version: 66.12
glider: 197
mission: 6
dive: 220
start: 8 28 114 13 31 42
data:
$ID,197
$MISSION,6
$DIVE,220
$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,-8434.2539
$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,27
$R_STBD_OVSHOOT,22
$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
$GPS1,280814,131526,7400.840,-14656.928,30,1.0,51,29.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-62.7
$GPS2,280814,133126,7400.930,-14656.998,14,1.4,34,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,332.7,109450,-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,14,begin dive
$GC,16,-0.81,-145.9,175,1800,424,561,0.0,0.0,0,80,0.00,0.00,-61.97,0.000,16386,0.000,0.000,174,1800,1888,1893,1883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.81,-145.9,174,1801,1895,1885,3.3,-2.3,6,150,10.45,2.60,-48.08,0.000,18692,0.435,0.122,2210,3209,3780,3761,3799,0,0,0,0,0,0,14.04,14.34,14.62
$GC,375,-0.74,-145.9,2211,3210,3762,3804,82.4,-22.4,65,381,0.17,2.42,0.00,0.000,3078,0.296,0.068,2246,1804,3782,3762,3803,0,0,0,0,0,0,14.21,14.44,28.83
$GC,680,-0.74,-145.9,2246,1804,3763,3805,135.9,-16.5,96,685,0.00,2.53,0.00,0.000,260,0.000,0.104,2238,3219,3783,3762,3804,0,0,0,0,0,0,28.83,14.45,28.83
$GC,875,-0.74,-145.9,2239,3220,3763,3805,168.8,-16.1,135,881,0.00,2.42,0.00,0.000,1030,0.000,0.067,2238,1801,3783,3762,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1180,-0.74,-145.9,2239,1800,3762,3805,214.5,-14.4,166,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1799,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1490,-0.76,-145.9,2239,1800,3763,3805,254.6,-12.4,195,1495,0.00,2.53,0.00,0.000,260,0.000,0.106,2229,3214,3783,3762,3805,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1585,-0.76,-145.9,2229,3214,3762,3805,266.7,-13.0,214,1590,0.00,2.40,0.00,0.000,1030,0.000,0.068,2228,1801,3783,3762,3805,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1911,-0.78,-145.9,2229,1801,3763,3805,304.9,-11.5,229,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1800,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2210,-0.80,-145.9,2229,1800,3762,3805,338.8,-11.2,239,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1800,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2510,-0.82,-145.9,2229,1800,3762,3805,371.8,-10.7,249,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1799,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2810,-0.85,-145.9,2229,1800,3762,3805,403.9,-10.6,259,2815,0.00,2.50,0.00,0.000,260,0.000,0.106,2220,3214,3782,3760,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2865,-0.87,-145.9,2220,3214,3760,3805,410.0,-10.8,270,2871,0.00,2.40,0.00,0.000,1030,0.000,0.069,2220,1798,3782,3760,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3172,-0.89,-145.9,2220,1798,3760,3805,443.9,-11.2,281,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1797,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-0.91,-145.9,2220,1798,3760,3805,476.8,-10.9,291,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1797,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-0.93,-145.9,2220,1798,3760,3805,509.4,-10.8,301,3775,0.00,2.50,0.00,0.000,260,0.000,0.105,2214,3208,3782,3760,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3820,-0.95,-145.9,2214,3209,3761,3804,515.0,-11.3,311,3825,0.00,2.40,0.00,0.000,1030,0.000,0.067,2214,1792,3782,3760,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4131,-0.97,-145.9,2214,1793,3761,3805,549.3,-11.1,323,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1792,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4430,-0.99,-145.9,2214,1792,3760,3805,582.2,-10.8,333,4431,0.12,0.00,0.00,0.000,4102,0.142,0.000,2163,1791,3782,3760,3805,0,0,0,0,0,0,14.76,28.83,28.83
$GC,4730,-0.97,-145.9,2163,1791,3760,3805,622.0,-13.4,343,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1791,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5030,-0.95,-145.9,2163,1791,3761,3806,661.6,-13.1,353,5035,0.00,2.42,0.00,0.000,516,0.000,0.090,2163,384,3782,3760,3805,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5065,-0.92,-145.9,2163,384,3760,3805,666.4,-13.6,360,5070,0.17,2.45,0.00,0.000,3078,0.296,0.082,2190,1803,3782,3760,3805,0,0,0,0,0,0,14.48,14.65,28.83
$GC,5390,-0.92,-145.9,2190,1804,3760,3806,704.1,-11.5,375,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1804,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5690,-0.92,-145.9,2190,1804,3761,3806,738.6,-11.5,385,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1803,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5808,begin apogee
$GC,5813,-0.16,0.0,2190,2191,3761,3806,752.4,-11.5,389,5939,0.93,0.00,123.40,1.838,10246,0.254,0.000,2435,2190,3181,3140,3223,0,0,0,0,0,0,14.50,28.83,13.31
$STATE,5940,end apogee,CONTROL_FINISHED_OK
$STATE,5940,begin climb
$GC,5942,0.81,145.9,2436,2190,3132,3223,755.5,0.0,393,6070,1.05,0.00,123.97,1.819,10502,0.136,0.000,2752,2190,2583,2503,2664,0,0,0,0,0,0,13.99,28.83,12.83
$GC,6350,0.77,145.9,2757,2190,2496,2657,704.4,14.7,412,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2190,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6650,0.74,145.9,2752,2190,2496,2656,659.9,14.9,422,6655,0.00,2.50,0.00,0.000,516,0.000,0.085,2762,767,2575,2495,2656,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6700,0.70,145.9,2763,768,2496,2656,652.3,14.8,432,6706,0.17,2.47,0.00,0.000,5126,0.287,0.084,2726,2180,2575,2495,2655,0,0,0,0,0,0,14.27,14.45,28.83
$GC,7011,0.70,145.9,2726,2180,2495,2656,610.9,13.2,444,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2180,2575,2495,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7310,0.69,145.9,2726,2180,2495,2655,571.6,13.2,454,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2180,2576,2497,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7610,0.69,145.9,2726,2181,2497,2656,532.8,12.9,464,7615,0.00,2.45,0.00,0.000,516,0.000,0.086,2734,763,2575,2495,2655,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7660,0.69,145.9,2735,763,2496,2656,526.2,13.0,474,7665,0.00,2.45,0.00,0.000,1030,0.000,0.084,2734,2180,2575,2495,2655,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7972,0.68,145.9,2735,2180,2498,2656,484.6,13.5,486,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2176,2575,2495,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8270,0.66,145.9,2735,2180,2496,2655,444.3,13.4,496,8275,0.00,2.45,0.00,0.000,516,0.000,0.086,2745,763,2575,2495,2655,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8295,0.65,145.9,2745,763,2496,2656,440.9,13.8,501,8302,0.17,2.45,0.00,0.000,5126,0.271,0.084,2705,2183,2575,2495,2655,0,0,0,0,0,0,14.52,14.68,28.83
$GC,8602,0.66,147.2,2706,2184,2496,2655,405.2,11.6,512,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2183,2575,2495,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9733,0.81,350.8,2706,2184,2494,2653,373.1,0.8,522,9902,0.17,0.00,167.02,1.333,10758,0.125,0.000,2776,2183,1750,1659,1842,0,0,0,0,0,0,14.71,28.83,13.45
$GC,10181,0.81,350.8,2777,2183,1640,1827,290.3,19.0,542,10186,0.00,2.53,0.00,0.000,516,0.000,0.086,2786,761,1733,1639,1827,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10217,0.81,350.8,2787,762,1640,1825,283.5,20.0,549,10222,0.00,2.53,0.00,0.000,1030,0.000,0.085,2786,2183,1731,1639,1824,0,0,0,0,0,0,28.83,14.34,28.83
$GC,10521,0.81,350.8,2787,2185,1639,1825,226.8,17.1,572,10523,0.15,0.00,0.00,0.000,4102,0.275,0.000,2756,2184,1731,1638,1824,0,0,0,0,0,0,14.33,28.83,28.83
$GC,10822,0.85,350.8,2756,2184,1638,1825,184.4,13.3,602,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2184,1730,1637,1824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11122,0.90,350.8,2756,2184,1637,1825,147.1,12.1,632,11127,0.00,2.47,0.00,0.000,516,0.000,0.088,2764,763,1730,1636,1824,0,0,0,0,0,0,28.83,14.60,28.83
$GC,11172,0.95,352.5,2764,764,1637,1820,141.0,11.5,642,11177,0.10,2.47,0.00,0.000,3078,0.153,0.086,2811,2184,1730,1637,1823,0,0,0,0,0,0,14.63,14.59,28.83
$GC,11483,0.96,352.5,2812,2185,1637,1823,94.9,14.5,674,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2185,1729,1636,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11782,1.01,391.2,2812,2185,1636,1823,58.5,9.6,704,11804,0.00,2.50,15.73,0.353,8452,0.000,0.103,2811,3589,1588,1492,1685,0,0,0,0,0,0,28.83,14.42,14.22
$GC,11898,1.08,448.7,2813,3589,1499,1685,46.9,8.6,727,11935,0.00,2.40,27.58,0.319,9222,0.000,0.062,2821,2165,1351,1250,1453,0,0,0,0,0,0,28.83,14.45,14.22
$GC,12234,1.22,537.9,2821,2166,1255,1454,19.4,6.9,764,12280,0.20,2.45,40.47,0.236,10756,0.101,0.086,2915,772,987,888,1086,0,0,0,0,0,0,14.52,14.40,14.26
$FREEZE,8.92,-1.103,-1.442,2,1,0
$FREEZE,8.39,-1.107,-1.442,2,1,0
$FREEZE,7.92,-1.107,-1.441,2,1,0
$FREEZE,7.45,-1.111,-1.440,2,1,0
$FREEZE,7.04,-1.111,-1.440,2,1,0
$FREEZE,6.48,-1.110,-1.440,2,1,0
$FREEZE,6.01,-1.110,-1.439,2,1,0
$FREEZE,5.46,-1.112,-1.439,2,1,0
$FREEZE,5.04,-1.112,-1.438,2,1,0
$FREEZE,4.40,-1.111,-1.438,2,1,0
$GC,12386,1.28,568.1,2915,772,887,1086,5.5,10.0,794,12404,0.00,2.50,13.38,0.200,9222,0.000,0.086,2915,2190,863,768,958,0,0,0,0,0,0,28.83,14.40,14.31
$FREEZE,3.02,-1.110,-1.437,2,1,0
$FREEZE,2.04,-1.105,-1.436,2,1,0
$FREEZE,1.50,-1.070,-1.434,2,1,0
$STATE,12427,end climb,SURFACE_DEPTH_REACHED
$STATE,12427,begin surface coast
$FREEZE,1.44,-1.071,-0.752,2,1,0
$FINISH,1.4,1.011049
$STATE,12439,end surface coast,FINISH_DEPTH_REACHED
$STATE,12439,begin surface
$SM_CCo,12455,38.70,0.191,0,0,500,658.14
$SM_GC,2.35,8.30,0.68,38.70,0.090,0.082,0.191,176,1801,500,-7.18,0.90,658.14,0,0,0,0,0,0,14.45,14.49,14.35
$RAFOS_CLK,266829
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7319.74,-14657.59,280814,131923
$TT8_MAMPS,0.041195,0.041195
$HUMID,43.69
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3839616
$24V_AH,12.83,94.838
$10V_AH,13.00,0.000
$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,22.175,65.550,511.550,38.700,0.000,0.000,0.000,637.825,0.000,0.000,36.254,0.000,9344.183,686.853,2290.858,263.154,0.000,1954.324,0.000,1194.639,1470.000,0.531,0.000
$DEVICE_MAMPS,434.520,121.635,1837.530,191.250,0.000,0.000,0.000,173.655,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12475.000,2.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.020,9.433,0.000,0.000
$MEM,197620
$DATA_FILE_SIZE,26763,801
$CAP_FILE_SIZE,141973,0
$CFSIZE,1047117824,1001127936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12771.99,0x2378b6,7,5
$SOUNDSPEED,1448.8
$GPS,280814,164714,7402.465,-14656.709,37,0.8,57,29.1