version: 66.12
glider: 197
mission: 6
dive: 202
start: 8 25 114 16 56 5
data:
$ID,197
$MISSION,6
$DIVE,202
$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,-7685.7485
$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
$GPS1,250814,164213,7344.746,-14653.486,40,0.8,60,28.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-72.4
$GPS2,250814,165545,7344.739,-14653.466,9,0.9,29,28.9
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7400.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,334.7,28319,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.81,-145.9,176,1802,425,563,0.0,0.0,0,74,0.00,0.00,-51.62,0.000,16386,0.000,0.000,172,1801,1717,1727,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.81,-145.9,176,1802,1726,1708,3.0,-1.3,5,159,10.43,2.47,-64.88,0.000,18948,0.431,0.106,2220,392,3778,3759,3798,0,0,0,0,0,0,14.01,14.29,14.52
$GC,259,-0.74,-145.9,2220,392,3762,3802,44.5,-28.9,41,265,0.17,2.50,0.00,0.000,3078,0.314,0.084,2249,1796,3781,3762,3801,0,0,0,0,0,0,14.12,14.28,28.83
$GC,571,-0.72,-145.9,2250,1797,3761,3803,106.9,-17.1,73,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,1796,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,870,-0.72,-145.9,2249,1797,3758,3803,155.1,-14.8,103,877,0.00,2.55,0.00,0.000,260,0.000,0.104,2240,3218,3782,3762,3803,0,0,0,0,0,0,28.83,14.39,28.83
$GC,932,-0.72,-145.9,2241,3217,3762,3803,164.8,-15.6,115,938,0.00,2.42,0.00,0.000,1030,0.000,0.066,2240,1804,3782,3761,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1243,-0.72,-145.9,2240,1804,3763,3803,210.8,-14.3,147,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1803,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1543,-0.74,-145.9,2240,1804,3762,3803,249.0,-12.0,177,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1803,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-0.76,-145.9,2241,1804,3762,3804,285.4,-11.4,188,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1803,3786,3769,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2153,-0.79,-145.9,2240,1804,3761,3803,318.2,-10.8,198,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1803,3786,3761,3811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2453,-0.82,-145.9,2241,1803,3761,3803,350.0,-10.5,208,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1804,3781,3761,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2754,-0.86,-145.9,2240,1804,3761,3803,381.0,-10.3,218,2760,0.00,2.53,0.00,0.000,260,0.000,0.104,2229,3218,3781,3760,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2805,-0.88,-145.9,2230,3218,3760,3803,386.7,-11.2,228,2811,0.00,2.42,0.00,0.000,1030,0.000,0.067,2229,1801,3781,3759,3803,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3118,-0.91,-145.9,2230,1800,3760,3804,419.1,-10.3,240,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1799,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3416,-0.94,-145.9,2230,1800,3759,3803,450.1,-10.3,250,3419,0.12,0.00,0.00,0.000,4102,0.146,0.000,2176,1799,3781,3760,3803,0,0,0,0,0,0,14.53,28.83,28.83
$GC,3717,-0.93,-145.9,2176,1800,3755,3804,487.9,-12.7,260,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1799,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4016,-0.93,-145.9,2176,1800,3760,3804,526.3,-12.7,270,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,1799,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,-0.92,-145.9,2177,1800,3759,3804,564.4,-12.7,280,4323,0.00,2.45,0.00,0.000,516,0.000,0.089,2176,394,3781,3759,3804,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4408,-0.90,-145.9,2177,389,3759,3804,576.2,-13.3,298,4415,0.15,2.47,0.00,0.000,3078,0.291,0.083,2196,1805,3783,3763,3804,0,0,0,0,0,0,14.34,14.47,28.83
$GC,4740,-0.90,-145.9,2197,1805,3760,3807,614.5,-11.3,314,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1805,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5040,-0.91,-145.9,2197,1805,3760,3805,648.5,-11.3,324,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1804,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5341,-0.92,-145.9,2197,1805,3759,3805,682.3,-11.2,334,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1810,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5640,-0.93,-145.9,2197,1805,3760,3806,715.6,-11.1,344,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1805,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5940,-0.95,-145.9,2197,1806,3760,3806,748.4,-11.0,354,5948,0.00,2.50,0.00,0.000,260,0.000,0.102,2188,3215,3782,3759,3805,0,0,0,0,0,0,28.83,14.48,28.83
$STATE,5955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5955,begin apogee
$GC,5961,-0.16,0.0,2188,2161,3760,3805,750.2,-10.7,357,6089,0.95,0.00,123.28,1.843,10246,0.258,0.000,2434,2159,3182,3136,3228,0,0,0,0,0,0,14.34,28.83,13.20
$STATE,6091,end apogee,CONTROL_FINISHED_OK
$STATE,6091,begin climb
$GC,6093,0.81,145.9,2434,2160,3129,3225,753.5,0.0,361,6230,1.05,0.00,125.03,1.817,10246,0.134,0.000,2755,2159,2581,2500,2662,0,0,0,0,0,0,13.91,28.83,12.72
$GC,6528,0.78,145.9,2751,2160,2495,2659,698.5,14.8,376,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2159,2576,2495,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6828,0.75,145.9,2751,2160,2496,2658,653.8,14.8,386,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2159,2576,2495,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7128,0.72,145.9,2751,2160,2495,2658,609.5,14.7,396,7134,0.00,2.42,0.00,0.000,516,0.000,0.086,2760,779,2576,2495,2657,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7164,0.69,145.9,2761,780,2495,2657,604.0,15.0,403,7170,0.20,2.47,0.00,0.000,5126,0.275,0.084,2716,2188,2575,2494,2656,0,0,0,0,0,0,14.28,14.41,28.83
$GC,7490,0.69,145.9,2716,2189,2492,2657,562.2,12.7,418,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2188,2575,2494,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7790,0.69,145.9,2717,2189,2495,2657,524.6,12.5,428,7797,0.00,2.45,0.00,0.000,516,0.000,0.088,2717,785,2575,2495,2656,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7821,0.69,145.9,2717,781,2496,2657,520.7,11.7,434,7827,0.00,2.42,0.00,0.000,1030,0.000,0.084,2717,2180,2575,2495,2656,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8153,0.69,145.9,2717,2181,2495,2657,478.8,12.7,450,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2180,2575,2495,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8452,0.69,145.9,2722,2181,2495,2656,440.7,12.6,460,8459,0.00,2.45,0.00,0.000,516,0.000,0.088,2717,780,2575,2495,2656,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8488,0.69,145.9,2718,781,2496,2657,436.2,12.3,467,8495,0.00,2.45,0.00,0.000,1030,0.000,0.085,2717,2184,2575,2495,2656,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8815,0.69,145.9,2717,2186,2496,2653,395.7,12.4,482,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2185,2575,2495,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9115,0.69,145.9,2717,2185,2495,2656,359.1,12.2,492,9121,0.00,2.45,0.00,0.000,516,0.000,0.086,2717,782,2575,2495,2656,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9141,0.69,145.9,2717,782,2496,2657,355.7,12.8,497,9148,0.00,2.45,0.00,0.000,1030,0.000,0.085,2717,2187,2575,2495,2655,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9446,0.69,145.9,2717,2187,2495,2657,319.5,11.9,508,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2187,2575,2495,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9746,0.70,151.8,2717,2188,2496,2656,285.5,11.3,518,9750,0.00,0.00,1.35,0.289,8198,0.000,0.000,2717,2187,2563,2482,2644,0,0,0,0,0,0,28.83,28.83,14.17
$GC,10047,0.72,171.7,2718,2188,2494,2656,253.1,10.6,528,10072,0.00,0.00,21.60,1.277,8198,0.000,0.000,2717,2187,2484,2403,2565,0,0,0,0,0,0,28.83,28.83,13.89
$GC,10347,0.78,220.4,2717,2187,2397,2553,222.9,9.0,554,10393,0.00,2.50,40.28,1.208,8708,0.000,0.085,2717,783,2278,2200,2356,0,0,0,0,0,0,28.83,14.29,13.74
$GC,10420,0.85,253.6,2717,784,2194,2352,215.9,9.9,568,10455,0.15,2.47,28.40,1.206,11270,0.125,0.084,2782,2179,2144,2061,2228,0,0,0,0,0,0,14.33,14.28,13.69
$GC,10760,0.85,253.6,2783,2180,2048,2224,169.6,13.2,606,10766,0.00,2.53,0.00,0.000,260,0.000,0.103,2782,3590,2135,2047,2224,0,0,0,0,0,0,28.83,14.35,28.83
$GC,10776,0.84,253.6,2783,3591,2048,2223,167.3,14.2,609,10784,0.15,2.38,0.00,0.000,5126,0.286,0.060,2763,2190,2135,2047,2223,0,0,0,0,0,0,14.24,14.38,28.83
$GC,12137,0.88,274.5,2763,2189,2043,2220,132.8,10.5,640,12159,0.00,2.60,16.55,1.172,8452,0.000,0.103,2763,3591,2059,1969,2150,0,0,0,0,0,0,28.83,14.33,13.87
$GC,12184,0.88,274.5,2762,3592,1966,2147,127.5,12.3,648,12192,0.00,2.42,0.00,0.000,1030,0.000,0.062,2770,2174,2056,1966,2147,0,0,0,0,0,0,28.83,14.36,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b4e5a63f2;,*09
$MODEM_MSG,CACST,6,0,20140825201851.788706,3,147,-2,0432,0150,217,04,04,04,04,1,004,000,0,5,1,0,150,11.5,8.7,-100,-5.7,-01,-0.3,19,900,0025*15
$GC,12491,0.92,302.6,2770,2170,1964,2146,94.7,10.1,679,12516,0.00,2.55,12.12,0.461,8708,0.000,0.090,2770,773,1948,1855,2042,0,0,0,0,0,0,28.83,14.27,14.01
$GC,12576,0.99,327.3,2770,773,1860,2044,85.8,10.3,695,12599,0.12,2.53,12.20,0.433,11270,0.135,0.085,2821,2188,1846,1755,1938,0,0,0,0,0,0,14.31,14.27,14.02
$GC,12896,1.06,405.9,2821,2189,1758,1939,50.7,7.4,729,12938,0.00,0.00,36.42,0.329,8198,0.000,0.000,2820,2188,1526,1427,1626,0,0,0,0,0,0,28.83,28.83,14.11
$GC,13238,1.20,515.6,2821,2189,1425,1627,23.9,5.8,763,13294,0.15,2.55,49.17,0.248,10500,0.121,0.100,2891,3596,1078,974,1182,0,0,0,0,0,0,14.38,14.26,14.14
$FREEZE,8.67,-1.148,-1.444,2,1,0
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$STATE,13838,end climb,NO_VERTICAL_VELOCITY
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$STATE,13853,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13853,begin surface
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$XPDR_PINGS,0
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$TM_FREEKB,4297268
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$10V_AH,12.81,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.000,46.895,0.000,0.000
$MEM,207468
$DATA_FILE_SIZE,29991,850
$CAP_FILE_SIZE,160997,0
$CFSIZE,1047117824,1004322816
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13577.17,0x2378b6,7,5
$INTR,1,148.68,0x234484,0,24
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