version: 66.12
glider: 197
mission: 6
dive: 390
start: 9 23 114 11 21 7
data:
$ID,197
$MISSION,6
$DIVE,390
$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,-14874.053
$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,24
$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
$GPS1,230914,111114,7246.093,-14459.769,38,1.0,58,29.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-71.0
$GPS2,230914,112045,7246.156,-14459.902,9,1.0,29,29.4
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,a
$TGT_LATLONG,7130.000,-14800.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,187.5,176333,-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,15,begin dive
$GC,18,-0.81,-145.9,161,1789,422,574,0.0,0.0,0,80,0.00,0.00,-60.78,0.000,16386,0.000,0.000,161,1788,1910,1916,1905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.81,-145.9,161,1789,1917,1906,3.1,-1.5,6,155,10.23,2.50,-54.80,0.000,18948,0.412,0.102,2218,395,3778,3759,3798,0,0,0,0,0,0,13.97,14.28,14.62
$GC,289,-0.76,-145.9,2218,394,3762,3802,49.6,-23.9,47,296,0.15,2.47,0.00,0.000,3078,0.308,0.078,2241,1794,3781,3761,3802,0,0,0,0,0,0,14.04,14.28,28.83
$GC,592,-0.76,-145.9,2242,1796,3762,3804,106.6,-16.7,78,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1795,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.76,-145.9,2242,1795,3758,3804,154.3,-15.5,108,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1795,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1193,-0.77,-145.9,2242,1795,3761,3804,196.7,-13.2,138,1197,0.00,2.55,0.00,0.000,260,0.000,0.100,2233,3219,3782,3760,3804,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1227,-0.77,-145.9,2233,3220,3762,3804,201.4,-13.9,145,1233,0.00,2.42,0.00,0.000,1030,0.000,0.061,2233,1803,3782,3761,3804,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1535,-0.79,-145.9,2234,1803,3761,3804,237.9,-11.3,176,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1802,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1853,-0.82,-145.9,2234,1802,3760,3804,274.8,-11.4,194,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1802,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2153,-0.85,-145.9,2233,1803,3759,3804,307.3,-10.8,204,2158,0.00,2.53,0.00,0.000,260,0.000,0.100,2222,3213,3780,3758,3803,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2228,-0.87,-145.9,2223,3214,3759,3804,315.9,-11.4,219,2233,0.00,2.42,0.00,0.000,1030,0.000,0.063,2223,1796,3780,3758,3803,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2750,-0.90,-145.9,2220,1800,3759,3804,349.0,-10.9,232,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1794,3782,3758,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3049,-0.92,-145.9,2223,1795,3758,3804,381.6,-10.9,242,3054,0.00,2.58,0.00,0.000,260,0.000,0.099,2215,3217,3780,3757,3804,0,0,0,0,0,0,28.83,14.29,28.83
$GC,3135,-0.94,-145.9,2215,3217,3757,3804,391.3,-11.4,259,3140,0.00,2.45,0.00,0.000,1030,0.000,0.062,2215,1794,3780,3757,3803,0,0,0,0,0,0,28.83,14.35,28.83
$GC,3441,-0.96,-145.9,2216,1795,3757,3804,424.8,-10.8,270,3443,0.12,0.00,0.00,0.000,4102,0.143,0.000,2161,1794,3780,3757,3803,0,0,0,0,0,0,14.42,28.83,28.83
$GC,3740,-0.95,-145.9,2161,1794,3758,3804,464.2,-13.1,280,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,1793,3780,3757,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4039,-0.93,-145.9,2161,1794,3757,3804,503.1,-12.9,290,4041,0.12,0.00,0.00,0.000,2054,0.281,0.000,2184,1793,3780,3757,3804,0,0,0,0,0,0,14.22,28.83,28.83
$GC,4339,-0.93,-145.9,2185,1793,3757,3804,538.0,-11.5,300,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1793,3780,3757,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4639,-0.93,-145.9,2185,1793,3757,3804,572.2,-11.5,310,4644,0.00,2.53,0.00,0.000,260,0.000,0.097,2176,3214,3780,3756,3804,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4694,-0.93,-145.9,2177,3214,3756,3804,579.0,-12.4,321,4700,0.00,2.42,0.00,0.000,1030,0.000,0.061,2176,1795,3780,3756,3804,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4999,-0.93,-145.9,2177,1795,3757,3804,615.7,-12.0,332,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1794,3780,3757,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5299,-0.93,-145.9,2177,1795,3757,3805,651.9,-12.1,342,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,1794,3780,3756,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5599,-0.93,-145.9,2177,1795,3757,3804,687.8,-11.9,352,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,1794,3780,3756,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5899,-0.93,-145.9,2177,1795,3757,3804,723.5,-11.8,362,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,1794,3780,3756,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6137,begin apogee
$GC,6143,-0.16,0.0,2174,2188,3757,3804,751.7,-11.8,370,6271,1.00,0.00,125.35,1.839,10246,0.243,0.000,2437,2187,3181,3135,3227,0,0,0,0,0,0,14.16,28.83,13.18
$STATE,6272,end apogee,CONTROL_FINISHED_OK
$STATE,6272,begin climb
$GC,6275,0.81,145.9,2437,2187,3129,3224,754.7,0.0,374,6404,0.98,0.00,125.97,1.824,10758,0.126,0.000,2742,2187,2588,2506,2670,0,0,0,0,0,0,13.95,28.83,12.73
$GC,6679,0.81,145.9,2743,2187,2492,2659,709.2,13.4,393,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2187,2574,2491,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6980,0.80,145.9,2743,2187,2492,2658,669.0,13.4,403,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2187,2574,2491,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7280,0.80,145.9,2738,2184,2492,2657,629.2,13.1,413,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2187,2574,2491,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7579,0.80,145.9,2743,2187,2492,2657,590.1,13.1,423,7584,0.00,2.47,0.00,0.000,516,0.000,0.077,2753,766,2574,2492,2656,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7619,0.80,145.9,2753,766,2492,2656,584.8,13.4,431,7624,0.00,2.47,0.00,0.000,1030,0.000,0.080,2753,2182,2573,2491,2656,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7941,0.78,145.9,2753,2184,2491,2656,541.8,13.6,445,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2183,2573,2490,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8240,0.77,145.9,2753,2184,2492,2657,501.4,13.3,455,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2183,2573,2491,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8540,0.75,145.9,2753,2184,2492,2656,461.8,13.0,465,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2183,2573,2491,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8840,0.74,145.9,2754,2184,2492,2656,422.2,13.0,475,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2184,2574,2492,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9139,0.73,145.9,2753,2184,2492,2656,383.0,12.9,485,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2183,2573,2491,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9439,0.73,145.9,2754,2184,2492,2656,344.9,12.6,495,9444,0.00,2.45,0.00,0.000,516,0.000,0.076,2763,767,2573,2491,2655,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9464,0.71,145.9,2764,767,2492,2656,341.7,12.7,500,9471,0.17,2.47,0.00,0.000,5126,0.272,0.080,2726,2189,2573,2492,2655,0,0,0,0,0,0,14.19,14.49,28.83
$GC,9771,0.73,150.5,2726,2190,2492,2656,307.1,11.4,511,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2189,2573,2491,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10070,0.76,167.0,2726,2190,2492,2655,274.9,10.7,521,10089,0.00,0.00,18.08,1.304,8198,0.000,0.000,2725,2189,2500,2422,2579,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10370,0.80,197.2,2726,2190,2411,2569,242.3,10.0,535,10400,0.00,0.00,25.55,1.250,8198,0.000,0.000,2725,2189,2369,2294,2445,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10701,0.87,233.7,2726,2190,2288,2441,209.6,9.7,568,10735,0.15,0.00,30.67,1.193,10502,0.134,0.000,2787,2190,2225,2146,2304,0,0,0,0,0,0,14.50,28.83,13.85
$GC,11040,0.87,233.7,2788,2191,2131,2299,165.6,12.7,604,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2191,2214,2130,2298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11340,0.89,248.4,2788,2191,2129,2298,130.2,10.8,634,11354,0.00,0.00,12.25,1.164,8198,0.000,0.000,2787,2190,2167,2082,2252,0,0,0,0,0,0,28.83,28.83,13.93
$GC,11652,0.93,285.2,2788,2191,2068,2245,98.7,9.7,665,11671,0.00,0.00,15.27,0.459,8198,0.000,0.000,2786,2192,2019,1929,2109,0,0,0,0,0,0,28.83,28.83,14.06
$GC,11972,1.00,332.7,2788,2191,1945,2113,66.8,9.1,697,12001,0.00,2.50,23.20,0.369,8708,0.000,0.075,2798,764,1824,1730,1919,0,0,0,0,0,0,28.83,14.39,14.07
$GC,12048,1.10,401.5,2799,766,1741,1919,60.7,8.0,711,12088,0.15,2.53,32.35,0.355,11270,0.125,0.080,2864,2185,1543,1446,1641,0,0,0,0,0,0,14.36,14.31,14.07
$GC,12393,1.24,549.0,2865,2185,1450,1641,23.6,3.8,750,12464,0.00,2.62,66.70,0.246,8452,0.000,0.101,2864,3596,942,835,1049,0,0,0,0,0,0,28.83,14.28,14.13
$GC,12515,1.31,571.4,2866,3595,834,1049,15.5,10.4,774,12531,0.12,2.45,10.27,0.226,11270,0.135,0.057,2926,2165,850,740,960,0,0,0,0,0,0,14.31,14.31,14.11
$FREEZE,7.87,1.909,-1.485,2,1,0
$FREEZE,6.77,1.908,-1.484,2,1,0
$FREEZE,5.25,1.900,-1.483,2,1,0
$FREEZE,3.98,1.908,-1.482,2,1,0
$FREEZE,2.48,1.909,-1.481,2,1,0
$FREEZE,1.55,1.892,-0.921,2,1,0
$STATE,12624,end climb,SURFACE_DEPTH_REACHED
$STATE,12624,begin surface coast
$FREEZE,1.45,1.830,-1.284,2,1,0
$FINISH,1.5,1.018894
$STATE,12634,end surface coast,CONTROL_FINISHED_OK
$STATE,12634,begin surface
$SM_CCo,12651,38.30,0.187,0,0,497,657.89
$SM_GC,2.29,8.02,0.62,38.30,0.063,0.082,0.187,182,1806,497,-7.17,1.05,657.89,0,0,0,0,0,0,14.39,14.40,14.21
$RAFOS_CLK,973900
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7207.11,-14459.88,230914,073057
$TT8_MAMPS,0.041944,0.041944
$HUMID,51.96
$INTERNAL_PRESSURE,8.62999
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3763424
$24V_AH,12.73,150.357
$10V_AH,12.62,0.000
$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,21.225,46.175,485.675,38.300,0.000,0.000,0.000,340.975,0.000,0.000,31.787,0.000,10130.409,626.699,1975.430,303.113,0.000,1594.724,0.000,1186.888,1473.000,0.532,0.000
$DEVICE_MAMPS,411.570,103.275,1839.060,186.660,0.000,0.000,0.000,153.765,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12689.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.786,0.000,0.000,0.000
$MEM,106192
$DATA_FILE_SIZE,26741,788
$CAP_FILE_SIZE,137065,0
$CFSIZE,1047117824,980598784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13463.35,0x2378b6,7,5
$SOUNDSPEED,1450.1
$GPS,230914,145025,7244.944,-14503.113,34,0.8,54,29.3