version: 66.12
glider: 197
mission: 6
dive: 276
start: 9 6 114 1 23 8
data:
$ID,197
$MISSION,6
$DIVE,276
$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,-10154.207
$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,20
$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
$GPS1,060914,011520,7403.005,-14657.396,36,0.8,56,29.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-70.5
$GPS2,060914,012251,7402.995,-14657.255,13,0.8,33,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7324.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,147.9,72320,-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,-145.9,179,1819,440,555,0.0,0.0,0,60,0.00,0.00,-42.05,0.000,16386,0.000,0.000,179,1819,1528,1521,1536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.81,-145.9,179,1820,1523,1537,3.2,-1.4,4,161,10.27,2.55,-77.95,0.000,18692,0.427,0.121,2211,3205,3779,3761,3798,0,0,0,0,0,0,14.05,14.33,14.64
$GC,386,-0.74,-145.9,2211,3206,3763,3803,80.2,-22.5,69,392,0.17,2.42,0.00,0.000,3078,0.295,0.066,2246,1798,3782,3762,3803,0,0,0,0,0,0,14.19,14.42,28.83
$GC,691,-0.74,-145.9,2247,1797,3762,3804,133.0,-16.5,100,696,0.00,2.53,0.00,0.000,260,0.000,0.102,2239,3208,3783,3763,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,876,-0.74,-145.9,2239,3209,3762,3804,163.2,-15.6,137,882,0.00,2.40,0.00,0.000,1030,0.000,0.065,2239,1797,3782,3762,3802,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1181,-0.74,-145.9,2239,1797,3762,3804,209.8,-14.5,168,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1796,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1481,-0.76,-145.9,2240,1797,3762,3804,249.6,-12.7,198,1486,0.00,2.50,0.00,0.000,260,0.000,0.103,2229,3209,3783,3762,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1551,-0.76,-145.9,2230,3209,3763,3804,258.8,-13.0,212,1556,0.00,2.40,0.00,0.000,1030,0.000,0.065,2230,1799,3782,3762,3803,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1873,-0.77,-145.9,2228,1802,3762,3804,296.2,-11.3,226,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1799,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2171,-0.79,-145.9,2230,1800,3762,3804,329.3,-10.7,236,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1799,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.82,-145.9,2229,1800,3762,3805,360.7,-10.4,246,2476,0.00,2.50,0.00,0.000,260,0.000,0.104,2220,3214,3781,3760,3803,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2567,-0.83,-145.9,2221,3214,3760,3804,371.1,-11.1,265,2572,0.00,2.40,0.00,0.000,1030,0.000,0.066,2221,1800,3781,3759,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2894,-0.85,-145.9,2221,1800,3760,3804,405.8,-10.6,280,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1800,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3193,-0.88,-145.9,2221,1800,3758,3804,437.8,-10.7,290,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1800,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3492,-0.90,-145.9,2220,1800,3760,3804,469.6,-10.6,300,3497,0.00,2.50,0.00,0.000,260,0.000,0.104,2214,3217,3781,3759,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3552,-0.91,-145.9,2214,3217,3761,3804,476.3,-10.8,312,3557,0.00,2.40,0.00,0.000,1030,0.000,0.066,2214,1799,3781,3759,3803,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3884,-0.93,-145.9,2215,1798,3760,3804,511.8,-10.7,328,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1798,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4183,-0.95,-145.9,2214,1798,3760,3804,543.6,-10.5,338,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1798,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4482,-0.97,-145.9,2214,1798,3760,3805,575.0,-10.4,348,4487,0.12,2.50,0.00,0.000,4356,0.139,0.098,2149,3217,3782,3760,3804,0,0,0,0,0,0,14.75,14.61,28.83
$GC,4537,-0.93,-145.9,2149,3217,3760,3805,582.3,-14.0,359,4544,0.17,2.40,0.00,0.000,3078,0.291,0.065,2185,1792,3782,3760,3804,0,0,0,0,0,0,14.40,14.66,28.83
$GC,4844,-0.93,-145.9,2185,1793,3761,3805,618.3,-11.6,370,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1793,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5142,-0.93,-145.9,2186,1793,3760,3805,653.2,-11.6,380,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1792,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5442,-0.93,-145.9,2185,1793,3759,3806,688.0,-11.6,390,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1792,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5742,-0.93,-145.9,2190,1792,3760,3805,722.1,-11.3,400,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,1792,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6010,begin apogee
$GC,6015,-0.16,0.0,2186,2188,3760,3805,752.7,-11.3,409,6142,0.95,0.00,124.57,1.832,10246,0.252,0.000,2437,2187,3181,3136,3226,0,0,0,0,0,0,14.42,28.83,13.28
$STATE,6143,end apogee,CONTROL_FINISHED_OK
$STATE,6143,begin climb
$GC,6146,0.81,145.9,2437,2188,3129,3223,755.5,0.0,413,6274,1.00,0.00,124.38,1.813,10502,0.133,0.000,2746,2188,2584,2504,2665,0,0,0,0,0,0,13.99,28.83,12.81
$GC,6552,0.79,145.9,2747,2188,2494,2657,705.4,14.4,432,6557,0.00,2.53,0.00,0.000,516,0.000,0.083,2756,768,2575,2494,2657,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6583,0.76,145.9,2757,768,2494,2657,701.0,14.8,438,6587,0.00,2.50,0.00,0.000,1030,0.000,0.081,2756,2176,2575,2494,2656,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6914,0.73,145.9,2757,2177,2495,2656,652.0,14.8,454,6919,0.00,2.47,0.00,0.000,516,0.000,0.084,2764,760,2574,2493,2655,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6939,0.70,145.9,2765,761,2494,2656,647.9,15.0,459,6945,0.20,2.47,0.00,0.000,5126,0.275,0.081,2720,2182,2574,2494,2655,0,0,0,0,0,0,14.28,14.47,28.83
$GC,7245,0.70,145.9,2720,2184,2494,2655,608.5,12.8,470,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2182,2574,2493,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7544,0.70,145.9,2721,2183,2494,2655,569.7,12.9,480,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2182,2574,2493,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7844,0.70,145.9,2721,2183,2494,2656,531.3,12.8,490,7849,0.00,2.45,0.00,0.000,516,0.000,0.085,2729,766,2574,2494,2655,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7883,0.70,145.9,2730,766,2494,2656,526.1,13.1,498,7889,0.00,2.45,0.00,0.000,1030,0.000,0.082,2729,2184,2573,2492,2655,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8205,0.70,145.9,2730,2185,2495,2656,484.0,13.1,512,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2184,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8504,0.70,145.9,2730,2185,2494,2655,444.9,13.0,522,8509,0.00,2.45,0.00,0.000,516,0.000,0.085,2737,764,2574,2493,2655,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8543,0.70,145.9,2735,765,2494,2656,439.7,13.3,530,8549,0.00,2.42,0.00,0.000,1030,0.000,0.081,2737,2180,2574,2494,2655,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8865,0.69,145.9,2738,2181,2494,2655,397.8,13.1,544,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2179,2574,2493,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9164,0.69,145.9,2738,2181,2494,2655,358.7,12.9,554,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2180,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10347,0.83,349.6,2738,2181,2494,2655,322.9,0.8,564,10519,0.00,2.58,164.70,1.266,8708,0.000,0.083,2746,762,1749,1658,1841,0,0,0,0,0,0,28.83,14.02,13.47
$GC,10538,0.86,349.6,2747,761,1660,1832,294.7,16.6,602,10543,0.00,2.55,0.00,0.000,1030,0.000,0.081,2743,2178,1744,1656,1832,0,0,0,0,0,0,28.83,14.07,28.83
$GC,10850,0.89,349.6,2747,2178,1645,1831,245.4,15.5,617,10851,0.12,0.00,0.00,0.000,2054,0.137,0.000,2801,2178,1737,1644,1831,0,0,0,0,0,0,14.41,28.83,28.83
$GC,11150,0.89,349.6,2802,2179,1643,1829,192.7,16.3,647,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2178,1736,1643,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11449,0.91,349.6,2801,2179,1643,1830,145.6,14.9,677,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2178,1735,1642,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11749,0.93,349.6,2801,2179,1642,1830,102.2,14.3,707,11754,0.00,2.47,0.00,0.000,516,0.000,0.086,2811,760,1735,1641,1829,0,0,0,0,0,0,28.83,14.52,28.83
$GC,11799,0.95,349.6,2812,763,1642,1828,95.0,14.5,717,11803,0.00,2.47,0.00,0.000,1030,0.000,0.083,2811,2182,1734,1641,1828,0,0,0,0,0,0,28.83,14.51,28.83
$GC,12110,1.01,381.9,2812,2184,1640,1828,56.5,9.9,749,12130,0.00,2.58,12.23,0.344,8452,0.000,0.103,2811,3593,1624,1529,1720,0,0,0,0,0,0,28.83,14.42,14.19
$GC,12161,1.04,406.4,2812,3593,1534,1720,51.4,10.3,759,12181,0.00,2.40,12.02,0.334,9222,0.000,0.060,2812,2172,1525,1427,1623,0,0,0,0,0,0,28.83,14.47,14.19
$GC,12480,1.17,492.5,2813,2173,1436,1624,27.8,7.0,793,12526,0.17,2.45,40.08,0.261,10756,0.114,0.085,2899,774,1172,1072,1272,0,0,0,0,0,0,14.49,14.40,14.23
$GC,12558,1.23,535.6,2899,775,1073,1272,20.7,9.3,805,12583,0.00,2.47,19.65,0.244,9222,0.000,0.080,2903,2186,997,900,1095,0,0,0,0,0,0,28.83,14.38,14.22
$FREEZE,8.23,-1.237,-1.435,2,1,0
$FREEZE,7.48,-1.235,-1.435,2,1,0
$FREEZE,6.43,-1.236,-1.434,2,1,0
$FREEZE,5.57,-1.237,-1.433,2,1,0
$FREEZE,4.69,-1.238,-1.433,2,1,0
$FREEZE,3.86,-1.241,-1.432,2,1,0
$FREEZE,2.98,-1.240,-1.431,2,1,0
$FREEZE,2.12,-1.243,-1.431,2,1,0
$FREEZE,1.75,-1.233,-1.436,2,1,0
$STATE,12779,end climb,SURFACE_DEPTH_REACHED
$STATE,12779,begin surface coast
$FREEZE,1.79,-1.228,-0.838,2,1,0
$FINISH,1.8,1.012339
$STATE,12789,end surface coast,FINISH_DEPTH_REACHED
$STATE,12790,begin surface
$SM_CCo,12806,53.17,0.192,0,0,499,657.89
$SM_GC,2.84,8.20,0.65,53.17,0.088,0.074,0.192,176,1796,499,-7.19,1.07,657.89,0,0,0,0,0,0,14.50,14.50,14.33
$RAFOS_CLK,248964
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7319.74,-14659.88,050914,220444
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.13
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3814496
$24V_AH,12.81,113.419
$10V_AH,12.74,0.000
$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,21.400,70.575,497.625,53.175,0.000,0.000,0.000,242.500,0.000,0.000,36.050,0.000,9553.162,663.390,1952.269,236.185,0.000,1581.090,0.000,1241.775,1481.000,0.531,0.000
$DEVICE_MAMPS,426.870,120.870,1832.175,192.015,0.000,0.000,0.000,164.475,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12835.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.364,0.000,0.000,0.000
$MEM,166776
$DATA_FILE_SIZE,26738,831
$CAP_FILE_SIZE,137612,0
$CFSIZE,1047117824,994344960
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11564.71,0x2378b6,7,5
$INTR,1,10491.45,0x234482,1,24
$SOUNDSPEED,1449.5
$GPS,060914,044356,7401.362,-14656.755,34,1.0,54,29.1