version: 66.12
glider: 197
mission: 6
dive: 226
start: 8 29 114 11 9 41
data:
$ID,197
$MISSION,6
$DIVE,226
$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,-8443.2002
$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,29
$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,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
$GPS1,290814,110150,7410.189,-14659.531,40,0.9,60,29.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-72.5
$GPS2,290814,110921,7410.186,-14659.565,12,0.9,32,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,333.7,92369,-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,14,begin dive
$GC,16,-0.81,-145.9,179,1799,426,557,0.0,0.0,0,70,0.00,0.00,-52.60,0.000,16386,0.000,0.000,179,1799,1726,1731,1722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.81,-145.9,179,1799,1733,1724,3.1,-1.8,5,154,10.30,2.47,-64.93,0.000,18948,0.429,0.111,2218,397,3779,3761,3798,0,0,0,0,0,0,14.09,14.39,14.66
$GC,175,-0.70,-145.9,2218,396,3764,3801,22.2,-38.8,26,182,0.22,2.47,0.00,0.000,3078,0.322,0.085,2258,1797,3782,3763,3801,0,0,0,0,0,0,14.16,14.37,28.83
$GC,480,-0.68,-145.9,2258,1798,3764,3804,93.0,-17.5,57,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1797,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,780,-0.68,-145.9,2259,1797,3763,3804,142.0,-15.4,87,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1797,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1080,-0.69,-145.9,2258,1797,3763,3804,185.6,-14.4,117,1085,0.00,2.53,0.00,0.000,260,0.000,0.106,2250,3216,3783,3763,3803,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1145,-0.69,-145.9,2250,3217,3759,3804,195.1,-14.6,130,1151,0.00,2.40,0.00,0.000,1030,0.000,0.067,2250,1801,3783,3763,3804,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1450,-0.72,-145.9,2250,1800,3763,3805,236.0,-12.3,161,1455,0.00,2.50,0.00,0.000,260,0.000,0.106,2240,3213,3783,3763,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1495,-0.73,-145.9,2240,3213,3764,3804,241.7,-12.7,170,1501,0.00,2.40,0.00,0.000,1030,0.000,0.067,2240,1795,3784,3764,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1811,-0.75,-145.9,2240,1795,3764,3805,279.3,-11.5,186,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1794,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2111,-0.78,-145.9,2240,1795,3763,3805,312.0,-11.0,196,2116,0.00,2.53,0.00,0.000,260,0.000,0.106,2230,3213,3783,3762,3804,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2175,-0.80,-145.9,2230,3214,3762,3803,319.8,-11.7,209,2180,0.00,2.40,0.00,0.000,1030,0.000,0.067,2230,1798,3783,3762,3805,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2502,-0.82,-145.9,2230,1797,3762,3804,356.9,-11.1,224,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1796,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2801,-0.85,-145.9,2230,1797,3762,3804,388.9,-10.5,234,2805,0.00,2.50,0.00,0.000,260,0.000,0.106,2220,3212,3782,3761,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2845,-0.87,-145.9,2220,3213,3761,3804,393.9,-11.3,243,2850,0.00,2.40,0.00,0.000,1030,0.000,0.067,2220,1795,3782,3760,3804,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3431,-0.89,-145.9,2220,1795,3761,3804,427.0,-11.1,256,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1794,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3731,-0.91,-145.9,2220,1794,3760,3804,459.3,-10.7,266,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1794,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4031,-0.93,-145.9,2220,1794,3761,3804,491.4,-10.6,276,4035,0.00,2.53,0.00,0.000,260,0.000,0.106,2213,3217,3784,3765,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4086,-0.95,-145.9,2213,3214,3760,3804,497.5,-11.3,287,4092,0.00,2.40,0.00,0.000,1030,0.000,0.065,2214,1800,3782,3760,3804,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4392,-0.97,-145.9,2213,1800,3757,3805,530.4,-10.6,298,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,1799,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4692,-0.98,-145.9,2214,1800,3761,3805,562.2,-10.6,308,4693,0.12,0.00,0.00,0.000,4102,0.145,0.000,2162,1799,3782,3760,3804,0,0,0,0,0,0,14.68,28.83,28.83
$GC,4991,-0.97,-145.9,2160,1797,3761,3806,601.0,-13.0,318,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1799,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5291,-0.95,-145.9,2166,1800,3761,3806,640.0,-13.1,328,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1799,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5591,-0.93,-145.9,2162,1800,3761,3805,678.7,-13.0,338,5596,0.12,2.42,0.00,0.000,2564,0.298,0.088,2186,388,3785,3761,3810,0,0,0,0,0,0,14.49,14.66,28.83
$GC,5676,-0.93,-145.9,2186,387,3761,3805,689.1,-12.0,355,5682,0.00,2.45,0.00,0.000,1030,0.000,0.082,2177,1804,3783,3761,3805,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5981,-0.93,-145.9,2178,1805,3761,3805,725.3,-11.9,366,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1805,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6189,begin apogee
$GC,6194,-0.16,0.0,2174,2191,3761,3805,750.3,-11.8,373,6320,1.00,0.00,122.45,1.844,10246,0.269,0.000,2435,2190,3180,3134,3226,0,0,0,0,0,0,14.47,28.83,13.29
$STATE,6321,end apogee,CONTROL_FINISHED_OK
$STATE,6321,begin climb
$GC,6323,0.81,145.9,2435,2191,3130,3225,753.1,0.0,377,6450,1.05,0.00,124.20,1.816,10246,0.141,0.000,2749,2190,2585,2504,2666,0,0,0,0,0,0,13.96,28.83,12.81
$GC,6731,0.78,145.9,2749,2191,2496,2661,701.0,14.9,391,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2190,2578,2495,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7031,0.75,145.9,2749,2190,2496,2661,656.7,14.7,401,7036,0.00,2.50,0.00,0.000,516,0.000,0.084,2760,767,2578,2496,2660,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7076,0.72,145.9,2760,766,2496,2660,649.9,15.3,410,7081,0.15,2.47,0.00,0.000,5126,0.282,0.083,2729,2178,2578,2496,2660,0,0,0,0,0,0,14.28,14.44,28.83
$GC,7392,0.70,145.9,2730,2179,2496,2661,607.2,13.4,423,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2178,2577,2495,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7691,0.69,145.9,2729,2179,2496,2660,566.8,13.4,433,7696,0.00,2.45,0.00,0.000,516,0.000,0.085,2738,761,2578,2496,2660,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7726,0.68,145.9,2738,762,2496,2660,562.0,13.5,440,7731,0.00,2.45,0.00,0.000,1030,0.000,0.083,2738,2181,2577,2496,2659,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8052,0.66,145.9,2738,2181,2496,2660,517.0,13.8,455,8054,0.12,0.00,0.00,0.000,4102,0.303,0.000,2711,2181,2577,2496,2659,0,0,0,0,0,0,14.50,28.83,28.83
$GC,8351,0.66,145.9,2712,2182,2496,2660,480.4,12.0,465,8356,0.00,2.45,0.00,0.000,516,0.000,0.086,2717,767,2577,2496,2659,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8391,0.66,145.9,2717,768,2497,2659,475.4,12.3,473,8396,0.00,2.42,0.00,0.000,1030,0.000,0.084,2717,2180,2577,2496,2659,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8712,0.66,145.9,2717,2180,2496,2659,435.9,12.3,487,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2181,2577,2495,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9011,0.66,145.9,2717,2181,2496,2660,398.7,12.4,497,9016,0.00,2.45,0.00,0.000,516,0.000,0.087,2717,766,2577,2496,2659,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9046,0.66,145.9,2717,765,2496,2659,394.5,11.8,504,9051,0.00,2.45,0.00,0.000,1030,0.000,0.084,2717,2187,2577,2496,2659,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9372,0.66,145.9,2717,2187,2496,2659,354.7,12.3,519,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2187,2577,2495,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9671,0.66,147.8,2717,2188,2496,2660,319.7,11.5,529,9676,0.00,2.45,0.00,0.000,516,0.000,0.086,2717,768,2577,2495,2659,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9716,0.68,157.1,2717,768,2496,2659,314.7,11.1,538,9733,0.00,2.42,10.07,1.419,9222,0.000,0.084,2717,2181,2536,2455,2617,0,0,0,0,0,0,28.83,14.71,14.06
$GC,10032,0.69,166.4,2717,2181,2454,2615,279.4,11.1,551,10042,0.00,0.00,8.35,1.398,8198,0.000,0.000,2716,2181,2503,2424,2583,0,0,0,0,0,0,28.83,28.83,14.03
$GC,10333,0.72,188.1,2717,2181,2422,2579,246.3,10.5,563,10353,0.00,0.00,19.27,1.287,8198,0.000,0.000,2721,2181,2413,2336,2491,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10653,0.79,244.2,2717,2181,2330,2485,215.1,8.6,595,10702,0.00,0.00,46.80,1.190,8198,0.000,0.000,2717,2181,2181,2098,2265,0,0,0,0,0,0,28.83,28.83,13.84
$GC,11003,0.87,286.7,2717,2182,2089,2263,181.1,9.4,630,11042,0.17,0.00,35.08,1.162,10246,0.113,0.000,2790,2180,2008,1917,2099,0,0,0,0,0,0,14.50,28.83,13.83
$GC,11341,0.87,286.7,2791,2181,1909,2098,135.4,13.2,664,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2180,2002,1908,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11641,0.88,286.7,2791,2181,1907,2096,97.7,12.1,694,11642,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2181,2001,1907,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11941,0.94,328.7,2791,2181,1906,2095,67.0,9.4,724,11962,0.00,0.00,17.92,0.382,8198,0.000,0.000,2788,2181,1840,1745,1936,0,0,0,0,0,0,28.83,28.83,14.21
$GC,12263,1.10,483.8,2791,2181,1746,1937,48.4,3.4,756,12337,0.15,2.53,69.60,0.321,10500,0.125,0.100,2861,3587,1207,1102,1312,0,0,0,0,0,0,14.45,14.35,14.14
$GC,12414,1.12,483.8,2862,3587,1097,1312,32.8,12.7,786,12419,0.00,2.42,0.00,0.000,1030,0.000,0.063,2871,2168,1204,1096,1312,0,0,0,0,0,0,28.83,14.39,28.83
$FREEZE,8.47,-1.151,-1.442,2,1,0
$FREEZE,7.84,-1.153,-1.442,2,1,0
$FREEZE,7.23,-1.156,-1.441,2,1,0
$FREEZE,6.56,-1.169,-1.440,2,1,0
$FREEZE,5.92,-1.182,-1.440,2,1,0
$FREEZE,5.29,-1.185,-1.439,2,1,0
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$STATE,13162,end climb,NO_VERTICAL_VELOCITY
$STATE,13163,begin subsurface finish
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$FINISH2,3.7
$STATE,13176,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13176,begin surface
$RAFOS_CLK,948878
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7327.28,-14653.61,290814,072258
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.68
$INTERNAL_PRESSURE,8.61046
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,3836928
$24V_AH,12.81,96.833
$10V_AH,12.98,0.000
$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,15.450,69.650,528.225,0.000,0.000,0.000,0.000,246.200,0.000,0.000,34.887,0.000,10380.359,665.800,2061.515,223.414,0.000,1599.425,0.000,1300.303,1481.000,0.532,0.000
$DEVICE_MAMPS,429.165,110.925,1844.415,0.000,0.000,0.000,0.000,169.065,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13208.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.022,0.000,0.000,0.000
$MEM,194256
$DATA_FILE_SIZE,30039,869
$CAP_FILE_SIZE,151546,0
$CFSIZE,1047117824,1000407040
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13290.29,0x2378b6,7,5
$INTR,1,13164.90,0x2378b6,5,5
$SOUNDSPEED,1448.3
$GPS,290814,110921,7410.186,-14659.565,12,0.9,32,29.1