version: 66.12
glider: 197
mission: 6
dive: 234
start: 8 30 114 16 35 19
data:
$ID,197
$MISSION,6
$DIVE,234
$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,-8818.0771
$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,30
$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
$GPS1,300814,162714,7423.328,-14702.874,40,0.8,61,29.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-61.5
$GPS2,300814,163503,7423.346,-14702.832,12,0.8,32,29.2
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,336.0,68162,-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,17,-0.81,-145.9,175,1822,424,555,0.0,0.0,0,100,0.00,0.00,-81.32,0.000,16386,0.000,0.000,175,1822,2303,2302,2304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.81,-145.9,175,1822,2299,2305,3.8,-3.1,8,152,10.30,2.55,-30.00,0.000,18692,0.428,0.122,2209,3213,3781,3762,3800,0,0,0,0,0,0,14.05,14.38,14.64
$GC,376,-0.74,-145.9,2210,3214,3764,3805,84.5,-23.3,63,383,0.17,2.42,0.00,0.000,3078,0.298,0.067,2245,1804,3783,3763,3804,0,0,0,0,0,0,14.23,14.44,28.83
$GC,681,-0.74,-145.9,2246,1804,3763,3805,138.4,-16.7,94,686,0.00,2.50,0.00,0.000,260,0.000,0.104,2238,3207,3784,3763,3805,0,0,0,0,0,0,28.83,14.45,28.83
$GC,911,-0.74,-145.9,2238,3209,3763,3805,177.1,-16.4,140,917,0.00,2.42,0.00,0.000,1030,0.000,0.068,2242,1795,3784,3763,3805,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1221,-0.74,-145.9,2238,1794,3763,3806,223.9,-14.4,172,1227,0.00,2.53,0.00,0.000,260,0.000,0.104,2228,3208,3783,3763,3804,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1266,-0.74,-145.9,2228,3209,3764,3804,230.5,-14.5,181,1273,0.00,2.42,0.00,0.000,1030,0.000,0.067,2225,1806,3783,3763,3804,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1571,-0.75,-145.9,2228,1806,3763,3805,269.9,-12.3,202,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1806,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-0.77,-145.9,2228,1806,3764,3805,305.9,-11.7,212,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1806,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2172,-0.79,-145.9,2228,1806,3763,3805,340.9,-11.7,222,2177,0.00,2.50,0.00,0.000,260,0.000,0.106,2218,3215,3783,3762,3805,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2226,-0.79,-145.9,2219,3216,3762,3806,347.5,-12.4,233,2233,0.00,2.40,0.00,0.000,1030,0.000,0.068,2218,1801,3783,3762,3804,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2533,-0.81,-145.9,2218,1801,3763,3805,382.8,-11.4,244,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1800,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2832,-0.82,-145.9,2218,1801,3763,3805,416.2,-11.1,254,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1801,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3132,-0.84,-145.9,2219,1800,3762,3805,449.3,-11.0,264,3136,0.00,2.50,0.00,0.000,260,0.000,0.106,2210,3214,3783,3762,3805,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3186,-0.84,-145.9,2211,3214,3762,3805,455.7,-11.3,275,3193,0.00,2.40,0.00,0.000,1030,0.000,0.068,2210,1796,3783,3762,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3493,-0.86,-145.9,2211,1796,3763,3805,490.6,-11.5,286,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1795,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3792,-0.87,-145.9,2211,1796,3762,3805,524.4,-11.2,296,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1795,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4092,-0.89,-145.9,2211,1795,3762,3805,558.0,-11.2,306,4097,0.00,2.50,0.00,0.000,260,0.000,0.104,2210,3212,3783,3762,3805,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4152,-0.90,-145.9,2211,3213,3762,3806,564.9,-11.2,318,4157,0.00,2.38,0.00,0.000,1030,0.000,0.065,2210,1798,3783,3761,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4483,-0.92,-145.9,2210,1797,3762,3805,601.6,-11.1,334,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1796,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4782,-0.94,-145.9,2210,1797,3762,3806,634.3,-10.9,344,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1796,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5082,-0.96,-145.9,2210,1797,3762,3806,666.8,-10.8,354,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1796,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5382,-0.97,-145.9,2210,1797,3762,3807,699.2,-10.7,364,5387,0.00,2.50,0.00,0.000,260,0.000,0.103,2204,3214,3784,3762,3806,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5426,-0.97,-145.9,2204,3215,3763,3807,704.2,-11.1,373,5431,0.00,2.38,0.00,0.000,1030,0.000,0.066,2204,1801,3784,3762,3806,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5743,-0.99,-145.9,2204,1801,3762,3807,738.7,-11.0,386,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1800,3784,3762,3806,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5859,begin apogee
$GC,5864,-0.16,0.0,2204,2184,3762,3807,751.8,-10.9,390,5989,0.88,0.00,122.50,1.846,10246,0.256,0.000,2434,2179,3181,3136,3227,0,0,0,0,0,0,14.47,28.83,13.28
$STATE,5990,end apogee,CONTROL_FINISHED_OK
$STATE,5990,begin climb
$GC,5992,0.81,145.9,2435,2183,3132,3226,754.7,0.0,394,6120,1.05,0.00,124.22,1.818,10246,0.140,0.000,2749,2183,2584,2503,2666,0,0,0,0,0,0,13.99,28.83,12.83
$GC,6402,0.78,145.9,2750,2183,2498,2661,703.7,14.6,408,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2183,2578,2496,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6702,0.75,145.9,2749,2183,2497,2661,659.8,14.6,418,6706,0.00,2.50,0.00,0.000,516,0.000,0.086,2759,764,2578,2496,2660,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6736,0.72,145.9,2760,765,2496,2660,654.6,15.0,425,6742,0.15,2.47,0.00,0.000,5126,0.283,0.083,2729,2178,2578,2496,2660,0,0,0,0,0,0,14.26,14.43,28.83
$GC,7062,0.70,145.9,2729,2179,2496,2660,610.7,13.4,440,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2178,2578,2496,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,0.69,145.9,2729,2179,2497,2660,570.5,13.3,450,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2178,2578,2496,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7662,0.68,145.9,2729,2179,2497,2661,530.7,13.2,460,7667,0.00,2.45,0.00,0.000,516,0.000,0.087,2738,762,2578,2496,2660,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7707,0.67,145.9,2738,762,2496,2660,524.5,13.7,469,7712,0.00,2.45,0.00,0.000,1030,0.000,0.083,2738,2184,2578,2496,2660,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8023,0.65,145.9,2737,2185,2495,2655,481.1,13.8,482,8025,0.15,0.00,0.00,0.000,4102,0.292,0.000,2706,2184,2577,2495,2660,0,0,0,0,0,0,14.46,28.83,28.83
$GC,8323,0.66,146.4,2706,2185,2497,2660,445.7,11.6,492,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2184,2577,2496,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8622,0.66,149.3,2707,2184,2496,2660,411.2,11.5,502,8627,0.00,2.47,0.00,0.000,516,0.000,0.090,2706,764,2578,2496,2660,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8662,0.68,155.6,2707,765,2497,2660,406.5,11.3,510,8677,0.00,2.45,9.07,1.511,9222,0.000,0.085,2706,2188,2542,2461,2624,0,0,0,0,0,0,28.83,14.68,14.00
$GC,8983,0.70,155.6,2706,2188,2460,2624,369.3,11.8,524,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2187,2541,2459,2623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9282,0.71,156.8,2706,2188,2460,2623,334.3,11.6,534,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2188,2541,2459,2623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9582,0.74,173.3,2706,2188,2460,2624,301.0,10.7,544,9602,0.00,2.47,15.68,1.362,8708,0.000,0.086,2706,760,2468,2392,2544,0,0,0,0,0,0,28.83,14.65,14.02
$GC,9654,0.80,204.6,2707,761,2389,2546,293.6,10.0,558,9688,0.15,2.45,26.23,1.312,11270,0.131,0.084,2771,2180,2343,2269,2417,0,0,0,0,0,0,14.66,14.62,13.90
$GC,9992,0.78,204.6,2770,2181,2266,2416,244.2,14.0,579,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2180,2340,2265,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10292,0.78,204.6,2771,2179,2265,2415,206.4,11.7,609,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2180,2340,2265,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10592,0.80,236.8,2771,2180,2264,2415,174.2,9.9,639,10623,0.00,0.00,27.10,1.183,8198,0.000,0.000,2770,2180,2212,2132,2293,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10924,0.82,261.2,2771,2180,2126,2293,139.2,10.3,672,10947,0.00,0.00,21.33,1.164,8710,0.000,0.000,2770,2180,2115,2030,2201,0,0,0,0,0,0,28.83,28.83,13.94
$GC,11244,0.86,292.4,2771,2180,2021,2198,105.7,10.0,705,11274,0.00,2.50,24.08,1.089,8708,0.000,0.086,2778,767,1986,1894,2078,0,0,0,0,0,0,28.83,14.40,13.90
$GC,11300,0.91,308.6,2778,766,1895,2076,99.7,10.8,716,11316,0.00,2.50,7.15,0.477,9222,0.000,0.084,2778,2183,1923,1830,2017,0,0,0,0,0,0,28.83,14.35,14.08
$GC,11615,0.98,357.4,2779,2184,1830,2017,66.7,9.0,749,11645,0.00,2.58,22.33,0.383,8452,0.000,0.104,2778,3588,1722,1628,1817,0,0,0,0,0,0,28.83,14.36,14.15
$GC,11665,1.04,383.2,2778,3589,1630,1818,61.8,10.3,759,11686,0.12,2.40,12.05,0.368,11270,0.136,0.061,2839,2175,1618,1520,1717,0,0,0,0,0,0,14.43,14.40,14.14
$GC,11985,1.12,460.7,2839,2175,1516,1716,35.9,7.5,793,12026,0.00,2.53,34.83,0.285,8452,0.000,0.101,2839,3587,1302,1199,1405,0,0,0,0,0,0,28.83,14.35,14.22
$GC,12081,1.17,481.9,2839,3587,1195,1406,26.5,10.5,812,12098,0.00,2.40,9.45,0.265,9222,0.000,0.062,2848,2178,1215,1107,1324,0,0,0,0,0,0,28.83,14.43,14.23
$FREEZE,8.64,-1.236,-1.439,2,1,0
$FREEZE,7.99,-1.235,-1.439,2,1,0
$FREEZE,7.64,-1.235,-1.438,2,1,0
$FREEZE,7.11,-1.235,-1.438,2,1,0
$FREEZE,6.75,-1.234,-1.437,2,1,0
$FREEZE,6.15,-1.234,-1.437,2,1,0
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$STATE,14014,end climb,NO_VERTICAL_VELOCITY
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$STATE,14031,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,14032,begin surface
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$IRIDIUM_FIX,7334.88,-14707.26,300814,125353
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$HUMID,44.21
$INTERNAL_PRESSURE,8.62023
$TCM_TEMP,12.50
$XPDR_PINGS,0
$SC_FREEKB,3833344
$24V_AH,12.83,99.500
$10V_AH,12.99,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,428.400,122.400,1845.945,0.000,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.785,0.000,0.000,0.000
$MEM,189876
$DATA_FILE_SIZE,29988,906
$CAP_FILE_SIZE,154002,0
$CFSIZE,1047117824,999440384
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12983.47,0x2378b6,7,5
$INTR,1,14015.59,0x2378b6,5,5
$SOUNDSPEED,1447.7
$GPS,300814,163503,7423.346,-14702.832,12,0.8,32,29.2