version: 66.12
glider: 197
mission: 6
dive: 243
start: 9 1 114 1 52 10
data:
$ID,197
$MISSION,6
$DIVE,243
$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,-9377.7314
$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,38
$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
$GPS1,010914,013549,7437.791,-14702.639,39,0.8,59,29.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-70.0
$GPS2,010914,015151,7437.763,-14702.760,13,0.8,33,29.4
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,339.0,41635,-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,-145.9,179,1786,434,555,0.0,0.0,0,70,0.00,0.00,-52.25,0.000,16386,0.000,0.000,179,1786,1704,1713,1696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.81,-145.9,179,1786,1714,1697,3.1,-1.7,5,151,10.18,2.65,-62.50,0.000,18692,0.420,0.123,2210,3212,3780,3763,3798,0,0,0,0,0,0,14.04,14.33,14.60
$GC,377,-0.74,-145.9,2211,3212,3764,3803,83.0,-22.4,66,383,0.17,2.40,0.00,0.000,3078,0.291,0.067,2245,1814,3783,3764,3803,0,0,0,0,0,0,14.21,14.41,28.83
$GC,682,-0.74,-145.9,2246,1814,3764,3805,137.5,-16.7,97,687,0.00,2.50,0.00,0.000,260,0.000,0.104,2241,3209,3784,3764,3804,0,0,0,0,0,0,28.83,14.47,28.83
$GC,912,-0.74,-145.9,2239,3210,3764,3805,176.2,-15.7,143,917,0.00,2.42,0.00,0.000,1030,0.000,0.067,2238,1795,3784,3764,3804,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1222,-0.74,-145.9,2239,1795,3764,3805,222.1,-14.1,175,1227,0.00,2.55,0.00,0.000,260,0.000,0.105,2229,3214,3784,3764,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1372,-0.74,-145.9,2230,3215,3764,3805,244.0,-14.0,205,1377,0.00,2.40,0.00,0.000,1030,0.000,0.067,2229,1801,3784,3764,3804,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1693,-0.75,-145.9,2229,1801,3764,3806,284.4,-11.9,220,1698,0.00,2.45,0.00,0.000,516,0.000,0.091,2229,385,3784,3763,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1743,-0.77,-145.9,2230,385,3764,3805,290.5,-12.1,230,1748,0.00,2.47,0.00,0.000,1030,0.000,0.084,2220,1804,3784,3763,3805,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2054,-0.78,-145.9,2220,1805,3764,3805,327.3,-12.0,242,2059,0.00,2.50,0.00,0.000,260,0.000,0.109,2214,3219,3783,3763,3804,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2138,-0.78,-145.9,2214,3218,3764,3805,337.8,-12.5,259,2145,0.00,2.45,0.00,0.000,1030,0.000,0.067,2214,1800,3783,3762,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2445,-0.79,-145.9,2215,1801,3763,3805,372.4,-11.2,270,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1801,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2744,-0.81,-145.9,2215,1801,3762,3805,406.1,-11.2,280,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1801,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3044,-0.82,-145.9,2215,1801,3763,3805,439.4,-11.1,290,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1798,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3344,-0.84,-145.9,2214,1801,3764,3806,472.6,-10.9,300,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1801,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3644,-0.86,-145.9,2214,1801,3763,3805,505.5,-10.9,310,3649,0.00,2.50,0.00,0.000,260,0.000,0.106,2208,3212,3783,3762,3804,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3704,-0.86,-145.9,2208,3213,3763,3805,512.5,-11.8,322,3709,0.00,2.40,0.00,0.000,1030,0.000,0.067,2208,1793,3783,3763,3804,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4036,-0.88,-145.9,2209,1793,3763,3805,549.4,-11.2,338,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1792,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4334,-0.89,-145.9,2209,1793,3763,3805,582.9,-11.2,348,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1792,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4634,-0.90,-145.9,2209,1792,3763,3805,616.1,-11.0,358,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1792,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4934,-0.92,-145.9,2208,1793,3763,3806,648.7,-10.9,368,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1792,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5234,-0.94,-145.9,2208,1793,3763,3806,681.2,-10.8,378,5239,0.00,2.53,0.00,0.000,260,0.000,0.106,2203,3218,3783,3762,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5264,-0.94,-145.9,2204,3218,3763,3806,684.6,-11.1,384,5269,0.00,2.40,0.00,0.000,1030,0.000,0.065,2203,1794,3783,3762,3805,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5595,-0.95,-145.9,2204,1793,3763,3806,720.7,-10.9,400,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,1793,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5892,begin apogee
$GC,5897,-0.16,0.0,2204,2184,3770,3806,753.0,-10.8,410,6022,0.88,0.00,122.78,1.849,10246,0.255,0.000,2435,2183,3183,3139,3228,0,0,0,0,0,0,14.47,28.83,13.29
$STATE,6023,end apogee,CONTROL_FINISHED_OK
$STATE,6023,begin climb
$GC,6025,0.81,145.9,2435,2186,3134,3227,755.6,0.0,414,6153,1.05,0.00,124.95,1.821,10246,0.138,0.000,2750,2185,2584,2504,2665,0,0,0,0,0,0,13.99,28.83,12.81
$GC,6434,0.78,145.9,2751,2186,2495,2661,703.5,14.9,428,6439,0.00,2.55,0.00,0.000,516,0.000,0.084,2761,766,2577,2495,2660,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6459,0.75,145.9,2761,766,2495,2660,699.7,14.9,433,6465,0.00,2.55,0.00,0.000,1030,0.000,0.083,2761,2190,2577,2494,2660,0,0,0,0,0,0,28.83,14.18,28.83
$GC,6766,0.71,145.9,2761,2191,2496,2664,652.7,15.4,444,6767,0.17,0.00,0.00,0.000,4102,0.295,0.000,2724,2191,2577,2494,2660,0,0,0,0,0,0,14.23,28.83,28.83
$GC,7064,0.71,145.9,2725,2191,2495,2660,612.8,13.2,454,7069,0.00,2.50,0.00,0.000,516,0.000,0.085,2733,759,2576,2494,2659,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7109,0.71,145.9,2733,759,2495,2659,606.7,13.4,463,7114,0.00,2.47,0.00,0.000,1030,0.000,0.084,2733,2183,2576,2494,2658,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7426,0.69,145.9,2734,2183,2495,2659,564.1,13.5,476,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2183,2576,2494,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8441,0.81,344.6,2734,2183,2495,2659,525.7,1.1,486,8607,0.00,0.00,164.05,1.516,8198,0.000,0.000,2732,2183,1776,1681,1871,0,0,0,0,0,0,28.83,28.83,13.30
$GC,8890,0.84,344.6,2733,2183,1665,1858,452.4,16.9,501,8894,0.00,2.53,0.00,0.000,516,0.000,0.086,2742,765,1760,1664,1857,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8920,0.86,344.6,2743,764,1665,1856,447.1,18.3,507,8925,0.00,2.53,0.00,0.000,1030,0.000,0.085,2742,2180,1760,1664,1856,0,0,0,0,0,0,28.83,14.30,28.83
$GC,9250,0.88,344.6,2743,2181,1663,1856,389.5,17.3,523,9251,0.10,0.00,0.00,0.000,2054,0.158,0.000,2788,2181,1759,1663,1855,0,0,0,0,0,0,14.52,28.83,28.83
$GC,9550,0.87,344.6,2789,2182,1664,1856,327.7,20.8,533,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2181,1759,1663,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9850,0.87,344.6,2789,2182,1659,1856,268.3,19.6,543,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2181,1759,1663,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10150,0.87,344.6,2789,2182,1664,1856,216.2,16.5,565,10155,0.00,2.45,0.00,0.000,516,0.000,0.087,2799,767,1760,1665,1855,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10180,0.87,344.6,2800,766,1663,1855,211.2,17.2,571,10185,0.00,2.45,0.00,0.000,1030,0.000,0.084,2804,2182,1758,1663,1854,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10491,0.88,344.6,2799,2184,1663,1855,162.4,14.5,603,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2183,1758,1663,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10790,0.90,344.6,2800,2184,1663,1855,120.9,13.4,633,10795,0.00,2.47,0.00,0.000,260,0.000,0.103,2799,3590,1758,1663,1854,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10824,0.90,344.6,2800,3590,1663,1853,115.7,15.6,640,10831,0.00,2.38,0.00,0.000,1030,0.000,0.062,2809,2177,1757,1662,1853,0,0,0,0,0,0,28.83,14.58,28.83
$GC,11131,0.92,344.6,2810,2176,1663,1854,73.1,13.3,671,11136,0.00,2.45,0.00,0.000,516,0.000,0.090,2813,769,1757,1662,1853,0,0,0,0,0,0,28.83,14.53,28.83
$GC,11236,0.97,358.2,2813,769,1663,1853,60.2,10.9,692,11246,0.00,2.47,4.32,0.347,9222,0.000,0.086,2813,2185,1720,1626,1814,0,0,0,0,0,0,28.83,14.51,14.21
$GC,11553,1.11,486.0,2813,2186,1640,1815,37.7,4.8,725,11614,0.10,0.00,58.92,0.290,10246,0.159,0.000,2861,2185,1198,1100,1297,0,0,0,0,0,0,14.52,28.83,14.23
$FREEZE,8.90,-1.145,-1.419,2,1,0
$FREEZE,8.35,-1.146,-1.418,2,1,0
$FREEZE,7.63,-1.146,-1.418,2,1,0
$FREEZE,7.02,-1.146,-1.417,2,1,0
$GC,11911,1.26,606.9,2861,2186,1097,1298,11.5,5.2,761,11973,0.12,2.60,52.75,0.208,10500,0.132,0.102,2917,3595,705,616,794,0,0,0,0,0,0,14.47,14.38,14.29
$FREEZE,5.68,-1.145,-1.416,2,1,0
$FREEZE,5.02,-1.145,-1.416,2,1,0
$FREEZE,4.47,-1.145,-1.415,2,1,0
$FREEZE,3.81,-1.145,-1.415,2,1,0
$FREEZE,3.15,-1.145,-1.414,2,1,0
$FREEZE,2.47,-1.145,-1.414,2,1,0
$GC,12005,1.28,606.9,2918,3596,617,795,2.5,12.8,778,12011,0.00,2.42,0.00,0.000,1030,0.000,0.061,2927,2171,705,617,794,0,0,0,0,0,0,28.83,14.42,28.83
$FREEZE,1.49,-1.114,-1.378,2,1,0
$STATE,12018,end climb,SURFACE_DEPTH_REACHED
$STATE,12018,begin surface coast
$FREEZE,1.49,-1.136,-0.709,2,1,0
$FINISH,1.5,1.010405
$STATE,12028,end surface coast,FINISH_DEPTH_REACHED
$STATE,12028,begin surface
$SM_CCo,12044,22.02,0.193,0,0,499,657.89
$SM_GC,2.33,8.25,0.62,22.02,0.084,0.081,0.193,178,1788,499,-7.18,0.99,657.89,0,0,0,0,0,0,14.47,14.50,14.34
$RAFOS_CLK,355425
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7350.26,-14714.44,310814,104935
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.05
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3829312
$24V_AH,12.81,102.479
$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,21.025,70.775,527.775,22.025,0.000,0.000,0.000,669.550,0.000,0.000,35.986,0.000,8980.970,706.854,2274.772,327.142,0.000,1986.600,0.000,1173.199,1478.000,0.533,0.000
$DEVICE_MAMPS,419.985,123.165,1849.005,192.780,0.000,0.000,0.000,184.365,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12065.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.064,0.000,0.000,0.000
$MEM,184988
$DATA_FILE_SIZE,26695,781
$CAP_FILE_SIZE,137359,0
$CFSIZE,1047117824,998309888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13746.11,0x2378b6,7,5
$SOUNDSPEED,1448.5
$GPS,010914,050226,7439.418,-14702.256,29,0.9,49,29.4