version: 66.12
glider: 197
mission: 6
dive: 275
start: 9 5 114 22 10 22
data:
$ID,197
$MISSION,6
$DIVE,275
$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,-10152.945
$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,19
$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
$GPS1,050914,220126,7404.455,-14657.785,37,0.8,57,29.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-71.7
$GPS2,050914,221003,7404.446,-14657.851,13,0.8,33,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7324.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,147.7,75021,-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,15,begin dive
$GC,17,-0.81,-145.9,179,1801,434,559,0.0,0.0,0,60,0.00,0.00,-41.30,0.000,16386,0.000,0.000,178,1801,1512,1509,1516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.81,-145.9,179,1801,1511,1516,3.0,-1.1,4,161,10.12,2.55,-78.97,0.000,19204,0.417,0.120,2215,3219,3780,3761,3799,0,0,0,0,0,0,14.09,14.35,14.64
$GC,386,-0.75,-145.9,2215,3220,3763,3804,80.6,-21.2,69,392,0.15,2.42,0.00,0.000,3078,0.293,0.065,2245,1802,3783,3763,3803,0,0,0,0,0,0,14.17,14.38,28.83
$GC,691,-0.75,-145.9,2244,1802,3763,3804,133.2,-15.8,100,696,0.00,2.53,0.00,0.000,260,0.000,0.102,2237,3217,3782,3762,3803,0,0,0,0,0,0,28.83,14.40,28.83
$GC,921,-0.75,-145.9,2237,3217,3763,3804,171.4,-16.3,146,926,0.00,2.42,0.00,0.000,1030,0.000,0.065,2237,1799,3783,3762,3804,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1231,-0.75,-145.9,2237,1798,3763,3804,216.9,-14.2,178,1236,0.00,2.53,0.00,0.000,260,0.000,0.103,2227,3213,3783,3762,3804,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1356,-0.75,-145.9,2227,3214,3763,3804,234.6,-14.6,203,1362,0.00,2.40,0.00,0.000,1030,0.000,0.065,2227,1800,3783,3763,3804,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1661,-0.76,-145.9,2228,1800,3763,3805,272.8,-12.2,222,1666,0.00,2.50,0.00,0.000,260,0.000,0.103,2217,3211,3783,3762,3804,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1701,-0.76,-145.9,2217,3211,3763,3805,277.9,-13.2,230,1706,0.00,2.40,0.00,0.000,1030,0.000,0.066,2217,1801,3783,3762,3804,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2023,-0.78,-145.9,2217,1800,3763,3805,317.0,-12.0,244,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1799,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2321,-0.79,-145.9,2217,1800,3762,3804,351.8,-11.4,254,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1799,3786,3769,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2621,-0.81,-145.9,2217,1800,3762,3805,385.5,-11.1,264,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1799,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2921,-0.82,-145.9,2218,1800,3762,3804,418.7,-11.1,274,2926,0.00,2.50,0.00,0.000,260,0.000,0.104,2210,3212,3782,3761,3804,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2991,-0.82,-145.9,2216,3212,3761,3804,427.0,-12.2,288,2996,0.00,2.40,0.00,0.000,1030,0.000,0.066,2210,1793,3782,3761,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3313,-0.84,-145.9,2210,1793,3761,3804,463.4,-11.3,302,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1793,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3611,-0.85,-145.9,2210,1793,3761,3805,496.8,-11.1,312,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1793,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3911,-0.86,-145.9,2209,1793,3761,3805,529.9,-11.0,322,3916,0.00,2.50,0.00,0.000,260,0.000,0.103,2202,3214,3782,3761,3804,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3946,-0.86,-145.9,2202,3214,3761,3805,534.0,-12.1,329,3951,0.00,2.38,0.00,0.000,1030,0.000,0.064,2201,1800,3782,3761,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4273,-0.86,-145.9,2202,1800,3761,3805,570.6,-11.2,344,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,1799,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4571,-0.87,-145.9,2202,1800,3761,3806,604.3,-11.1,354,4576,0.00,2.47,0.00,0.000,260,0.000,0.103,2194,3212,3782,3761,3804,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4606,-0.87,-145.9,2193,3213,3762,3805,608.4,-11.8,361,4611,0.00,2.40,0.00,0.000,1030,0.000,0.064,2194,1795,3783,3761,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4933,-0.87,-145.9,2194,1794,3762,3805,645.5,-11.4,376,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,1794,3783,3761,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5231,-0.87,-145.9,2195,1794,3761,3805,679.2,-11.3,386,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,1794,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5531,-0.87,-145.9,2193,1794,3761,3806,712.9,-11.2,396,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,1792,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5831,-0.87,-145.9,2194,1794,3762,3805,745.7,-10.9,406,5836,0.00,2.50,0.00,0.000,260,0.000,0.102,2182,3215,3783,3761,3805,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,5869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5869,begin apogee
$GC,5875,-0.16,0.0,2187,2161,3762,3806,750.4,-12.5,414,6002,0.93,0.00,123.93,1.835,10246,0.251,0.000,2432,2159,3183,3138,3228,0,0,0,0,0,0,14.41,28.83,13.27
$STATE,6003,end apogee,CONTROL_FINISHED_OK
$STATE,6003,begin climb
$GC,6005,0.81,145.9,2433,2159,3131,3224,753.2,0.0,418,6134,1.02,0.00,124.93,1.812,10502,0.136,0.000,2747,2158,2584,2505,2664,0,0,0,0,0,0,13.97,28.83,12.81
$GC,6411,0.78,145.9,2748,2159,2494,2657,702.6,14.6,437,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2158,2573,2490,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7329,0.89,338.0,2748,2158,2494,2656,661.4,1.4,447,7499,0.00,2.60,160.38,1.678,8708,0.000,0.086,2757,774,1796,1705,1888,0,0,0,0,0,0,28.83,13.64,13.00
$GC,7514,0.89,338.0,2762,781,1704,1883,631.2,17.2,484,7519,0.00,2.60,0.00,0.000,1030,0.000,0.080,2757,2181,1792,1704,1881,0,0,0,0,0,0,28.83,13.71,28.83
$GC,7840,0.89,338.0,2757,2182,1693,1880,570.6,18.6,499,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2181,1786,1692,1881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8139,0.89,338.0,2757,2182,1691,1881,514.4,18.6,509,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2181,1785,1690,1881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8439,0.89,338.0,2757,2182,1691,1881,458.4,18.7,519,8444,0.00,2.45,0.00,0.000,516,0.000,0.088,2765,781,1784,1687,1881,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8464,0.89,338.0,2766,782,1690,1880,453.6,19.0,524,8470,0.00,2.42,0.00,0.000,1030,0.000,0.083,2765,2183,1784,1690,1879,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8769,0.89,338.0,2766,2184,1690,1880,395.1,19.0,535,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2184,1784,1690,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9069,0.89,338.0,2766,2184,1690,1880,338.7,18.6,545,9074,0.00,2.42,0.00,0.000,516,0.000,0.087,2769,786,1784,1690,1879,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9094,0.89,338.0,2770,786,1691,1880,334.0,19.2,550,9100,0.00,2.40,0.00,0.000,1030,0.000,0.083,2769,2180,1784,1690,1879,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9399,0.89,338.0,2770,2181,1690,1880,278.7,17.8,561,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2180,1784,1690,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9699,0.91,338.0,2770,2181,1691,1880,228.5,16.0,579,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2181,1784,1690,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9999,0.94,338.0,2770,2180,1690,1880,185.0,14.2,609,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2181,1784,1690,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10299,0.98,338.0,2769,2181,1691,1880,144.9,13.1,639,10304,0.12,2.42,0.00,0.000,2564,0.140,0.088,2825,786,1784,1690,1879,0,0,0,0,0,0,14.71,14.58,28.83
$GC,10334,0.98,338.0,2826,786,1691,1880,139.6,15.4,646,10340,0.00,2.42,0.00,0.000,1030,0.000,0.083,2826,2187,1785,1690,1881,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10639,0.98,338.0,2826,2188,1691,1880,92.0,15.0,677,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2187,1784,1690,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10940,1.01,348.4,2826,2188,1691,1879,54.4,11.1,707,10950,0.00,2.53,2.47,0.301,8708,0.000,0.087,2825,782,1762,1671,1853,0,0,0,0,0,0,28.83,14.45,14.17
$GC,11012,1.11,430.5,2826,782,1686,1855,48.6,7.3,721,11056,0.00,2.45,38.60,0.323,9222,0.000,0.081,2825,2181,1426,1329,1523,0,0,0,0,0,0,28.83,14.46,14.21
$GC,11361,1.24,518.8,2826,2182,1331,1524,20.9,6.9,761,11407,0.20,2.53,40.28,0.239,10500,0.102,0.100,2908,3590,1064,968,1161,0,0,0,0,0,0,14.46,14.37,14.22
$FREEZE,8.65,-1.222,-1.435,2,1,0
$FREEZE,8.20,-1.222,-1.435,2,1,0
$FREEZE,7.59,-1.221,-1.434,2,1,0
$FREEZE,7.10,-1.221,-1.434,2,1,0
$FREEZE,6.61,-1.221,-1.434,2,1,0
$FREEZE,5.98,-1.221,-1.433,2,1,0
$FREEZE,5.34,-1.220,-1.433,2,1,0
$FREEZE,4.86,-1.220,-1.432,2,1,0
$FREEZE,4.35,-1.219,-1.432,2,1,0
$FREEZE,3.79,-1.219,-1.431,2,1,0
$FREEZE,3.36,-1.219,-1.431,2,1,0
$FREEZE,2.67,-1.219,-1.430,2,1,0
$FREEZE,2.24,-1.218,-1.430,2,1,0
$FREEZE,1.78,-1.218,-1.430,2,1,0
$STATE,11555,end climb,SURFACE_DEPTH_REACHED
$STATE,11555,begin surface coast
$FREEZE,1.75,-1.216,-0.711,2,1,0
$FINISH,1.7,1.010434
$STATE,11560,end surface coast,FINISH_DEPTH_REACHED
$STATE,11560,begin surface
$SM_CCo,11580,60.10,0.191,0,0,499,657.89
$SM_GC,2.77,8.23,3.10,60.10,0.088,0.068,0.191,179,1822,499,-7.17,1.33,657.89,0,0,0,0,0,0,14.50,14.45,14.32
$RAFOS_CLK,423964
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7319.74,-14659.88,050914,182248
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.13
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3814944
$24V_AH,12.81,113.087
$10V_AH,12.72,0.000
$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,20.775,69.025,490.575,60.100,0.000,0.000,0.000,297.300,0.000,0.000,35.490,0.000,8681.112,660.963,1947.209,229.319,0.000,1610.241,0.000,1195.229,1429.000,0.531,0.000
$DEVICE_MAMPS,416.925,120.105,1835.235,191.250,0.000,0.000,0.000,161.415,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11610.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.302,0.000,0.000,0.000
$MEM,167272
$DATA_FILE_SIZE,26704,801
$CAP_FILE_SIZE,129423,0
$CFSIZE,1047117824,994476032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13265.33,0x2378b6,7,5
$SOUNDSPEED,1448.7
$GPS,060914,011520,7403.005,-14657.396,36,0.8,56,29.1