version: 66.12
glider: 197
mission: 6
dive: 265
start: 9 4 114 10 7 23
data:
$ID,197
$MISSION,6
$DIVE,265
$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,-9774.8047
$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,29
$R_STBD_OVSHOOT,20
$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
$GPS1,040914,095925,7419.720,-14655.771,31,0.8,51,29.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-72.0
$GPS2,040914,100702,7419.776,-14655.944,13,0.9,33,29.3
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7324.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,149.0,103345,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.81,-145.9,181,1801,427,557,0.0,0.0,0,70,0.00,0.00,-51.53,0.000,16386,0.000,0.000,180,1801,1714,1721,1708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.81,-145.9,180,1801,1723,1711,3.1,-1.4,5,154,10.25,2.50,-65.45,0.000,18948,0.425,0.107,2222,390,3779,3760,3798,0,0,0,0,0,0,14.05,14.38,14.65
$GC,381,-0.76,-145.9,2223,390,3763,3803,75.6,-20.8,67,386,0.12,2.47,0.00,0.000,3078,0.322,0.083,2238,1798,3782,3763,3802,0,0,0,0,0,0,14.16,14.33,28.83
$GC,692,-0.75,-145.9,2238,1799,3764,3804,132.4,-17.1,99,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1798,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,991,-0.75,-145.9,2238,1799,3764,3804,181.7,-15.9,129,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1798,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.75,-145.9,2239,1799,3763,3804,226.5,-14.0,159,1296,0.00,2.53,0.00,0.000,260,0.000,0.104,2230,3216,3783,3763,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1371,-0.75,-145.9,2230,3217,3763,3804,237.9,-14.4,175,1376,0.00,2.40,0.00,0.000,1030,0.000,0.067,2230,1803,3783,3763,3803,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1701,-0.76,-145.9,2230,1803,3764,3804,278.5,-11.6,193,1706,0.00,2.47,0.00,0.000,516,0.000,0.091,2230,384,3783,3763,3803,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1746,-0.77,-145.9,2230,385,3763,3803,283.8,-11.5,202,1751,0.00,2.47,0.00,0.000,1030,0.000,0.083,2219,1808,3782,3762,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2062,-0.79,-145.9,2220,1809,3762,3803,321.0,-11.7,215,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1809,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2361,-0.80,-145.9,2220,1810,3761,3803,355.0,-11.4,225,2366,0.00,2.47,0.00,0.000,260,0.000,0.105,2209,3212,3782,3761,3803,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2446,-0.80,-145.9,2210,3213,3762,3804,365.0,-11.8,242,2452,0.00,2.40,0.00,0.000,1030,0.000,0.067,2209,1796,3782,3761,3803,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2752,-0.81,-145.9,2210,1796,3761,3804,400.4,-11.6,253,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1795,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3051,-0.83,-145.9,2210,1796,3761,3804,435.2,-11.6,263,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1795,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3351,-0.84,-145.9,2210,1795,3761,3804,469.6,-11.4,273,3356,0.00,2.50,0.00,0.000,260,0.000,0.103,2199,3213,3782,3761,3803,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3401,-0.84,-145.9,2200,3213,3761,3804,475.7,-12.2,283,3406,0.00,2.40,0.00,0.000,1030,0.000,0.065,2199,1793,3782,3761,3803,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3711,-0.84,-145.9,2200,1794,3762,3804,512.5,-11.8,295,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1793,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4011,-0.84,-145.9,2199,1790,3761,3805,547.3,-11.5,305,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,1793,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4311,-0.84,-145.9,2199,1794,3762,3805,581.5,-11.3,315,4316,0.00,2.53,0.00,0.000,260,0.000,0.103,2189,3218,3782,3761,3804,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4371,-0.84,-145.9,2190,3219,3762,3804,588.7,-11.8,327,4376,0.12,2.40,0.00,0.000,3078,0.291,0.065,2214,1797,3782,3761,3804,0,0,0,0,0,0,14.44,14.66,28.83
$GC,4701,-0.86,-145.9,2211,1794,3762,3805,623.5,-10.4,343,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1793,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5001,-0.89,-145.9,2214,1794,3761,3806,654.7,-10.4,353,5006,0.00,2.50,0.00,0.000,260,0.000,0.101,2205,3216,3782,3760,3805,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5056,-0.89,-145.9,2206,3214,3760,3805,660.9,-11.5,364,5062,0.00,2.38,0.00,0.000,1030,0.000,0.064,2205,1796,3782,3760,3805,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5363,-0.90,-145.9,2205,1797,3761,3805,693.9,-10.7,375,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1796,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5661,-0.92,-145.9,2206,1797,3761,3805,726.3,-10.8,385,5666,0.00,2.50,0.00,0.000,260,0.000,0.102,2195,3213,3782,3760,3805,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5711,-0.92,-145.9,2196,3214,3761,3805,732.0,-11.8,395,5716,0.00,2.38,0.00,0.000,1030,0.000,0.063,2195,1801,3782,3760,3805,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,5899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5899,begin apogee
$GC,5904,-0.16,0.0,2193,2195,3761,3806,753.2,-11.1,403,6030,0.93,0.00,122.95,1.854,10246,0.253,0.000,2438,2194,3181,3135,3227,0,0,0,0,0,0,14.43,28.83,13.26
$STATE,6031,end apogee,CONTROL_FINISHED_OK
$STATE,6031,begin climb
$GC,6033,0.81,145.9,2438,2195,3131,3226,756.0,0.0,407,6161,1.00,0.00,124.32,1.822,10502,0.135,0.000,2746,2194,2585,2503,2667,0,0,0,0,0,0,13.97,28.83,12.78
$GC,6441,0.78,145.9,2746,2195,2495,2662,706.0,14.4,426,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2194,2578,2495,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7369,0.89,339.8,2747,2194,2495,2662,665.9,1.3,436,7540,0.12,2.67,162.55,1.685,10756,0.142,0.083,2809,767,1789,1696,1883,0,0,0,0,0,0,14.42,13.64,12.98
$GC,7560,0.86,339.8,2809,766,1697,1876,628.4,22.5,464,7565,0.17,2.62,0.00,0.000,5126,0.280,0.083,2775,2176,1783,1691,1876,0,0,0,0,0,0,13.59,13.71,28.83
$GC,7881,0.86,339.8,2776,2176,1687,1876,563.7,20.0,478,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2177,1778,1681,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8180,0.86,339.8,2775,2177,1685,1875,503.8,20.0,488,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2177,1779,1684,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8480,0.86,339.8,2776,2177,1685,1875,444.0,19.9,498,8485,0.00,2.47,0.00,0.000,516,0.000,0.086,2783,769,1779,1684,1874,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8510,0.85,339.8,2784,770,1685,1874,437.7,20.3,504,8515,0.00,2.47,0.00,0.000,1030,0.000,0.084,2784,2182,1778,1684,1873,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8842,0.85,339.8,2784,2183,1685,1874,370.1,20.5,520,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2182,1778,1684,1873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9140,0.85,339.8,2784,2183,1685,1874,310.0,19.7,530,9145,0.00,2.47,0.00,0.000,516,0.000,0.088,2792,766,1778,1684,1873,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9170,0.84,339.8,2793,766,1685,1874,303.8,20.7,536,9175,0.12,2.45,0.00,0.000,5126,0.285,0.083,2768,2181,1778,1684,1873,0,0,0,0,0,0,14.45,14.64,28.83
$GC,9500,0.85,339.8,2769,2182,1684,1873,245.7,16.8,552,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2182,1776,1680,1873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9801,0.88,339.8,2764,2183,1685,1874,201.5,14.2,582,9805,0.00,2.45,0.00,0.000,516,0.000,0.089,2769,770,1778,1684,1873,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9830,0.91,339.8,2770,771,1685,1874,197.1,14.8,588,9835,0.00,2.45,0.00,0.000,1030,0.000,0.083,2770,2182,1778,1684,1873,0,0,0,0,0,0,28.83,14.65,28.83
$GC,10142,0.95,339.8,2770,2184,1685,1874,155.4,12.6,620,10146,0.00,2.45,0.00,0.000,516,0.000,0.089,2770,770,1778,1684,1873,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10201,0.99,339.8,2770,769,1685,1873,147.6,13.1,632,10207,0.12,2.45,0.00,0.000,3078,0.137,0.083,2824,2185,1778,1684,1873,0,0,0,0,0,0,14.69,14.63,28.83
$GC,10513,0.99,339.8,2824,2185,1685,1873,99.4,15.1,664,10518,0.00,2.47,0.00,0.000,516,0.000,0.088,2830,767,1778,1684,1873,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10547,0.99,339.8,2830,768,1685,1873,93.9,15.4,671,10554,0.00,2.45,0.00,0.000,1030,0.000,0.083,2830,2179,1778,1684,1873,0,0,0,0,0,0,28.83,14.56,28.83
$GC,10854,1.02,351.8,2830,2180,1685,1873,53.4,11.0,702,10864,0.00,0.00,3.62,0.334,8198,0.000,0.000,2830,2180,1747,1655,1839,0,0,0,0,0,0,28.83,28.83,14.21
$GC,11164,1.13,467.5,2830,2180,1665,1839,35.2,5.5,733,11224,0.00,2.53,52.72,0.284,8452,0.000,0.103,2830,3587,1275,1176,1374,0,0,0,0,0,0,28.83,14.33,14.22
$GC,11269,1.21,496.6,2830,3588,1176,1374,26.5,10.1,754,11290,0.12,2.42,13.62,0.261,11270,0.136,0.062,2891,2162,1156,1054,1258,0,0,0,0,0,0,14.43,14.41,14.19
$FREEZE,8.76,-1.286,-1.437,2,1,0
$FREEZE,7.98,-1.287,-1.436,2,1,0
$FREEZE,7.12,-1.287,-1.436,2,1,0
$FREEZE,6.30,-1.290,-1.435,2,1,0
$FREEZE,5.38,-1.289,-1.434,2,1,0
$FREEZE,4.46,-1.299,-1.433,2,1,0
$FREEZE,3.79,-1.300,-1.433,2,1,0
$FREEZE,2.90,-1.298,-1.432,2,1,0
$FREEZE,2.08,-1.300,-1.431,2,1,0
$FREEZE,1.71,-1.290,-1.430,2,1,0
$STATE,11553,end climb,SURFACE_DEPTH_REACHED
$STATE,11553,begin surface coast
$FREEZE,1.67,-1.291,-1.431,2,1,0
$FREEZE,1.63,-1.305,-1.431,2,1,0
$FINISH,1.6,1.021102
$STATE,11573,end surface coast,CONTROL_FINISHED_OK
$STATE,11573,begin surface
$SM_CCo,11590,69.45,0.190,0,0,498,657.89
$SM_GC,3.07,8.43,0.62,69.45,0.115,0.091,0.190,175,1804,498,-7.18,0.93,657.89,0,0,0,0,0,0,14.50,14.50,14.33
$RAFOS_CLK,413272
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7342.54,-14709.64,040914,062425
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.60
$INTERNAL_PRESSURE,8.59093
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3819424
$24V_AH,12.78,109.800
$10V_AH,12.73,0.000
$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,21.525,75.475,479.800,69.450,0.000,0.000,0.000,243.800,0.000,0.000,37.228,0.000,8678.669,681.357,1878.912,228.643,0.000,1560.181,0.000,1178.953,1488.000,0.531,0.000
$DEVICE_MAMPS,424.575,107.100,1853.595,189.720,0.000,0.000,0.000,168.300,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11622.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.519,0.000,0.000,0.000
$MEM,172744
$DATA_FILE_SIZE,26677,787
$CAP_FILE_SIZE,132418,0
$CFSIZE,1047117824,995672064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13058.38,0x2378b6,7,5
$SOUNDSPEED,1448.9
$GPS,040914,100702,7419.776,-14655.944,181,99.0,181,29.3