version: 66.12
glider: 197
mission: 6
dive: 384
start: 9 22 114 12 18 7
data:
$ID,197
$MISSION,6
$DIVE,384
$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,-14864.649
$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,17
$R_STBD_OVSHOOT,24
$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
$GPS1,220914,120450,7253.867,-14443.249,39,1.0,59,29.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-68.6
$GPS2,220914,121745,7253.939,-14443.680,11,1.0,31,29.6
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,162.0,45258,-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,18,-0.81,-145.9,164,1813,420,579,0.0,0.0,0,77,0.00,0.00,-53.58,0.000,16386,0.000,0.000,164,1812,1744,1753,1736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.81,-145.9,164,1812,1753,1737,3.1,-1.7,6,165,10.12,2.53,-68.78,0.000,18948,0.408,0.095,2218,383,3777,3758,3796,0,0,0,0,0,0,13.98,14.19,14.52
$GC,394,-0.77,-145.9,2219,384,3760,3800,71.1,-20.5,67,400,0.12,2.50,0.00,0.000,3078,0.321,0.080,2237,1794,3779,3759,3799,0,0,0,0,0,0,14.04,14.26,28.83
$GC,695,-0.77,-145.9,2237,1794,3760,3801,126.0,-17.0,98,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1794,3780,3759,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,995,-0.77,-145.9,2237,1795,3761,3802,172.8,-15.0,128,1000,0.00,2.55,0.00,0.000,260,0.000,0.102,2228,3213,3780,3760,3801,0,0,0,0,0,0,28.83,14.30,28.83
$GC,1060,-0.77,-145.9,2229,3213,3760,3802,183.5,-16.4,141,1066,0.00,2.45,0.00,0.000,1030,0.000,0.060,2228,1788,3780,3759,3801,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1366,-0.78,-145.9,2229,1787,3761,3802,227.3,-13.3,172,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1786,3780,3759,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1666,-0.80,-145.9,2229,1787,3759,3802,264.4,-11.5,194,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1786,3780,3759,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1966,-0.82,-145.9,2229,1787,3759,3802,297.7,-10.9,204,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1786,3780,3759,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2266,-0.85,-145.9,2228,1787,3759,3802,329.1,-10.4,214,2270,0.00,2.58,0.00,0.000,260,0.000,0.102,2218,3215,3779,3758,3801,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2311,-0.86,-145.9,2218,3216,3758,3802,334.2,-11.7,223,2315,0.00,2.42,0.00,0.000,1030,0.000,0.062,2218,1798,3779,3757,3801,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2628,-0.88,-145.9,2217,1798,3758,3802,369.4,-11.0,236,2633,0.00,2.55,0.00,0.000,260,0.000,0.101,2209,3218,3779,3757,3801,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2693,-0.90,-145.9,2209,3218,3758,3802,377.2,-11.9,249,2698,0.00,2.42,0.00,0.000,1030,0.000,0.061,2209,1802,3779,3757,3801,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3020,-0.91,-145.9,2209,1807,3758,3802,413.0,-11.0,264,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1801,3779,3757,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3318,-0.93,-145.9,2209,1802,3758,3802,446.3,-11.2,274,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1801,3779,3757,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3618,-0.95,-145.9,2209,1802,3758,3802,480.7,-11.5,284,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1801,3779,3757,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3918,-0.97,-145.9,2209,1802,3757,3802,514.9,-11.4,294,3923,0.00,2.53,0.00,0.000,260,0.000,0.103,2201,3212,3779,3757,3801,0,0,0,0,0,0,28.83,14.40,28.83
$GC,3983,-0.97,-145.9,2202,3212,3758,3802,522.9,-12.5,307,3988,0.00,2.42,0.00,0.000,1030,0.000,0.061,2201,1796,3779,3757,3801,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4310,-0.98,-145.9,2201,1797,3758,3802,560.4,-11.4,322,4315,0.00,2.55,0.00,0.000,260,0.000,0.101,2191,3219,3779,3756,3802,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4350,-0.98,-145.9,2192,3220,3757,3802,565.5,-12.4,330,4355,0.00,2.42,0.00,0.000,1030,0.000,0.061,2191,1800,3779,3757,3801,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4672,-0.98,-145.9,2192,1800,3757,3802,602.4,-11.4,344,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1799,3779,3756,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4970,-0.98,-145.9,2192,1800,3757,3802,636.7,-11.4,354,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1799,3779,3757,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5271,-0.98,-145.9,2192,1800,3757,3802,670.7,-11.2,364,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1799,3779,3757,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5570,-0.99,-145.9,2192,1800,3757,3802,704.0,-11.1,374,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1799,3779,3757,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5871,-1.00,-145.9,2192,1800,3757,3802,736.5,-10.7,384,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1799,3779,3757,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6018,begin apogee
$GC,6024,-0.16,0.0,2189,2188,3757,3802,752.5,-10.7,389,6202,0.93,0.00,176.02,1.537,10246,0.243,0.000,2433,2187,3183,3138,3228,0,0,0,0,0,0,14.18,28.83,13.20
$STATE,6203,end apogee,CONTROL_FINISHED_OK
$STATE,6203,begin climb
$GC,6206,0.81,145.9,2434,2188,3133,3226,756.8,0.0,395,6342,1.02,2.70,126.05,1.821,10756,0.129,0.076,2761,764,2579,2501,2657,0,0,0,0,0,0,13.88,13.44,12.67
$GC,6488,0.79,145.9,2761,765,2497,2650,726.1,14.3,452,6492,0.00,2.60,0.00,0.000,1030,0.000,0.079,2760,2183,2573,2496,2650,0,0,0,0,0,0,28.83,13.85,28.83
$GC,6804,0.77,145.9,2761,2184,2494,2650,679.7,14.7,465,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2183,2572,2494,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7103,0.74,145.9,2763,2185,2494,2650,635.5,14.8,475,7108,0.00,2.47,0.00,0.000,516,0.000,0.078,2769,769,2571,2493,2650,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7138,0.72,145.9,2769,769,2494,2651,630.3,14.8,482,7143,0.17,2.47,0.00,0.000,5126,0.273,0.080,2731,2182,2571,2493,2650,0,0,0,0,0,0,14.16,14.43,28.83
$GC,7464,0.72,145.9,2731,2184,2494,2650,588.2,12.7,497,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2183,2571,2493,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7764,0.72,145.9,2732,2184,2493,2650,550.1,12.8,507,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2183,2571,2493,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8063,0.72,145.9,2732,2184,2493,2650,512.6,12.4,517,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2184,2571,2493,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8364,0.72,145.9,2732,2184,2493,2650,476.3,12.2,527,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2183,2571,2492,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8664,0.72,145.9,2731,2184,2493,2651,439.7,12.1,537,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2184,2570,2492,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8964,0.72,145.9,2732,2184,2493,2650,404.0,11.9,547,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2183,2571,2492,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9264,0.72,145.9,2732,2184,2493,2651,367.5,12.0,557,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2183,2571,2492,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9564,0.72,145.9,2731,2184,2493,2651,331.8,12.0,567,9568,0.00,2.47,0.00,0.000,516,0.000,0.077,2740,760,2571,2492,2650,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9594,0.72,145.9,2741,761,2493,2651,328.3,12.0,573,9598,0.00,2.47,0.00,0.000,1030,0.000,0.080,2740,2182,2571,2492,2650,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9925,0.72,145.9,2741,2183,2493,2650,288.1,11.8,589,9926,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2182,2571,2492,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10224,0.74,168.3,2740,2183,2493,2651,256.6,10.4,599,10244,0.00,0.00,19.05,1.263,8198,0.000,0.000,2740,2182,2494,2416,2572,0,0,0,0,0,0,28.83,28.83,13.96
$GC,10524,0.78,206.0,2740,2183,2404,2561,224.2,9.6,625,10556,0.00,0.00,31.12,1.206,8198,0.000,0.000,2740,2182,2342,2270,2415,0,0,0,0,0,0,28.83,28.83,13.88
$GC,10856,0.85,254.2,2741,2182,2253,2404,193.4,9.1,658,10898,0.00,0.00,41.00,1.154,8198,0.000,0.000,2740,2182,2143,2060,2227,0,0,0,0,0,0,28.83,28.83,13.82
$GC,11196,0.92,293.9,2740,2183,2041,2216,162.2,9.5,692,11235,0.15,0.00,32.85,1.124,10758,0.127,0.000,2805,2182,1975,1884,2067,0,0,0,0,0,0,14.49,28.83,13.83
$GC,11534,0.94,293.9,2805,2183,1873,2063,115.2,13.7,727,11538,0.00,2.50,0.00,0.000,516,0.000,0.079,2812,770,1967,1872,2062,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11559,0.95,293.9,2813,771,1873,2062,111.9,14.5,732,11565,0.00,2.50,0.00,0.000,1030,0.000,0.080,2812,2181,1966,1872,2061,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11864,0.97,293.9,2813,2181,1871,2062,73.8,12.5,763,11869,0.00,2.55,0.00,0.000,260,0.000,0.099,2813,3591,1965,1870,2061,0,0,0,0,0,0,28.83,14.28,28.83
$GC,12014,1.00,345.9,2813,3592,1870,2061,56.9,8.9,793,12039,0.00,2.42,21.35,0.340,9222,0.000,0.057,2820,2163,1771,1678,1864,0,0,0,0,0,0,28.83,14.36,14.10
$GC,12345,1.12,440.6,2821,2163,1695,1865,30.4,6.6,829,12395,0.00,0.00,44.15,0.267,8198,0.000,0.000,2820,2162,1384,1282,1486,0,0,0,0,0,0,28.83,28.83,14.14
$FREEZE,8.79,0.754,-1.493,2,1,0
$FREEZE,8.13,0.751,-1.492,2,1,0
$FREEZE,6.98,0.753,-1.491,2,1,0
$FREEZE,5.62,0.751,-1.472,2,1,0
$FREEZE,4.64,0.751,-1.471,2,1,0
$FREEZE,3.60,0.754,-1.489,2,1,0
$FREEZE,2.92,0.754,-1.488,2,1,0
$GC,12697,1.36,631.7,2821,2163,1288,1482,13.2,1.5,864,12794,0.32,2.58,84.40,0.204,11012,0.082,0.097,2953,783,603,495,711,0,0,0,0,0,0,14.37,14.26,14.18
$FREEZE,1.63,0.675,-1.486,2,1,0
$STATE,12796,end climb,SURFACE_DEPTH_REACHED
$STATE,12796,begin surface coast
$FREEZE,1.59,0.641,-0.742,2,1,0
$FREEZE,1.57,0.641,-0.742,2,1,0
$FINISH,1.6,1.010940
$STATE,12807,end surface coast,CONTROL_FINISHED_OK
$STATE,12807,begin surface
$SM_CCo,12825,11.12,0.194,0,0,499,657.89
$SM_GC,2.71,8.32,1.83,11.12,0.083,0.073,0.194,175,1797,499,-7.19,-0.76,657.89,0,0,0,0,0,0,14.38,14.35,14.22
$RAFOS_CLK,1225530
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7221.25,-14434.58,220914,042310
$TT8_MAMPS,0.042693,0.042693
$HUMID,49.44
$INTERNAL_PRESSURE,8.62023
$TCM_TEMP,12.80
$XPDR_PINGS,0
$SC_FREEKB,3766112
$24V_AH,12.67,148.334
$10V_AH,12.53,0.000
$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,21.175,60.200,576.000,11.125,0.000,0.000,0.000,489.775,0.000,0.000,34.088,0.000,10282.925,654.526,2301.286,363.598,0.000,1879.488,0.000,1311.834,322.000,0.531,0.000
$DEVICE_MAMPS,407.745,105.570,1820.700,194.310,0.000,0.000,0.000,176.715,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12861.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.347,0.000,0.000,0.000
$MEM,109120
$DATA_FILE_SIZE,30047,879
$CAP_FILE_SIZE,145748,0
$CFSIZE,1047117824,981303296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12389.47,0x2378b6,7,5
$SOUNDSPEED,1450.4
$GPS,220914,155326,7252.458,-14445.185,32,1.0,52,29.6