version: 66.12
glider: 197
mission: 6
dive: 149
start: 8 17 114 13 44 0
data:
$ID,197
$MISSION,6
$DIVE,149
$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,-7620.2529
$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,2470
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,38
$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,3
$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
$GPS1,170814,133244,7306.389,-14551.817,37,0.9,57,29.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-68.5
$GPS2,170814,134345,7306.480,-14552.120,11,0.9,31,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,150.5,167574,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.81,-145.9,146,2489,419,577,0.0,0.0,0,74,0.00,0.00,-51.78,0.000,16386,0.000,0.000,145,2489,1738,1744,1732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.81,-145.9,149,2490,1746,1732,3.1,-1.6,5,151,11.00,2.50,-56.58,0.000,18948,0.454,0.102,2222,1056,3779,3758,3800,0,0,0,0,0,0,14.12,14.38,14.62
$GC,377,-0.76,-145.9,2222,1056,3760,3806,73.9,-20.1,65,383,0.00,2.50,0.00,0.000,1030,0.000,0.100,2215,2460,3782,3759,3805,0,0,0,0,0,0,28.83,14.46,28.83
$GC,688,-0.74,-145.9,2216,2461,3759,3806,134.3,-19.1,97,694,0.12,2.42,0.00,0.000,2564,0.333,0.081,2243,1063,3782,3759,3805,0,0,0,0,0,0,14.36,14.52,28.83
$GC,920,-0.74,-145.9,2244,1062,3759,3806,172.4,-15.3,143,926,0.00,2.50,0.00,0.000,1030,0.000,0.100,2236,2473,3781,3758,3805,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1231,-0.74,-145.9,2237,2471,3759,3806,217.4,-13.6,175,1237,0.00,2.42,0.00,0.000,516,0.000,0.083,2236,1063,3781,3758,3805,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1463,-0.75,-145.9,2236,1062,3759,3806,247.3,-11.1,221,1470,0.00,2.50,0.00,0.000,1030,0.000,0.101,2227,2470,3781,3758,3805,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1786,-0.77,-145.9,2227,2471,3760,3806,287.1,-12.1,234,1792,0.00,2.42,0.00,0.000,516,0.000,0.085,2227,1060,3781,3758,3805,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2017,-0.79,-145.9,2227,1059,3755,3805,314.6,-11.6,280,2023,0.00,2.50,0.00,0.000,1030,0.000,0.101,2217,2473,3781,3757,3805,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2329,-0.80,-145.9,2217,2474,3758,3806,352.2,-12.1,292,2336,0.00,2.42,0.00,0.000,516,0.000,0.085,2217,1062,3781,3758,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2560,-0.82,-145.9,2218,1062,3758,3805,379.5,-11.2,338,2566,0.00,2.50,0.00,0.000,1030,0.000,0.101,2211,2473,3781,3757,3805,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2872,-0.83,-145.9,2211,2473,3758,3805,416.3,-11.9,350,2878,0.00,2.42,0.00,0.000,516,0.000,0.084,2211,1059,3780,3757,3804,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3103,-0.84,-145.9,2210,1059,3758,3805,443.7,-11.9,396,3109,0.00,2.50,0.00,0.000,1030,0.000,0.099,2203,2475,3781,3757,3805,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3414,-0.84,-145.9,2203,2476,3759,3806,481.1,-12.0,408,3421,0.00,2.17,0.00,0.000,260,0.000,0.114,2194,3712,3781,3758,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3645,-0.84,-145.9,2194,3713,3758,3805,512.1,-13.6,454,3652,0.00,2.05,0.00,0.000,1030,0.000,0.061,2193,2455,3781,3757,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3957,-0.84,-145.9,2194,2454,3758,3806,550.4,-12.2,466,3965,0.00,2.20,0.00,0.000,260,0.000,0.114,2186,3708,3781,3757,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4154,-0.83,-145.9,2187,3708,3758,3806,577.0,-13.6,505,4161,0.15,2.03,0.00,0.000,3078,0.290,0.061,2217,2466,3781,3758,3805,0,0,0,0,0,0,14.48,14.66,28.83
$GC,4471,-0.85,-145.9,2217,2466,3758,3806,611.1,-10.7,518,4478,0.00,2.38,0.00,0.000,516,0.000,0.085,2217,1075,3781,3757,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4702,-0.88,-145.9,2218,1074,3758,3806,635.5,-10.6,564,4709,0.00,2.47,0.00,0.000,1030,0.000,0.099,2211,2479,3781,3757,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5014,-0.89,-145.9,2211,2481,3758,3806,669.2,-10.8,576,5021,0.00,2.40,0.00,0.000,516,0.000,0.083,2211,1076,3781,3758,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5245,-0.91,-145.9,2211,1075,3758,3806,694.7,-11.4,622,5253,0.00,2.45,0.00,0.000,1030,0.000,0.100,2201,2470,3780,3756,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5558,-0.92,-145.9,2202,2471,3758,3806,730.0,-11.3,634,5565,0.00,2.38,0.00,0.000,516,0.000,0.083,2201,1076,3782,3758,3806,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,5737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5738,begin apogee
$GC,5743,-0.16,0.0,2192,2401,3758,3806,750.4,-11.3,670,5872,0.93,0.00,124.35,1.817,10246,0.268,0.000,2432,2400,3178,3133,3223,0,0,0,0,0,0,14.47,28.83,13.29
$STATE,5874,end apogee,CONTROL_FINISHED_OK
$STATE,5874,begin climb
$GC,5876,0.81,145.9,2433,2400,3125,3224,753.7,0.0,674,6015,1.05,2.55,121.70,1.808,10500,0.147,0.102,2750,3702,2579,2500,2659,0,0,0,0,0,0,13.96,13.49,12.85
$GC,6224,0.74,145.9,2750,3703,2493,2657,705.9,17.2,745,6232,0.00,2.25,0.00,0.000,1030,0.000,0.060,2760,2405,2573,2492,2655,0,0,0,0,0,0,28.83,14.04,28.83
$GC,6530,0.69,145.9,2760,2404,2492,2655,657.7,15.7,756,6537,0.17,2.50,0.00,0.000,4612,0.288,0.084,2728,990,2573,2492,2654,0,0,0,0,0,0,14.16,14.28,28.83
$GC,6636,0.69,145.9,2728,990,2493,2656,643.2,12.4,777,6643,0.00,2.53,0.00,0.000,1030,0.000,0.092,2726,2406,2574,2493,2655,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6953,0.68,145.9,2729,2407,2492,2655,600.2,13.5,790,6960,0.00,2.47,0.00,0.000,516,0.000,0.088,2737,992,2573,2492,2654,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7060,0.66,145.9,2737,992,2493,2655,585.9,13.5,811,7067,0.15,2.47,0.00,0.000,5126,0.272,0.091,2706,2401,2573,2492,2654,0,0,0,0,0,0,14.37,14.50,28.83
$GC,7378,0.66,145.9,2706,2402,2492,2655,547.4,11.9,824,7384,0.00,2.45,0.00,0.000,516,0.000,0.087,2714,991,2573,2492,2655,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7484,0.66,145.9,2715,990,2492,2655,534.5,12.0,845,7491,0.00,2.47,0.00,0.000,1030,0.000,0.092,2714,2403,2572,2491,2654,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7801,0.66,145.9,2714,2404,2492,2654,495.1,12.5,858,7808,0.00,2.45,0.00,0.000,516,0.000,0.088,2717,991,2573,2492,2654,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7897,0.66,145.9,2718,992,2492,2655,483.4,12.4,877,7905,0.00,2.47,0.00,0.000,1030,0.000,0.093,2716,2403,2573,2492,2654,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8985,0.80,345.8,2717,2405,2492,2655,444.7,1.0,892,9158,0.00,2.55,163.75,1.406,8708,0.000,0.090,2717,993,1767,1672,1862,0,0,0,0,0,0,28.83,13.90,13.36
$GC,9263,0.84,345.8,2717,994,1669,1847,404.6,15.7,947,9270,0.15,2.55,0.00,0.000,3078,0.127,0.093,2780,2400,1757,1668,1847,0,0,0,0,0,0,14.15,14.12,28.83
$GC,9589,0.84,345.8,2780,2401,1661,1846,339.3,20.2,962,9596,0.00,2.50,0.00,0.000,516,0.000,0.088,2789,990,1753,1661,1846,0,0,0,0,0,0,28.83,14.33,28.83
$GC,9686,0.82,345.8,2789,989,1662,1847,319.0,21.7,981,9694,0.15,2.53,0.00,0.000,5126,0.287,0.093,2759,2408,1754,1661,1847,0,0,0,0,0,0,14.26,14.38,28.83
$GC,10013,0.84,345.8,2760,2409,1660,1847,261.0,17.3,996,10020,0.00,2.45,0.00,0.000,516,0.000,0.088,2768,995,1753,1660,1846,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10129,0.85,345.8,2768,995,1660,1847,240.4,17.4,1019,10137,0.00,2.47,0.00,0.000,1030,0.000,0.093,2768,2405,1755,1664,1846,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10435,0.87,345.8,2768,2403,1661,1847,191.4,14.8,1050,10442,0.00,2.45,0.00,0.000,516,0.000,0.090,2769,995,1752,1659,1846,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10551,0.90,345.8,2770,995,1660,1847,174.3,13.9,1073,10559,0.00,2.47,0.00,0.000,1030,0.000,0.094,2769,2400,1752,1659,1846,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10857,0.94,345.8,2770,2402,1659,1847,133.4,12.9,1104,10864,0.00,2.45,0.00,0.000,516,0.000,0.091,2770,994,1752,1659,1846,0,0,0,0,0,0,28.83,14.55,28.83
$GC,10968,0.98,345.8,2770,996,1659,1846,119.3,12.3,1126,10976,0.12,2.45,0.00,0.000,3078,0.139,0.094,2822,2400,1752,1659,1846,0,0,0,0,0,0,14.57,14.52,28.83
$GC,11282,0.98,345.8,2823,2401,1659,1847,72.6,14.6,1158,11288,0.00,2.45,0.00,0.000,516,0.000,0.090,2831,996,1753,1661,1846,0,0,0,0,0,0,28.83,14.54,28.83
$GC,11513,1.04,392.1,2831,996,1659,1846,46.8,9.2,1204,11539,0.00,2.47,18.33,0.313,9222,0.000,0.093,2830,2404,1584,1486,1682,0,0,0,0,0,0,28.83,14.53,14.35
$GC,11844,1.16,512.2,2831,2405,1499,1682,17.4,5.2,1240,11907,0.10,2.33,54.22,0.225,10500,0.161,0.109,2878,3708,1091,987,1195,0,0,0,0,0,0,14.57,14.40,14.34
$FREEZE,8.67,-0.052,-1.415,2,1,0
$FREEZE,8.25,-0.048,-1.414,2,1,0
$FREEZE,7.71,-0.048,-1.414,2,1,0
$FREEZE,7.34,-0.050,-1.414,2,1,0
$FREEZE,6.82,-0.050,-1.414,2,1,0
$FREEZE,6.34,-0.049,-1.413,2,1,0
$FREEZE,5.93,-0.049,-1.413,2,1,0
$FREEZE,5.49,-0.042,-1.412,2,1,0
$FREEZE,5.02,-0.042,-1.412,2,1,0
$FREEZE,4.61,-0.044,-1.411,2,1,0
$FREEZE,4.23,-0.044,-1.411,2,1,0
$FREEZE,3.73,-0.043,-1.411,2,1,0
$FREEZE,3.29,-0.043,-1.410,2,1,0
$FREEZE,2.70,-0.040,-1.410,2,1,0
$FREEZE,2.30,-0.040,-1.410,2,1,0
$FREEZE,1.67,-0.058,-1.410,2,1,0
$STATE,12036,end climb,SURFACE_DEPTH_REACHED
$STATE,12036,begin surface coast
$FREEZE,1.45,-0.058,-1.410,2,1,0
$FREEZE,1.58,-0.058,-1.397,2,1,0
$FINISH,1.6,1.020589
$STATE,12046,end surface coast,CONTROL_FINISHED_OK
$STATE,12046,begin surface
$SM_CCo,12069,62.33,0.190,0,0,499,657.89
$SM_GC,2.55,7.93,2.15,62.33,0.068,0.068,0.190,180,2460,499,-7.18,0.76,657.89,0,0,0,0,0,0,14.51,14.54,14.40
$RAFOS_CLK,312653
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7228.39,-14547.79,170814,095528
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.22
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3871424
$TM_FREEKB,5322836
$24V_AH,12.85,62.405
$10V_AH,12.76,0.000
$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,22.025,111.425,482.350,62.325,0.000,0.000,0.000,396.650,0.000,0.000,33.571,0.000,8136.392,644.760,3001.237,219.548,0.000,2110.055,0.000,1876.826,1498.000,0.531,0.000
$DEVICE_MAMPS,453.645,113.985,1816.875,189.720,0.000,0.000,0.000,175.185,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12077.000,12091.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.236,29.368,0.000,0.000
$MEM,237056
$DATA_FILE_SIZE,43273,1280
$CAP_FILE_SIZE,166374,0
$CFSIZE,1047117824,1014235136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13128.04,0x2378b6,7,5
$SOUNDSPEED,1452.5
$GPS,170814,165456,7305.857,-14551.461,44,1.0,64,29.1