version: 66.12
glider: 197
mission: 6
dive: 286
start: 9 7 114 14 12 24
data:
$ID,197
$MISSION,6
$DIVE,286
$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,-10534.953
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,070914,140325,7348.148,-14652.374,33,1.2,54,29.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-69.9
$GPS2,070914,141203,7348.209,-14651.880,9,1.2,29,29.0
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7324.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,149.7,44846,-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,-145.9,173,1804,426,572,0.0,0.0,0,60,0.00,0.00,-41.38,0.000,16386,0.000,0.000,173,1804,1531,1529,1533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.81,-145.9,173,1804,1531,1534,3.2,-2.0,4,150,10.43,2.60,-72.47,0.000,18692,0.430,0.123,2214,3208,3779,3761,3798,0,0,0,0,0,0,14.03,14.34,14.64
$GC,352,-0.74,-145.9,2214,3209,3763,3804,72.3,-23.5,62,357,0.15,2.42,0.00,0.000,3078,0.292,0.066,2245,1801,3782,3762,3803,0,0,0,0,0,0,14.18,14.40,28.83
$GC,662,-0.74,-145.9,2245,1801,3762,3805,126.9,-17.1,94,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1800,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,962,-0.74,-145.9,2245,1801,3763,3805,173.4,-14.8,124,967,0.00,2.50,0.00,0.000,260,0.000,0.102,2237,3208,3783,3762,3805,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1012,-0.74,-145.9,2238,3209,3763,3804,181.1,-15.3,134,1017,0.00,2.42,0.00,0.000,1030,0.000,0.065,2236,1791,3783,3762,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1322,-0.74,-145.9,2238,1790,3762,3805,224.8,-13.4,166,1327,0.00,2.42,0.00,0.000,516,0.000,0.088,2237,390,3783,3762,3805,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1362,-0.75,-145.9,2238,390,3763,3805,230.4,-13.8,174,1367,0.00,2.45,0.00,0.000,1030,0.000,0.080,2231,1796,3783,3762,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1672,-0.77,-145.9,2232,1797,3763,3805,268.7,-12.1,196,1677,0.00,2.53,0.00,0.000,260,0.000,0.103,2220,3224,3783,3762,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1727,-0.77,-145.9,2222,3220,3762,3804,275.9,-13.2,207,1733,0.00,2.40,0.00,0.000,1030,0.000,0.063,2221,1799,3782,3761,3804,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2033,-0.78,-145.9,2221,1800,3762,3805,312.3,-11.7,218,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1799,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2332,-0.80,-145.9,2222,1799,3760,3805,346.4,-11.3,228,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1799,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2632,-0.82,-145.9,2221,1799,3758,3805,379.5,-10.9,238,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1798,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2932,-0.84,-145.9,2221,1799,3759,3805,412.0,-10.9,248,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1798,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3232,-0.86,-145.9,2222,1799,3759,3805,444.1,-10.6,258,3237,0.00,2.50,0.00,0.000,260,0.000,0.102,2214,3213,3782,3759,3805,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3297,-0.87,-145.9,2214,3214,3759,3805,451.4,-11.7,271,3302,0.00,2.40,0.00,0.000,1030,0.000,0.065,2214,1792,3781,3758,3805,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3624,-0.89,-145.9,2214,1795,3759,3805,487.0,-10.8,286,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1794,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3922,-0.91,-145.9,2214,1795,3759,3805,519.5,-10.9,296,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1794,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4222,-0.93,-145.9,2214,1795,3759,3805,551.7,-10.7,306,4227,0.00,2.50,0.00,0.000,260,0.000,0.102,2210,3215,3781,3758,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4282,-0.94,-145.9,2211,3216,3759,3805,558.3,-10.9,318,4287,0.00,2.38,0.00,0.000,1030,0.000,0.063,2210,1802,3781,3758,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4614,-0.96,-145.9,2210,1799,3761,3805,594.2,-10.7,334,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1801,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4912,-0.98,-145.9,2211,1801,3758,3805,626.0,-10.6,344,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1800,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5212,-1.00,-145.9,2210,1801,3759,3802,657.9,-10.7,354,5213,0.12,0.00,0.00,0.000,4102,0.146,0.000,2158,1801,3781,3757,3805,0,0,0,0,0,0,14.73,28.83,28.83
$GC,5512,-0.98,-145.9,2158,1801,3759,3806,696.7,-13.1,364,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,1800,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5812,-0.96,-145.9,2158,1801,3758,3805,735.5,-12.9,374,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,1801,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5930,begin apogee
$GC,5935,-0.16,0.0,2155,2189,3759,3806,750.9,-12.8,378,6061,1.08,0.00,123.55,1.840,10246,0.266,0.000,2434,2188,3181,3135,3228,0,0,0,0,0,0,14.36,28.83,13.26
$STATE,6062,end apogee,CONTROL_FINISHED_OK
$STATE,6062,begin climb
$GC,6064,0.81,145.9,2435,2189,3129,3224,753.9,0.0,382,6193,1.02,0.00,124.30,1.815,10502,0.135,0.000,2751,2188,2584,2502,2666,0,0,0,0,0,0,13.98,28.83,12.79
$GC,7071,0.92,339.3,2753,2188,2492,2661,705.3,1.3,406,7239,0.12,0.00,165.88,1.726,10246,0.139,0.000,2802,2188,1795,1702,1889,0,0,0,0,0,0,14.14,28.83,12.74
$GC,7521,0.89,339.3,2803,2188,1687,1878,608.8,22.6,421,7526,0.00,2.58,0.00,0.000,516,0.000,0.085,2812,762,1779,1686,1873,0,0,0,0,0,0,28.83,14.00,28.83
$GC,7551,0.86,339.3,2813,763,1688,1876,601.9,23.6,427,7556,0.20,2.53,0.00,0.000,5126,0.275,0.082,2771,2176,1781,1686,1876,0,0,0,0,0,0,13.95,14.12,28.83
$GC,7881,0.86,339.3,2771,2177,1685,1876,536.5,19.6,443,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2176,1780,1685,1876,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CACST,6,1,20140907161459.265654,3,1661,-9,0137,0150,255,02,02,07,06,-1,-01,-01,1,3,0,0,150,2.5,1.1,-100,1.9,-01,0.1,36,900,0025*3D
$GC,8183,0.86,339.3,2771,2177,1685,1876,478.3,19.3,453,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2177,1780,1684,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8482,0.86,339.3,2772,2177,1685,1876,420.7,19.1,463,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2176,1779,1684,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8781,0.86,339.3,2771,2177,1685,1876,363.6,18.9,473,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2176,1780,1684,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9081,0.86,339.3,2771,2177,1684,1876,308.0,18.4,483,9086,0.00,2.45,0.00,0.000,516,0.000,0.087,2771,765,1780,1684,1876,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9111,0.86,339.3,2771,766,1686,1876,302.4,19.1,489,9116,0.00,2.45,0.00,0.000,1030,0.000,0.083,2771,2182,1779,1684,1875,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9423,0.87,339.3,2771,2182,1685,1876,248.0,17.3,505,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2182,1780,1684,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9722,0.90,339.3,2771,2182,1685,1876,200.1,14.3,535,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2182,1779,1684,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10021,0.94,339.3,2771,2182,1684,1875,159.6,12.9,565,10026,0.00,2.45,0.00,0.000,516,0.000,0.087,2771,770,1779,1684,1875,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10061,0.98,339.3,2771,769,1684,1876,154.2,12.9,573,10066,0.12,2.45,0.00,0.000,3078,0.135,0.083,2824,2186,1779,1684,1875,0,0,0,0,0,0,14.58,14.51,28.83
$GC,10373,0.98,339.3,2824,2186,1684,1876,106.1,15.3,605,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2187,1779,1684,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10671,1.00,339.3,2825,2187,1685,1875,65.0,12.7,635,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2186,1779,1684,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10972,1.09,432.5,2825,2187,1684,1876,40.0,6.7,665,11017,0.00,2.53,40.12,0.297,8452,0.000,0.100,2825,3592,1417,1316,1518,0,0,0,0,0,0,28.83,14.40,14.21
$GC,11044,1.15,476.0,2825,3593,1317,1519,34.1,9.3,677,11069,0.12,2.40,20.38,0.279,11270,0.140,0.060,2881,2175,1240,1136,1344,0,0,0,0,0,0,14.44,14.43,14.19
$FREEZE,8.99,0.568,-1.402,2,1,0
$FREEZE,8.69,0.570,-1.404,2,1,0
$FREEZE,8.19,0.570,-1.403,2,1,0
$FREEZE,7.76,0.570,-1.405,2,1,0
$FREEZE,7.32,0.570,-1.405,2,1,0
$FREEZE,6.93,0.566,-1.406,2,1,0
$FREEZE,6.31,0.566,-1.405,2,1,0
$GC,11374,1.30,598.4,2881,2176,1140,1345,9.6,5.1,713,11436,0.00,2.55,54.17,0.204,8452,0.000,0.100,2880,3589,739,643,835,0,0,0,0,0,0,28.83,14.34,14.24
$FREEZE,5.15,0.569,-1.405,2,1,0
$FREEZE,4.70,0.564,-1.404,2,1,0
$FREEZE,4.15,0.564,-1.404,2,1,0
$FREEZE,3.65,0.577,-1.404,2,1,0
$FREEZE,2.98,0.577,-1.403,2,1,0
$FREEZE,2.54,0.574,-1.403,2,1,0
$FREEZE,2.07,0.574,-1.403,2,1,0
$FREEZE,1.77,0.404,-1.410,2,1,0
$STATE,11475,end climb,SURFACE_DEPTH_REACHED
$STATE,11475,begin surface coast
$FREEZE,1.74,0.404,-1.410,2,1,0
$FREEZE,1.81,0.522,-1.001,2,1,0
$FREEZE,1.66,0.522,-1.001,2,1,0
$FREEZE,1.74,0.238,-0.321,2,1,0
$FINISH,1.7,1.004619
$STATE,11497,end surface coast,CONTROL_FINISHED_OK
$STATE,11497,begin surface
$SM_CCo,11517,25.75,0.193,0,0,499,657.89
$SM_GC,2.70,8.15,3.12,25.75,0.093,0.066,0.193,176,1809,499,-7.18,1.02,657.89,0,0,0,0,0,0,14.47,14.43,14.30
$RAFOS_CLK,433479
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7304.81,-14644.31,070914,102440
$TT8_MAMPS,0.042693,0.042693
$HUMID,44.60
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3810016
$24V_AH,12.74,116.651
$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,21.525,55.700,528.400,25.750,0.000,0.000,0.000,303.425,0.000,0.000,32.208,0.000,8696.412,666.504,1849.512,229.795,0.000,1553.990,0.000,1107.823,1486.000,0.531,0.000
$DEVICE_MAMPS,429.930,123.165,1839.825,192.780,0.000,0.000,0.000,156.825,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11547.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.523,0.000,0.000,0.000
$MEM,161184
$DATA_FILE_SIZE,26734,735
$CAP_FILE_SIZE,127093,0
$CFSIZE,1047117824,993165312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13343.32,0x2378b6,7,5
$SOUNDSPEED,1448.7
$GPS,070914,171555,7346.609,-14650.926,30,1.0,50,29.0