version: 66.12
glider: 197
mission: 6
dive: 209
start: 8 26 114 19 50 40
data:
$ID,197
$MISSION,6
$DIVE,209
$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,-7690.7925
$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,22
$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
$GPS1,260814,154809,7354.940,-14654.821,12,1.4,32,29.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-0.4
$GPS2,260814,154809,7354.940,-14654.821,12,1.4,32,29.0
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7400.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,345.7,9689,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.81,-145.9,2558,1797,567,709,0.0,0.0,0,86,0.00,0.00,-61.38,0.000,16386,0.000,0.000,2559,1796,2104,2030,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.81,-145.9,2559,1797,2030,2181,3.0,-1.5,6,139,0.95,0.00,-46.15,0.000,20742,0.073,0.000,2223,1796,3778,3758,3798,0,0,0,0,0,0,14.42,28.83,14.62
$GC,434,-0.77,-145.9,2222,1797,3760,3805,90.5,-19.7,43,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1796,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,810,-0.75,-145.9,2223,1797,3760,3806,144.8,-17.2,73,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1796,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1109,-0.74,-145.9,2223,1797,3759,3805,194.1,-15.6,103,1115,0.12,2.55,0.00,0.000,2308,0.314,0.102,2241,3208,3782,3759,3805,0,0,0,0,0,0,14.19,14.35,28.83
$GC,1145,-0.74,-145.9,2242,3209,3759,3805,199.7,-14.6,110,1152,0.00,2.42,0.00,0.000,1030,0.000,0.068,2241,1802,3782,3759,3805,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1451,-0.76,-145.9,2242,1802,3759,3805,240.1,-12.3,141,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1801,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1750,-0.78,-145.9,2242,1801,3759,3805,274.2,-11.0,157,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1801,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2053,-0.81,-145.9,2242,1802,3766,3805,306.7,-10.8,167,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1800,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-0.85,-145.9,2241,1802,3759,3805,337.7,-10.1,177,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1801,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,-0.89,-145.9,2241,1801,3759,3804,367.6,-9.8,187,2657,0.12,2.53,0.00,0.000,4356,0.151,0.102,2169,3211,3781,3757,3805,0,0,0,0,0,0,14.54,14.47,28.83
$GC,2733,-0.86,-145.9,2170,3212,3758,3805,378.4,-13.8,203,2740,0.17,2.42,0.00,0.000,3078,0.285,0.069,2204,1798,3783,3762,3805,0,0,0,0,0,0,14.33,14.50,28.83
$GC,3047,-0.87,-145.9,2206,1798,3758,3805,414.0,-11.2,215,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1797,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3345,-0.89,-145.9,2206,1798,3758,3806,447.1,-11.0,225,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1798,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3645,-0.90,-145.9,2206,1798,3759,3805,479.7,-10.9,235,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1798,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,-0.92,-145.9,2207,1798,3758,3805,512.7,-11.0,245,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1798,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4245,-0.93,-145.9,2207,1797,3758,3805,545.2,-10.8,255,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1798,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4545,-0.95,-145.9,2206,1799,3759,3806,577.5,-10.7,265,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1798,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4845,-0.97,-145.9,2206,1798,3758,3802,610.0,-10.7,275,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1798,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5145,-0.99,-145.9,2210,1804,3759,3806,642.0,-10.5,285,5152,0.00,2.45,0.00,0.000,516,0.000,0.088,2206,386,3781,3757,3805,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5207,-1.00,-145.9,2206,385,3757,3806,649.0,-11.6,297,5214,0.00,2.47,0.00,0.000,1030,0.000,0.081,2203,1805,3782,3758,3806,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5540,-1.02,-145.9,2203,1806,3758,3801,684.6,-10.7,313,5543,0.12,0.00,0.00,0.000,4102,0.146,0.000,2154,1806,3781,3758,3805,0,0,0,0,0,0,14.56,28.83,28.83
$GC,5839,-1.00,-145.9,2155,1806,3758,3806,722.7,-12.8,323,5847,0.00,2.47,0.00,0.000,516,0.000,0.087,2154,388,3781,3758,3805,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5892,-0.97,-145.9,2155,388,3758,3806,729.8,-13.2,333,5899,0.15,2.47,0.00,0.000,3078,0.316,0.082,2173,1802,3781,3758,3805,0,0,0,0,0,0,14.24,14.41,28.83
$STATE,6081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6081,begin apogee
$GC,6087,-0.16,0.0,2174,2191,3759,3806,752.8,-11.8,341,6216,1.02,0.00,124.70,1.840,10246,0.263,0.000,2438,2185,3181,3137,3226,0,0,0,0,0,0,14.32,28.83,13.19
$STATE,6218,end apogee,CONTROL_FINISHED_OK
$STATE,6218,begin climb
$GC,6220,0.81,145.9,2438,2186,3126,3223,755.7,0.0,345,6357,1.02,0.00,124.70,1.815,10502,0.131,0.000,2748,2186,2581,2503,2660,0,0,0,0,0,0,13.91,28.83,12.72
$GC,6654,0.78,145.9,2748,2186,2494,2656,700.8,14.8,370,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2186,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6954,0.75,145.9,2748,2187,2495,2655,656.3,14.8,380,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2186,2574,2494,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7254,0.73,145.9,2748,2187,2496,2655,612.1,14.7,390,7260,0.00,2.50,0.00,0.000,516,0.000,0.085,2758,767,2574,2494,2654,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7315,0.70,145.9,2764,767,2494,2655,603.0,15.2,402,7322,0.17,2.47,0.00,0.000,5126,0.276,0.083,2721,2179,2574,2494,2654,0,0,0,0,0,0,14.28,14.42,28.83
$GC,7647,0.70,145.9,2722,2179,2494,2654,559.8,13.0,418,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2179,2574,2494,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7947,0.70,145.9,2721,2180,2495,2654,521.2,12.9,428,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2179,2574,2494,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8247,0.70,145.9,2721,2180,2495,2654,482.8,12.7,438,8253,0.00,2.47,0.00,0.000,516,0.000,0.086,2730,762,2573,2494,2653,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8272,0.70,145.9,2729,762,2495,2655,479.4,13.6,443,8280,0.00,2.50,0.00,0.000,1030,0.000,0.083,2730,2183,2574,2494,2654,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8579,0.70,145.9,2730,2183,2495,2655,439.3,13.1,454,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2183,2573,2494,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8878,0.70,145.9,2730,2183,2495,2654,400.0,13.1,464,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2182,2574,2494,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9178,0.70,145.9,2730,2183,2495,2654,361.5,12.8,474,9184,0.00,2.47,0.00,0.000,516,0.000,0.086,2738,767,2574,2494,2654,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9203,0.70,145.9,2738,767,2501,2654,358.1,12.9,479,9211,0.00,2.47,0.00,0.000,1030,0.000,0.083,2738,2184,2574,2494,2654,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9510,0.69,145.9,2737,2184,2495,2655,318.7,12.8,490,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2184,2574,2494,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9809,0.69,145.9,2736,2184,2495,2654,281.8,12.1,500,9816,0.00,2.47,0.00,0.000,516,0.000,0.085,2747,766,2573,2494,2653,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9846,0.69,145.9,2747,766,2495,2654,277.4,12.0,507,9853,0.15,2.47,0.00,0.000,5126,0.269,0.083,2715,2187,2574,2494,2654,0,0,0,0,0,0,14.37,14.52,28.83
$GC,10152,0.73,174.6,2715,2188,2494,2654,244.4,10.1,524,10184,0.00,0.00,24.00,1.255,8198,0.000,0.000,2715,2188,2462,2386,2538,0,0,0,0,0,0,28.83,28.83,13.88
$GC,10484,0.80,232.1,2713,2187,2384,2535,213.2,8.6,557,10540,0.12,2.55,47.45,1.183,10500,0.144,0.098,2772,3588,2226,2148,2305,0,0,0,0,0,0,14.41,14.21,13.74
$GC,10574,0.77,232.1,2772,3589,2145,2304,201.9,14.4,575,10581,0.17,2.42,0.00,0.000,5126,0.278,0.060,2746,2174,2226,2149,2304,0,0,0,0,0,0,14.17,14.31,28.83
$GC,10887,0.82,265.0,2747,2173,2141,2303,169.0,9.9,607,10918,0.00,0.00,27.30,1.159,8710,0.000,0.000,2746,2173,2098,2016,2181,0,0,0,0,0,0,28.83,28.83,13.78
$GC,11217,0.89,299.1,2747,2173,2002,2174,135.0,9.8,642,11249,0.00,0.00,29.02,1.118,8710,0.000,0.000,2746,2172,1961,1871,2052,0,0,0,0,0,0,28.83,28.83,13.81
$GC,11547,0.97,332.2,2747,2173,1855,2042,102.1,9.9,676,11583,0.15,2.55,27.05,1.063,10756,0.119,0.089,2823,773,1819,1730,1909,0,0,0,0,0,0,14.41,14.27,13.78
$GC,11593,0.97,332.2,2823,774,1731,1906,96.0,14.4,685,11600,0.00,2.50,0.00,0.000,1030,0.000,0.083,2821,2179,1817,1730,1905,0,0,0,0,0,0,28.83,14.24,28.83
$GC,11900,1.00,365.9,2823,2179,1723,1905,56.6,9.8,716,11920,0.00,0.00,14.07,0.343,8198,0.000,0.000,2823,2179,1689,1597,1781,0,0,0,0,0,0,28.83,28.83,14.10
$GC,12220,1.12,474.3,2823,2179,1606,1781,32.8,5.9,748,12275,0.00,2.53,49.53,0.275,8708,0.000,0.088,2826,769,1248,1146,1350,0,0,0,0,0,0,28.83,14.26,14.11
$GC,12305,1.26,555.5,2826,769,1146,1350,27.2,7.3,763,12353,0.22,2.50,36.80,0.258,11270,0.096,0.083,2914,2176,916,821,1012,0,0,0,0,0,0,14.32,14.26,14.08
$FREEZE,8.44,-1.155,-1.444,2,2,0
$FREEZE,7.27,-1.160,-1.442,2,2,0
$FREEZE,6.19,-1.169,-1.441,2,2,0
$FREEZE,5.06,-1.179,-1.440,2,2,0
$FREEZE,3.99,-1.184,-1.439,2,2,0
$FREEZE,2.78,-1.180,-1.438,2,2,0
$FREEZE,1.68,-1.165,-1.435,2,2,0
$STATE,12540,end climb,SURFACE_DEPTH_REACHED
$STATE,12540,begin surface coast
$FREEZE,1.59,-1.109,-1.429,2,2,0
$FINISH,1.6,1.021061
$STATE,12548,end surface coast,CONTROL_FINISHED_OK
$STATE,12548,begin surface
$SM_CCo,12571,44.35,0.190,0,0,499,657.89
$SM_GC,2.99,8.48,0.65,44.35,0.106,0.086,0.190,177,1804,499,-7.18,1.05,657.89,0,0,0,0,0,0,14.42,14.42,14.30
$RAFOS_CLK,1153338
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7312.24,-14655.01,260814,115105
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.42
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3844544
$TM_FREEKB,4157104
$24V_AH,12.72,89.801
$10V_AH,12.79,0.000
$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,13.175,56.700,504.625,44.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10113.954,634.148,1860.314,170.142,0.000,1374.130,0.000,1187.346,1499.000,0.531,0.000
$DEVICE_MAMPS,315.945,107.865,1839.825,189.720,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12593.000,12631.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.366,46.216,0.000,0.000
$MEM,203680
$DATA_FILE_SIZE,26732,792
$CAP_FILE_SIZE,143499,0
$CFSIZE,1047117824,1002962944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$GPS,260814,154809,7354.940,-14654.821,181,99.0,181,29.0