version: 66.12
glider: 197
mission: 6
dive: 319
start: 9 12 114 13 42 7
data:
$ID,197
$MISSION,6
$DIVE,319
$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,-10581.522
$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,33
$R_STBD_OVSHOOT,15
$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
$GPS1,120914,133020,7340.965,-14542.968,38,1.1,58,29.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-71.9
$GPS2,120914,134145,7340.967,-14542.921,10,1.1,30,29.6
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,4
$TGT_LATLONG,7420.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.4,132872,-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,-145.9,180,1798,422,566,0.0,0.0,0,60,0.00,0.00,-41.78,0.000,16386,0.000,0.000,180,1797,1524,1525,1524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.81,-145.9,181,1798,1527,1526,3.2,-1.3,4,155,10.15,2.53,-74.18,0.000,18948,0.417,0.104,2220,401,3781,3763,3799,0,0,0,0,0,0,14.00,14.29,14.61
$GC,381,-0.76,-145.9,2221,402,3766,3804,77.6,-21.0,68,386,0.15,2.50,0.00,0.000,3078,0.308,0.084,2244,1807,3784,3765,3803,0,0,0,0,0,0,14.14,14.28,28.83
$GC,691,-0.76,-145.9,2244,1808,3765,3804,130.4,-16.0,100,696,0.00,2.47,0.00,0.000,516,0.000,0.080,2244,394,3783,3764,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,811,-0.76,-145.9,2244,394,3765,3804,149.2,-15.4,124,816,0.00,2.47,0.00,0.000,1030,0.000,0.081,2236,1800,3781,3764,3799,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1121,-0.76,-145.9,2236,1801,3765,3804,195.8,-14.8,156,1126,0.00,2.53,0.00,0.000,260,0.000,0.103,2225,3215,3784,3764,3804,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1146,-0.76,-145.9,2226,3215,3765,3802,199.4,-14.9,161,1152,0.00,2.40,0.00,0.000,1030,0.000,0.061,2225,1805,3784,3765,3803,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1451,-0.76,-145.9,2225,1804,3765,3804,242.3,-13.1,192,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1804,3784,3765,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1763,-0.77,-145.9,2226,1804,3765,3804,279.9,-11.8,207,1767,0.00,2.53,0.00,0.000,260,0.000,0.106,2215,3218,3784,3765,3803,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1817,-0.77,-145.9,2216,3217,3765,3804,286.9,-12.4,218,1823,0.00,2.40,0.00,0.000,1030,0.000,0.063,2216,1802,3783,3764,3803,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2124,-0.78,-145.9,2216,1802,3765,3804,323.0,-11.6,229,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1801,3783,3764,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2423,-0.80,-145.9,2217,1802,3764,3804,356.8,-11.2,239,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1801,3784,3764,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-0.82,-145.9,2215,1802,3764,3804,389.9,-11.0,249,2727,0.00,2.53,0.00,0.000,260,0.000,0.106,2210,3215,3784,3763,3806,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2772,-0.82,-145.9,2211,3215,3763,3804,395.7,-11.8,259,2777,0.00,2.40,0.00,0.000,1030,0.000,0.063,2210,1796,3783,3763,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3084,-0.83,-145.9,2210,1795,3763,3804,430.5,-11.1,271,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1795,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3383,-0.85,-145.9,2210,1795,3763,3804,463.4,-11.0,281,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1795,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3683,-0.86,-145.9,2210,1795,3764,3804,495.6,-10.6,291,3688,0.00,2.53,0.00,0.000,260,0.000,0.105,2202,3214,3783,3763,3803,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3743,-0.86,-145.9,2202,3214,3764,3804,502.4,-11.4,303,3747,0.00,2.40,0.00,0.000,1030,0.000,0.062,2202,1792,3783,3762,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4074,-0.87,-145.9,2202,1793,3764,3802,538.5,-10.9,319,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1792,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4373,-0.88,-145.9,2202,1793,3764,3805,570.9,-10.8,329,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1792,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4673,-0.89,-145.9,2202,1792,3763,3804,603.8,-10.9,339,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1792,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4973,-0.91,-145.9,2202,1793,3763,3806,636.1,-10.8,349,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1792,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5273,-0.92,-145.9,2202,1793,3763,3806,668.6,-10.9,359,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1792,3784,3763,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5573,-0.94,-145.9,2202,1793,3763,3806,700.6,-10.7,369,5578,0.00,2.53,0.00,0.000,260,0.000,0.105,2198,3213,3784,3763,3805,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5618,-0.94,-145.9,2199,3214,3762,3806,705.7,-11.2,378,5623,0.00,2.40,0.00,0.000,1030,0.000,0.061,2198,1794,3783,3762,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5935,-0.95,-145.9,2198,1794,3763,3806,739.5,-10.7,391,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1793,3784,3764,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6050,begin apogee
$GC,6056,-0.16,0.0,2196,2187,3763,3806,752.2,-10.6,395,6183,0.90,0.00,124.22,1.843,10246,0.245,0.000,2436,2187,3181,3136,3227,0,0,0,0,0,0,14.33,28.83,13.23
$STATE,6184,end apogee,CONTROL_FINISHED_OK
$STATE,6184,begin climb
$GC,6186,0.81,145.9,2436,2188,3129,3224,754.9,0.0,399,6320,1.00,2.70,123.25,1.821,10500,0.135,0.098,2747,3587,2581,2498,2664,0,0,0,0,0,0,13.96,13.47,12.76
$GC,6325,0.77,145.9,2747,3588,2497,2664,743.2,13.1,429,6330,0.00,2.55,0.00,0.000,1030,0.000,0.054,2757,2168,2579,2495,2663,0,0,0,0,0,0,28.83,13.57,28.83
$GC,6657,0.74,145.9,2757,2166,2492,2659,693.4,15.1,445,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2166,2576,2492,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6955,0.71,145.9,2758,2166,2492,2658,648.0,15.1,455,6960,0.15,2.42,0.00,0.000,4612,0.291,0.076,2729,769,2575,2492,2658,0,0,0,0,0,0,14.20,14.45,28.83
$GC,6995,0.71,145.9,2730,768,2492,2658,642.3,13.8,463,7000,0.00,2.45,0.00,0.000,1030,0.000,0.083,2729,2177,2574,2492,2657,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7317,0.71,145.9,2730,2178,2499,2657,599.1,13.4,477,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2178,2574,2492,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7615,0.71,145.9,2730,2178,2493,2658,558.8,13.4,487,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2178,2574,2492,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,0.71,145.9,2730,2178,2492,2658,518.8,13.3,497,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2178,2577,2492,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8215,0.71,145.9,2730,2178,2492,2658,479.6,13.0,507,9017,0.00,2.42,0.00,0.000,516,0.000,0.079,2734,770,2574,2492,2657,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9031,0.86,357.9,2738,770,2492,2656,475.8,0.3,511,9212,0.00,2.47,172.45,1.450,9222,0.000,0.082,2738,2189,1718,1624,1813,0,0,0,0,0,0,28.83,14.54,13.28
$GC,9524,0.89,357.9,2738,2189,1610,1803,394.9,17.0,559,9525,0.12,0.00,0.00,0.000,2054,0.135,0.000,2794,2189,1705,1609,1802,0,0,0,0,0,0,14.34,28.83,28.83
$GC,9824,0.88,357.9,2794,2189,1610,1801,331.2,21.5,569,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2189,1705,1609,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10122,0.88,357.9,2795,2189,1608,1801,269.6,20.1,579,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2188,1705,1609,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10423,0.89,357.9,2794,2190,1609,1801,214.0,17.1,601,10427,0.00,2.45,0.00,0.000,516,0.000,0.080,2804,775,1704,1608,1801,0,0,0,0,0,0,28.83,14.57,28.83
$GC,10457,0.89,357.9,2804,776,1609,1800,208.0,17.8,608,10463,0.00,2.47,0.00,0.000,1030,0.000,0.083,2804,2185,1704,1608,1800,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10764,0.90,357.9,2804,2187,1609,1801,157.5,16.3,639,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2186,1704,1608,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11062,0.93,357.9,2804,2187,1610,1801,111.7,15.0,669,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2186,1704,1608,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11362,0.96,357.9,2804,2187,1609,1800,71.8,12.0,699,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2186,1704,1608,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11663,1.08,452.5,2805,2186,1607,1798,44.9,6.6,729,11706,0.12,0.00,41.30,0.311,10246,0.137,0.000,2864,2186,1336,1238,1434,0,0,0,0,0,0,14.44,28.83,14.19
$GC,12003,1.25,602.5,2865,2186,1238,1435,17.0,3.6,763,12074,0.00,2.62,66.82,0.226,8452,0.000,0.104,2864,3595,723,627,819,0,0,0,0,0,0,28.83,14.29,14.21
$FREEZE,8.68,-0.330,-1.410,2,1,0
$FREEZE,8.36,-0.223,-1.407,2,1,0
$FREEZE,7.87,-0.223,-1.407,2,1,0
$FREEZE,7.46,-0.094,-1.403,2,1,0
$FREEZE,6.97,-0.094,-1.403,2,1,0
$FREEZE,6.69,-0.093,-1.403,2,1,0
$FREEZE,6.19,-0.093,-1.403,2,1,0
$FREEZE,5.82,-0.076,-1.402,2,1,0
$FREEZE,5.32,-0.076,-1.402,2,1,0
$FREEZE,4.90,-0.077,-1.402,2,1,0
$FREEZE,4.47,-0.077,-1.402,2,1,0
$FREEZE,3.94,-0.082,-1.401,2,1,0
$FREEZE,3.20,-0.082,-1.401,2,1,0
$FREEZE,2.65,-0.093,-1.401,2,1,0
$FREEZE,1.83,-0.093,-1.400,2,1,0
$GC,12181,1.39,657.5,2864,3596,628,819,4.5,8.7,798,12209,0.22,2.42,23.25,0.191,11266,0.096,0.059,2961,2172,507,414,600,0,0,0,0,0,0,14.40,14.37,28.83
$STATE,12210,end climb,SURFACE_DEPTH_REACHED
$STATE,12210,begin surface coast
$FREEZE,1.84,-0.165,-0.144,2,1,0
$FINISH,1.8,1.001943
$STATE,12214,end surface coast,FINISH_DEPTH_REACHED
$STATE,12214,begin surface
$SM_CCo,12231,0.47,0.348,0,0,499,657.89
$SM_GC,3.25,8.35,0.62,0.47,0.087,0.085,0.348,176,1812,499,-7.18,1.19,657.89,0,0,0,0,0,0,14.44,14.42,14.28
$RAFOS_CLK,309886
$RAFOS_FIX,7313.048828,-14654.218750,090914,202044,2,255,23.02
$IRIDIUM_FIX,7257.42,-14553.13,120914,061726
$TT8_MAMPS,0.043442,0.043442
$HUMID,45.07
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3795232
$24V_AH,12.76,127.305
$10V_AH,12.67,0.000
$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,21.175,60.925,551.300,0.475,0.000,0.000,0.000,422.250,0.000,0.000,32.504,0.000,9147.682,603.896,2058.778,315.783,0.000,1710.365,0.000,1201.723,1495.000,0.531,0.000
$DEVICE_MAMPS,416.925,106.335,1842.885,348.075,0.000,0.000,0.000,182.835,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12265.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.836,0.000,0.000,0.000
$MEM,142808
$DATA_FILE_SIZE,26697,803
$CAP_FILE_SIZE,134106,0
$CFSIZE,1047117824,989151232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12183.63,0x2378b6,7,5
$SOUNDSPEED,1449.5
$GPS,120914,165421,7342.107,-14538.601,36,1.1,56,29.6