version: 66.12
glider: 197
mission: 6
dive: 219
start: 8 28 114 9 58 49
data:
$ID,197
$MISSION,6
$DIVE,219
$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,-8432.9912
$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
$GPS1,280814,054439,7357.934,-14654.590,181,99.0,181,29.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-63.3
$GPS2,280814,054439,7357.934,-14654.590,181,99.0,181,29.1
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,34,-0.81,-145.9,178,1798,424,565,0.0,0.0,0,53,0.00,0.00,-10.80,0.000,16386,0.000,0.000,177,1797,782,731,834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.81,-145.9,177,1797,732,835,3.0,0.0,1,192,9.85,2.53,-109.62,0.000,19204,0.412,0.110,2223,386,3780,3761,3799,0,0,0,0,0,0,14.23,14.46,14.73
$GC,417,-0.76,-145.9,2223,386,3764,3804,78.6,-21.9,73,426,0.15,2.47,0.00,0.000,3078,0.312,0.084,2245,1797,3785,3767,3803,0,0,0,0,0,0,14.31,14.47,28.83
$GC,732,-0.76,-145.9,2245,1799,3763,3803,134.3,-16.0,105,742,0.00,2.45,0.00,0.000,516,0.000,0.088,2245,390,3784,3763,3805,0,0,0,0,0,0,28.83,14.54,28.83
$GC,967,-0.76,-145.9,2245,389,3763,3804,171.8,-14.8,151,976,0.00,2.45,0.00,0.000,1030,0.000,0.084,2237,1800,3783,3763,3803,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1282,-0.76,-145.9,2237,1800,3763,3804,218.0,-13.2,183,1292,0.00,2.45,0.00,0.000,516,0.000,0.089,2236,389,3783,3763,3803,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1331,-0.76,-145.9,2237,389,3763,3803,225.0,-13.7,192,1341,0.00,2.47,0.00,0.000,1030,0.000,0.084,2226,1808,3783,3763,3803,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1646,-0.76,-145.9,2226,1808,3763,3804,265.4,-12.5,216,1656,0.00,2.47,0.00,0.000,260,0.000,0.106,2215,3214,3783,3763,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1696,-0.76,-145.9,2215,3214,3763,3803,271.9,-13.4,225,1706,0.15,2.40,0.00,0.000,3078,0.277,0.067,2247,1798,3783,3763,3803,0,0,0,0,0,0,14.44,14.62,28.83
$GC,2016,-0.79,-145.9,2247,1798,3763,3803,307.6,-10.9,238,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1798,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2317,-0.83,-145.9,2247,1799,3763,3804,338.5,-10.1,248,2327,0.00,2.50,0.00,0.000,260,0.000,0.106,2239,3213,3782,3762,3803,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2366,-0.86,-145.9,2240,3213,3762,3804,344.0,-10.7,257,2376,0.00,2.40,0.00,0.000,1030,0.000,0.068,2240,1797,3782,3761,3803,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2686,-0.89,-145.9,2240,1797,3762,3804,377.0,-10.3,270,2696,0.00,2.50,0.00,0.000,260,0.000,0.106,2230,3212,3782,3761,3803,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2726,-0.91,-145.9,2230,3213,3762,3799,381.4,-11.0,277,2735,0.00,2.40,0.00,0.000,1030,0.000,0.067,2230,1795,3782,3761,3803,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3055,-0.94,-145.9,2231,1795,3761,3804,416.5,-10.7,292,3065,0.12,0.00,0.00,0.000,4102,0.144,0.000,2173,1794,3782,3761,3803,0,0,0,0,0,0,14.73,28.83,28.83
$GC,3356,-0.92,-145.9,2173,1795,3762,3804,455.8,-13.1,302,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1794,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-0.91,-145.9,2173,1794,3762,3804,495.1,-13.1,312,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1794,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3956,-0.89,-145.9,2173,1795,3762,3804,534.4,-13.1,322,3966,0.12,0.00,0.00,0.000,2054,0.290,0.000,2197,1794,3782,3761,3803,0,0,0,0,0,0,14.47,28.83,28.83
$GC,4257,-0.89,-145.9,2197,1794,3762,3805,569.2,-11.5,332,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1794,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-0.89,-145.9,2197,1794,3762,3805,603.5,-11.3,342,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1793,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4857,-0.89,-145.9,2198,1794,3761,3805,637.6,-11.3,352,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1792,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,-0.91,-145.9,2197,1794,3761,3805,671.7,-11.3,362,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1793,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5457,-0.92,-145.9,2197,1794,3762,3806,705.1,-11.1,372,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1793,3783,3761,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5757,-0.93,-145.9,2197,1794,3762,3807,738.2,-11.2,382,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1794,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5873,begin apogee
$GC,5878,-0.16,0.0,2197,2189,3762,3806,751.4,-11.0,386,6008,0.90,0.00,122.78,1.838,10246,0.251,0.000,2436,2189,3182,3137,3227,0,0,0,0,0,0,14.51,28.83,13.31
$STATE,6009,end apogee,CONTROL_FINISHED_OK
$STATE,6009,begin climb
$GC,6011,0.81,145.9,2436,2189,3129,3225,754.3,0.0,390,6143,1.02,0.00,123.75,1.817,10246,0.132,0.000,2748,2189,2586,2507,2666,0,0,0,0,0,0,14.01,28.83,12.83
$GC,6436,0.78,145.9,2748,2190,2497,2658,703.8,14.7,404,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2189,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6740,0.75,145.9,2748,2190,2496,2657,659.0,14.8,414,6773,0.00,2.50,0.00,0.000,516,0.000,0.084,2758,766,2575,2496,2655,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6841,0.72,145.9,2758,766,2497,2656,644.3,14.9,418,6875,0.12,2.47,0.00,0.000,5126,0.257,0.083,2726,2180,2575,2495,2655,0,0,0,0,0,0,14.23,14.39,28.83
$GC,7196,0.72,145.9,2728,2181,2496,2656,595.9,13.3,430,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2180,2575,2495,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8257,0.71,145.9,2728,2181,2496,2652,555.5,13.2,440,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2180,2575,2496,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8561,0.70,145.9,2726,2186,2496,2656,515.2,13.1,450,8594,0.00,2.45,0.00,0.000,516,0.000,0.086,2736,766,2575,2495,2655,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8619,0.69,145.9,2736,767,2496,2656,507.9,13.1,452,8653,0.00,2.45,0.00,0.000,1030,0.000,0.083,2736,2183,2575,2495,2655,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9020,0.67,145.9,2735,2184,2496,2656,453.5,13.4,466,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2183,2575,2495,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9325,0.65,145.9,2736,2184,2497,2662,413.1,13.2,476,9335,0.15,0.00,0.00,0.000,4102,0.297,0.000,2704,2183,2575,2495,2655,0,0,0,0,0,0,14.45,28.83,28.83
$GC,9628,0.67,152.6,2705,2184,2496,2656,378.0,11.3,486,9639,0.00,0.00,2.60,0.878,8198,0.000,0.000,2704,2183,2559,2479,2640,0,0,0,0,0,0,28.83,28.83,13.59
$GC,9932,0.69,159.1,2705,2184,2491,2653,344.0,11.3,496,9964,0.00,2.50,11.12,1.427,8708,0.000,0.084,2712,767,2525,2449,2601,0,0,0,0,0,0,28.83,14.58,13.95
$GC,10011,0.71,163.4,2713,768,2449,2600,335.0,11.4,499,10045,0.00,2.42,0.82,0.251,9222,0.000,0.084,2712,2175,2518,2440,2596,0,0,0,0,0,0,28.83,14.56,14.38
$GC,10390,0.72,165.6,2712,2176,2444,2601,290.5,11.5,512,10400,0.00,0.00,2.42,0.766,8198,0.000,0.000,2712,2176,2507,2430,2584,0,0,0,0,0,0,28.83,28.83,13.61
$GC,10694,0.75,178.4,2713,2176,2443,2597,256.8,10.9,522,10729,0.00,2.55,16.50,1.308,8452,0.000,0.099,2712,3593,2446,2369,2523,0,0,0,0,0,0,28.83,14.53,13.95
$GC,10775,0.75,187.1,2713,3593,2367,2524,247.6,11.2,525,10809,0.00,2.38,4.10,1.344,9222,0.000,0.062,2717,2170,2427,2353,2501,0,0,0,0,0,0,28.83,14.55,13.83
$GC,11510,0.84,257.2,2717,2170,2365,2504,181.3,7.9,558,11590,0.12,2.50,63.20,1.144,10756,0.142,0.084,2790,767,2126,2047,2206,0,0,0,0,0,0,14.59,14.28,13.78
$GC,11613,0.86,289.2,2791,768,2045,2200,170.9,9.9,562,11671,0.00,2.47,26.42,1.154,9222,0.000,0.084,2790,2174,1995,1906,2084,0,0,0,0,0,0,28.83,14.31,13.73
$GC,12326,0.89,303.7,2791,2174,1896,2083,83.5,10.9,594,12359,0.00,0.00,5.45,0.400,8198,0.000,0.000,2790,2174,1945,1854,2036,0,0,0,0,0,0,28.83,28.83,14.12
$GC,13019,1.07,485.0,2791,2175,1858,2040,45.5,2.0,625,13119,0.12,0.00,82.40,0.312,10758,0.137,0.000,2851,2174,1202,1098,1306,0,0,0,0,0,0,14.46,28.83,14.13
$FREEZE,7.84,-1.132,-1.441,2,2,0
$FREEZE,6.54,-1.141,-1.439,2,2,0
$FREEZE,5.37,-1.141,-1.439,2,2,0
$FREEZE,3.85,-1.151,-1.437,2,2,0
$FREEZE,2.60,-1.154,-1.436,2,2,0
$FREEZE,1.50,-1.171,-1.435,2,2,0
$STATE,13621,end climb,SURFACE_DEPTH_REACHED
$STATE,13621,begin surface coast
$FREEZE,1.58,-1.168,-1.435,2,2,0
$FREEZE,1.54,-1.161,-1.434,2,2,0
$FREEZE,1.51,-1.172,-1.435,2,2,0
$FINISH,1.5,1.021157
$STATE,13644,end surface coast,CONTROL_FINISHED_OK
$STATE,13644,begin surface
$SM_CCo,13662,73.93,0.190,0,0,498,657.89
$SM_GC,2.53,8.25,0.65,73.93,0.109,0.087,0.190,175,1803,498,-7.18,0.99,657.89,0,0,0,0,0,0,14.50,14.49,14.34
$RAFOS_CLK,551763
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7312.24,-14655.30,280814,053348
$TT8_MAMPS,0.043442,0.043442
$HUMID,43.18
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,11.80
$XPDR_PINGS,0
$SC_FREEKB,3840064
$TM_FREEKB,4057044
$24V_AH,12.83,94.469
$10V_AH,12.92,0.000
$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,21.100,55.550,461.575,73.925,0.000,0.000,0.000,122.450,0.000,0.000,183.292,0.000,5992.954,445.831,6843.860,328.213,0.000,1838.816,0.000,984.187,1481.000,0.531,0.000
$DEVICE_MAMPS,411.570,110.160,1838.295,189.720,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13686.000,321.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.350,7.396,0.000,0.000
$MEM,198240
$DATA_FILE_SIZE,23404,655
$CAP_FILE_SIZE,252955,0
$CFSIZE,1047117824,1001144320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,15230.66,0x2378b6,7,5
$SOUNDSPEED,1449.1
$GPS,280814,131526,7400.840,-14656.928,30,1.0,51,29.1