version: 66.12
glider: 197
mission: 6
dive: 334
start: 9 14 114 21 30 52
data:
$ID,197
$MISSION,6
$DIVE,334
$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,31
$R_STBD_OVSHOOT,17
$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,23.93
$_SM_ANGLEo,-13.9
$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,-145.9,2492,1797,3091,3281,0.0,0.0,0,30,0.00,0.00,-7.80,0.000,16390,0.000,0.000,2492,1796,3780,3744,3817,0,0,0,0,0,0,28.83,28.83,14.67
$GC,33,-0.81,-145.9,2492,1797,3745,3818,28.0,0.0,1,38,0.75,2.55,0.00,0.000,4356,0.070,0.099,2209,3214,3781,3745,3818,0,0,0,0,0,0,14.36,14.35,28.83
$GC,265,-0.75,-145.9,2209,3215,3748,3818,86.7,-21.5,47,270,0.17,2.42,0.00,0.000,3078,0.288,0.063,2244,1799,3782,3747,3818,0,0,0,0,0,0,14.13,14.40,28.83
$GC,575,-0.75,-145.9,2245,1799,3748,3818,138.0,-15.3,79,580,0.00,2.55,0.00,0.000,260,0.000,0.103,2237,3215,3783,3748,3818,0,0,0,0,0,0,28.83,14.41,28.83
$GC,805,-0.75,-145.9,2237,3216,3749,3819,175.1,-15.6,125,810,0.00,2.40,0.00,0.000,1030,0.000,0.064,2237,1802,3783,3748,3818,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1115,-0.76,-145.9,2237,1801,3748,3818,219.1,-13.6,157,1120,0.00,2.53,0.00,0.000,260,0.000,0.105,2228,3214,3783,3748,3818,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1270,-0.76,-145.9,2229,3215,3749,3819,239.5,-12.4,188,1276,0.00,2.42,0.00,0.000,1030,0.000,0.063,2228,1796,3783,3748,3818,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1595,-0.78,-145.9,2229,1797,3749,3819,278.3,-11.6,205,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1796,3783,3748,3818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1895,-0.80,-145.9,2229,1797,3748,3818,311.2,-10.7,215,1900,0.00,2.55,0.00,0.000,260,0.000,0.106,2218,3220,3783,3748,3818,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1960,-0.81,-145.9,2225,3220,3748,3818,318.6,-11.8,228,1965,0.00,2.42,0.00,0.000,1030,0.000,0.064,2218,1798,3783,3748,3818,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2287,-0.83,-145.9,2219,1798,3748,3819,354.2,-10.9,243,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1800,3783,3748,3818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2586,-0.85,-145.9,2219,1798,3749,3818,386.0,-10.5,253,2590,0.00,2.53,0.00,0.000,260,0.000,0.106,2213,3213,3783,3748,3818,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2655,-0.86,-145.9,2214,3214,3748,3818,393.7,-11.1,267,2660,0.00,2.40,0.00,0.000,1030,0.000,0.063,2213,1796,3783,3748,3818,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2977,-0.88,-145.9,2214,1796,3748,3819,427.5,-10.4,281,2982,0.00,2.53,0.00,0.000,260,0.000,0.104,2208,3214,3783,3748,3818,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3027,-0.89,-145.9,2209,3214,3749,3818,433.3,-11.1,291,3032,0.00,2.40,0.00,0.000,1030,0.000,0.063,2209,1795,3782,3747,3818,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3339,-0.90,-145.9,2210,1795,3748,3819,466.9,-10.9,303,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,1795,3785,3747,3824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3637,-0.92,-145.9,2210,1795,3748,3818,499.0,-10.7,313,3642,0.00,2.53,0.00,0.000,260,0.000,0.104,2203,3219,3783,3748,3818,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3697,-0.92,-145.9,2203,3215,3749,3819,505.7,-11.3,325,3702,0.00,2.40,0.00,0.000,1030,0.000,0.062,2203,1795,3783,3748,3818,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4029,-0.94,-145.9,2204,1796,3748,3818,541.2,-10.8,341,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,1795,3783,3748,3818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4328,-0.95,-145.9,2204,1795,3749,3819,573.7,-10.9,351,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,1794,3782,3748,3817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4627,-0.97,-145.9,2204,1795,3749,3818,605.9,-10.7,361,4632,0.00,2.53,0.00,0.000,260,0.000,0.104,2198,3215,3783,3748,3818,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4682,-0.97,-145.9,2199,3215,3749,3818,612.0,-11.1,372,4688,0.00,2.38,0.00,0.000,1030,0.000,0.061,2198,1801,3782,3747,3818,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4989,-0.98,-145.9,2198,1800,3749,3815,645.5,-10.9,383,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1799,3783,3748,3818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5287,-0.99,-145.9,2198,1800,3749,3819,677.8,-10.6,393,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1799,3783,3748,3818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5588,-1.01,-145.9,2199,1805,3749,3819,709.8,-10.7,403,5592,0.00,2.53,0.00,0.000,260,0.000,0.104,2192,3220,3783,3748,3818,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5637,-1.01,-145.9,2192,3221,3749,3818,715.5,-11.7,413,5642,0.00,2.40,0.00,0.000,1030,0.000,0.061,2192,1795,3783,3748,3818,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5949,-1.01,-145.9,2193,1794,3748,3818,749.2,-10.9,425,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1794,3782,3747,3818,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5975,begin apogee
$GC,5981,-0.16,0.0,2191,2188,3747,3819,752.4,-10.8,426,6108,0.93,0.00,123.95,1.841,10246,0.246,0.000,2436,2187,3187,3142,3233,0,0,0,0,0,0,14.31,28.83,13.21
$STATE,6109,end apogee,CONTROL_FINISHED_OK
$STATE,6109,begin climb
$GC,6111,0.81,145.9,2436,2187,3127,3230,755.1,0.0,430,6245,1.00,2.67,124.65,1.812,10500,0.132,0.094,2747,3586,2581,2499,2664,0,0,0,0,0,0,13.96,13.47,12.76
$GC,6470,0.76,145.9,2748,3586,2489,2662,707.8,16.0,504,6475,0.00,2.45,0.00,0.000,1030,0.000,0.057,2757,2168,2575,2489,2661,0,0,0,0,0,0,28.83,14.12,28.83
$GC,6792,0.73,145.9,2758,2166,2489,2660,660.8,14.5,518,6797,0.00,2.42,0.00,0.000,516,0.000,0.080,2768,772,2574,2489,2660,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7022,0.71,145.9,2769,772,2490,2661,627.1,14.5,564,7027,0.20,2.45,0.00,0.000,5126,0.268,0.082,2721,2179,2574,2489,2659,0,0,0,0,0,0,14.23,14.45,28.83
$GC,7334,0.71,145.9,2724,2180,2489,2658,588.6,12.3,576,7339,0.00,2.42,0.00,0.000,516,0.000,0.078,2733,774,2574,2489,2659,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7383,0.71,145.9,2733,774,2490,2659,582.2,13.1,586,7388,0.00,2.45,0.00,0.000,1030,0.000,0.082,2733,2185,2573,2488,2659,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7694,0.71,145.9,2733,2185,2489,2656,542.5,12.7,598,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2185,2574,2489,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7994,0.71,145.9,2733,2186,2489,2660,504.5,12.7,608,7998,0.00,2.42,0.00,0.000,516,0.000,0.079,2742,776,2573,2489,2658,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8038,0.71,145.9,2743,776,2488,2659,498.8,12.5,617,8043,0.00,2.42,0.00,0.000,1030,0.000,0.082,2742,2180,2573,2488,2658,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8354,0.71,145.9,2743,2180,2489,2659,456.6,13.4,630,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2180,2573,2489,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8654,0.71,145.9,2743,2181,2489,2659,416.0,13.5,640,8658,0.00,2.42,0.00,0.000,516,0.000,0.080,2752,774,2573,2488,2659,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8698,0.71,145.9,2752,775,2489,2659,410.0,12.9,649,8704,0.12,2.42,0.00,0.000,5126,0.278,0.081,2726,2179,2573,2488,2658,0,0,0,0,0,0,14.36,14.58,28.83
$GC,9867,0.85,349.5,2726,2181,2490,2659,373.1,0.8,662,10035,0.15,0.00,165.98,1.322,10246,0.134,0.000,2788,2180,1757,1667,1847,0,0,0,0,0,0,14.59,28.83,13.42
$GC,10317,0.85,349.5,2788,2181,1650,1833,288.7,19.4,677,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2180,1741,1650,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10617,0.85,349.5,2788,2181,1649,1832,233.1,17.6,693,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2180,1739,1648,1831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10917,0.87,349.5,2788,2181,1647,1832,185.9,15.5,723,10922,0.00,2.45,0.00,0.000,516,0.000,0.080,2798,774,1739,1647,1831,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10947,0.89,349.5,2799,773,1648,1830,180.9,16.1,729,10952,0.00,2.45,0.00,0.000,1030,0.000,0.082,2797,2179,1738,1647,1830,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11259,0.91,349.5,2799,2179,1648,1830,132.7,14.2,761,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2179,1738,1647,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11557,0.94,349.5,2799,2179,1647,1830,91.5,13.0,791,11558,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2179,1738,1647,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11857,1.03,390.7,2799,2179,1646,1830,57.4,9.4,821,11878,0.00,2.53,16.73,0.345,8708,0.000,0.078,2808,776,1588,1495,1682,0,0,0,0,0,0,28.83,14.44,14.12
$GC,11894,1.13,459.1,2808,776,1498,1683,54.5,8.0,828,11934,0.15,2.47,32.42,0.338,11270,0.128,0.080,2878,2180,1308,1211,1406,0,0,0,0,0,0,14.45,14.40,14.11
$GC,12240,1.22,520.9,2878,2181,1215,1406,19.5,8.3,867,12275,0.00,2.53,28.55,0.235,8708,0.000,0.082,2878,778,1055,950,1161,0,0,0,0,0,0,28.83,14.34,14.19
$GC,12322,1.36,605.1,2879,779,950,1163,13.7,7.1,883,12365,0.15,2.47,37.53,0.216,11270,0.120,0.081,2940,2180,713,610,816,0,0,0,0,0,0,14.32,14.28,14.19
$FREEZE,8.68,-1.262,-1.426,2,3,0
$FREEZE,7.79,-1.263,-1.425,2,3,0
$FREEZE,6.61,-1.261,-1.425,2,3,0
$FREEZE,5.12,-1.260,-1.423,2,3,0
$FREEZE,3.69,-1.259,-1.422,2,3,0
$FREEZE,2.57,-1.268,-1.421,2,3,0
$FREEZE,1.91,-1.266,-0.803,2,3,0
$STATE,12438,end climb,FINISH_DEPTH_REACHED
$STATE,12439,begin subsurface finish
$FINISH1,1.9,1.011813,0
$GC,12444,0.00,0.0,2940,2181,612,816,1.9,12.0,900,12568,1.38,2.47,-114.18,0.000,21252,0.096,0.093,2490,769,3182,3088,3277,0,0,0,0,0,0,14.29,14.33,14.59
$FINISH2,4.9
$STATE,12568,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12568,begin surface
$RAFOS_CLK,263755
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7312.24,-14454.76,140914,101642
$TT8_MAMPS,0.043442,0.043442
$HUMID,43.93
$INTERNAL_PRESSURE,8.84484
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3788512
$24V_AH,12.76,132.163
$10V_AH,12.65,0.000
$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,5.000,88.950,529.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9147.241,636.345,1843.654,190.728,0.000,1372.132,0.000,1370.570,1437.000,0.531,0.000
$DEVICE_MAMPS,287.640,106.335,1840.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12621.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.184,0.000,0.000,0.000
$MEM,135064
$DATA_FILE_SIZE,33325,924
$CAP_FILE_SIZE,134801,0
$CFSIZE,1047117824,987267072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12441.49,0x2378b6,5,5
$SOUNDSPEED,1450.7
$GPS,140914,140913,7354.945,-14444.481,41,1.1,61,30.3