version: 66.12
glider: 197
mission: 6
dive: 377
start: 9 21 114 10 6 6
data:
$ID,197
$MISSION,6
$DIVE,377
$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,-13934.783
$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,32
$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
$GPS1,210914,094450,7306.275,-14423.159,36,1.1,56,29.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-69.7
$GPS2,210914,100544,7306.455,-14424.164,14,1.3,34,29.9
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,166.6,70402,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.81,-145.9,169,1806,416,584,0.0,0.0,0,70,0.00,0.00,-50.97,0.000,16386,0.000,0.000,168,1806,1698,1712,1684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.81,-145.9,169,1806,1713,1685,3.1,-1.5,5,155,10.27,2.50,-65.25,0.000,18948,0.416,0.103,2222,399,3778,3759,3798,0,0,0,0,0,0,13.98,14.31,14.61
$GC,294,-0.75,-145.9,2222,400,3763,3801,51.5,-25.3,49,299,0.15,2.50,0.00,0.000,3078,0.316,0.081,2244,1801,3781,3762,3800,0,0,0,0,0,0,14.06,14.28,28.83
$GC,605,-0.75,-145.9,2245,1802,3763,3803,111.0,-15.0,81,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1801,3781,3761,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,905,-0.75,-145.9,2245,1802,3763,3804,157.5,-15.3,111,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1801,3782,3762,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1205,-0.76,-145.9,2245,1802,3762,3799,200.2,-13.9,141,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,1801,3782,3762,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1505,-0.78,-145.9,2245,1802,3762,3803,239.3,-11.7,171,1509,0.00,2.53,0.00,0.000,260,0.000,0.103,2236,3218,3782,3762,3802,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1639,-0.80,-145.9,2237,3214,3762,3803,256.6,-12.9,198,1644,0.00,2.40,0.00,0.000,1030,0.000,0.062,2236,1805,3782,3762,3802,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1957,-0.83,-145.9,2237,1805,3762,3803,292.8,-11.1,211,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1805,3781,3761,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2255,-0.86,-145.9,2237,1805,3761,3802,324.6,-10.3,221,2260,0.00,2.53,0.00,0.000,260,0.000,0.103,2226,3213,3781,3760,3802,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2305,-0.88,-145.9,2227,3214,3760,3803,330.1,-11.1,231,2310,0.00,2.42,0.00,0.000,1030,0.000,0.062,2226,1799,3781,3760,3802,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2618,-0.91,-145.9,2227,1799,3759,3802,362.9,-10.5,243,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1798,3780,3759,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2916,-0.93,-145.9,2227,1799,3760,3803,394.0,-10.3,253,2921,0.12,2.55,0.00,0.000,4356,0.143,0.099,2155,3215,3780,3759,3802,0,0,0,0,0,0,14.61,14.42,28.83
$GC,3031,-0.90,-145.9,2155,3216,3759,3803,410.3,-14.4,276,3038,0.20,2.42,0.00,0.000,3078,0.275,0.063,2199,1802,3779,3758,3801,0,0,0,0,0,0,14.16,14.49,28.83
$GC,3338,-0.90,-145.9,2199,1801,3759,3803,446.1,-11.6,287,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1801,3780,3758,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3637,-0.91,-145.9,2199,1802,3759,3803,479.8,-11.3,297,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1801,3780,3759,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3937,-0.92,-145.9,2199,1802,3759,3803,513.7,-11.3,307,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1801,3783,3764,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4237,-0.94,-145.9,2199,1802,3759,3803,547.0,-11.0,317,4242,0.00,2.53,0.00,0.000,260,0.000,0.099,2190,3215,3780,3759,3802,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4287,-0.94,-145.9,2191,3215,3759,3803,553.0,-12.5,327,4292,0.00,2.42,0.00,0.000,1030,0.000,0.063,2190,1795,3780,3759,3802,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4597,-0.94,-145.9,2191,1794,3760,3804,589.4,-11.7,339,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1794,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4897,-0.94,-145.9,2190,1794,3758,3804,625.0,-12.0,349,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1794,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5197,-0.94,-145.9,2190,1794,3759,3803,660.2,-11.7,359,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1794,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5497,-0.94,-145.9,2190,1794,3759,3804,695.0,-11.5,369,5502,0.00,2.53,0.00,0.000,260,0.000,0.099,2179,3215,3781,3759,3804,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5547,-0.94,-145.9,2180,3216,3759,3804,701.1,-12.9,379,5552,0.00,2.42,0.00,0.000,1030,0.000,0.062,2179,1795,3781,3758,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5857,-0.94,-145.9,2180,1794,3759,3804,738.2,-11.9,391,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1794,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5975,begin apogee
$GC,5981,-0.16,0.0,2177,2198,3759,3805,752.1,-11.6,395,6117,0.98,0.00,133.45,1.770,10246,0.241,0.000,2433,2197,3183,3140,3227,0,0,0,0,0,0,14.16,28.83,13.25
$STATE,6118,end apogee,CONTROL_FINISHED_OK
$STATE,6118,begin climb
$GC,6120,0.81,145.9,2433,2198,3134,3224,754.9,0.0,399,6251,1.05,0.00,126.55,1.824,10246,0.129,0.000,2753,2197,2583,2505,2662,0,0,0,0,0,0,13.95,28.83,12.71
$GC,6547,0.79,145.9,2754,2197,2486,2655,702.8,14.4,414,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2197,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7483,0.91,341.4,2753,2197,2491,2654,662.1,1.2,424,7651,0.00,0.00,166.55,1.672,8198,0.000,0.000,2753,2196,1788,1694,1883,0,0,0,0,0,0,28.83,28.83,12.99
$GC,7931,0.93,341.4,2754,2198,1673,1865,584.3,18.1,439,7932,0.12,0.00,0.00,0.000,2054,0.138,0.000,2807,2197,1768,1673,1864,0,0,0,0,0,0,14.22,28.83,28.83
$GC,8231,0.92,341.4,2807,2197,1673,1863,518.6,22.0,449,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2197,1767,1672,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8532,0.90,341.4,2803,2197,1673,1863,453.7,21.5,459,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2198,1767,1672,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8831,0.88,341.4,2807,2198,1673,1863,389.3,21.4,469,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2197,1764,1671,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9131,0.87,341.4,2807,2198,1672,1863,325.9,20.9,479,9132,0.15,0.00,0.00,0.000,4102,0.271,0.000,2776,2197,1767,1672,1862,0,0,0,0,0,0,14.32,28.83,28.83
$GC,9431,0.89,341.4,2776,2198,1672,1863,272.8,17.6,489,9432,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2197,1767,1672,1862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9731,0.92,341.4,2776,2197,1672,1863,226.2,14.7,509,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2197,1767,1672,1862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10031,0.96,341.4,2776,2198,1673,1863,184.2,13.3,539,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2196,1767,1672,1862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10331,1.00,341.4,2776,2198,1672,1863,145.3,12.3,569,10336,0.12,2.47,0.00,0.000,2308,0.138,0.098,2833,3587,1767,1672,1862,0,0,0,0,0,0,14.61,14.42,28.83
$GC,10362,0.98,341.4,2833,3587,1671,1863,140.4,17.9,575,10367,0.15,2.40,0.00,0.000,5126,0.283,0.057,2811,2164,1766,1671,1862,0,0,0,0,0,0,14.25,14.57,28.83
$GC,10674,1.01,341.4,2811,2162,1672,1862,96.4,13.3,607,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2162,1766,1671,1861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10972,1.08,385.3,2811,2163,1672,1862,60.0,9.3,637,10993,0.00,0.00,17.70,0.348,8198,0.000,0.000,2811,2162,1609,1510,1708,0,0,0,0,0,0,28.83,28.83,14.15
$GC,11294,1.21,476.5,2812,2162,1532,1709,35.6,6.8,669,11343,0.20,2.58,43.20,0.280,10500,0.104,0.098,2897,3592,1238,1138,1338,0,0,0,0,0,0,14.38,14.35,14.15
$FREEZE,8.48,0.494,-1.446,2,1,0
$FREEZE,8.14,0.494,-1.446,2,1,0
$FREEZE,7.58,0.461,-1.444,2,1,0
$FREEZE,7.00,0.461,-1.444,2,1,0
$GC,11534,1.24,517.4,2898,3593,1144,1339,8.5,9.5,717,11559,0.00,2.42,19.25,0.207,9222,0.000,0.058,2908,2172,1070,964,1176,0,0,0,0,0,0,28.83,14.34,14.19
$FREEZE,5.96,0.470,-1.443,2,1,0
$FREEZE,5.26,0.430,-1.443,2,1,0
$FREEZE,4.69,0.286,-1.441,2,1,0
$FREEZE,3.93,0.300,-1.439,2,1,0
$FREEZE,3.03,0.251,-1.439,2,1,0
$FREEZE,2.26,0.214,-1.436,2,1,0
$FREEZE,1.83,0.113,-1.434,2,1,0
$STATE,11622,end climb,SURFACE_DEPTH_REACHED
$STATE,11622,begin surface coast
$FREEZE,1.81,0.087,-1.435,2,1,0
$FREEZE,1.70,0.111,-1.434,2,1,0
$FINISH,1.7,1.021115
$STATE,11642,end surface coast,CONTROL_FINISHED_OK
$STATE,11642,begin surface
$SM_CCo,11660,61.95,0.190,0,0,498,658.14
$SM_GC,2.76,8.30,0.62,61.95,0.095,0.083,0.190,174,1810,498,-7.18,1.22,658.14,0,0,0,0,0,0,14.46,14.42,14.24
$RAFOS_CLK,411223
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7228.39,-14433.77,210914,095003
$TT8_MAMPS,0.042693,0.042693
$HUMID,49.33
$INTERNAL_PRESSURE,8.61046
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3769248
$24V_AH,12.71,145.915
$10V_AH,12.61,0.000
$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,21.825,40.975,506.700,61.950,0.000,0.000,0.000,853.975,0.000,0.000,36.224,0.000,8867.433,688.267,2302.625,460.767,0.000,2106.986,0.000,1101.943,1490.000,0.532,0.000
$DEVICE_MAMPS,416.160,103.275,1823.760,189.720,0.000,0.000,0.000,182.070,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11694.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.143,0.000,0.000,0.000
$MEM,112916
$DATA_FILE_SIZE,23386,730
$CAP_FILE_SIZE,133989,0
$CFSIZE,1047117824,982007808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11574.06,0x2378b6,7,5
$SOUNDSPEED,1448.3
$GPS,210914,100544,7306.455,-14424.164,181,99.0,181,29.9