version: 66.12
glider: 197
mission: 6
dive: 190
start: 8 23 114 20 1 15
data:
$ID,197
$MISSION,6
$DIVE,190
$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,-7670.6089
$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,25
$R_STBD_OVSHOOT,21
$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
$GPS1,230814,194625,7324.808,-14649.012,40,1.0,60,28.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-69.8
$GPS2,230814,200056,7324.828,-14649.366,12,0.9,32,28.8
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7400.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,330.9,65140,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.81,-145.9,171,1798,431,554,0.0,0.0,0,69,0.00,0.00,-42.67,0.000,16386,0.000,0.000,171,1797,1521,1521,1521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.81,-145.9,176,1803,1523,1521,3.1,-1.2,5,168,10.40,2.58,-75.68,0.000,19204,0.427,0.125,2213,3209,3779,3760,3799,0,0,0,0,0,0,14.02,14.23,14.48
$GC,392,-0.74,-145.9,2214,3210,3762,3805,78.5,-23.0,69,399,0.17,2.45,0.00,0.000,3078,0.296,0.067,2248,1798,3782,3761,3804,0,0,0,0,0,0,14.14,14.30,28.83
$GC,704,-0.74,-145.9,2249,1797,3761,3803,133.0,-16.4,101,710,0.00,2.58,0.00,0.000,260,0.000,0.106,2241,3210,3783,3761,3805,0,0,0,0,0,0,28.83,14.28,28.83
$GC,889,-0.74,-145.9,2244,3214,3761,3805,164.0,-16.2,138,897,0.00,2.45,0.00,0.000,1030,0.000,0.067,2240,1792,3783,3761,3805,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1194,-0.74,-145.9,2242,1791,3762,3806,209.1,-14.5,169,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1790,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1495,-0.76,-145.9,2241,1792,3761,3805,248.1,-12.0,199,1501,0.00,2.55,0.00,0.000,260,0.000,0.106,2228,3211,3783,3761,3805,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1545,-0.76,-145.9,2231,3211,3761,3805,254.7,-13.0,209,1552,0.00,2.42,0.00,0.000,1030,0.000,0.067,2231,1798,3783,3761,3805,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1857,-0.77,-145.9,2231,1798,3761,3805,291.8,-11.7,221,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1797,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2157,-0.79,-145.9,2229,1798,3761,3805,325.3,-10.9,231,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1794,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2457,-0.82,-145.9,2232,1798,3761,3805,357.7,-10.7,241,2463,0.00,2.53,0.00,0.000,260,0.000,0.107,2221,3209,3782,3759,3805,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2518,-0.83,-145.9,2221,3210,3759,3805,364.6,-11.7,253,2524,0.00,2.40,0.00,0.000,1030,0.000,0.068,2221,1799,3782,3759,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2850,-0.85,-145.9,2221,1799,3760,3805,400.8,-10.8,269,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1798,3785,3766,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3149,-0.87,-145.9,2221,1799,3760,3806,432.8,-10.5,279,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1798,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3449,-0.89,-145.9,2221,1799,3760,3805,464.6,-10.6,289,3455,0.00,2.53,0.00,0.000,260,0.000,0.106,2214,3217,3781,3759,3804,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3520,-0.89,-145.9,2215,3217,3759,3805,472.8,-11.2,303,3526,0.00,2.40,0.00,0.000,1030,0.000,0.066,2214,1800,3782,3759,3805,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3843,-0.91,-145.9,2214,1801,3759,3805,507.6,-10.8,317,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4141,-0.92,-145.9,2215,1801,3760,3805,539.6,-10.6,327,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4441,-0.94,-145.9,2215,1800,3760,3805,571.4,-10.7,337,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4741,-0.96,-145.9,2215,1801,3760,3806,603.4,-10.6,347,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5041,-0.98,-145.9,2215,1800,3759,3806,634.8,-10.4,357,5044,0.12,0.00,0.00,0.000,4102,0.140,0.000,2162,1800,3782,3759,3805,0,0,0,0,0,0,14.64,28.83,28.83
$GC,5342,-0.96,-145.9,2164,1800,3759,3809,672.5,-12.7,367,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,-0.94,-145.9,2164,1800,3760,3806,710.5,-12.6,377,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5941,-0.93,-145.9,2164,1800,3760,3806,748.1,-12.6,387,5944,0.12,0.00,0.00,0.000,2054,0.291,0.000,2187,1799,3782,3759,3805,0,0,0,0,0,0,14.46,28.83,28.83
$STATE,5969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5969,begin apogee
$GC,5974,-0.16,0.0,2188,2193,3760,3807,751.6,-12.4,388,6101,0.95,0.00,122.88,1.839,10246,0.257,0.000,2437,2193,3183,3138,3228,0,0,0,0,0,0,14.44,28.83,13.26
$STATE,6104,end apogee,CONTROL_FINISHED_OK
$STATE,6104,begin climb
$GC,6106,0.81,145.9,2437,2193,3131,3225,754.2,0.0,392,6243,1.02,0.00,123.72,1.814,10502,0.133,0.000,2749,2193,2581,2501,2661,0,0,0,0,0,0,13.97,28.83,12.80
$GC,6541,0.78,145.9,2749,2193,2495,2657,698.1,15.0,412,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2193,2572,2489,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6841,0.75,145.9,2749,2193,2494,2655,653.8,14.7,422,6848,0.00,2.53,0.00,0.000,516,0.000,0.086,2759,766,2575,2495,2656,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6887,0.72,145.9,2759,767,2496,2656,646.8,14.9,431,6894,0.15,2.50,0.00,0.000,5126,0.285,0.085,2729,2183,2575,2495,2655,0,0,0,0,0,0,14.23,14.38,28.83
$GC,7205,0.71,145.9,2729,2184,2495,2656,603.9,13.5,444,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2184,2575,2495,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7503,0.69,145.9,2729,2184,2495,2656,563.5,13.4,454,7510,0.00,2.47,0.00,0.000,516,0.000,0.087,2737,767,2574,2494,2655,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7545,0.68,145.9,2738,768,2496,2655,557.8,13.6,462,7551,0.00,2.45,0.00,0.000,1030,0.000,0.084,2737,2179,2574,2494,2654,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7867,0.66,145.9,2738,2180,2495,2656,513.2,13.9,476,7870,0.15,0.00,0.00,0.000,4102,0.298,0.000,2707,2179,2574,2494,2655,0,0,0,0,0,0,14.43,28.83,28.83
$GC,8165,0.66,145.9,2707,2180,2495,2655,477.1,11.8,486,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2180,2576,2497,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8466,0.67,147.7,2707,2180,2495,2655,442.1,11.5,496,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2180,2572,2489,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8766,0.68,150.0,2713,2180,2495,2655,407.5,11.5,506,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2180,2575,2495,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9066,0.69,152.0,2707,2180,2498,2656,372.8,11.5,516,9070,0.00,0.00,1.38,0.269,8198,0.000,0.000,2707,2180,2562,2481,2643,0,0,0,0,0,0,28.83,28.83,14.40
$GC,9367,0.70,152.0,2707,2180,2493,2660,338.2,11.6,526,9375,0.00,2.47,1.35,0.271,8708,0.000,0.084,2715,761,2562,2481,2644,0,0,0,0,0,0,28.83,14.59,14.38
$GC,9400,0.72,152.0,2715,762,2490,2653,334.3,11.8,532,9406,0.00,2.47,1.00,0.299,9222,0.000,0.085,2715,2188,2563,2482,2644,0,0,0,0,0,0,28.83,14.59,14.40
$GC,9731,0.72,154.6,2715,2189,2494,2655,295.9,11.5,548,9738,0.00,0.00,3.78,1.310,8198,0.000,0.000,2713,2188,2551,2472,2631,0,0,0,0,0,0,28.83,28.83,13.65
$GC,10032,0.74,174.7,2715,2189,2484,2644,263.2,10.6,558,10057,0.00,0.00,21.88,1.290,8198,0.000,0.000,2714,2188,2470,2394,2546,0,0,0,0,0,0,28.83,28.83,13.93
$GC,10332,0.79,209.5,2715,2189,2385,2538,231.6,9.8,578,10364,0.00,0.00,29.10,1.232,8198,0.000,0.000,2715,2188,2327,2252,2402,0,0,0,0,0,0,28.83,28.83,13.83
$GC,10663,0.86,254.5,2715,2189,2240,2391,199.2,9.2,611,10705,0.17,0.00,37.95,1.179,10246,0.119,0.000,2787,2188,2142,2060,2224,0,0,0,0,0,0,14.52,28.83,13.76
$GC,11002,0.86,254.5,2787,2189,2046,2218,154.8,12.7,645,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2188,2131,2046,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11302,0.86,254.5,2787,2189,2044,2217,117.9,11.8,675,11304,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2188,2128,2040,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11602,0.90,286.3,2792,2189,2044,2217,84.3,9.9,705,11618,0.00,0.00,12.73,0.429,8198,0.000,0.000,2787,2188,2014,1925,2103,0,0,0,0,0,0,28.83,28.83,14.14
$GC,11914,1.01,392.1,2787,2189,1931,2110,56.2,6.0,736,11970,0.00,2.55,48.30,0.343,8452,0.000,0.103,2787,3590,1582,1483,1681,0,0,0,0,0,0,28.83,14.26,14.12
$GC,12005,1.08,443.8,2788,3590,1483,1681,49.5,8.9,754,12038,0.12,2.42,24.00,0.322,11270,0.134,0.062,2849,2175,1371,1269,1474,0,0,0,0,0,0,14.34,14.33,14.12
$GC,12335,1.22,572.3,2850,2170,1269,1474,17.8,4.8,790,12402,0.12,2.62,57.17,0.227,10500,0.134,0.103,2907,3589,845,752,939,0,0,0,0,0,0,14.35,14.22,14.14
$FREEZE,8.93,-0.916,-1.416,2,1,0
$FREEZE,8.29,-0.855,-1.409,2,1,0
$FREEZE,7.65,-0.855,-1.409,2,1,0
$FREEZE,7.09,-0.807,-1.404,2,1,0
$GC,12458,1.25,572.3,2908,3590,753,939,7.1,12.3,814,12464,0.00,2.42,0.00,0.000,1030,0.000,0.062,2917,2180,845,752,939,0,0,0,0,0,0,28.83,14.28,28.83
$FREEZE,6.07,-0.747,-1.400,2,1,0
$FREEZE,5.11,-0.739,-1.399,2,1,0
$FREEZE,4.16,-0.748,-1.399,2,1,0
$FREEZE,3.18,-0.738,-1.398,2,1,0
$FREEZE,2.27,-0.730,-1.397,2,1,0
$FREEZE,1.77,-0.728,-1.379,2,1,0
$STATE,12517,end climb,SURFACE_DEPTH_REACHED
$STATE,12517,begin surface coast
$FREEZE,1.60,-0.747,-0.499,2,1,0
$FINISH,1.6,1.007251
$STATE,12529,end surface coast,FINISH_DEPTH_REACHED
$STATE,12529,begin surface
$SM_CCo,12551,36.80,0.189,0,0,498,657.89
$SM_GC,2.63,8.35,0.65,36.80,0.095,0.087,0.189,182,1801,498,-7.17,0.99,657.89,0,0,0,0,0,0,14.40,14.40,14.29
$RAFOS_CLK,1201795
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7250.09,-14656.35,230814,160310
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.29
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3853056
$TM_FREEKB,4532752
$24V_AH,12.80,79.887
$10V_AH,13.00,0.000
$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,21.875,51.150,485.225,36.800,0.000,0.000,0.000,538.525,0.000,0.000,34.703,0.000,10145.822,596.965,2454.784,247.824,0.000,1910.635,0.000,1229.843,1333.000,0.531,0.000
$DEVICE_MAMPS,426.870,124.695,1839.060,188.955,0.000,0.000,0.000,179.010,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12566.000,12606.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.081,35.681,0.000,0.000
$MEM,214080
$DATA_FILE_SIZE,26738,822
$CAP_FILE_SIZE,152644,0
$CFSIZE,1047117824,1006616576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13697.35,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,230814,233226,7326.503,-14650.454,33,1.0,53,28.8