version: 66.12
glider: 197
mission: 6
dive: 210
start: 8 26 114 23 57 17
data:
$ID,197
$MISSION,6
$DIVE,210
$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,-8059.3613
$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,18
$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
$GPS1,260814,154809,7354.940,-14654.821,181,99.0,181,29.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-62.1
$GPS2,260814,154809,7354.940,-14654.821,181,99.0,181,29.0
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7400.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,345.7,9689,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.81,-145.9,177,1800,428,565,0.0,0.0,0,39,0.00,0.00,-14.18,0.000,16386,0.000,0.000,173,1800,872,829,916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.81,-145.9,177,1801,834,921,3.1,0.0,1,269,10.07,2.50,-107.60,0.000,18948,0.425,0.108,2219,387,3780,3762,3798,0,0,0,0,0,0,14.19,14.38,14.67
$GC,494,-0.75,-145.9,2218,385,3762,3801,78.6,-22.2,72,502,0.17,2.53,0.00,0.000,3078,0.304,0.083,2245,1805,3782,3761,3803,0,0,0,0,0,0,14.17,14.31,28.83
$GC,800,-0.74,-145.9,2245,1807,3762,3802,132.0,-16.2,103,807,0.00,2.50,0.00,0.000,516,0.000,0.088,2245,392,3781,3761,3802,0,0,0,0,0,0,28.83,14.35,28.83
$GC,996,-0.74,-145.9,2246,392,3762,3803,163.9,-16.0,142,1004,0.00,2.50,0.00,0.000,1030,0.000,0.082,2237,1805,3779,3761,3798,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1302,-0.74,-145.9,2238,1806,3761,3802,209.5,-14.1,173,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1805,3781,3761,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,-0.76,-145.9,2238,1806,3760,3803,249.0,-12.0,203,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1805,3781,3761,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1913,-0.78,-145.9,2238,1806,3762,3802,284.5,-11.3,214,1921,0.00,2.53,0.00,0.000,260,0.000,0.105,2227,3212,3781,3761,3802,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1985,-0.79,-145.9,2227,3210,3762,3802,293.2,-11.7,228,1992,0.00,2.42,0.00,0.000,1030,0.000,0.067,2226,1802,3781,3760,3802,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2308,-0.81,-145.9,2226,1803,3760,3803,330.0,-11.2,242,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1802,3781,3760,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2607,-0.83,-145.9,2227,1802,3761,3802,363.3,-11.1,252,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1802,3781,3760,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2907,-0.85,-145.9,2226,1802,3754,3802,395.7,-10.8,262,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1801,3781,3760,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3207,-0.88,-145.9,2227,1802,3760,3803,426.5,-10.2,272,3214,0.00,2.53,0.00,0.000,260,0.000,0.104,2216,3214,3781,3760,3802,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3259,-0.89,-145.9,2217,3214,3759,3802,432.3,-11.3,282,3266,0.00,2.38,0.00,0.000,1030,0.000,0.067,2216,1801,3778,3759,3798,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3572,-0.91,-145.9,2213,1801,3758,3803,465.7,-10.7,294,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1801,3780,3759,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3871,-0.93,-145.9,2216,1801,3761,3803,497.7,-10.7,304,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1800,3780,3759,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4171,-0.95,-145.9,2216,1800,3759,3805,529.7,-10.6,314,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1800,3780,3759,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4471,-0.97,-145.9,2212,1801,3759,3804,561.5,-10.7,324,4474,0.12,0.00,0.00,0.000,4102,0.141,0.000,2169,1800,3781,3759,3803,0,0,0,0,0,0,14.59,28.83,28.83
$GC,4772,-0.95,-145.9,2165,1801,3759,3804,599.9,-12.8,334,4779,0.00,2.45,0.00,0.000,516,0.000,0.090,2164,389,3781,3759,3803,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4823,-0.92,-145.9,2165,389,3760,3804,606.9,-13.3,344,4830,0.15,2.47,0.00,0.000,3078,0.299,0.083,2186,1805,3781,3759,3803,0,0,0,0,0,0,14.35,14.50,28.83
$GC,5136,-0.92,-145.9,2187,1806,3759,3804,643.2,-11.5,356,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1805,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5435,-0.92,-145.9,2187,1806,3760,3805,677.6,-11.4,366,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1806,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5735,-0.92,-145.9,2187,1806,3761,3805,711.7,-11.3,376,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1805,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6035,-0.92,-145.9,2187,1806,3760,3805,745.6,-11.3,386,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1805,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6093,begin apogee
$GC,6098,-0.16,0.0,2186,2188,3759,3805,752.3,-11.2,388,6226,0.95,0.00,124.28,1.838,10246,0.256,0.000,2433,2188,3181,3139,3224,0,0,0,0,0,0,14.34,28.83,13.21
$STATE,6228,end apogee,CONTROL_FINISHED_OK
$STATE,6228,begin climb
$GC,6230,0.81,145.9,2432,2188,3130,3224,755.0,0.0,392,6369,1.05,2.70,123.90,1.815,10500,0.135,0.095,2750,3586,2580,2500,2661,0,0,0,0,0,0,13.93,13.37,12.71
$GC,6403,0.75,145.9,2749,3586,2493,2659,737.1,16.7,424,6410,0.00,2.55,0.00,0.000,1030,0.000,0.057,2760,2173,2576,2493,2659,0,0,0,0,0,0,28.83,13.57,28.83
$GC,6731,0.71,145.9,2760,2175,2493,2656,685.9,15.6,439,6734,0.17,0.00,0.00,0.000,4102,0.285,0.000,2724,2171,2572,2493,2652,0,0,0,0,0,0,13.98,28.83,28.83
$GC,7029,0.71,145.9,2724,2174,2493,2656,645.4,13.5,449,7037,0.00,2.47,0.00,0.000,516,0.000,0.086,2733,773,2571,2492,2651,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7066,0.71,145.9,2733,774,2492,2655,640.3,13.3,456,7073,0.00,2.47,0.00,0.000,1030,0.000,0.083,2733,2178,2573,2492,2654,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7394,0.70,145.9,2733,2178,2492,2655,595.6,13.7,471,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2178,2573,2492,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7693,0.68,145.9,2733,2178,2492,2655,554.8,13.5,481,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2178,2571,2492,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7992,0.67,145.9,2733,2178,2493,2655,513.9,13.7,491,7999,0.00,2.45,0.00,0.000,516,0.000,0.085,2743,773,2573,2492,2655,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8043,0.66,145.9,2742,774,2493,2656,506.8,14.0,501,8050,0.15,2.45,0.00,0.000,5126,0.268,0.083,2710,2181,2576,2492,2661,0,0,0,0,0,0,14.28,14.44,28.83
$GC,8356,0.66,145.9,2711,2182,2492,2656,468.2,12.3,513,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2181,2573,2492,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8655,0.66,145.9,2709,2182,2493,2655,431.4,12.3,523,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2181,2573,2492,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8955,0.66,145.9,2711,2182,2492,2655,395.1,12.1,533,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2181,2573,2492,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9255,0.67,145.9,2711,2182,2492,2655,359.0,12.0,543,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2181,2573,2492,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9555,0.68,150.7,2711,2181,2493,2655,324.5,11.4,553,9562,0.00,2.47,0.00,0.000,516,0.000,0.086,2717,766,2573,2492,2655,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9592,0.71,161.6,2717,767,2493,2651,320.4,11.0,560,9613,0.00,2.47,13.23,1.375,9222,0.000,0.083,2722,2187,2517,2439,2596,0,0,0,0,0,0,28.83,14.52,13.88
$GC,9917,0.72,164.5,2718,2188,2436,2592,282.4,11.5,575,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2187,2513,2435,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10218,0.75,183.3,2717,2187,2435,2593,249.2,10.6,585,10241,0.00,0.00,18.77,1.289,8198,0.000,0.000,2717,2187,2432,2356,2508,0,0,0,0,0,0,28.83,28.83,13.87
$GC,10539,0.81,229.2,2718,2187,2351,2501,217.1,9.2,617,10580,0.12,0.00,38.33,1.200,10246,0.141,0.000,2774,2187,2246,2170,2322,0,0,0,0,0,0,14.51,28.83,13.76
$GC,10877,0.81,229.2,2776,2187,2156,2314,174.9,12.4,651,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2187,2234,2155,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11177,0.83,253.4,2775,2187,2155,2314,141.1,10.3,681,11202,0.00,0.00,20.85,1.157,8198,0.000,0.000,2774,2187,2147,2065,2229,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11499,0.86,281.7,2775,2188,2053,2222,106.5,10.1,713,11530,0.00,0.00,22.60,1.089,8198,0.000,0.000,2775,2186,2026,1939,2113,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11829,0.93,322.7,2775,2188,1931,2111,72.8,9.4,746,11850,0.00,0.00,17.30,0.390,8198,0.000,0.000,2775,2187,1867,1776,1959,0,0,0,0,0,0,28.83,28.83,14.07
$GC,12149,1.09,449.3,2775,2187,1782,1962,48.7,4.9,778,12215,0.17,2.55,57.90,0.321,10500,0.111,0.100,2853,3592,1351,1248,1454,0,0,0,0,0,0,14.38,14.24,14.07
$GC,12416,1.14,499.3,2854,3593,1248,1450,21.8,9.0,831,12449,0.00,2.42,22.55,0.243,9222,0.000,0.062,2863,2180,1145,1035,1256,0,0,0,0,0,0,28.83,14.35,14.14
$FREEZE,8.29,-1.125,-1.443,2,3,0
$FREEZE,7.66,-1.125,-1.442,2,3,0
$FREEZE,6.92,-1.124,-1.441,2,3,0
$FREEZE,6.24,-1.125,-1.441,2,3,0
$FREEZE,5.58,-1.125,-1.440,2,3,0
$FREEZE,4.97,-1.124,-1.440,2,3,0
$FREEZE,4.33,-1.123,-1.439,2,3,0
$FREEZE,3.71,-1.120,-1.438,2,3,0
$FREEZE,3.00,-1.120,-1.438,2,3,0
$FREEZE,2.36,-1.120,-1.437,2,3,0
$FREEZE,1.71,-1.122,-1.436,2,3,0
$STATE,12712,end climb,SURFACE_DEPTH_REACHED
$STATE,12712,begin surface coast
$FREEZE,1.60,-1.101,-1.435,2,3,0
$FREEZE,1.56,-1.115,-1.435,2,3,0
$FREEZE,1.69,-1.112,-1.435,2,3,0
$FINISH,1.7,1.021157
$STATE,12742,end surface coast,CONTROL_FINISHED_OK
$STATE,12743,begin surface
$SM_CCo,12765,68.47,0.188,0,0,498,657.89
$SM_GC,2.64,8.15,0.65,68.47,0.091,0.086,0.188,178,1803,498,-7.17,1.02,657.89,0,0,0,0,0,0,14.45,14.45,14.30
$RAFOS_CLK,1204595
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7319.74,-14653.04,260814,153902
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.85
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3844096
$TM_FREEKB,4137256
$24V_AH,12.71,90.302
$10V_AH,12.79,0.000
$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,21.300,51.150,459.700,68.475,0.000,0.000,0.000,122.125,0.000,0.000,183.286,0.000,10338.995,608.220,2231.221,349.210,0.000,1539.089,0.000,1294.183,1440.000,0.531,0.000
$DEVICE_MAMPS,425.340,107.865,1837.530,188.190,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12779.000,12768.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.939,46.034,0.000,0.000
$MEM,203052
$DATA_FILE_SIZE,30045,867
$CAP_FILE_SIZE,151209,0
$CFSIZE,1047117824,1002815488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14796.23,0x2378b6,7,5
$SOUNDSPEED,1448.8
$GPS,270814,024944,7359.691,-14653.789,38,1.0,58,29.1