version: 66.12
glider: 197
mission: 6
dive: 200
start: 8 25 114 9 43 4
data:
$ID,197
$MISSION,6
$DIVE,200
$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,-7683.229
$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,25
$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,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
$GPS1,250814,092955,7341.309,-14652.338,23,0.9,43,28.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-70.3
$GPS2,250814,094245,7341.299,-14652.393,15,0.9,35,28.9
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7400.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,333.1,34656,-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,-145.9,176,1793,426,562,0.0,0.0,0,84,0.00,0.00,-61.47,0.000,16386,0.000,0.000,176,1793,1932,1939,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.81,-145.9,177,1793,1939,1929,3.0,-1.4,6,156,10.27,2.58,-52.20,0.000,18948,0.422,0.108,2221,384,3780,3762,3799,0,0,0,0,0,0,14.04,14.26,14.52
$GC,317,-0.75,-145.9,2221,385,3764,3804,61.2,-24.5,52,325,0.15,2.50,0.00,0.000,3078,0.313,0.083,2245,1796,3783,3764,3803,0,0,0,0,0,0,14.19,14.32,28.83
$GC,630,-0.74,-145.9,2244,1797,3764,3805,117.9,-16.6,84,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,1797,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,929,-0.74,-145.9,2246,1797,3764,3805,164.7,-15.0,114,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1797,3784,3764,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1229,-0.76,-145.9,2245,1797,3764,3805,208.3,-14.0,144,1236,0.00,2.55,0.00,0.000,260,0.000,0.104,2237,3219,3784,3764,3805,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1291,-0.76,-145.9,2237,3221,3764,3805,217.0,-14.3,156,1297,0.00,2.45,0.00,0.000,1030,0.000,0.067,2236,1795,3784,3763,3805,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1612,-0.77,-145.9,2237,1795,3765,3805,258.3,-12.2,185,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1794,3784,3764,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1912,-0.79,-145.9,2237,1794,3764,3805,292.8,-11.4,195,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1794,3784,3764,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2212,-0.82,-145.9,2237,1794,3764,3805,326.3,-11.1,205,2219,0.00,2.55,0.00,0.000,260,0.000,0.106,2228,3217,3784,3763,3805,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2263,-0.84,-145.9,2229,3217,3763,3805,332.2,-11.5,215,2270,0.00,2.40,0.00,0.000,1030,0.000,0.066,2228,1801,3783,3762,3805,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2576,-0.86,-145.9,2228,1801,3762,3808,366.4,-10.7,227,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1801,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2875,-0.89,-145.9,2229,1801,3763,3806,397.8,-10.5,237,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,1805,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,-0.92,-145.9,2229,1801,3762,3805,428.6,-10.3,247,3182,0.10,2.55,0.00,0.000,4356,0.171,0.102,2172,3221,3783,3762,3805,0,0,0,0,0,0,14.51,14.48,28.83
$GC,3222,-0.89,-145.9,2173,3221,3762,3805,434.7,-13.4,256,3229,0.15,2.42,0.00,0.000,3078,0.283,0.068,2202,1800,3783,3762,3805,0,0,0,0,0,0,14.33,14.50,28.83
$GC,3539,-0.89,-145.9,2202,1801,3762,3805,470.7,-11.2,269,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1801,3780,3756,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3838,-0.89,-145.9,2202,1801,3762,3805,503.8,-11.0,279,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1800,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,-0.90,-145.9,2202,1801,3762,3805,536.8,-11.0,289,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,1800,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4439,-0.91,-145.9,2202,1801,3762,3806,569.7,-10.9,299,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1800,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,-0.92,-145.9,2199,1801,3762,3806,602.7,-10.9,309,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1801,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5039,-0.94,-145.9,2202,1801,3762,3806,636.0,-11.1,319,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1801,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5338,-0.95,-145.9,2202,1800,3764,3806,669.1,-11.0,329,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1800,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5639,-0.96,-145.9,2202,1798,3762,3806,702.0,-10.8,339,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1800,3784,3762,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5939,-0.98,-145.9,2202,1801,3762,3807,734.1,-10.7,349,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1801,3784,3762,3806,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6086,begin apogee
$GC,6091,-0.16,0.0,2202,2191,3762,3807,750.2,-10.7,354,6219,0.90,0.00,123.32,1.840,10246,0.253,0.000,2437,2191,3182,3137,3228,0,0,0,0,0,0,14.35,28.83,13.21
$STATE,6221,end apogee,CONTROL_FINISHED_OK
$STATE,6221,begin climb
$GC,6223,0.81,145.9,2438,2192,3129,3227,752.9,0.0,358,6361,1.05,0.00,124.65,1.815,10246,0.132,0.000,2754,2188,2581,2500,2663,0,0,0,0,0,0,13.93,28.83,12.73
$GC,6658,0.77,145.9,2754,2192,2497,2660,696.2,15.2,373,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2191,2577,2495,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6958,0.74,145.9,2751,2192,2496,2659,650.9,15.1,383,6966,0.00,2.53,0.00,0.000,516,0.000,0.086,2765,769,2577,2496,2658,0,0,0,0,0,0,28.83,14.29,28.83
$GC,6995,0.71,145.9,2766,769,2496,2658,645.4,15.1,390,7002,0.20,2.50,0.00,0.000,5126,0.276,0.083,2722,2180,2576,2495,2657,0,0,0,0,0,0,14.17,14.31,28.83
$GC,7322,0.71,145.9,2723,2182,2496,2658,602.2,13.1,405,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2181,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7622,0.71,145.9,2722,2181,2496,2658,563.3,12.9,415,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2181,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7922,0.71,145.9,2722,2182,2496,2658,524.8,12.8,425,7928,0.00,2.47,0.00,0.000,516,0.000,0.087,2730,766,2576,2495,2657,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7948,0.71,145.9,2731,766,2498,2657,521.3,13.3,430,7955,0.00,2.50,0.00,0.000,1030,0.000,0.083,2730,2187,2576,2495,2657,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9019,0.84,346.6,2731,2188,2496,2658,483.0,1.0,441,9188,0.00,0.00,165.60,1.467,8198,0.000,0.000,2726,2188,1768,1674,1862,0,0,0,0,0,0,28.83,28.83,13.28
$GC,9468,0.87,346.6,2731,2188,1658,1847,411.1,16.6,456,9472,0.12,0.00,0.00,0.000,2054,0.138,0.000,2784,2188,1752,1657,1847,0,0,0,0,0,0,14.21,28.83,28.83
$GC,9769,0.87,346.6,2785,2188,1658,1847,349.8,20.5,466,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2187,1751,1657,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10068,0.87,346.6,2784,2188,1657,1846,289.0,20.2,476,10075,0.00,2.50,0.00,0.000,516,0.000,0.088,2793,771,1751,1656,1846,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10109,0.85,346.6,2793,772,1658,1846,280.6,20.5,484,10116,0.00,2.50,0.00,0.000,1030,0.000,0.085,2793,2188,1750,1656,1844,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10420,0.85,346.6,2793,2188,1657,1845,220.1,18.1,507,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2188,1750,1656,1845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10720,0.85,346.6,2794,2189,1657,1845,170.7,15.6,537,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2188,1750,1656,1844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11021,0.87,346.6,2793,2189,1657,1845,125.5,15.1,567,11027,0.00,2.50,0.00,0.000,516,0.000,0.088,2803,768,1750,1657,1844,0,0,0,0,0,0,28.83,14.48,28.83
$GC,11067,0.89,346.6,2800,769,1658,1844,118.7,14.5,576,11075,0.00,2.50,0.00,0.000,1030,0.000,0.085,2803,2190,1750,1657,1844,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11373,0.91,346.6,2803,2191,1657,1845,77.0,12.6,607,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2191,1750,1656,1844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11672,1.01,419.0,2804,2191,1655,1845,46.4,7.8,637,11710,0.00,2.53,31.02,0.316,8452,0.000,0.103,2803,3590,1472,1370,1574,0,0,0,0,0,0,28.83,14.31,14.14
$GC,11765,1.06,441.0,2803,3590,1373,1575,37.9,10.5,655,11782,0.00,2.42,10.68,0.289,9222,0.000,0.061,2812,2166,1382,1277,1488,0,0,0,0,0,0,28.83,14.35,14.16
$GC,12087,1.24,563.9,2812,2166,1282,1489,16.6,5.1,689,12150,0.22,2.65,55.42,0.222,10500,0.096,0.103,2909,3590,880,784,977,0,0,0,0,0,0,14.37,14.25,14.16
$GC,12161,1.29,599.6,2910,3590,785,978,10.6,9.7,703,12184,0.00,2.42,15.57,0.212,9222,0.000,0.063,2919,2182,735,641,830,0,0,0,0,0,0,28.83,14.30,14.16
$FREEZE,7.37,-0.916,-1.437,2,1,0
$FREEZE,6.24,-1.100,-1.422,2,1,0
$FREEZE,5.22,-1.093,-1.418,2,1,0
$FREEZE,3.99,-1.073,-1.415,2,1,0
$FREEZE,2.76,-1.069,-1.413,2,1,0
$FREEZE,1.69,-1.068,-1.412,2,1,0
$STATE,12239,end climb,SURFACE_DEPTH_REACHED
$STATE,12239,begin surface coast
$FREEZE,1.63,-1.068,-1.388,2,1,0
$FINISH,1.6,1.020464
$STATE,12249,end surface coast,CONTROL_FINISHED_OK
$STATE,12249,begin surface
$SM_CCo,12272,25.15,0.192,0,0,501,657.89
$SM_GC,2.82,8.35,0.68,25.15,0.093,0.086,0.192,182,1796,501,-7.17,0.74,657.89,0,0,0,0,0,0,14.39,14.40,14.29
$RAFOS_CLK,322320
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7257.42,-14646.10,250814,054307
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.34
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3848576
$TM_FREEKB,4337168
$24V_AH,12.73,84.808
$10V_AH,12.81,0.000
$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,21.525,51.400,526.275,25.150,0.000,0.000,0.000,440.400,0.000,0.000,37.557,0.000,9226.422,666.684,2158.055,228.682,0.000,1768.197,0.000,1075.791,1495.000,0.531,0.000
$DEVICE_MAMPS,422.280,107.865,1839.825,192.015,0.000,0.000,0.000,187.425,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12283.000,12328.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.288,44.642,0.000,0.000
$MEM,208528
$DATA_FILE_SIZE,23372,714
$CAP_FILE_SIZE,138203,0
$CFSIZE,1047117824,1004748800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13589.36,0x2378b6,7,5
$SOUNDSPEED,1448.6
$GPS,250814,125626,7343.026,-14653.077,30,1.0,50,28.9