version: 66.12
glider: 197
mission: 6
dive: 333
start: 9 14 114 18 6 56
data:
$ID,197
$MISSION,6
$DIVE,333
$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,-11706.579
$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,40
$R_STBD_OVSHOOT,18
$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
$GPS1,140914,140913,7354.945,-14444.481,41,1.1,61,30.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,24.44
$_SM_ANGLEo,-13.4
$GPS2,140914,140913,7354.945,-14444.481,41,1.1,61,30.3
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,4
$TGT_LATLONG,7420.000,-14200.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,30.3,94445,-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,-145.9,2490,1801,3090,3282,0.0,0.0,0,30,0.00,0.00,-7.72,0.000,16390,0.000,0.000,2489,1801,3779,3745,3814,0,0,0,0,0,0,28.83,28.83,14.67
$GC,33,-0.81,-145.9,2489,1802,3746,3815,28.4,0.0,1,38,0.75,2.55,0.00,0.000,4356,0.069,0.100,2205,3215,3780,3746,3814,0,0,0,0,0,0,14.38,14.35,28.83
$GC,42,-0.81,-145.9,2206,3216,3747,3815,29.8,-10.0,3,47,0.00,2.40,0.00,0.000,1030,0.000,0.060,2205,1815,3780,3746,3814,0,0,0,0,0,0,28.83,14.40,28.83
$GC,353,-0.76,-145.9,2205,1815,3751,3815,102.7,-19.8,35,358,0.15,2.53,0.00,0.000,2308,0.311,0.099,2230,3213,3782,3750,3814,0,0,0,0,0,0,14.12,14.35,28.83
$GC,585,-0.75,-145.9,2230,3214,3751,3815,143.6,-16.2,81,589,0.00,2.42,0.00,0.000,1030,0.000,0.063,2230,1795,3782,3751,3814,0,0,0,0,0,0,28.83,14.47,28.83
$GC,894,-0.75,-145.9,2230,1794,3751,3815,192.4,-15.5,113,899,0.00,2.55,0.00,0.000,260,0.000,0.105,2218,3215,3782,3751,3814,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1126,-0.75,-145.9,2219,3215,3752,3815,227.5,-14.6,159,1131,0.12,2.42,0.00,0.000,3078,0.285,0.064,2243,1793,3782,3751,3814,0,0,0,0,0,0,14.23,14.46,28.83
$GC,1456,-0.77,-145.9,2243,1794,3751,3815,266.8,-11.2,183,1461,0.00,2.55,0.00,0.000,260,0.000,0.104,2234,3217,3782,3750,3814,0,0,0,0,0,0,28.83,14.46,28.83
$GC,1578,-0.79,-145.9,2235,3217,3751,3814,280.8,-11.7,207,1582,0.00,2.42,0.00,0.000,1030,0.000,0.064,2234,1795,3781,3748,3814,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1909,-0.82,-145.9,2235,1795,3751,3815,316.9,-10.7,223,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1794,3782,3750,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2208,-0.85,-145.9,2235,1794,3751,3815,348.2,-10.5,233,2213,0.00,2.55,0.00,0.000,260,0.000,0.105,2224,3218,3782,3750,3814,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2273,-0.87,-145.9,2225,3218,3751,3815,355.5,-10.5,246,2278,0.00,2.40,0.00,0.000,1030,0.000,0.063,2224,1800,3782,3750,3814,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2600,-0.89,-145.9,2224,1800,3750,3815,390.2,-10.6,261,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1799,3782,3750,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2898,-0.92,-145.9,2225,1800,3750,3815,421.6,-10.5,271,2903,0.00,2.55,0.00,0.000,260,0.000,0.104,2216,3218,3782,3750,3814,0,0,0,0,0,0,28.83,14.41,28.83
$GC,2984,-0.93,-145.9,2216,3219,3751,3815,431.1,-11.3,288,2989,0.00,2.40,0.00,0.000,1030,0.000,0.063,2215,1799,3782,3750,3814,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3290,-0.95,-145.9,2216,1800,3750,3815,463.8,-10.6,299,3295,0.00,2.53,0.00,0.000,260,0.000,0.104,2208,3212,3781,3749,3814,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3330,-0.96,-145.9,2208,3213,3751,3815,468.3,-11.0,307,3335,0.00,2.40,0.00,0.000,1030,0.000,0.063,2208,1795,3782,3750,3814,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3652,-0.98,-145.9,2208,1794,3750,3816,503.2,-10.8,321,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1794,3782,3750,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3950,-1.00,-145.9,2209,1794,3750,3815,535.1,-10.6,331,3955,0.12,2.55,0.00,0.000,4356,0.145,0.100,2141,3220,3782,3750,3814,0,0,0,0,0,0,14.65,14.44,28.83
$GC,4000,-0.95,-145.9,2141,3220,3750,3815,542.0,-13.7,341,4006,0.17,2.40,0.00,0.000,3078,0.290,0.062,2177,1797,3780,3747,3814,0,0,0,0,0,0,14.23,14.57,28.83
$GC,4312,-0.95,-145.9,2177,1797,3751,3815,579.5,-11.9,353,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1796,3782,3750,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4611,-0.95,-145.9,2177,1801,3750,3815,615.5,-11.9,363,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1796,3782,3750,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4911,-0.95,-145.9,2177,1797,3751,3815,650.9,-11.9,373,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1796,3785,3757,3814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5211,-0.95,-145.9,2177,1797,3751,3815,686.2,-11.7,383,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1797,3782,3750,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,-0.95,-145.9,2177,1797,3751,3815,721.1,-11.6,393,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1796,3782,3750,3815,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5779,begin apogee
$GC,5784,-0.16,0.0,2177,2189,3752,3815,752.3,-11.6,402,5911,0.98,0.00,124.25,1.843,10246,0.253,0.000,2432,2188,3181,3133,3230,0,0,0,0,0,0,14.29,28.83,13.21
$STATE,5912,end apogee,CONTROL_FINISHED_OK
$STATE,5912,begin climb
$GC,5915,0.81,145.9,2433,2189,3126,3228,755.2,0.0,406,6048,1.00,2.67,124.47,1.814,10500,0.131,0.094,2745,3585,2580,2497,2664,0,0,0,0,0,0,13.95,13.47,12.75
$GC,6053,0.77,145.9,2745,3586,2494,2663,744.1,12.9,436,6058,0.00,2.55,0.00,0.000,1030,0.000,0.054,2755,2171,2577,2492,2663,0,0,0,0,0,0,28.83,13.57,28.83
$GC,6385,0.75,145.9,2756,2170,2491,2659,696.4,14.4,452,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2169,2574,2490,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6683,0.72,145.9,2756,2170,2491,2658,653.1,14.3,462,6688,0.00,2.42,0.00,0.000,516,0.000,0.080,2766,770,2573,2490,2657,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7400,0.85,355.6,2763,771,2491,2657,644.6,0.5,472,7581,0.00,2.47,174.20,1.651,9222,0.000,0.082,2765,2179,1728,1637,1820,0,0,0,0,0,0,28.83,14.38,13.01
$GC,7892,0.85,355.6,2766,2180,1623,1809,553.3,19.5,520,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2179,1715,1622,1808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8191,0.85,355.6,2766,2180,1621,1807,495.1,19.4,530,8196,0.00,2.47,0.00,0.000,516,0.000,0.081,2769,766,1714,1622,1807,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8216,0.85,355.6,2770,766,1622,1806,490.3,19.1,535,8222,0.00,2.47,0.00,0.000,1030,0.000,0.083,2769,2178,1713,1621,1805,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8523,0.85,355.6,2770,2180,1622,1806,430.3,19.6,546,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2179,1713,1621,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8821,0.85,355.6,2770,2180,1621,1805,371.4,19.6,556,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2179,1712,1620,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9121,0.85,355.6,2770,2179,1621,1806,313.4,19.2,566,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2179,1712,1620,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9421,0.86,355.6,2770,2179,1620,1805,258.6,17.9,576,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2179,1712,1620,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9721,0.89,355.6,2770,2179,1621,1805,209.6,15.0,602,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2179,1712,1620,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10021,0.93,355.6,2770,2179,1620,1806,166.3,13.7,632,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2179,1712,1620,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10321,0.98,355.6,2770,2179,1620,1805,127.7,11.9,662,10323,0.12,0.00,0.00,0.000,2054,0.137,0.000,2824,2179,1712,1620,1805,0,0,0,0,0,0,14.66,28.83,28.83
$GC,10621,0.99,355.6,2824,2180,1620,1806,83.1,14.2,692,10626,0.00,2.50,0.00,0.000,516,0.000,0.081,2830,769,1712,1620,1805,0,0,0,0,0,0,28.83,14.43,28.83
$GC,10671,1.01,355.6,2831,769,1620,1805,76.2,13.7,702,10676,0.00,2.50,0.00,0.000,1030,0.000,0.083,2831,2185,1712,1620,1804,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10983,1.12,451.9,2831,2186,1620,1805,44.4,6.5,734,11032,0.00,2.53,41.78,0.310,8452,0.000,0.103,2831,3588,1338,1240,1437,0,0,0,0,0,0,28.83,14.38,14.14
$GC,11083,1.18,481.5,2831,3588,1241,1443,36.4,10.1,754,11104,0.00,2.40,13.95,0.288,9222,0.000,0.058,2838,2174,1219,1114,1324,0,0,0,0,0,0,28.83,14.35,14.15
$GC,11405,1.37,622.0,2839,2174,1115,1324,15.7,4.2,788,11474,0.25,2.55,62.60,0.216,10500,0.092,0.098,2943,3589,643,545,742,0,0,0,0,0,0,14.40,14.31,14.18
$FREEZE,8.65,-1.276,-1.425,2,2,0
$FREEZE,7.95,-1.276,-1.424,2,2,0
$FREEZE,7.27,-1.276,-1.424,2,2,0
$FREEZE,6.49,-1.276,-1.423,2,2,0
$FREEZE,5.64,-1.276,-1.423,2,2,0
$FREEZE,4.89,-1.276,-1.422,2,2,0
$FREEZE,4.08,-1.275,-1.421,2,2,0
$FREEZE,3.24,-1.275,-1.421,2,2,0
$FREEZE,2.51,-1.276,-1.420,2,2,0
$GC,11526,1.38,622.0,2943,3590,546,743,2.5,15.8,812,11531,0.00,2.40,0.00,0.000,1030,0.000,0.056,2944,2179,644,546,742,0,0,0,0,0,0,28.83,14.35,28.83
$FREEZE,1.78,-1.295,-0.952,2,2,0
$STATE,11534,end climb,FINISH_DEPTH_REACHED
$STATE,11534,begin subsurface finish
$FINISH1,1.8,1.014033,0
$GC,11540,0.00,0.0,2944,2177,544,743,1.8,12.0,814,11664,1.42,2.47,-113.47,0.000,20996,0.128,0.100,2496,773,3183,3090,3277,0,0,0,0,0,0,14.23,14.33,14.59
$FINISH2,5.5
$STATE,11664,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11664,begin surface
$RAFOS_CLK,410347
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7312.24,-14454.76,140914,101642
$TT8_MAMPS,0.042693,0.042693
$HUMID,43.38
$INTERNAL_PRESSURE,8.83508
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3788960
$24V_AH,12.75,131.847
$10V_AH,12.66,0.000
$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,5.100,74.600,541.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,8673.385,585.287,1691.206,180.521,0.000,1289.583,0.000,1244.313,1498.000,0.531,0.000
$DEVICE_MAMPS,310.590,104.805,1842.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11720.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.495,0.000,0.000,0.000
$MEM,135640
$DATA_FILE_SIZE,30014,838
$CAP_FILE_SIZE,125096,0
$CFSIZE,1047117824,987430912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11536.86,0x2378b6,5,5
$SOUNDSPEED,1449.1
$GPS,140914,140913,7354.945,-14444.481,41,1.1,61,30.3