version: 66.12
glider: 197
mission: 6
dive: 235
start: 8 30 114 20 32 56
data:
$ID,197
$MISSION,6
$DIVE,235
$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,-8818.0771
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,300814,163503,7423.346,-14702.832,12,0.8,32,29.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-19.6
$GPS2,300814,163503,7423.346,-14702.832,12,0.8,32,29.2
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,336.0,68162,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.81,-145.9,2568,1801,673,815,0.0,0.0,0,101,0.00,0.00,-81.93,0.000,16386,0.000,0.000,2568,1800,2582,2509,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.81,-145.9,2569,1801,2510,2655,3.6,-3.4,8,143,0.98,2.60,-32.67,0.000,20740,0.069,0.124,2209,3212,3780,3762,3799,0,0,0,0,0,0,14.49,14.44,14.71
$GC,367,-0.74,-145.9,2209,3213,3764,3804,81.6,-23.5,61,374,0.17,2.42,0.00,0.000,3078,0.293,0.068,2244,1799,3783,3763,3804,0,0,0,0,0,0,14.27,14.47,28.83
$GC,672,-0.74,-145.9,2245,1800,3763,3805,135.1,-16.7,92,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,1799,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,973,-0.74,-145.9,2245,1800,3764,3805,182.3,-14.9,122,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1803,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1273,-0.76,-145.9,2245,1800,3763,3805,225.1,-13.6,152,1277,0.00,2.50,0.00,0.000,260,0.000,0.106,2237,3210,3783,3762,3805,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1312,-0.76,-145.9,2237,3208,3764,3806,230.8,-14.4,160,1317,0.00,2.40,0.00,0.000,1030,0.000,0.068,2237,1799,3784,3763,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1642,-0.78,-145.9,2237,1799,3763,3805,272.3,-11.8,182,1648,0.00,2.53,0.00,0.000,260,0.000,0.106,2228,3214,3784,3763,3805,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1693,-0.79,-145.9,2229,3215,3762,3805,278.5,-12.2,192,1697,0.00,2.40,0.00,0.000,1030,0.000,0.068,2228,1799,3783,3763,3804,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2004,-0.81,-145.9,2228,1798,3763,3806,314.7,-11.4,204,2009,0.00,2.42,0.00,0.000,516,0.000,0.092,2228,390,3783,3763,3804,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2064,-0.83,-145.9,2229,391,3763,3805,321.9,-11.9,216,2069,0.00,2.42,0.00,0.000,1030,0.000,0.084,2219,1795,3783,3763,3804,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2395,-0.85,-145.9,2220,1796,3763,3806,359.4,-11.3,232,2400,0.00,2.50,0.00,0.000,260,0.000,0.107,2210,3215,3786,3762,3810,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2444,-0.85,-145.9,2211,3215,3762,3805,365.7,-12.4,242,2449,0.00,2.40,0.00,0.000,1030,0.000,0.068,2210,1793,3783,3761,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2756,-0.86,-145.9,2212,1793,3762,3805,401.7,-11.6,254,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1792,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,-0.88,-145.9,2210,1793,3762,3805,436.7,-11.6,264,3059,0.00,2.50,0.00,0.000,260,0.000,0.106,2202,3212,3783,3761,3805,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3099,-0.88,-145.9,2202,3212,3761,3805,442.1,-12.2,273,3104,0.00,2.40,0.00,0.000,1030,0.000,0.067,2202,1795,3783,3761,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3416,-0.89,-145.9,2201,1795,3761,3805,478.8,-11.5,286,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1794,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3715,-0.90,-145.9,2202,1795,3762,3806,513.1,-11.5,296,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,1794,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4015,-0.92,-145.9,2202,1795,3761,3805,547.5,-11.4,306,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,1794,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4315,-0.93,-145.9,2202,1794,3761,3806,581.6,-11.3,316,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,1794,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4615,-0.94,-145.9,2202,1794,3761,3805,615.3,-11.2,326,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1793,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4915,-0.96,-145.9,2202,1794,3761,3806,648.8,-11.1,336,4919,0.00,2.50,0.00,0.000,260,0.000,0.105,2195,3217,3783,3761,3805,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4964,-0.96,-145.9,2195,3217,3762,3806,654.7,-12.2,346,4969,0.00,2.40,0.00,0.000,1030,0.000,0.065,2195,1796,3783,3761,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5276,-0.97,-145.9,2195,1796,3762,3806,689.4,-11.1,358,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,1795,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5575,-0.98,-145.9,2196,1796,3762,3806,722.3,-10.9,368,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,1795,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5842,begin apogee
$GC,5847,-0.16,0.0,2194,2190,3763,3806,752.4,-11.1,377,5972,0.90,0.00,122.15,1.846,10246,0.259,0.000,2432,2187,3183,3142,3225,0,0,0,0,0,0,14.47,28.83,13.29
$STATE,5973,end apogee,CONTROL_FINISHED_OK
$STATE,5973,begin climb
$GC,5975,0.81,145.9,2433,2190,3136,3225,755.5,0.0,381,6103,1.05,0.00,124.30,1.818,10246,0.139,0.000,2747,2190,2584,2504,2665,0,0,0,0,0,0,13.99,28.83,12.82
$GC,6386,0.78,145.9,2748,2190,2506,2661,705.7,14.4,395,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2190,2579,2498,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6685,0.75,145.9,2748,2190,2500,2660,662.5,14.5,405,6689,0.00,2.50,0.00,0.000,516,0.000,0.085,2758,767,2576,2494,2659,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6724,0.72,145.9,2758,768,2499,2659,656.7,14.1,413,6730,0.15,2.47,0.00,0.000,5126,0.285,0.083,2728,2181,2578,2498,2659,0,0,0,0,0,0,14.23,14.44,28.83
$GC,7046,0.71,145.9,2728,2182,2499,2659,613.6,13.4,427,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2181,2578,2498,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7345,0.70,145.9,2728,2182,2499,2658,573.8,13.3,437,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2179,2578,2499,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7645,0.69,145.9,2728,2182,2499,2659,534.0,13.1,447,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2181,2578,2498,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7945,0.68,145.9,2728,2182,2499,2659,495.0,12.9,457,7950,0.00,2.45,0.00,0.000,516,0.000,0.087,2736,767,2578,2498,2658,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7970,0.67,145.9,2737,766,2499,2658,491.7,12.8,462,7976,0.00,2.42,0.00,0.000,1030,0.000,0.083,2736,2180,2578,2498,2658,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8276,0.65,145.9,2737,2180,2498,2658,451.0,13.4,473,8277,0.15,0.00,0.00,0.000,4102,0.295,0.000,2705,2180,2578,2498,2658,0,0,0,0,0,0,14.45,28.83,28.83
$GC,8576,0.66,146.6,2706,2181,2499,2657,416.1,11.6,483,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2180,2578,2498,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8875,0.68,154.6,2706,2180,2499,2658,382.2,11.2,493,8884,0.00,0.00,8.05,1.496,8198,0.000,0.000,2705,2180,2550,2471,2629,0,0,0,0,0,0,28.83,28.83,14.02
$GC,9176,0.70,159.5,2706,2180,2468,2627,348.3,11.4,503,9181,0.00,0.00,3.53,1.342,8198,0.000,0.000,2705,2180,2531,2453,2609,0,0,0,0,0,0,28.83,28.83,13.69
$GC,9476,0.72,168.0,2706,2180,2456,2619,314.6,11.2,513,9488,0.00,0.00,10.75,1.418,8198,0.000,0.000,2705,2180,2496,2419,2573,0,0,0,0,0,0,28.83,28.83,14.01
$GC,9776,0.75,182.1,2705,2180,2415,2570,281.4,10.9,523,9795,0.00,2.47,12.93,1.362,8708,0.000,0.089,2705,762,2434,2359,2510,0,0,0,0,0,0,28.83,14.61,13.99
$GC,9820,0.80,198.4,2706,762,2361,2509,276.6,10.8,532,9841,0.15,2.45,14.38,1.333,11270,0.126,0.084,2771,2179,2370,2299,2442,0,0,0,0,0,0,14.63,14.57,13.94
$GC,10146,0.78,198.4,2772,2180,2296,2439,231.8,12.5,559,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2179,2367,2296,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10445,0.79,213.1,2772,2180,2296,2439,196.4,10.8,589,10460,0.00,0.00,13.07,1.281,8198,0.000,0.000,2771,2179,2313,2241,2386,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10757,0.81,233.9,2771,2180,2235,2383,163.0,10.5,620,10777,0.00,0.00,18.65,1.208,8198,0.000,0.000,2771,2177,2225,2149,2302,0,0,0,0,0,0,28.83,28.83,13.94
$GC,11077,0.84,256.4,2772,2180,2143,2300,129.6,10.4,652,11097,0.00,0.00,17.42,1.173,8198,0.000,0.000,2771,2179,2132,2049,2215,0,0,0,0,0,0,28.83,28.83,13.96
$GC,11397,0.88,284.0,2772,2180,2044,2215,97.0,10.2,684,11410,0.00,0.00,11.77,0.483,8198,0.000,0.000,2771,2179,2023,1937,2110,0,0,0,0,0,0,28.83,28.83,14.13
$GC,11707,0.97,360.9,2771,2179,1937,2116,68.8,7.5,715,11747,0.00,2.60,34.97,0.389,8452,0.000,0.103,2771,3590,1708,1617,1800,0,0,0,0,0,0,28.83,14.35,14.16
$GC,11802,1.03,378.6,2772,3590,1614,1801,59.8,10.7,734,11819,0.12,2.40,7.93,0.363,11270,0.134,0.062,2832,2173,1638,1542,1734,0,0,0,0,0,0,14.46,14.44,14.14
$GC,12117,1.13,472.2,2833,2173,1538,1733,36.7,6.6,767,12161,0.00,0.00,41.88,0.288,8710,0.000,0.000,2832,2172,1257,1151,1363,0,0,0,0,0,0,28.83,28.83,14.21
$FREEZE,8.53,-1.193,-1.440,2,2,0
$FREEZE,7.81,-1.186,-1.439,2,2,0
$FREEZE,6.96,-1.186,-1.438,2,2,0
$FREEZE,6.21,-1.183,-1.438,2,2,0
$FREEZE,5.27,-1.183,-1.437,2,2,0
$GC,13665,1.37,688.4,2833,2173,1142,1360,13.3,0.1,802,13755,0.30,2.50,80.10,0.209,10756,0.083,0.090,2957,771,498,413,584,0,0,0,0,0,0,14.46,14.31,14.19
$FREEZE,3.32,-1.171,-1.435,2,2,0
$FREEZE,2.38,-1.142,-1.434,2,2,0
$FREEZE,1.68,-1.142,-1.434,2,2,0
$STATE,13768,end climb,SURFACE_DEPTH_REACHED
$STATE,13768,begin surface coast
$FREEZE,1.62,-1.137,-1.434,2,2,0
$FREEZE,1.54,-1.137,-1.434,2,2,0
$FINISH,1.5,1.021136
$STATE,13778,end surface coast,CONTROL_FINISHED_OK
$STATE,13778,begin surface
$SM_CCo,13855,0.00,0.000,0,0,494,659.37
$SM_GC,2.52,8.48,1.85,0.00,0.091,0.080,0.000,181,1795,494,-7.18,-0.79,659.37,0,0,0,0,0,0,14.38,14.36,28.83
$RAFOS_CLK,22852
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-14707.26,300814,125353
$TT8_MAMPS,0.077896,0.077896
$HUMID,43.85
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3832896
$24V_AH,12.82,99.812
$10V_AH,12.99,0.000
$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,12.450,59.875,521.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10264.417,648.190,1693.506,167.211,0.000,1283.490,0.000,1222.606,1439.000,0.531,0.000
$DEVICE_MAMPS,294.525,123.930,1845.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13820.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.922,0.000,0.000,0.000
$MEM,189460
$DATA_FILE_SIZE,26681,818
$CAP_FILE_SIZE,136404,0
$CFSIZE,1047117824,999309312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5990.27,0x234482,1,24
$SOUNDSPEED,1448.7
$GPS,300814,234443,7426.672,-14702.603,38,0.9,58,29.3