version: 66.12
glider: 197
mission: 6
dive: 381
start: 9 22 114 0 43 47
data:
$ID,197
$MISSION,6
$DIVE,381
$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,-14308.948
$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,21
$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
$GPS1,220914,002826,7258.781,-14434.421,28,0.8,49,29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-65.2
$GPS2,220914,004327,7258.898,-14434.815,9,0.8,29,29.7
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,165.0,55327,-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,-145.9,149,1788,424,572,0.0,0.0,0,71,0.00,0.00,-51.92,0.000,16386,0.000,0.000,149,1787,1715,1720,1710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.81,-145.9,150,1788,1721,1711,3.1,-1.6,5,161,10.27,2.45,-69.80,0.000,18948,0.412,0.090,2222,389,3777,3760,3795,0,0,0,0,0,0,14.01,14.28,14.59
$GC,313,-0.76,-145.9,2222,388,3761,3799,56.2,-21.1,53,318,0.15,2.50,0.00,0.000,3078,0.311,0.077,2243,1800,3780,3762,3799,0,0,0,0,0,0,14.06,14.28,28.83
$GC,624,-0.76,-145.9,2245,1801,3762,3801,111.2,-16.7,85,628,0.00,2.55,0.00,0.000,260,0.000,0.100,2235,3219,3781,3762,3801,0,0,0,0,0,0,28.83,14.30,28.83
$GC,674,-0.74,-145.9,2235,3219,3762,3801,119.9,-17.0,95,678,0.00,2.42,0.00,0.000,1030,0.000,0.061,2235,1806,3781,3762,3800,0,0,0,0,0,0,28.83,14.35,28.83
$GC,984,-0.74,-145.9,2235,1806,3762,3802,168.9,-15.0,127,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1805,3781,3761,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1284,-0.75,-145.9,2235,1805,3762,3802,213.8,-14.1,157,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1805,3781,3762,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1584,-0.77,-145.9,2235,1805,3762,3802,250.8,-11.9,187,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1805,3781,3761,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1884,-0.79,-145.9,2235,1805,3761,3802,286.1,-11.8,197,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1805,3781,3761,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,-0.83,-145.9,2235,1805,3760,3801,319.8,-10.9,207,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1805,3780,3759,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2484,-0.86,-145.9,2235,1805,3760,3801,352.0,-10.9,217,2489,0.00,2.53,0.00,0.000,260,0.000,0.103,2227,3213,3779,3758,3801,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2544,-0.88,-145.9,2227,3214,3759,3802,358.7,-11.4,229,2549,0.00,2.42,0.00,0.000,1030,0.000,0.063,2227,1796,3779,3757,3801,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2876,-0.91,-145.9,2227,1795,3759,3802,392.9,-9.9,245,2881,0.00,2.55,0.00,0.000,260,0.000,0.102,2219,3215,3779,3758,3801,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2937,-0.93,-145.9,2220,3216,3758,3801,399.2,-10.6,257,2941,0.00,2.42,0.00,0.000,1030,0.000,0.063,2219,1795,3779,3757,3801,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3269,-0.95,-145.9,2219,1795,3758,3802,433.5,-10.4,273,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1794,3779,3758,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3567,-0.98,-145.9,2219,1795,3758,3802,465.1,-10.6,283,3572,0.12,2.55,0.00,0.000,4356,0.142,0.099,2150,3212,3779,3757,3801,0,0,0,0,0,0,14.62,14.35,28.83
$GC,3622,-0.95,-145.9,2151,3213,3757,3802,472.8,-14.6,294,3629,0.15,2.42,0.00,0.000,3078,0.283,0.062,2180,1795,3779,3757,3801,0,0,0,0,0,0,14.17,14.50,28.83
$GC,3930,-0.95,-145.9,2180,1796,3757,3803,509.9,-11.9,305,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1795,3779,3757,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4227,-0.95,-145.9,2180,1795,3757,3802,545.3,-11.8,315,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1795,3778,3756,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4527,-0.95,-145.9,2180,1795,3757,3802,580.5,-11.8,325,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1795,3779,3757,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4827,-0.95,-145.9,2180,1796,3757,3802,616.6,-12.1,335,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1795,3779,3757,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5127,-0.95,-145.9,2180,1796,3757,3802,652.5,-11.9,345,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1795,3779,3757,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5428,-0.95,-145.9,2180,1795,3758,3802,687.9,-11.7,355,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1795,3779,3757,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5728,-0.95,-145.9,2180,1795,3757,3802,722.6,-11.5,365,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1795,3779,3757,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5965,begin apogee
$GC,5971,-0.16,0.0,2180,2188,3757,3808,750.0,-11.4,373,6098,0.98,0.00,124.57,1.830,10246,0.242,0.000,2437,2187,3180,3138,3223,0,0,0,0,0,0,14.20,28.83,13.20
$STATE,6099,end apogee,CONTROL_FINISHED_OK
$STATE,6099,begin climb
$GC,6102,0.81,145.9,2438,2188,3130,3224,752.7,0.0,377,6231,1.02,0.00,126.03,1.825,10246,0.123,0.000,2754,2187,2585,2505,2666,0,0,0,0,0,0,13.97,28.83,12.73
$GC,6508,0.79,145.9,2755,2187,2488,2656,703.8,14.4,391,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2187,2572,2490,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6808,0.77,145.9,2754,2188,2491,2655,661.4,14.0,401,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2187,2572,2490,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7108,0.75,145.9,2755,2187,2491,2655,619.3,14.0,411,7113,0.00,2.50,0.00,0.000,516,0.000,0.080,2757,758,2572,2490,2655,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7133,0.73,145.9,2757,758,2491,2655,615.7,14.1,416,7139,0.00,2.50,0.00,0.000,1030,0.000,0.080,2757,2186,2572,2490,2654,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7440,0.71,145.9,2756,2187,2491,2654,572.8,14.0,427,7441,0.15,0.00,0.00,0.000,4102,0.298,0.000,2726,2187,2572,2490,2655,0,0,0,0,0,0,14.19,28.83,28.83
$GC,7738,0.71,147.9,2727,2189,2491,2655,537.3,11.5,437,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2187,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8038,0.72,150.3,2727,2188,2489,2654,502.5,11.5,447,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2187,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8338,0.72,150.3,2727,2188,2491,2655,468.0,11.7,457,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2188,2573,2490,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8638,0.72,150.3,2727,2187,2490,2655,432.0,12.1,467,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2188,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8938,0.72,150.3,2727,2188,2491,2655,396.5,11.7,477,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2184,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9238,0.73,150.3,2727,2188,2490,2655,361.2,11.7,487,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2187,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9538,0.74,153.9,2727,2188,2491,2655,326.6,11.4,497,9541,0.00,0.00,2.05,0.327,8198,0.000,0.000,2726,2188,2553,2473,2634,0,0,0,0,0,0,28.83,28.83,12.74
$GC,9840,0.77,165.0,2726,2188,2490,2651,292.6,11.0,507,9857,0.00,0.00,15.98,1.330,8198,0.000,0.000,2726,2188,2508,2430,2586,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10140,0.81,189.6,2727,2188,2420,2578,260.7,10.3,517,10163,0.00,0.00,21.05,1.271,8454,0.000,0.000,2726,2188,2407,2331,2483,0,0,0,0,0,0,28.83,28.83,13.93
$GC,10468,0.86,217.7,2732,2188,2319,2471,226.9,10.1,547,10498,0.15,0.00,23.35,1.231,10246,0.131,0.000,2788,2188,2286,2211,2362,0,0,0,0,0,0,14.38,28.83,13.88
$GC,10800,0.87,229.4,2788,2188,2205,2359,188.3,11.0,580,10815,0.00,2.47,10.15,1.245,8708,0.000,0.075,2798,761,2240,2163,2318,0,0,0,0,0,0,28.83,14.54,13.88
$GC,10860,0.87,229.4,2799,762,2163,2312,180.9,12.7,592,10865,0.00,2.50,0.00,0.000,1030,0.000,0.080,2798,2185,2237,2162,2312,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11172,0.87,237.2,2799,2185,2160,2312,144.4,11.2,624,11180,0.00,0.00,2.60,0.703,8198,0.000,0.000,2798,2185,2217,2141,2293,0,0,0,0,0,0,28.83,28.83,13.57
$GC,11480,0.90,277.6,2799,2186,2157,2302,111.1,9.5,655,11523,0.00,0.00,41.80,1.066,8198,0.000,0.000,2798,2185,2049,1965,2134,0,0,0,0,0,0,28.83,28.83,13.87
$GC,12946,0.94,304.0,2799,2185,1942,2126,73.9,10.2,689,12961,0.00,2.55,10.35,0.382,8452,0.000,0.099,2798,3595,1941,1848,2034,0,0,0,0,0,0,28.83,14.28,13.99
$GC,13032,0.98,357.0,2799,3596,1867,2037,65.2,8.8,706,13062,0.00,2.45,25.38,0.369,9222,0.000,0.059,2809,2166,1727,1636,1818,0,0,0,0,0,0,28.83,14.29,13.97
$GC,13367,1.13,485.2,2809,2167,1648,1820,38.3,4.8,743,13429,0.15,0.00,59.28,0.289,10246,0.122,0.000,2876,2166,1202,1096,1309,0,0,0,0,0,0,14.35,28.83,14.08
$FREEZE,8.96,1.047,-1.471,2,1,0
$FREEZE,8.05,1.053,-1.470,2,1,0
$FREEZE,7.14,1.047,-1.470,2,1,0
$FREEZE,6.37,1.049,-1.469,2,1,0
$FREEZE,5.59,1.048,-1.469,2,1,0
$GC,13728,1.23,542.9,2877,2166,1097,1310,7.1,8.6,779,13758,0.00,0.00,26.35,0.200,8198,0.000,0.000,2876,2165,965,853,1077,0,0,0,0,0,0,28.83,28.83,14.15
$FREEZE,3.86,1.045,-1.467,2,1,0
$FREEZE,2.99,1.040,-1.467,2,1,0
$FREEZE,2.27,1.040,-1.466,2,1,0
$FREEZE,1.61,1.027,-1.466,2,1,0
$STATE,13795,end climb,SURFACE_DEPTH_REACHED
$STATE,13795,begin surface coast
$FREEZE,1.59,0.926,-1.458,2,1,0
$FREEZE,1.58,0.835,-0.351,2,1,0
$FINISH,1.6,1.005087
$STATE,13815,end surface coast,CONTROL_FINISHED_OK
$STATE,13815,begin surface
$SM_CCo,13833,49.92,0.190,0,0,499,657.89
$SM_GC,2.62,8.12,0.62,49.92,0.086,0.086,0.190,175,1814,499,-7.19,1.13,657.89,0,0,0,0,0,0,14.38,14.38,14.22
$RAFOS_CLK,101208
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7221.25,-14434.58,210914,204541
$TT8_MAMPS,0.042693,0.042693
$HUMID,49.72
$INTERNAL_PRESSURE,8.62023
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3767456
$24V_AH,12.73,147.322
$10V_AH,12.90,0.000
$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,21.275,41.125,488.925,49.925,0.000,0.000,0.000,610.125,0.000,0.000,32.143,0.000,10388.133,658.444,2233.013,373.736,0.000,1882.983,0.000,1188.240,1496.000,0.531,0.000
$DEVICE_MAMPS,411.570,102.510,1829.880,189.720,0.000,0.000,0.000,186.660,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13859.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.712,0.000,0.000,0.000
$MEM,110720
$DATA_FILE_SIZE,26691,788
$CAP_FILE_SIZE,140176,0
$CFSIZE,1047117824,981647360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13619.24,0x2378b6,7,5
$SOUNDSPEED,1449.3
$GPS,220914,041756,7257.109,-14437.002,34,1.0,55,29.7