version: 66.12
glider: 197
mission: 6
dive: 161
start: 8 19 114 9 21 34
data:
$ID,197
$MISSION,6
$DIVE,161
$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,-7635.4014
$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,40
$R_STBD_OVSHOOT,31
$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
$GPS1,190814,085656,7300.828,-14544.002,36,0.9,57,29.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-70.9
$GPS2,190814,092115,7300.868,-14544.099,9,1.3,29,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7310.000,-14550.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,320.3,17207,-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,-145.9,169,2484,417,576,0.0,0.0,0,74,0.00,0.00,-51.72,0.000,16386,0.000,0.000,167,2484,1713,1731,1695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.81,-145.9,169,2484,1732,1697,3.2,-1.6,5,156,10.93,2.25,-61.55,0.000,18692,0.454,0.135,2213,3698,3778,3758,3798,0,0,0,0,0,0,14.10,14.34,14.60
$GC,381,-0.74,-145.9,2213,3699,3759,3805,78.2,-22.0,66,389,0.17,2.05,0.00,0.000,3078,0.295,0.058,2248,2465,3781,3758,3805,0,0,0,0,0,0,14.23,14.43,28.83
$GC,686,-0.74,-145.9,2248,2466,3758,3808,131.3,-16.0,97,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2465,3782,3758,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,986,-0.74,-145.9,2248,2466,3759,3808,177.1,-14.2,127,993,0.00,2.42,0.00,0.000,516,0.000,0.082,2247,1073,3783,3759,3807,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1218,-0.76,-145.9,2248,1073,3759,3807,208.6,-13.4,173,1225,0.00,2.47,0.00,0.000,1030,0.000,0.100,2244,2465,3782,3758,3807,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1531,-0.78,-145.9,2245,2465,3759,3808,247.3,-11.3,205,1537,0.00,2.40,0.00,0.000,516,0.000,0.081,2244,1072,3782,3758,3807,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1762,-0.81,-145.9,2244,1072,3759,3808,273.4,-11.7,251,1768,0.00,2.47,0.00,0.000,1030,0.000,0.100,2239,2469,3782,3758,3807,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2074,-0.84,-145.9,2240,2470,3759,3808,308.6,-11.1,263,2080,0.00,2.40,0.00,0.000,516,0.000,0.080,2240,1074,3782,3758,3807,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2305,-0.88,-145.9,2240,1074,3759,3808,334.2,-11.0,309,2311,0.00,2.47,0.00,0.000,1030,0.000,0.099,2233,2475,3782,3758,3807,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2617,-0.91,-145.9,2233,2474,3758,3808,368.2,-10.9,321,2623,0.00,2.40,0.00,0.000,516,0.000,0.082,2233,1070,3782,3757,3807,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2848,-0.94,-145.9,2234,1071,3757,3807,393.4,-11.3,367,2855,0.12,2.47,0.00,0.000,5126,0.154,0.099,2179,2474,3782,3758,3807,0,0,0,0,0,0,14.64,14.61,28.83
$GC,3161,-0.93,-145.9,2175,2475,3757,3808,434.7,-13.3,379,3167,0.00,2.40,0.00,0.000,516,0.000,0.082,2175,1072,3781,3756,3807,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3392,-0.91,-145.9,2179,1072,3757,3808,465.6,-13.5,425,3398,0.00,2.47,0.00,0.000,1030,0.000,0.099,2170,2472,3781,3756,3807,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3704,-0.90,-145.9,2171,2472,3757,3807,507.9,-13.7,437,3711,0.12,2.40,0.00,0.000,2564,0.336,0.077,2196,1073,3782,3757,3807,0,0,0,0,0,0,14.45,14.64,28.83
$GC,3935,-0.90,-145.9,2196,1074,3757,3808,536.1,-12.1,483,3942,0.00,2.45,0.00,0.000,1030,0.000,0.097,2188,2471,3782,3756,3808,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4247,-0.90,-145.9,2189,2471,3757,3807,574.7,-12.4,495,4254,0.00,2.38,0.00,0.000,516,0.000,0.080,2188,1075,3781,3756,3807,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4478,-0.90,-145.9,2189,1075,3757,3807,603.3,-12.4,541,4485,0.00,2.45,0.00,0.000,1030,0.000,0.097,2178,2470,3781,3756,3807,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4791,-0.90,-145.9,2178,2471,3757,3807,643.0,-12.8,553,4798,0.00,2.40,0.00,0.000,516,0.000,0.080,2178,1073,3782,3757,3807,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5022,-0.90,-145.9,2178,1073,3757,3808,672.5,-12.8,599,5029,0.15,2.47,0.00,0.000,3078,0.324,0.097,2198,2478,3781,3756,3807,0,0,0,0,0,0,14.44,14.62,28.83
$GC,5335,-0.91,-145.9,2198,2480,3757,3808,707.8,-11.3,611,5341,0.00,2.17,0.00,0.000,260,0.000,0.112,2191,3712,3782,3757,3807,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5566,-0.91,-145.9,2192,3711,3757,3807,736.6,-12.1,657,5572,0.00,2.03,0.00,0.000,1030,0.000,0.059,2191,2467,3782,3757,3807,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,5695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5695,begin apogee
$GC,5699,-0.16,0.0,2191,2409,3757,3807,751.8,-11.6,663,5827,0.93,0.00,123.53,1.815,10246,0.261,0.000,2433,2408,3180,3136,3225,0,0,0,0,0,0,14.47,28.83,13.29
$STATE,5829,end apogee,CONTROL_FINISHED_OK
$STATE,5829,begin climb
$GC,5831,0.81,145.9,2434,2408,3127,3227,754.6,0.0,667,5970,1.02,2.70,122.35,1.797,10756,0.143,0.083,2754,1008,2578,2500,2657,0,0,0,0,0,0,13.97,13.49,12.86
$GC,6195,0.78,145.9,2756,1009,2496,2654,710.1,14.6,741,6201,0.00,2.55,0.00,0.000,1030,0.000,0.089,2754,2402,2575,2497,2653,0,0,0,0,0,0,28.83,14.02,28.83
$GC,6517,0.74,145.9,2755,2405,2496,2654,660.5,15.5,755,6523,0.00,2.50,0.00,0.000,516,0.000,0.087,2756,996,2574,2496,2653,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6639,0.71,145.9,2757,996,2496,2654,642.1,14.5,779,6646,0.15,2.50,0.00,0.000,5126,0.291,0.089,2726,2405,2574,2496,2653,0,0,0,0,0,0,14.23,14.38,28.83
$GC,6970,0.69,145.9,2723,2406,2496,2654,596.6,13.5,795,6977,0.00,2.45,0.00,0.000,516,0.000,0.085,2737,1000,2574,2495,2654,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7093,0.68,145.9,2735,999,2495,2654,580.2,13.4,819,7099,0.00,2.45,0.00,0.000,1030,0.000,0.089,2735,2402,2574,2495,2653,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7424,0.66,145.9,2736,2402,2496,2654,533.8,14.0,835,7431,0.12,2.42,0.00,0.000,4612,0.312,0.083,2716,1000,2577,2495,2660,0,0,0,0,0,0,14.44,14.57,28.83
$GC,7530,0.66,145.9,2716,1000,2495,2654,520.3,12.5,856,7538,0.00,2.45,0.00,0.000,1030,0.000,0.090,2715,2403,2574,2495,2654,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7848,0.66,145.9,2716,2404,2496,2654,479.6,12.8,869,7855,0.00,2.45,0.00,0.000,516,0.000,0.086,2717,993,2574,2495,2654,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7956,0.66,145.9,2717,993,2496,2654,466.1,12.9,890,7963,0.00,2.45,0.00,0.000,1030,0.000,0.090,2717,2400,2574,2495,2653,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8273,0.66,145.9,2716,2401,2496,2654,425.9,12.6,903,8280,0.00,2.42,0.00,0.000,516,0.000,0.086,2717,1000,2570,2495,2645,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8354,0.66,145.9,2717,1000,2496,2655,415.8,12.3,919,8361,0.00,2.45,0.00,0.000,1030,0.000,0.090,2717,2406,2574,2495,2654,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8666,0.66,145.9,2718,2407,2496,2654,377.0,12.6,931,8673,0.00,2.42,0.00,0.000,516,0.000,0.086,2717,1000,2574,2496,2653,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8784,0.66,145.9,2717,999,2495,2654,363.0,11.8,954,8791,0.00,2.45,0.00,0.000,1030,0.000,0.090,2717,2405,2574,2495,2653,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9088,0.66,145.9,2717,2405,2496,2654,326.6,11.8,965,9094,0.00,2.42,0.00,0.000,516,0.000,0.086,2717,1003,2574,2495,2653,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9210,0.68,154.6,2717,1003,2496,2654,313.1,11.2,989,9220,0.00,2.42,3.47,1.193,9222,0.000,0.090,2717,2400,2552,2474,2631,0,0,0,0,0,0,28.83,14.63,13.65
$GC,10430,0.82,359.3,2717,2401,2488,2643,276.9,0.7,1005,10613,0.12,2.60,170.05,1.196,10756,0.148,0.086,2786,1005,1708,1612,1804,0,0,0,0,0,0,14.60,13.97,13.51
$GC,10707,0.82,359.3,2787,1006,1610,1793,229.1,18.3,1060,10715,0.15,2.53,0.00,0.000,5126,0.275,0.090,2757,2400,1701,1610,1793,0,0,0,0,0,0,14.04,14.14,28.83
$MODEM_MSG,CACST,6,1,20140819121948.520728,3,1625,-4,0095,0150,217,04,04,06,04,-1,-01,-01,1,3,0,0,150,15.9,1.0,-100,2.0,-01,-0.2,23,900,0025*2F
$GC,11013,0.86,359.3,2758,2401,1603,1793,183.7,14.2,1091,11020,0.00,2.47,0.00,0.000,516,0.000,0.086,2765,1001,1697,1602,1792,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11119,0.89,359.3,2767,1001,1603,1793,168.7,14.1,1112,11127,0.00,2.50,0.00,0.000,1030,0.000,0.091,2765,2404,1697,1602,1792,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11425,0.93,359.3,2766,2406,1600,1792,128.4,13.0,1143,11432,0.00,2.47,0.00,0.000,516,0.000,0.087,2769,996,1696,1600,1792,0,0,0,0,0,0,28.83,14.48,28.83
$GC,11497,0.98,359.3,2770,996,1601,1793,119.0,13.3,1157,11505,0.12,2.47,0.00,0.000,3078,0.138,0.091,2822,2397,1696,1600,1792,0,0,0,0,0,0,14.52,14.47,28.83
$GC,11811,0.98,359.3,2822,2399,1600,1793,70.0,13.9,1189,11817,0.00,2.45,0.00,0.000,516,0.000,0.088,2825,998,1695,1599,1792,0,0,0,0,0,0,28.83,14.53,28.83
$GC,11867,0.99,359.3,2827,998,1599,1792,62.5,12.8,1200,11875,0.00,2.47,0.00,0.000,1030,0.000,0.092,2826,2407,1695,1599,1792,0,0,0,0,0,0,28.83,14.50,28.83
$GC,12173,1.07,432.9,2826,2403,1597,1791,32.8,7.7,1231,12214,0.00,2.53,30.27,0.275,8708,0.000,0.089,2826,1003,1415,1311,1520,0,0,0,0,0,0,28.83,14.50,14.37
$GC,12274,1.18,494.3,2826,1001,1318,1520,23.9,8.4,1251,12311,0.15,2.47,28.27,0.247,11270,0.125,0.091,2891,2397,1165,1063,1267,0,0,0,0,0,0,14.55,14.48,14.31
$FREEZE,8.34,0.140,-1.421,2,1,0
$FREEZE,7.55,0.204,-1.419,2,1,0
$FREEZE,7.04,0.230,-1.419,2,1,0
$FREEZE,6.32,0.236,-1.418,2,1,0
$FREEZE,5.67,0.238,-1.418,2,1,0
$FREEZE,5.03,0.235,-1.418,2,1,0
$FREEZE,4.35,0.229,-1.417,2,1,0
$FREEZE,3.57,0.227,-1.417,2,1,0
$FREEZE,2.81,0.231,-1.416,2,1,0
$FREEZE,2.11,0.230,-1.416,2,1,0
$FREEZE,1.57,0.225,-0.783,2,1,0
$STATE,12554,end climb,SURFACE_DEPTH_REACHED
$STATE,12554,begin surface coast
$FREEZE,1.66,0.180,-0.252,2,1,0
$FREEZE,1.70,0.228,-1.416,2,1,0
$FINISH,1.7,1.020846
$STATE,12574,end surface coast,CONTROL_FINISHED_OK
$STATE,12574,begin surface
$SM_CCo,12596,70.55,0.190,0,0,498,657.89
$SM_GC,2.56,8.20,0.12,70.55,0.097,0.170,0.190,185,2480,498,-7.17,-0.79,657.89,0,0,0,0,0,0,14.54,14.56,14.42
$RAFOS_CLK,222593
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7221.25,-14548.03,190814,090228
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.89
$INTERNAL_PRESSURE,8.61046
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3866048
$TM_FREEKB,5094768
$24V_AH,12.86,67.364
$10V_AH,12.78,0.000
$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,22.475,112.150,477.950,70.550,0.000,0.000,0.000,1048.650,0.000,0.000,31.962,0.000,8554.892,662.535,3687.477,303.067,0.000,2791.460,0.000,1888.559,1498.000,0.531,0.000
$DEVICE_MAMPS,454.410,194.310,1814.580,189.720,0.000,0.000,0.000,186.660,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12605.000,12683.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.405,29.046,0.000,0.000
$MEM,230476
$DATA_FILE_SIZE,43279,1285
$CAP_FILE_SIZE,181847,0
$CFSIZE,1047117824,1011859456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14021.26,0x2378b6,7,5
$SOUNDSPEED,1452.8
$GPS,190814,123856,7301.724,-14545.173,25,0.9,45,29.1