version: 66.12
glider: 197
mission: 6
dive: 267
start: 9 4 114 16 50 47
data:
$ID,197
$MISSION,6
$DIVE,267
$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,-10146.641
$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,27
$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
$GPS1,040914,163826,7416.944,-14655.972,30,1.0,50,29.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-72.0
$GPS2,040914,165027,7416.881,-14656.088,13,1.1,33,29.2
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7324.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,148.9,97989,-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,17,-0.81,-145.9,182,1805,426,564,0.0,0.0,0,70,0.00,0.00,-51.95,0.000,16386,0.000,0.000,181,1804,1712,1713,1711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.81,-145.9,182,1805,1715,1712,3.1,-1.5,5,154,10.12,2.53,-65.53,0.000,18692,0.418,0.116,2211,3212,3778,3759,3798,0,0,0,0,0,0,14.04,14.34,14.62
$GC,381,-0.74,-145.9,2212,3213,3761,3803,77.6,-21.4,67,386,0.17,2.42,0.00,0.000,3078,0.292,0.066,2247,1804,3781,3760,3803,0,0,0,0,0,0,14.16,14.35,28.83
$GC,691,-0.74,-145.9,2247,1803,3760,3804,134.2,-17.3,99,696,0.00,2.50,0.00,0.000,260,0.000,0.103,2240,3208,3781,3760,3803,0,0,0,0,0,0,28.83,14.41,28.83
$GC,891,-0.74,-145.9,2240,3209,3760,3804,168.3,-16.1,139,896,0.00,2.40,0.00,0.000,1030,0.000,0.066,2239,1801,3782,3760,3804,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1201,-0.74,-145.9,2240,1801,3760,3804,215.2,-13.7,171,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1800,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1501,-0.75,-145.9,2240,1800,3760,3804,253.9,-11.4,199,1506,0.00,2.50,0.00,0.000,260,0.000,0.104,2229,3208,3781,3759,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1576,-0.75,-145.9,2230,3208,3760,3804,263.2,-12.8,214,1581,0.00,2.40,0.00,0.000,1030,0.000,0.067,2229,1800,3781,3759,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1892,-0.77,-145.9,2229,1800,3760,3804,301.7,-12.0,227,1897,0.00,2.45,0.00,0.000,516,0.000,0.092,2229,387,3781,3760,3803,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1952,-0.79,-145.9,2230,388,3760,3803,309.1,-11.7,239,1957,0.00,2.45,0.00,0.000,1030,0.000,0.083,2222,1796,3782,3760,3804,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2284,-0.80,-145.9,2219,1796,3760,3804,346.4,-11.3,255,2288,0.00,2.50,0.00,0.000,260,0.000,0.106,2214,3212,3781,3759,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2358,-0.80,-145.9,2215,3213,3759,3804,355.3,-11.7,270,2363,0.00,2.42,0.00,0.000,1030,0.000,0.067,2214,1803,3781,3759,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2675,-0.82,-145.9,2214,1803,3759,3804,390.8,-11.2,283,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1803,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,-0.83,-145.9,2214,1803,3759,3804,424.5,-11.1,293,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1802,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3273,-0.85,-145.9,2214,1803,3759,3805,457.9,-11.1,303,3278,0.00,2.50,0.00,0.000,260,0.000,0.104,2207,3220,3781,3758,3804,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3308,-0.85,-145.9,2207,3221,3758,3804,461.9,-11.2,310,3313,0.00,2.40,0.00,0.000,1030,0.000,0.066,2207,1801,3780,3758,3803,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3635,-0.86,-145.9,2207,1801,3759,3804,499.1,-11.3,325,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1800,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3934,-0.87,-145.9,2213,1801,3759,3804,532.7,-11.2,335,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1800,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4233,-0.89,-145.9,2207,1801,3759,3805,566.1,-11.1,345,4238,0.00,2.50,0.00,0.000,260,0.000,0.105,2199,3217,3781,3759,3804,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4293,-0.89,-145.9,2200,3217,3759,3805,573.2,-11.7,357,4298,0.00,2.40,0.00,0.000,1030,0.000,0.066,2199,1797,3781,3759,3804,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4625,-0.89,-145.9,2200,1797,3760,3805,610.8,-11.3,373,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,1796,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4923,-0.89,-145.9,2200,1796,3760,3805,645.1,-11.3,383,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,1793,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5223,-0.89,-145.9,2198,1800,3760,3806,679.3,-11.4,393,5228,0.00,2.50,0.00,0.000,260,0.000,0.103,2191,3213,3782,3759,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5258,-0.89,-145.9,2191,3214,3760,3805,683.5,-12.0,400,5263,0.00,2.38,0.00,0.000,1030,0.000,0.064,2191,1800,3782,3759,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5585,-0.89,-145.9,2192,1800,3759,3805,721.7,-11.8,415,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1799,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5821,begin apogee
$GC,5826,-0.16,0.0,2189,2192,3759,3805,750.0,-11.8,423,5953,0.93,0.00,123.95,1.828,10246,0.255,0.000,2437,2191,3182,3138,3227,0,0,0,0,0,0,14.38,28.83,13.28
$STATE,5954,end apogee,CONTROL_FINISHED_OK
$STATE,5954,begin climb
$GC,5956,0.81,145.9,2433,2192,3130,3225,753.3,0.0,427,6084,1.02,0.00,124.90,1.815,10502,0.139,0.000,2746,2191,2586,2505,2667,0,0,0,0,0,0,13.98,28.83,12.80
$GC,6363,0.78,145.9,2746,2192,2492,2659,704.6,14.2,446,6368,0.00,2.55,0.00,0.000,516,0.000,0.085,2756,767,2575,2492,2658,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6388,0.76,145.9,2757,768,2492,2658,701.0,14.6,451,6394,0.00,2.53,0.00,0.000,1030,0.000,0.082,2756,2183,2574,2492,2657,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6695,0.72,145.9,2757,2183,2492,2657,655.8,14.8,462,6696,0.15,0.00,0.00,0.000,4102,0.300,0.000,2726,2183,2574,2492,2657,0,0,0,0,0,0,14.26,28.83,28.83
$GC,6993,0.72,145.9,2727,2183,2491,2657,616.6,12.9,472,6998,0.00,2.47,0.00,0.000,516,0.000,0.086,2734,759,2571,2487,2656,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7043,0.72,145.9,2736,763,2492,2657,610.0,12.8,482,7048,0.00,2.47,0.00,0.000,1030,0.000,0.083,2735,2190,2573,2491,2656,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7355,0.71,145.9,2736,2191,2492,2656,568.1,13.4,494,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2190,2573,2491,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7653,0.70,145.9,2736,2191,2491,2656,527.7,13.5,504,7658,0.00,2.45,0.00,0.000,516,0.000,0.086,2746,766,2574,2492,2656,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7698,0.68,145.9,2746,767,2493,2656,521.6,13.5,513,7703,0.12,2.45,0.00,0.000,5126,0.276,0.083,2719,2184,2573,2491,2655,0,0,0,0,0,0,14.40,14.57,28.83
$GC,8015,0.68,145.9,2719,2186,2493,2656,482.0,12.4,526,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2185,2573,2492,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8313,0.68,145.9,2720,2185,2492,2656,444.9,12.4,536,8318,0.00,2.45,0.00,0.000,516,0.000,0.087,2728,765,2573,2492,2655,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8358,0.68,145.9,2728,765,2493,2656,439.1,12.8,545,8363,0.00,2.45,0.00,0.000,1030,0.000,0.083,2728,2184,2571,2487,2655,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8673,0.68,145.9,2728,2185,2493,2656,398.9,12.8,558,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2184,2573,2492,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8973,0.68,145.9,2729,2185,2493,2656,361.2,12.4,568,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2185,2574,2492,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9273,0.68,145.9,2728,2185,2493,2656,325.2,11.7,578,9278,0.00,2.45,0.00,0.000,516,0.000,0.086,2738,766,2573,2492,2655,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9318,0.68,145.9,2738,765,2492,2658,319.7,12.3,587,9323,0.00,2.45,0.00,0.000,1030,0.000,0.082,2738,2184,2573,2492,2655,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9635,0.68,147.6,2739,2184,2492,2656,282.4,11.5,600,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2184,2573,2492,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9933,0.70,168.4,2738,2185,2493,2656,249.2,10.5,610,9959,0.00,2.50,18.73,1.281,8708,0.000,0.086,2747,768,2488,2412,2565,0,0,0,0,0,0,28.83,14.63,14.06
$GC,9974,0.71,182.4,2747,768,2412,2563,244.8,10.9,616,9996,0.00,2.45,12.60,1.301,9222,0.000,0.082,2748,2186,2431,2354,2508,0,0,0,0,0,0,28.83,14.64,14.00
$GC,10294,0.73,216.1,2748,2186,2352,2506,210.8,9.8,650,10326,0.00,0.00,28.40,1.213,8198,0.000,0.000,2747,2182,2295,2218,2373,0,0,0,0,0,0,28.83,28.83,13.91
$GC,10626,0.78,247.7,2747,2185,2212,2369,177.3,9.9,683,10660,0.00,2.55,26.50,1.177,8708,0.000,0.087,2754,766,2166,2084,2248,0,0,0,0,0,0,28.83,14.42,13.89
$GC,10720,0.83,269.6,2755,766,2083,2244,167.6,10.5,702,10746,0.00,2.50,19.20,1.180,9222,0.000,0.083,2754,2179,2075,1988,2162,0,0,0,0,0,0,28.83,14.45,13.83
$GC,11045,0.89,309.5,2755,2179,1979,2160,134.0,9.5,737,11086,0.00,2.53,33.62,1.108,8708,0.000,0.088,2762,762,1912,1819,2006,0,0,0,0,0,0,28.83,14.37,13.85
$GC,11118,0.95,325.9,2763,762,1819,2001,126.7,10.8,750,11138,0.12,2.50,12.25,1.165,11270,0.135,0.083,2817,2182,1847,1756,1938,0,0,0,0,0,0,14.36,14.32,13.85
$GC,12521,0.95,325.9,2817,2183,1746,1937,82.2,12.7,784,12525,0.00,2.53,0.00,0.000,516,0.000,0.089,2823,765,1841,1746,1937,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12576,0.97,325.9,2824,766,1748,1936,75.0,13.1,795,12582,0.00,2.53,0.00,0.000,1030,0.000,0.083,2823,2193,1840,1746,1935,0,0,0,0,0,0,28.83,14.35,28.83
$GC,12882,1.08,445.5,2823,2193,1745,1936,46.7,5.3,826,12942,0.00,2.53,52.22,0.317,8452,0.000,0.103,2823,3588,1363,1263,1463,0,0,0,0,0,0,28.83,14.33,14.14
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$STATE,13858,end climb,NO_VERTICAL_VELOCITY
$STATE,13858,begin subsurface finish
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$STATE,13871,end subsurface finish,NO_VERTICAL_VELOCITY
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$XPDR_PINGS,0
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$24V_AH,12.80,110.498
$10V_AH,12.75,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.650,0.000,0.000,0.000
$MEM,171668
$DATA_FILE_SIZE,33373,959
$CAP_FILE_SIZE,159218,0
$CFSIZE,1047117824,995409920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11272.68,0x2378b6,7,5
$SOUNDSPEED,1447.8
$GPS,040914,165027,7416.881,-14656.088,13,1.1,33,29.2