version: 66.12
glider: 197
mission: 6
dive: 221
start: 8 28 114 16 54 59
data:
$ID,197
$MISSION,6
$DIVE,221
$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,-8435.5166
$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,28
$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,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
$GPS1,280814,164714,7402.465,-14656.709,37,0.8,57,29.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-70.8
$GPS2,280814,165439,7402.482,-14656.608,10,0.8,30,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,332.6,106570,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.81,-145.9,178,1797,435,559,0.0,0.0,0,90,0.00,0.00,-72.05,0.000,16386,0.000,0.000,176,1799,2153,2156,2151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.81,-145.9,177,1799,2158,2152,3.3,-1.7,7,146,10.20,2.55,-38.67,0.000,18692,0.425,0.119,2212,3212,3780,3761,3799,0,0,0,0,0,0,14.09,14.38,14.65
$GC,157,-0.67,-145.9,2212,3213,3762,3801,18.6,-32.3,20,163,0.28,2.42,0.00,0.000,3078,0.331,0.064,2269,1798,3782,3762,3802,0,0,0,0,0,0,14.16,14.42,28.83
$GC,461,-0.66,-145.9,2269,1798,3762,3802,90.3,-16.6,51,466,0.00,2.47,0.00,0.000,516,0.000,0.090,2269,387,3783,3761,3805,0,0,0,0,0,0,28.83,14.40,28.83
$GC,692,-0.67,-145.9,2269,387,3762,3805,127.0,-15.1,97,697,0.00,2.47,0.00,0.000,1030,0.000,0.084,2262,1798,3783,3761,3805,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1002,-0.69,-145.9,2263,1799,3762,3805,172.5,-14.5,129,1007,0.00,2.47,0.00,0.000,516,0.000,0.089,2263,389,3783,3761,3805,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1233,-0.70,-145.9,2263,389,3762,3805,204.7,-12.8,175,1238,0.00,2.47,0.00,0.000,1030,0.000,0.086,2257,1806,3783,3761,3805,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1542,-0.73,-145.9,2257,1807,3762,3805,243.9,-11.9,207,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,1806,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1844,-0.77,-145.9,2257,1807,3761,3804,277.9,-11.0,221,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,1809,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2143,-0.81,-145.9,2257,1807,3761,3812,309.8,-10.4,231,2147,0.00,2.50,0.00,0.000,260,0.000,0.106,2246,3218,3780,3755,3805,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2228,-0.84,-145.9,2242,3218,3760,3805,319.0,-10.7,248,2234,0.00,2.40,0.00,0.000,1030,0.000,0.068,2246,1800,3782,3760,3805,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2534,-0.88,-145.9,2246,1800,3760,3804,351.6,-10.5,259,2535,0.12,0.00,0.00,0.000,4102,0.147,0.000,2192,1799,3779,3754,3805,0,0,0,0,0,0,14.71,28.83,28.83
$GC,2832,-0.88,-145.9,2192,1799,3760,3805,389.4,-12.6,269,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3132,-0.88,-145.9,2192,1800,3761,3805,426.9,-12.4,279,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3432,-0.88,-145.9,2192,1800,3760,3806,463.3,-12.1,289,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3732,-0.88,-145.9,2192,1799,3759,3805,499.5,-12.1,299,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4032,-0.88,-145.9,2192,1799,3760,3806,535.5,-12.0,309,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.88,-145.9,2192,1799,3759,3805,570.8,-11.8,319,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.88,-145.9,2192,1800,3760,3806,606.1,-11.7,329,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,-0.88,-145.9,2192,1799,3759,3805,640.9,-11.6,339,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,-0.88,-145.9,2192,1799,3759,3806,675.4,-11.5,349,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5532,-0.88,-145.9,2192,1799,3760,3805,709.8,-11.5,359,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5832,-0.88,-145.9,2192,1800,3759,3806,744.3,-11.5,369,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1799,3782,3759,3806,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5890,begin apogee
$GC,5895,-0.16,0.0,2189,2194,3760,3806,751.2,-11.5,371,6021,0.93,0.00,123.47,1.840,10246,0.256,0.000,2434,2193,3181,3136,3227,0,0,0,0,0,0,14.50,28.83,13.31
$STATE,6022,end apogee,CONTROL_FINISHED_OK
$STATE,6022,begin climb
$GC,6024,0.81,145.9,2434,2193,3129,3224,754.2,0.0,375,6152,1.05,0.00,123.70,1.818,10502,0.137,0.000,2750,2193,2585,2504,2666,0,0,0,0,0,0,13.99,28.83,12.83
$GC,6432,0.78,145.9,2751,2193,2492,2658,702.4,15.0,399,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2193,2574,2491,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6732,0.75,145.9,2751,2192,2492,2656,658.1,14.8,409,6737,0.00,2.53,0.00,0.000,516,0.000,0.085,2757,760,2573,2491,2656,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6767,0.72,145.9,2758,759,2492,2656,652.8,15.0,416,6773,0.15,2.50,0.00,0.000,5126,0.288,0.083,2727,2185,2573,2491,2656,0,0,0,0,0,0,14.27,14.43,28.83
$GC,7094,0.70,145.9,2727,2186,2492,2656,608.8,13.4,431,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2185,2573,2491,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7392,0.69,145.9,2727,2186,2492,2656,568.5,13.4,441,7397,0.00,2.45,0.00,0.000,516,0.000,0.086,2736,767,2573,2492,2655,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7432,0.69,145.9,2736,767,2492,2656,562.9,14.2,449,7437,0.00,2.45,0.00,0.000,1030,0.000,0.084,2736,2180,2573,2491,2655,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7754,0.67,145.9,2737,2181,2492,2656,518.7,13.7,463,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2181,2573,2491,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8053,0.66,145.9,2736,2181,2492,2654,478.0,13.5,473,8058,0.15,2.45,0.00,0.000,4612,0.298,0.086,2713,762,2573,2491,2655,0,0,0,0,0,0,14.52,14.69,28.83
$GC,8092,0.66,145.9,2712,762,2492,2656,473.1,12.2,481,8098,0.00,2.45,0.00,0.000,1030,0.000,0.085,2713,2180,2573,2491,2655,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8414,0.66,145.9,2713,2181,2492,2655,434.4,12.2,495,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2180,2573,2491,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8712,0.66,145.9,2713,2181,2492,2656,398.3,12.1,505,8718,0.00,2.45,0.00,0.000,516,0.000,0.086,2717,764,2573,2491,2655,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8752,0.66,145.9,2717,765,2491,2655,393.6,12.0,513,8758,0.00,2.45,0.00,0.000,1030,0.000,0.085,2717,2185,2573,2491,2655,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9074,0.66,145.9,2717,2186,2492,2656,354.3,12.2,527,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2185,2573,2491,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9373,0.66,146.9,2717,2186,2492,2655,318.9,11.6,537,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2185,2572,2490,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9673,0.67,158.7,2717,2186,2492,2656,285.5,11.0,547,9688,0.00,2.45,11.12,1.363,8708,0.000,0.085,2717,763,2527,2448,2607,0,0,0,0,0,0,28.83,14.70,14.09
$GC,9723,0.70,172.1,2717,763,2448,2602,280.0,10.9,557,9739,0.00,2.45,11.80,1.353,9222,0.000,0.084,2717,2184,2479,2402,2556,0,0,0,0,0,0,28.83,14.66,14.04
$GC,10044,0.73,193.4,2717,2185,2393,2549,244.7,10.5,577,10065,0.00,0.00,18.15,1.291,8198,0.000,0.000,2717,2184,2387,2312,2463,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10365,0.78,225.7,2717,2185,2307,2460,212.5,9.9,609,10399,0.00,2.55,27.05,1.226,8708,0.000,0.087,2717,764,2255,2178,2333,0,0,0,0,0,0,28.83,14.44,13.91
$GC,10430,0.86,261.4,2717,765,2179,2331,206.3,9.7,620,10466,0.15,2.47,30.35,1.200,11270,0.122,0.084,2784,2179,2113,2028,2198,0,0,0,0,0,0,14.45,14.41,13.78
$GC,10764,0.86,261.4,2784,2180,2016,2194,162.7,12.8,657,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2179,2105,2016,2194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12127,1.01,474.2,2784,2179,2014,2194,126.0,0.3,687,12318,0.00,0.00,182.35,1.035,8198,0.000,0.000,2783,2179,1245,1141,1349,0,0,0,0,0,0,28.83,28.83,13.52
$GC,12616,1.09,488.9,2784,2180,1129,1340,64.0,10.8,736,12628,0.17,2.53,5.43,0.350,10756,0.112,0.086,2865,766,1187,1081,1293,0,0,0,0,0,0,14.30,14.26,14.00
$GC,12658,1.10,488.9,2866,765,1086,1293,57.7,16.0,744,12663,0.00,2.53,0.00,0.000,1030,0.000,0.086,2865,2182,1189,1086,1293,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12969,1.18,531.8,2865,2184,1089,1293,21.1,9.3,776,12994,0.00,2.53,20.62,0.244,8452,0.000,0.101,2866,3588,1011,909,1113,0,0,0,0,0,0,28.83,14.36,14.23
$GC,13045,1.26,578.2,2865,3589,911,1113,13.9,9.2,791,13071,0.00,2.40,20.90,0.221,9222,0.000,0.062,2873,2172,823,724,922,0,0,0,0,0,0,28.83,14.41,14.26
$FREEZE,8.27,-1.121,-1.441,2,1,0
$FREEZE,7.41,-1.120,-1.440,2,1,0
$FREEZE,6.63,-1.127,-1.439,2,1,0
$FREEZE,5.67,-1.131,-1.439,2,1,0
$FREEZE,4.84,-1.131,-1.438,2,1,0
$FREEZE,3.88,-1.130,-1.437,2,1,0
$FREEZE,3.07,-1.127,-1.436,2,1,0
$FREEZE,2.18,-1.125,-1.436,2,1,0
$FREEZE,1.51,-1.114,-1.435,2,1,0
$STATE,13187,end climb,SURFACE_DEPTH_REACHED
$STATE,13187,begin surface coast
$FREEZE,1.46,-1.089,-0.113,2,1,0
$FINISH,1.5,1.001420
$STATE,13197,end surface coast,FINISH_DEPTH_REACHED
$STATE,13197,begin surface
$SM_CCo,13213,34.67,0.190,0,0,499,658.39
$SM_GC,2.46,8.23,0.65,34.67,0.097,0.088,0.190,180,1798,499,-7.18,0.79,658.39,0,0,0,0,0,0,14.46,14.47,14.35
$RAFOS_CLK,111163
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7319.74,-14642.48,280814,132637
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.01
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3839168
$24V_AH,12.83,95.207
$10V_AH,13.02,0.000
$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,21.425,60.750,574.950,34.675,0.000,0.000,0.000,246.975,0.000,0.000,32.818,0.000,9788.845,708.488,1930.265,204.357,0.000,1608.156,0.000,1206.042,1499.000,0.531,0.000
$DEVICE_MAMPS,425.340,118.575,1839.825,189.720,0.000,0.000,0.000,164.475,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13229.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.399,0.000,0.000,0.000
$MEM,197116
$DATA_FILE_SIZE,26679,809
$CAP_FILE_SIZE,136584,0
$CFSIZE,1047117824,1001013248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12196.40,0x2378b6,7,5
$SOUNDSPEED,1448.9
$GPS,280814,201943,7403.853,-14657.181,41,0.9,61,29.1