,14.38
$FREEZE,8.78,0.190,-1.424,2,1,0
$FREEZE,8.08,0.168,-1.422,2,1,0
$FREEZE,7.38,0.228,-1.420,2,1,0
$FREEZE,6.75,0.271,-1.418,2,1,0
$FREEZE,5.93,0.230,-1.418,2,1,0
$FREEZE,5.28,0.222,-1.417,2,1,0
$FREEZE,4.64,0.224,-1.417,2,1,0
$FREEZE,3.88,0.219,-1.416,2,1,0
$FREEZE,3.25,0.215,-1.415,2,1,0
$FREEZE,2.93,0.215,-1.415,2,1,0
$FREEZE,2.50,0.213,-1.415,2,1,0
$FREEZE,1.98,0.213,-1.414,2,1,0
$GC,11024,1.25,567.4,2883,2400,1139,1345,3.2,6.7,1176,11046,0.00,0.00,18.92,0.191,8450,0.000,0.000,2882,2400,1067,959,1175,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11047,end climb,SURFACE_DEPTH_REACHED
$STATE,11047,begin surface coast
$FREEZE,1.71,0.187,-1.415,2,1,0
$FREEZE,1.62,0.198,-0.186,2,1,0
$FREEZE,1.52,0.208,-0.705,2,1,0
$FINISH,1.5,1.010372
$STATE,11070,end surface coast,CONTROL_FINISHED_OK
$STATE,11070,begin surface
$SM_CCo,11093,60.05,0.187,0,0,498,657.89
$SM_GC,2.51,8.18,0.12,60.05,0.095,0.176,0.187,178,2477,498,-7.19,-0.74,657.89,0,0,0,0,0,0,14.54,14.55,14.43
$RAFOS_CLK,435649
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7228.39,-14549.98,180814,222605
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.17
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3866944
$TM_FREEKB,5132640
$24V_AH,12.51,66.505
$10V_AH,12.57,0.000
$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,21.600,101.775,497.625,60.050,0.000,0.000,0.000,471.775,0.000,0.000,31.967,0.000,7536.334,646.020,2948.728,229.380,0.000,2119.394,0.000,1742.000,1495.000,0.531,0.000
$DEVICE_MAMPS,450.585,175.950,1816.875,186.660,0.000,0.000,0.000,190.485,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11104.000,11169.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.916,25.869,0.000,0.000
$MEM,231440
$DATA_FILE_SIZE,40000,1182
$CAP_FILE_SIZE,157598,0
$CFSIZE,1047117824,1012285440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13415.28,0x2378b6,7,5
$SOUNDSPEED,1452.3
$GPS,190814,051619,7301.231,-14544.662,37,0.8,57,29.1