version: 66.12
glider: 197
mission: 6
dive: 380
start: 9 21 114 20 56 47
data:
$ID,197
$MISSION,6
$DIVE,380
$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,-14307.687
$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,18
$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
$GPS1,210914,204025,7300.602,-14430.532,31,1.0,51,29.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-67.8
$GPS2,210914,205627,7300.688,-14431.374,12,1.0,32,29.8
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,165.9,59027,-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,-145.9,179,1804,403,594,0.0,0.0,0,71,0.00,0.00,-51.95,0.000,16386,0.000,0.000,178,1804,1717,1723,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.81,-145.9,179,1804,1724,1713,3.1,-1.2,5,156,10.20,2.50,-65.10,0.000,18948,0.416,0.099,2220,384,3779,3761,3798,0,0,0,0,0,0,14.00,14.23,14.61
$GC,383,-0.76,-145.9,2220,382,3764,3803,72.6,-18.7,67,388,0.00,2.50,0.00,0.000,1030,0.000,0.081,2217,1796,3782,3763,3802,0,0,0,0,0,0,28.83,14.29,28.83
$GC,694,-0.74,-145.9,2217,1797,3763,3804,130.6,-17.2,99,695,0.15,0.00,0.00,0.000,2054,0.309,0.000,2246,1797,3783,3763,3803,0,0,0,0,0,0,14.11,28.83,28.83
$GC,994,-0.75,-145.9,2247,1797,3764,3803,175.3,-15.0,129,999,0.00,2.53,0.00,0.000,260,0.000,0.101,2238,3213,3783,3763,3803,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1054,-0.75,-145.9,2243,3210,3764,3804,184.5,-15.2,141,1059,0.00,2.42,0.00,0.000,1030,0.000,0.061,2239,1792,3783,3763,3803,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1366,-0.76,-145.9,2243,1791,3763,3804,228.3,-14.2,173,1370,0.00,2.42,0.00,0.000,516,0.000,0.080,2238,392,3783,3763,3803,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1421,-0.78,-145.9,2239,391,3763,3804,236.1,-13.4,184,1427,0.00,2.47,0.00,0.000,1030,0.000,0.080,2230,1800,3783,3763,3803,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1746,-0.80,-145.9,2231,1800,3762,3803,275.8,-11.6,203,1751,0.00,2.45,0.00,0.000,516,0.000,0.080,2230,392,3783,3763,3803,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1801,-0.82,-145.9,2231,391,3762,3804,282.4,-12.0,214,1807,0.00,2.47,0.00,0.000,1030,0.000,0.080,2223,1800,3782,3762,3803,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2108,-0.85,-145.9,2223,1801,3761,3804,318.0,-11.3,225,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1800,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2407,-0.87,-145.9,2224,1801,3761,3804,351.8,-11.5,235,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1800,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2707,-0.90,-145.9,2224,1801,3760,3804,384.7,-10.5,245,2711,0.00,2.53,0.00,0.000,260,0.000,0.104,2215,3212,3781,3759,3803,0,0,0,0,0,0,28.83,14.34,28.83
$GC,2809,-0.91,-145.9,2215,3213,3760,3804,395.5,-11.2,265,2813,0.00,2.42,0.00,0.000,1030,0.000,0.063,2214,1794,3781,3759,3803,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3131,-0.94,-145.9,2215,1794,3760,3803,429.0,-10.7,279,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1793,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3429,-0.96,-145.9,2214,1791,3760,3803,460.7,-10.4,289,3434,0.00,2.55,0.00,0.000,260,0.000,0.102,2205,3213,3781,3759,3803,0,0,0,0,0,0,28.83,14.41,28.83
$GC,3526,-0.97,-145.9,2205,3214,3759,3804,471.2,-10.7,308,3531,0.00,2.42,0.00,0.000,1030,0.000,0.063,2205,1795,3782,3757,3808,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3853,-0.99,-145.9,2207,1797,3759,3804,506.3,-10.8,323,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1793,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4151,-1.01,-145.9,2206,1794,3757,3804,538.7,-10.7,333,4152,0.12,0.00,0.00,0.000,4102,0.147,0.000,2153,1793,3780,3758,3803,0,0,0,0,0,0,14.62,28.83,28.83
$GC,4452,-0.98,-145.9,2153,1794,3759,3804,577.6,-13.0,343,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,1793,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4751,-0.96,-145.9,2154,1794,3758,3804,616.3,-12.9,353,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,1793,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5051,-0.94,-145.9,2153,1794,3759,3804,655.5,-13.2,363,5052,0.15,0.00,0.00,0.000,2054,0.284,0.000,2183,1790,3780,3758,3803,0,0,0,0,0,0,14.23,28.83,28.83
$GC,5351,-0.94,-145.9,2184,1793,3758,3804,689.9,-11.4,373,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1792,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5651,-0.94,-145.9,2184,1793,3759,3804,723.8,-11.2,383,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1793,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5888,begin apogee
$GC,5895,-0.16,0.0,2183,2189,3759,3804,750.3,-11.1,391,6074,0.95,0.00,176.65,1.535,10246,0.246,0.000,2432,2188,3182,3137,3228,0,0,0,0,0,0,14.19,28.83,13.21
$STATE,6075,end apogee,CONTROL_FINISHED_OK
$STATE,6075,begin climb
$GC,6077,0.81,145.9,2433,2189,3132,3225,754.5,0.0,397,6213,1.02,2.70,125.50,1.817,10756,0.132,0.076,2754,767,2580,2501,2659,0,0,0,0,0,0,13.88,13.45,12.69
$GC,6364,0.80,145.9,2755,768,2496,2653,723.2,13.8,455,6368,0.00,2.58,0.00,0.000,1030,0.000,0.080,2754,2175,2574,2496,2652,0,0,0,0,0,0,28.83,13.89,28.83
$GC,6676,0.78,145.9,2755,2177,2497,2653,678.1,14.4,467,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2176,2575,2493,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6974,0.76,145.9,2754,2177,2494,2652,635.2,14.1,477,6979,0.00,2.47,0.00,0.000,516,0.000,0.079,2754,761,2572,2493,2652,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7004,0.75,145.9,2754,761,2494,2652,631.0,13.9,483,7009,0.00,2.50,0.00,0.000,1030,0.000,0.080,2754,2188,2572,2493,2652,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7337,0.73,145.9,2755,2188,2493,2652,585.3,13.9,499,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2188,2572,2493,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7634,0.71,145.9,2755,2189,2493,2652,544.3,13.7,509,7636,0.15,0.00,0.00,0.000,4102,0.296,0.000,2723,2189,2572,2493,2652,0,0,0,0,0,0,14.26,28.83,28.83
$GC,7934,0.71,145.9,2724,2190,2493,2653,508.6,11.7,519,7939,0.00,2.47,0.00,0.000,516,0.000,0.076,2732,759,2572,2493,2652,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7959,0.71,145.9,2732,759,2493,2652,505.6,12.4,524,7965,0.00,2.50,0.00,0.000,1030,0.000,0.080,2732,2191,2572,2493,2652,0,0,0,0,0,0,28.83,14.46,28.83
$GC,8265,0.71,146.7,2733,2191,2493,2652,469.9,11.6,535,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2191,2572,2493,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8565,0.71,148.7,2732,2191,2493,2652,435.2,11.5,545,8569,0.00,2.45,0.00,0.000,516,0.000,0.077,2742,764,2572,2493,2652,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8584,0.71,148.7,2743,764,2493,2652,432.7,12.2,549,8589,0.00,2.47,0.00,0.000,1030,0.000,0.080,2742,2187,2572,2492,2652,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8895,0.71,148.7,2743,2188,2493,2652,394.3,12.4,561,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2188,2572,2493,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9195,0.71,148.7,2742,2188,2494,2652,357.7,12.0,571,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2188,2572,2493,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9495,0.72,152.3,2743,2188,2493,2653,322.5,11.4,581,9497,0.00,0.00,1.30,0.252,8198,0.000,0.000,2742,2188,2558,2478,2639,0,0,0,0,0,0,28.83,28.83,14.28
$GC,9795,0.72,157.1,2743,2188,2493,2649,289.4,11.4,591,9800,0.00,0.00,4.07,1.223,8198,0.000,0.000,2742,2188,2541,2461,2621,0,0,0,0,0,0,28.83,28.83,13.83
$GC,10095,0.73,179.7,2743,2188,2482,2637,255.7,10.4,601,10125,0.00,0.00,26.10,1.253,8198,0.000,0.000,2742,2188,2441,2364,2519,0,0,0,0,0,0,28.83,28.83,13.94
$GC,10425,0.79,232.5,2743,2188,2358,2513,221.7,8.8,630,10476,0.00,2.50,43.75,1.196,8708,0.000,0.080,2745,763,2224,2147,2301,0,0,0,0,0,0,28.83,14.38,13.82
$GC,10542,0.86,271.4,2746,763,2146,2294,210.4,9.6,653,10581,0.00,2.53,32.92,1.174,9222,0.000,0.080,2745,2188,2067,1981,2153,0,0,0,0,0,0,28.83,14.34,13.71
$GC,10887,0.93,307.3,2746,2188,1967,2149,175.8,9.7,692,10918,0.15,0.00,29.85,1.141,10246,0.123,0.000,2808,2188,1929,1834,2024,0,0,0,0,0,0,14.50,28.83,13.81
$GC,12276,0.95,307.3,2809,2188,1814,2010,129.0,14.1,725,12277,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2188,1911,1813,2010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12576,0.97,307.3,2809,2188,1814,2010,90.9,12.9,755,12581,0.00,2.53,0.00,0.000,516,0.000,0.080,2813,761,1910,1812,2009,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12591,0.99,307.3,2813,762,1813,2009,89.0,12.2,758,12597,0.00,2.53,0.00,0.000,1030,0.000,0.083,2812,2185,1910,1812,2008,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12898,1.05,356.6,2813,2185,1811,2009,55.2,9.0,789,12920,0.00,0.00,20.20,0.339,8198,0.000,0.000,2813,2185,1727,1634,1821,0,0,0,0,0,0,28.83,28.83,14.10
$GC,13218,1.19,471.9,2813,2185,1651,1821,35.2,5.5,821,13278,0.20,2.50,53.47,0.279,10756,0.104,0.076,2904,767,1256,1152,1360,0,0,0,0,0,0,14.38,14.28,14.12
$GC,13300,1.21,471.9,2903,768,1155,1361,27.5,12.4,832,13305,0.00,2.53,0.00,0.000,1030,0.000,0.082,2904,2189,1257,1154,1360,0,0,0,0,0,0,28.83,14.30,28.83
$FREEZE,8.99,1.186,-1.476,2,1,0
$FREEZE,8.04,1.178,-1.475,2,1,0
$FREEZE,7.31,1.177,-1.475,2,1,0
$FREEZE,6.30,1.174,-1.474,2,1,0
$FREEZE,5.29,1.176,-1.473,2,1,0
$FREEZE,4.00,1.186,-1.472,2,1,0
$FREEZE,2.91,1.173,-1.472,2,1,0
$FREEZE,1.66,1.173,-1.471,2,1,0
$STATE,13558,end climb,SURFACE_DEPTH_REACHED
$STATE,13558,begin surface coast
$FREEZE,1.72,1.106,-1.473,2,1,0
$FINISH,1.7,1.021638
$STATE,13570,end surface coast,CONTROL_FINISHED_OK
$STATE,13570,begin surface
$SM_CCo,13587,81.12,0.190,0,0,498,657.89
$SM_GC,2.60,7.93,0.70,81.12,0.060,0.081,0.190,179,1790,498,-7.17,0.62,657.89,0,0,0,0,0,0,14.45,14.43,14.23
$RAFOS_CLK,156274
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7221.25,-14430.31,210914,170600
$TT8_MAMPS,0.042693,0.042693
$HUMID,49.13
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3767904
$24V_AH,12.69,146.974
$10V_AH,12.55,0.000
$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,21.025,66.350,513.825,81.125,0.000,0.000,0.000,622.375,0.000,0.000,34.586,0.000,10070.157,698.983,2355.641,445.750,0.000,2010.426,0.000,1291.002,1439.000,0.531,0.000
$DEVICE_MAMPS,416.160,104.040,1816.875,190.485,0.000,0.000,0.000,187.425,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13624.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.178,0.000,0.000,0.000
$MEM,111184
$DATA_FILE_SIZE,30028,860
$CAP_FILE_SIZE,148645,0
$CFSIZE,1047117824,981647360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13161.43,0x2378b6,7,5
$SOUNDSPEED,1450.0
$GPS,220914,002826,7258.781,-14434.421,28,0.8,49,29.7