version: 66.12
glider: 197
mission: 6
dive: 287
start: 9 7 114 17 24 8
data:
$ID,197
$MISSION,6
$DIVE,287
$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,-10536.212
$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,20
$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
$GPS1,070914,171555,7346.609,-14650.926,30,1.0,50,29.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-70.7
$GPS2,070914,172351,7346.605,-14650.682,13,1.0,33,29.0
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7324.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,150.5,41867,-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,-145.9,177,1806,425,570,0.0,0.0,0,60,0.00,0.00,-41.95,0.000,16386,0.000,0.000,177,1806,1534,1528,1540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.81,-145.9,177,1806,1530,1543,3.2,-1.9,4,154,10.35,2.58,-73.47,0.000,18692,0.429,0.120,2214,3211,3779,3759,3800,0,0,0,0,0,0,14.04,14.33,14.64
$GC,325,-0.73,-145.9,2214,3212,3760,3805,68.6,-24.8,56,332,0.17,2.42,0.00,0.000,3078,0.291,0.065,2250,1798,3781,3759,3803,0,0,0,0,0,0,14.16,14.38,28.83
$GC,630,-0.73,-145.9,2250,1798,3760,3806,122.7,-16.2,87,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,1798,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,930,-0.73,-145.9,2251,1798,3761,3806,169.0,-15.4,117,935,0.00,2.53,0.00,0.000,260,0.000,0.102,2242,3211,3782,3759,3805,0,0,0,0,0,0,28.83,14.42,28.83
$GC,970,-0.73,-145.9,2243,3211,3760,3805,175.3,-15.6,125,975,0.00,2.40,0.00,0.000,1030,0.000,0.065,2242,1799,3782,3759,3805,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1280,-0.74,-145.9,2243,1798,3760,3805,219.2,-12.9,157,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1798,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-0.76,-145.9,2243,1798,3760,3805,257.8,-11.8,184,1595,0.00,2.47,0.00,0.000,260,0.000,0.102,2233,3210,3782,3759,3805,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1655,-0.78,-145.9,2234,3211,3759,3806,265.8,-11.9,197,1660,0.00,2.40,0.00,0.000,1030,0.000,0.066,2233,1799,3782,3759,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1982,-0.80,-145.9,2234,1799,3760,3805,303.0,-11.4,212,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1798,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2281,-0.83,-145.9,2234,1798,3759,3805,336.3,-10.9,222,2286,0.00,2.50,0.00,0.000,260,0.000,0.103,2224,3209,3781,3758,3805,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2321,-0.84,-145.9,2225,3210,3758,3805,340.8,-11.1,230,2326,0.00,2.40,0.00,0.000,1030,0.000,0.067,2224,1795,3779,3758,3801,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2643,-0.87,-145.9,2225,1795,3758,3805,376.3,-10.9,244,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1794,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2941,-0.89,-145.9,2224,1795,3759,3806,408.4,-10.6,254,2946,0.00,2.50,0.00,0.000,260,0.000,0.101,2217,3211,3781,3758,3805,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3006,-0.90,-145.9,2217,3211,3758,3806,415.8,-11.0,267,3011,0.00,2.40,0.00,0.000,1030,0.000,0.066,2217,1800,3781,3757,3805,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3332,-0.92,-145.9,2217,1799,3758,3806,451.3,-10.8,282,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1798,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3631,-0.94,-145.9,2217,1799,3758,3805,483.1,-10.5,292,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1799,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3931,-0.96,-145.9,2217,1799,3759,3806,514.9,-10.5,302,3936,0.12,2.50,0.00,0.000,4356,0.143,0.097,2147,3212,3781,3757,3805,0,0,0,0,0,0,14.71,14.59,28.83
$GC,3991,-0.92,-145.9,2148,3213,3758,3805,523.2,-14.7,314,3996,0.20,2.40,0.00,0.000,3078,0.285,0.066,2191,1795,3780,3757,3804,0,0,0,0,0,0,14.35,14.62,28.83
$GC,4321,-0.92,-145.9,2188,1797,3757,3806,562.1,-11.7,330,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1794,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4621,-0.92,-145.9,2191,1795,3758,3806,597.0,-11.5,340,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1794,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4921,-0.92,-145.9,2191,1795,3758,3805,631.4,-11.5,350,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1794,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5221,-0.92,-145.9,2191,1795,3758,3806,665.6,-11.4,360,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1794,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5521,-0.92,-145.9,2191,1795,3758,3806,700.0,-11.5,370,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1794,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5821,-0.92,-145.9,2190,1795,3758,3806,734.2,-11.4,380,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1794,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5969,begin apogee
$GC,5974,-0.16,0.0,2191,2190,3758,3806,751.2,-11.3,385,6101,0.93,0.00,124.20,1.826,10246,0.247,0.000,2437,2190,3183,3138,3228,0,0,0,0,0,0,14.40,28.83,13.28
$STATE,6102,end apogee,CONTROL_FINISHED_OK
$STATE,6102,begin climb
$GC,6104,0.81,145.9,2437,2191,3131,3225,754.4,0.0,389,6238,1.00,2.67,123.32,1.812,10500,0.130,0.096,2749,3588,2582,2501,2664,0,0,0,0,0,0,13.99,13.50,12.79
$GC,6268,0.75,145.9,2750,3588,2494,2664,738.8,16.2,424,6274,0.00,2.55,0.00,0.000,1030,0.000,0.057,2759,2169,2579,2494,2664,0,0,0,0,0,0,28.83,13.68,28.83
$GC,6575,0.72,145.9,2760,2168,2493,2660,693.3,14.8,435,6576,0.17,0.00,0.00,0.000,4102,0.285,0.000,2723,2168,2576,2493,2659,0,0,0,0,0,0,14.04,28.83,28.83
$GC,6873,0.72,145.9,2724,2168,2493,2660,655.1,12.7,445,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2167,2575,2492,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7173,0.72,145.9,2723,2168,2493,2659,616.8,12.8,455,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2167,2575,2492,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7473,0.72,145.9,2723,2168,2493,2658,578.9,12.5,465,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2167,2575,2493,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7773,0.72,145.9,2724,2168,2493,2657,541.7,12.3,475,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2167,2575,2492,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8073,0.72,145.9,2724,2168,2493,2658,504.4,12.4,485,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2167,2575,2492,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8373,0.72,145.9,2724,2168,2493,2658,466.9,12.5,495,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2167,2575,2492,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8673,0.72,145.9,2723,2168,2493,2659,429.7,12.4,505,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2167,2575,2492,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8973,0.72,145.9,2724,2168,2493,2658,392.6,12.3,515,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2167,2575,2492,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9273,0.72,145.9,2724,2168,2493,2658,356.4,12.1,525,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2168,2575,2493,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10451,0.72,148.4,2724,2169,2493,2659,323.4,11.5,535,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2167,2575,2492,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10749,0.73,161.1,2723,2167,2493,2658,290.4,11.0,545,10763,0.00,0.00,13.45,1.345,8198,0.000,0.000,2723,2167,2524,2444,2605,0,0,0,0,0,0,28.83,28.83,13.97
$GC,11050,0.75,174.0,2723,2168,2435,2595,256.6,10.9,555,11064,0.00,0.00,11.50,1.321,8454,0.000,0.000,2723,2167,2468,2391,2546,0,0,0,0,0,0,28.83,28.83,13.96
$GC,11369,0.80,215.9,2724,2168,2385,2541,224.3,9.4,586,11410,0.00,0.00,34.92,1.211,8198,0.000,0.000,2723,2167,2295,2217,2373,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11711,0.87,254.1,2724,2168,2207,2371,191.0,9.6,620,11751,0.12,2.55,32.42,1.174,10500,0.139,0.100,2786,3593,2137,2051,2223,0,0,0,0,0,0,14.52,14.40,13.84
$GC,11801,0.84,254.1,2786,3593,2047,2222,178.9,15.2,638,11806,0.15,2.40,0.00,0.000,5126,0.289,0.060,2766,2180,2133,2046,2221,0,0,0,0,0,0,14.25,14.45,28.83
$GC,12113,0.87,263.1,2766,2178,2044,2221,142.4,11.1,670,12121,0.00,0.00,3.12,1.017,8198,0.000,0.000,2766,2177,2109,2022,2197,0,0,0,0,0,0,28.83,28.83,13.59
$GC,12423,0.92,296.8,2772,2182,2037,2205,109.6,9.8,701,12461,0.00,0.00,32.92,1.069,8198,0.000,0.000,2766,2177,1967,1875,2060,0,0,0,0,0,0,28.83,28.83,13.90
$GC,12763,1.00,340.0,2766,2177,1866,2058,76.2,9.3,735,12783,0.15,0.00,18.75,0.402,10246,0.119,0.000,2827,2177,1791,1696,1887,0,0,0,0,0,0,14.45,28.83,14.10
$GC,13083,1.10,444.9,2827,2177,1708,1888,46.0,6.0,767,13137,0.00,2.58,47.85,0.316,8452,0.000,0.103,2827,3593,1367,1266,1469,0,0,0,0,0,0,28.83,14.33,14.15
$GC,13197,1.14,452.0,2828,3594,1266,1470,35.0,11.3,790,13207,0.00,2.42,3.67,0.287,9222,0.000,0.062,2837,2178,1337,1231,1444,0,0,0,0,0,0,28.83,14.31,14.12
$GC,13514,1.35,618.9,2837,2179,1236,1445,15.0,2.7,823,13594,0.25,2.62,73.68,0.217,10500,0.090,0.102,2940,3592,656,563,750,0,0,0,0,0,0,14.43,14.31,14.16
$FREEZE,7.65,-0.470,-1.421,2,1,0
$FREEZE,6.76,0.127,-1.405,2,1,0
$FREEZE,6.13,0.127,-1.404,2,1,0
$FREEZE,5.47,0.467,-1.394,2,1,0
$FREEZE,4.82,0.467,-1.394,2,1,0
$FREEZE,4.07,0.491,-1.394,2,1,0
$FREEZE,3.62,0.491,-1.394,2,1,0
$FREEZE,3.02,0.494,-1.394,2,1,0
$FREEZE,2.24,0.494,-1.393,2,1,0
$FREEZE,1.61,0.491,-1.393,2,1,0
$STATE,13644,end climb,SURFACE_DEPTH_REACHED
$STATE,13644,begin surface coast
$FREEZE,1.88,0.491,-1.394,2,1,0
$FINISH,1.9,1.020519
$STATE,13651,end surface coast,CONTROL_FINISHED_OK
$STATE,13651,begin surface
$SM_CCo,13670,16.67,0.195,0,0,498,657.89
$SM_GC,2.55,8.38,3.12,16.67,0.094,0.063,0.195,176,1809,498,-7.19,1.02,657.89,0,0,0,0,0,0,14.43,14.41,14.28
$RAFOS_CLK,335523
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7304.81,-14655.01,070914,140643
$TT8_MAMPS,0.041944,0.041944
$HUMID,44.48
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3809568
$24V_AH,12.79,116.977
$10V_AH,12.72,0.000
$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,22.000,51.125,519.825,16.675,0.000,0.000,0.000,264.625,0.000,0.000,35.286,0.000,10389.313,613.865,2015.642,245.819,0.000,1569.570,0.000,1270.380,1492.000,0.531,0.000
$DEVICE_MAMPS,429.165,120.105,1826.055,195.075,0.000,0.000,0.000,163.710,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13699.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.964,0.000,0.000,0.000
$MEM,160612
$DATA_FILE_SIZE,30038,850
$CAP_FILE_SIZE,141258,0
$CFSIZE,1047117824,993034240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11502.78,0x2378b6,7,5
$SOUNDSPEED,1448.9
$GPS,070914,205856,7344.995,-14649.942,40,0.9,60,29.0