version: 66.12
glider: 197
mission: 6
dive: 266
start: 9 4 114 13 42 54
data:
$ID,197
$MISSION,6
$DIVE,266
$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,-10145.38
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,040914,100702,7419.776,-14655.944,181,99.0,181,29.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-64.9
$GPS2,040914,100702,7419.776,-14655.944,181,99.0,181,29.3
$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,18,-0.81,-145.9,174,1802,422,565,0.0,0.0,0,34,0.00,0.00,-14.85,0.000,16386,0.000,0.000,174,1802,883,841,926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,36,-0.81,-145.9,175,1802,842,926,3.0,0.0,1,162,10.02,2.53,-105.00,0.000,18948,0.419,0.108,2221,388,3780,3762,3799,0,0,0,0,0,0,14.17,14.44,14.74
$GC,387,-0.76,-145.9,2222,388,3764,3804,76.6,-19.8,72,393,0.15,2.47,0.00,0.000,3078,0.313,0.083,2244,1795,3783,3764,3803,0,0,0,0,0,0,14.26,14.43,28.83
$GC,692,-0.76,-145.9,2244,1796,3765,3801,131.3,-16.7,103,697,0.00,2.47,0.00,0.000,516,0.000,0.090,2244,387,3783,3763,3804,0,0,0,0,0,0,28.83,14.45,28.83
$GC,906,-0.76,-145.9,2245,387,3764,3805,165.9,-15.9,146,913,0.00,2.47,0.00,0.000,1030,0.000,0.082,2236,1806,3784,3764,3804,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1212,-0.76,-145.9,2236,1808,3766,3805,213.3,-15.8,177,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1806,3784,3764,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1522,-0.77,-145.9,2237,1807,3764,3804,253.9,-11.7,206,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1807,3784,3764,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1822,-0.79,-145.9,2237,1808,3764,3805,289.3,-11.4,216,1827,0.00,2.50,0.00,0.000,260,0.000,0.105,2226,3220,3783,3763,3804,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1933,-0.81,-145.9,2226,3220,3764,3804,302.6,-12.4,238,1938,0.00,2.40,0.00,0.000,1030,0.000,0.067,2226,1804,3783,3763,3804,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2244,-0.82,-145.9,2226,1803,3758,3805,337.7,-11.1,250,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1802,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2543,-0.85,-145.9,2226,1803,3764,3805,370.6,-10.9,260,2548,0.00,2.50,0.00,0.000,260,0.000,0.104,2216,3213,3783,3762,3805,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2588,-0.86,-145.9,2217,3214,3762,3804,375.8,-12.0,269,2593,0.00,2.40,0.00,0.000,1030,0.000,0.066,2217,1794,3783,3762,3804,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2904,-0.87,-145.9,2217,1794,3763,3804,410.6,-11.0,282,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1793,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3203,-0.89,-145.9,2217,1793,3762,3804,443.2,-10.8,292,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1793,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3503,-0.91,-145.9,2217,1793,3762,3805,475.3,-10.6,302,3508,0.00,2.53,0.00,0.000,260,0.000,0.103,2209,3215,3783,3762,3804,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3563,-0.91,-145.9,2209,3215,3762,3804,482.1,-11.4,314,3568,0.00,2.40,0.00,0.000,1030,0.000,0.066,2209,1795,3783,3762,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3894,-0.93,-145.9,2209,1795,3762,3805,518.6,-10.9,330,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1794,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4193,-0.94,-145.9,2209,1795,3763,3805,551.1,-10.8,340,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1794,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4493,-0.96,-145.9,2209,1795,3763,3812,583.5,-10.8,350,4498,0.00,2.50,0.00,0.000,260,0.000,0.103,2202,3213,3783,3762,3804,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4548,-0.96,-145.9,2202,3214,3763,3806,589.6,-11.2,361,4554,0.00,2.38,0.00,0.000,1030,0.000,0.064,2201,1799,3783,3762,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4855,-0.97,-145.9,2202,1800,3763,3806,623.9,-11.2,372,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1799,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5153,-0.98,-145.9,2202,1800,3763,3806,656.7,-10.9,382,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1799,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5453,-1.00,-145.9,2202,1800,3763,3805,689.1,-10.8,392,5458,0.00,2.50,0.00,0.000,260,0.000,0.103,2193,3215,3783,3762,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5503,-1.00,-145.9,2193,3215,3763,3806,694.8,-11.3,402,5508,0.00,2.40,0.00,0.000,1030,0.000,0.065,2193,1795,3783,3762,3805,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5815,-1.00,-145.9,2193,1794,3763,3806,729.4,-11.2,414,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,1793,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6021,begin apogee
$GC,6026,-0.16,0.0,2191,2187,3763,3806,753.0,-11.2,421,6153,0.93,0.00,124.35,1.839,10246,0.253,0.000,2434,2187,3181,3136,3227,0,0,0,0,0,0,14.41,28.83,13.27
$STATE,6154,end apogee,CONTROL_FINISHED_OK
$STATE,6154,begin climb
$GC,6156,0.81,145.9,2435,2186,3130,3224,755.7,0.0,425,6284,1.02,0.00,124.82,1.817,10502,0.138,0.000,2748,2187,2586,2505,2668,0,0,0,0,0,0,13.97,28.83,12.80
$GC,6563,0.78,145.9,2749,2187,2494,2661,704.4,14.8,444,6568,0.00,2.55,0.00,0.000,516,0.000,0.086,2754,768,2576,2493,2660,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6578,0.76,145.9,2755,768,2494,2660,702.3,14.8,447,6583,0.00,2.53,0.00,0.000,1030,0.000,0.081,2754,2177,2576,2493,2659,0,0,0,0,0,0,28.83,14.14,28.83
$GC,6894,0.72,145.9,2760,2178,2494,2658,655.4,14.8,460,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2177,2576,2493,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7193,0.69,145.9,2754,2178,2494,2659,611.6,14.8,470,7198,0.15,2.45,0.00,0.000,4612,0.304,0.083,2728,766,2575,2493,2658,0,0,0,0,0,0,14.35,14.55,28.83
$GC,7233,0.69,145.9,2729,767,2494,2658,606.1,13.6,478,7238,0.00,2.45,0.00,0.000,1030,0.000,0.083,2728,2180,2575,2493,2657,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7555,0.69,145.9,2728,2182,2494,2657,564.0,13.1,492,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2181,2575,2493,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7853,0.69,145.9,2729,2182,2494,2658,525.1,12.9,502,7858,0.00,2.45,0.00,0.000,516,0.000,0.086,2738,767,2575,2493,2657,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7888,0.69,145.9,2738,767,2494,2657,520.5,13.1,509,7893,0.00,2.45,0.00,0.000,1030,0.000,0.082,2738,2186,2575,2493,2657,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9041,0.82,346.1,2738,2187,2494,2658,479.0,1.0,524,9213,0.00,2.62,163.40,1.459,8708,0.000,0.087,2745,764,1765,1673,1857,0,0,0,0,0,0,28.83,13.93,13.34
$GC,9238,0.84,346.1,2746,764,1673,1849,448.6,17.9,553,9243,0.00,2.58,0.00,0.000,1030,0.000,0.082,2745,2181,1760,1672,1848,0,0,0,0,0,0,28.83,14.01,28.83
$GC,9554,0.86,346.1,2746,2181,1663,1848,393.2,17.5,566,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2183,1755,1662,1848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9853,0.88,346.1,2746,2182,1661,1847,341.1,17.3,576,9858,0.00,2.47,0.00,0.000,516,0.000,0.088,2754,769,1754,1662,1847,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9878,0.90,346.1,2755,769,1663,1847,336.8,17.5,581,9884,0.00,2.47,0.00,0.000,1030,0.000,0.083,2754,2190,1754,1662,1846,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10185,0.92,346.1,2754,2190,1663,1847,283.4,17.2,592,10186,0.12,0.00,0.00,0.000,2054,0.139,0.000,2809,2190,1754,1662,1846,0,0,0,0,0,0,14.64,28.83,28.83
$GC,10483,0.92,346.1,2809,2190,1662,1847,223.7,18.7,610,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2190,1754,1662,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10783,0.92,346.1,2809,2190,1663,1847,173.6,15.8,640,10788,0.00,2.47,0.00,0.000,516,0.000,0.088,2813,767,1754,1662,1846,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10874,0.92,346.1,2813,767,1663,1846,159.2,16.2,658,10879,0.00,2.45,0.00,0.000,1030,0.000,0.083,2813,2183,1753,1662,1845,0,0,0,0,0,0,28.83,14.62,28.83
$GC,11185,0.94,346.1,2814,2184,1662,1846,112.8,14.0,690,11190,0.00,2.47,0.00,0.000,516,0.000,0.090,2813,767,1754,1662,1846,0,0,0,0,0,0,28.83,14.56,28.83
$GC,11320,0.96,346.1,2813,768,1663,1846,93.8,13.5,717,11326,0.00,2.47,0.00,0.000,1030,0.000,0.084,2813,2185,1756,1667,1845,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11627,0.99,369.1,2813,2186,1662,1845,55.6,10.4,748,11641,0.00,2.55,8.48,0.341,8452,0.000,0.103,2813,3581,1676,1583,1769,0,0,0,0,0,0,28.83,14.43,14.21
$GC,11767,1.07,449.9,2813,3581,1597,1770,43.1,7.3,776,11812,0.00,2.38,37.88,0.306,9222,0.000,0.060,2822,2168,1345,1247,1444,0,0,0,0,0,0,28.83,14.49,14.18
$GC,12117,1.23,557.7,2823,2168,1248,1445,16.8,5.9,816,12169,0.17,0.00,48.25,0.226,10758,0.110,0.000,2902,2167,907,810,1004,0,0,0,0,0,0,14.45,28.83,14.24
$FREEZE,8.42,-1.275,-1.437,2,2,0
$FREEZE,7.37,-1.277,-1.436,2,2,0
$FREEZE,6.44,-1.278,-1.435,2,2,0
$FREEZE,5.47,-1.279,-1.434,2,2,0
$FREEZE,4.45,-1.280,-1.433,2,2,0
$FREEZE,3.56,-1.280,-1.432,2,2,0
$FREEZE,2.57,-1.280,-1.431,2,2,0
$FREEZE,1.71,-1.279,-1.431,2,2,0
$STATE,12295,end climb,SURFACE_DEPTH_REACHED
$STATE,12295,begin surface coast
$FREEZE,1.68,-1.260,-0.792,2,2,0
$FINISH,1.7,1.011642
$STATE,12305,end surface coast,FINISH_DEPTH_REACHED
$STATE,12305,begin surface
$SM_CCo,12323,43.30,0.190,0,0,499,657.89
$SM_GC,2.47,8.25,0.62,43.30,0.093,0.088,0.190,181,1807,499,-7.17,1.07,657.89,0,0,0,0,0,0,14.47,14.49,14.33
$RAFOS_CLK,321013
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7334.88,-14707.26,040914,100234
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.97
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3818976
$24V_AH,12.80,110.137
$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,20.825,75.600,507.175,43.300,0.000,0.000,0.000,122.350,0.000,0.000,185.287,0.000,9215.069,672.688,2003.836,245.989,0.000,1470.271,0.000,1249.585,1485.000,0.531,0.000
$DEVICE_MAMPS,419.220,107.865,1839.060,190.485,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12351.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.857,0.000,0.000,0.000
$MEM,172180
$DATA_FILE_SIZE,30041,839
$CAP_FILE_SIZE,134272,0
$CFSIZE,1047117824,995557376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12929.93,0x2378b6,7,5
$SOUNDSPEED,1449.0
$GPS,040914,163826,7416.944,-14655.972,30,1.0,50,29.2