version: 66.12
glider: 197
mission: 6
dive: 288
start: 9 7 114 21 7 58
data:
$ID,197
$MISSION,6
$DIVE,288
$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,-10537.476
$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,25
$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
$GPS1,070914,205856,7344.995,-14649.942,40,0.9,60,29.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-70.7
$GPS2,070914,210739,7345.068,-14649.966,13,0.9,33,29.0
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7324.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,151.0,39018,-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,-145.9,166,1806,425,567,0.0,0.0,0,60,0.00,0.00,-41.33,0.000,16386,0.000,0.000,164,1805,1522,1522,1523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.81,-145.9,165,1806,1523,1526,3.1,-1.6,4,150,10.30,2.53,-69.75,0.000,18692,0.422,0.121,2214,3206,3778,3759,3798,0,0,0,0,0,0,14.02,14.33,14.63
$GC,216,-0.71,-145.9,2215,3207,3762,3801,37.8,-29.5,35,223,0.20,2.45,0.00,0.000,3078,0.299,0.066,2256,1796,3780,3761,3800,0,0,0,0,0,0,14.14,14.38,28.83
$GC,521,-0.70,-145.9,2256,1796,3762,3804,100.5,-16.5,66,526,0.00,2.55,0.00,0.000,260,0.000,0.099,2248,3211,3782,3761,3803,0,0,0,0,0,0,28.83,14.40,28.83
$GC,577,-0.68,-145.9,2248,3211,3761,3804,110.1,-18.0,77,582,0.00,2.42,0.00,0.000,1030,0.000,0.066,2248,1796,3782,3761,3803,0,0,0,0,0,0,28.83,14.44,28.83
$GC,882,-0.68,-145.9,2248,1796,3763,3804,158.9,-15.5,108,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1795,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-0.69,-145.9,2248,1795,3762,3804,202.0,-13.9,138,1186,0.00,2.53,0.00,0.000,260,0.000,0.102,2239,3211,3782,3761,3803,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1236,-0.69,-145.9,2239,3211,3762,3804,209.9,-14.8,149,1243,0.12,2.42,0.00,0.000,3078,0.275,0.067,2263,1794,3782,3761,3803,0,0,0,0,0,0,14.32,14.50,28.83
$GC,1543,-0.73,-145.9,2264,1794,3762,3804,245.7,-10.9,180,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1793,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1863,-0.77,-145.9,2264,1794,3761,3804,278.2,-9.9,194,1868,0.00,2.50,0.00,0.000,260,0.000,0.102,2256,3205,3779,3760,3799,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1918,-0.81,-145.9,2256,3206,3760,3804,283.9,-10.4,205,1924,0.00,2.38,0.00,0.000,1030,0.000,0.068,2256,1802,3781,3760,3803,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2224,-0.85,-145.9,2256,1801,3760,3804,313.7,-9.7,216,2229,0.12,2.50,0.00,0.000,4356,0.147,0.101,2186,3209,3781,3759,3803,0,0,0,0,0,0,14.64,14.50,28.83
$GC,2311,-0.84,-145.9,2187,3210,3759,3804,324.9,-13.6,233,2317,0.15,2.42,0.00,0.000,3078,0.278,0.068,2218,1796,3780,3758,3803,0,0,0,0,0,0,14.32,14.50,28.83
$GC,2616,-0.85,-145.9,2218,1797,3759,3804,359.6,-11.1,244,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1796,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2915,-0.87,-145.9,2218,1797,3759,3804,392.6,-10.9,254,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1796,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3215,-0.89,-145.9,2217,1797,3758,3804,424.8,-10.6,264,3219,0.00,2.50,0.00,0.000,260,0.000,0.101,2210,3215,3780,3758,3803,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3244,-0.89,-145.9,2210,3216,3758,3804,428.1,-12.0,270,3249,0.00,2.40,0.00,0.000,1030,0.000,0.066,2209,1796,3780,3758,3803,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3576,-0.91,-145.9,2210,1796,3758,3804,464.4,-10.9,286,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1796,3780,3757,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3875,-0.92,-145.9,2210,1797,3758,3804,496.7,-10.9,296,3879,0.00,2.50,0.00,0.000,260,0.000,0.100,2200,3209,3780,3757,3804,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3924,-0.92,-145.9,2201,3210,3759,3804,502.5,-11.7,306,3929,0.00,2.40,0.00,0.000,1030,0.000,0.066,2200,1793,3780,3757,3803,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4236,-0.92,-145.9,2200,1793,3758,3804,536.8,-11.1,318,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,1791,3780,3757,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4534,-0.92,-145.9,2201,1793,3758,3804,569.7,-10.9,328,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,1792,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4835,-0.93,-145.9,2200,1793,3758,3804,602.3,-10.8,338,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,1792,3780,3757,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5135,-0.94,-145.9,2201,1792,3758,3805,634.9,-10.8,348,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,1792,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5435,-0.95,-145.9,2201,1793,3758,3806,667.5,-11.0,358,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,1792,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5735,-0.96,-145.9,2201,1792,3758,3805,700.2,-10.9,368,5739,0.00,2.50,0.00,0.000,260,0.000,0.100,2190,3215,3781,3757,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5794,-0.96,-145.9,2190,3216,3759,3809,707.3,-11.7,380,5799,0.00,2.40,0.00,0.000,1030,0.000,0.065,2190,1797,3781,3758,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6126,-0.96,-145.9,2190,1797,3758,3805,744.9,-11.4,396,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1796,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6182,begin apogee
$GC,6188,-0.16,0.0,2188,2182,3758,3805,751.7,-11.4,398,6313,0.95,0.00,123.07,1.838,10246,0.252,0.000,2438,2181,3182,3136,3229,0,0,0,0,0,0,14.35,28.83,13.26
$STATE,6314,end apogee,CONTROL_FINISHED_OK
$STATE,6314,begin climb
$GC,6316,0.81,145.9,2439,2182,3129,3225,754.6,0.0,402,6444,1.00,0.00,124.15,1.814,10502,0.134,0.000,2748,2181,2587,2505,2669,0,0,0,0,0,0,13.98,28.83,12.79
$GC,6725,0.78,145.9,2748,2182,2495,2662,704.4,14.5,421,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2181,2577,2494,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7025,0.76,145.9,2748,2182,2493,2661,660.7,14.6,431,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2181,2576,2493,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7325,0.73,145.9,2748,2182,2494,2661,617.7,14.3,441,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2181,2576,2494,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7625,0.71,145.9,2748,2182,2494,2661,575.2,14.2,451,7629,0.00,2.45,0.00,0.000,516,0.000,0.086,2758,767,2576,2493,2660,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7669,0.69,145.9,2757,768,2495,2661,568.7,14.5,460,7675,0.20,2.45,0.00,0.000,5126,0.272,0.082,2714,2185,2575,2491,2660,0,0,0,0,0,0,14.37,14.59,28.83
$GC,7986,0.69,145.9,2714,2188,2493,2660,530.1,12.1,473,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2187,2577,2494,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8285,0.69,145.9,2714,2188,2494,2661,494.1,12.0,483,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2188,2576,2494,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8585,0.69,145.9,2714,2187,2494,2660,457.9,12.0,493,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2187,2577,2494,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8885,0.69,145.9,2714,2188,2494,2660,421.9,11.9,503,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2188,2576,2494,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9185,0.69,145.9,2714,2188,2494,2660,386.4,11.8,513,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2188,2576,2494,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9485,0.70,147.4,2714,2188,2494,2661,351.6,11.5,523,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2187,2576,2493,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9785,0.72,155.0,2714,2188,2494,2660,317.4,11.2,533,9791,0.00,0.00,4.70,1.405,8198,0.000,0.000,2714,2188,2552,2470,2634,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10086,0.74,168.6,2714,2188,2479,2644,284.3,10.9,543,10104,0.00,0.00,16.60,1.330,8198,0.000,0.000,2713,2188,2493,2414,2573,0,0,0,0,0,0,28.83,28.83,14.03
$GC,11358,0.91,375.7,2714,2188,2408,2564,253.3,0.6,553,11531,0.22,0.00,168.98,1.181,10502,0.108,0.000,2803,2188,1650,1552,1749,0,0,0,0,0,0,14.62,28.83,13.50
$MODEM_MSG,CACST,6,1,20140908002112.870663,3,673,-1,0196,0150,250,03,03,05,05,-1,-01,-01,1,3,0,0,150,8.2,0.7,-100,2.3,-01,-0.9,37,900,0025*2E
$GC,11829,0.92,375.7,2804,2188,1530,1735,172.7,17.1,601,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2188,1631,1529,1734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12128,0.94,375.7,2803,2188,1528,1734,125.1,15.5,631,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2188,1630,1528,1733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12428,0.97,375.7,2803,2189,1527,1733,82.1,12.6,661,12433,0.00,2.50,0.00,0.000,516,0.000,0.086,2812,769,1629,1526,1732,0,0,0,0,0,0,28.83,14.43,28.83
$GC,12483,1.01,375.7,2813,769,1527,1731,75.4,11.8,672,12489,0.00,2.47,0.00,0.000,1030,0.000,0.082,2812,2181,1628,1526,1730,0,0,0,0,0,0,28.83,14.44,28.83
$GC,12790,1.14,485.6,2812,2182,1527,1731,43.7,5.8,703,12844,0.12,2.55,47.47,0.308,10500,0.136,0.100,2878,3594,1201,1097,1306,0,0,0,0,0,0,14.41,14.35,14.18
$FREEZE,8.58,-0.432,-1.421,2,1,0
$GC,13069,1.21,562.6,2883,3594,1099,1307,11.1,7.5,759,13111,0.00,2.42,34.72,0.211,9222,0.000,0.060,2887,2170,884,778,991,0,0,0,0,0,0,28.83,14.42,14.23
$FREEZE,7.49,-0.437,-1.420,2,1,0
$FREEZE,6.43,-0.464,-1.419,2,1,0
$FREEZE,5.33,-0.461,-1.418,2,1,0
$FREEZE,4.63,-0.464,-1.418,2,1,0
$FREEZE,3.72,-0.477,-1.417,2,1,0
$FREEZE,2.69,-0.488,-1.416,2,1,0
$FREEZE,1.86,-0.482,-1.415,2,1,0
$STATE,13177,end climb,SURFACE_DEPTH_REACHED
$STATE,13177,begin surface coast
$FREEZE,1.79,-0.482,-0.172,2,1,0
$FINISH,1.8,1.002345
$STATE,13187,end surface coast,FINISH_DEPTH_REACHED
$STATE,13187,begin surface
$SM_CCo,13203,41.20,0.190,0,0,498,657.89
$SM_GC,2.70,8.02,0.62,41.20,0.077,0.083,0.190,174,1799,498,-7.19,1.05,657.89,0,0,0,0,0,0,14.47,14.47,14.31
$RAFOS_CLK,186285
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7257.42,-15010.55,070914,171919
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.76
$INTERNAL_PRESSURE,8.61046
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3809120
$24V_AH,12.79,117.312
$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,21.425,55.550,519.700,41.200,0.000,0.000,0.000,300.275,0.000,0.000,35.607,0.000,9928.438,671.279,1926.781,246.481,0.000,1592.216,0.000,1161.482,1440.000,0.531,0.000
$DEVICE_MAMPS,421.515,120.870,1837.530,190.485,0.000,0.000,0.000,162.180,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13239.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.129,0.000,0.000,0.000
$MEM,160096
$DATA_FILE_SIZE,26736,775
$CAP_FILE_SIZE,135899,0
$CFSIZE,1047117824,992903168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13429.89,0x2378b6,7,5
$SOUNDSPEED,1449.4
$GPS,080914,003343,7343.518,-14649.151,36,1.0,56,29.0