version: 66.12
glider: 197
mission: 6
dive: 349
start: 9 17 114 4 26 11
data:
$ID,197
$MISSION,6
$DIVE,349
$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,-12816.195
$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,36
$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
$GPS1,160914,200309,7356.144,-14402.121,181,99.0,181,30.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-56.6
$GPS2,160914,200309,7356.144,-14402.121,181,99.0,181,30.7
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7315.000,-14420.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,156.4,76793,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.81,-145.9,177,1799,419,575,0.0,0.0,0,121,0.00,0.00,-100.97,0.000,16386,0.000,0.000,176,1799,2789,2749,2830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.81,-145.9,177,1799,2751,2830,3.3,-0.6,10,164,10.18,2.50,-20.38,0.000,18948,0.421,0.104,2219,398,3780,3762,3799,0,0,0,0,0,0,14.02,14.38,14.71
$GC,389,-0.76,-145.9,2220,398,3764,3804,79.4,-22.1,63,395,0.15,2.47,0.00,0.000,3078,0.314,0.082,2243,1799,3783,3763,3803,0,0,0,0,0,0,14.11,14.33,28.83
$GC,694,-0.76,-145.9,2243,1800,3763,3804,132.5,-15.4,94,698,0.00,2.45,0.00,0.000,516,0.000,0.080,2243,397,3783,3763,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,738,-0.76,-145.9,2243,398,3764,3804,139.6,-16.0,103,744,0.00,2.47,0.00,0.000,1030,0.000,0.081,2235,1801,3783,3763,3803,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1044,-0.76,-145.9,2235,1802,3764,3804,187.5,-15.2,134,1048,0.00,2.53,0.00,0.000,260,0.000,0.103,2224,3212,3783,3763,3803,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1118,-0.76,-145.9,2224,3213,3761,3804,199.7,-15.7,149,1125,0.00,2.40,0.00,0.000,1030,0.000,0.062,2224,1811,3783,3763,3803,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1424,-0.76,-145.9,2224,1811,3764,3805,242.6,-13.3,180,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1809,3783,3763,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-0.77,-145.9,2224,1811,3764,3804,279.8,-11.7,194,1730,0.00,2.47,0.00,0.000,516,0.000,0.083,2224,384,3783,3763,3803,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1750,-0.77,-145.9,2225,384,3764,3804,283.0,-11.7,199,1756,0.00,2.50,0.00,0.000,1030,0.000,0.083,2218,1805,3783,3763,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2057,-0.79,-145.9,2219,1806,3763,3804,319.1,-11.6,210,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1805,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2356,-0.81,-145.9,2219,1806,3764,3804,352.1,-10.7,220,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1805,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2656,-0.83,-145.9,2218,1806,3764,3804,384.1,-10.7,230,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1805,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2956,-0.85,-145.9,2218,1806,3763,3804,415.8,-10.5,240,2961,0.00,2.53,0.00,0.000,260,0.000,0.106,2214,3214,3783,3763,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3011,-0.87,-145.9,2214,3214,3763,3804,422.0,-11.3,251,3017,0.00,2.40,0.00,0.000,1030,0.000,0.062,2214,1800,3783,3762,3804,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3318,-0.89,-145.9,2214,1800,3763,3804,455.5,-10.9,262,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1799,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3616,-0.91,-145.9,2214,1800,3763,3804,487.2,-10.5,272,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1799,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3916,-0.93,-145.9,2214,1800,3763,3805,518.4,-10.5,282,3921,0.00,2.53,0.00,0.000,260,0.000,0.103,2210,3213,3783,3762,3804,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3986,-0.95,-145.9,2211,3214,3763,3804,526.2,-11.7,296,3991,0.00,2.40,0.00,0.000,1030,0.000,0.062,2211,1798,3783,3762,3804,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4308,-0.97,-145.9,2211,1797,3763,3805,559.9,-10.5,310,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1796,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4606,-1.00,-145.9,2211,1797,3763,3805,591.5,-10.3,320,4607,0.12,0.00,0.00,0.000,4102,0.146,0.000,2157,1796,3783,3762,3805,0,0,0,0,0,0,14.66,28.83,28.83
$GC,4906,-0.98,-145.9,2154,1793,3762,3805,629.6,-12.8,330,4911,0.00,2.53,0.00,0.000,260,0.000,0.103,2148,3215,3786,3767,3805,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4936,-0.94,-145.9,2148,3216,3764,3806,633.7,-13.4,336,4941,0.17,2.40,0.00,0.000,3078,0.285,0.063,2184,1795,3783,3762,3805,0,0,0,0,0,0,14.22,14.55,28.83
$GC,5266,-0.94,-145.9,2184,1795,3762,3805,671.2,-11.1,352,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1795,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5567,-0.94,-145.9,2185,1795,3762,3806,704.2,-11.0,362,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,1795,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5866,-0.94,-145.9,2185,1795,3762,3806,736.6,-10.7,372,5871,0.00,2.50,0.00,0.000,260,0.000,0.102,2176,3218,3783,3762,3804,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5911,-0.94,-145.9,2176,3219,3763,3806,741.9,-11.8,381,5916,0.00,2.40,0.00,0.000,1030,0.000,0.062,2177,1796,3783,3762,3805,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,5984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5984,begin apogee
$GC,5990,-0.16,0.0,2173,2188,3763,3806,750.4,-11.3,386,6117,1.00,0.00,124.12,1.846,10246,0.248,0.000,2437,2187,3183,3139,3227,0,0,0,0,0,0,14.26,28.83,13.19
$STATE,6118,end apogee,CONTROL_FINISHED_OK
$STATE,6118,begin climb
$GC,6120,0.81,145.9,2438,2188,3133,3224,752.7,0.0,390,6249,1.00,0.00,125.88,1.824,10502,0.130,0.000,2747,2187,2586,2507,2666,0,0,0,0,0,0,13.94,28.83,12.73
$GC,6526,0.79,145.9,2748,2188,2494,2657,703.4,14.2,409,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2187,2575,2494,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6827,0.77,145.9,2748,2188,2494,2656,661.2,13.9,419,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2187,2575,2494,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7127,0.76,145.9,2748,2188,2495,2656,619.7,13.8,429,7132,0.00,2.47,0.00,0.000,516,0.000,0.079,2758,762,2574,2494,2655,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7157,0.74,145.9,2758,762,2495,2656,615.4,14.5,435,7162,0.00,2.47,0.00,0.000,1030,0.000,0.083,2758,2180,2574,2494,2655,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7489,0.72,145.9,2759,2181,2495,2656,568.3,14.3,451,7490,0.15,0.00,0.00,0.000,4102,0.293,0.000,2727,2181,2574,2494,2655,0,0,0,0,0,0,14.27,28.83,28.83
$GC,7787,0.72,145.9,2728,2181,2495,2656,530.8,12.4,461,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2181,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8087,0.72,145.9,2728,2181,2494,2655,493.9,12.3,471,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2181,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8387,0.72,145.9,2728,2181,2494,2655,457.5,12.1,481,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2181,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8687,0.72,145.9,2728,2181,2495,2656,421.5,12.1,491,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2181,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8987,0.72,145.9,2728,2181,2495,2656,384.8,12.2,501,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2181,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9287,0.72,145.9,2728,2181,2494,2655,348.6,12.0,511,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2180,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9587,0.73,152.4,2728,2181,2494,2655,313.9,11.3,521,9590,0.00,0.00,1.40,0.259,8198,0.000,0.000,2727,2180,2561,2481,2642,0,0,0,0,0,0,28.83,28.83,14.19
$GC,9889,0.76,168.5,2728,2181,2493,2656,280.3,10.8,531,9909,0.00,0.00,19.08,1.315,8198,0.000,0.000,2727,2181,2494,2416,2572,0,0,0,0,0,0,28.83,28.83,13.97
$GC,10189,0.80,195.2,2728,2181,2409,2563,249.4,10.2,541,10218,0.00,2.47,22.50,1.271,8708,0.000,0.080,2736,760,2379,2307,2451,0,0,0,0,0,0,28.83,14.51,13.93
$GC,10279,0.84,212.0,2736,761,2307,2448,240.0,10.7,559,10300,0.00,2.50,15.23,1.284,9222,0.000,0.082,2736,2180,2311,2238,2385,0,0,0,0,0,0,28.83,14.45,13.83
$GC,10600,0.90,248.5,2737,2181,2231,2382,206.3,9.7,593,10640,0.12,2.55,30.77,1.204,10500,0.138,0.099,2797,3579,2161,2078,2245,0,0,0,0,0,0,14.52,14.34,13.84
$GC,10670,0.87,248.5,2798,3580,2075,2244,197.1,15.1,607,10675,0.15,2.38,0.00,0.000,5126,0.282,0.057,2778,2171,2158,2074,2243,0,0,0,0,0,0,14.21,14.44,28.83
$GC,10982,0.90,269.8,2778,2169,2071,2243,160.7,10.5,639,11006,0.00,2.42,17.92,1.193,8708,0.000,0.080,2786,773,2075,1989,2162,0,0,0,0,0,0,28.83,14.50,13.88
$GC,11026,0.93,281.5,2786,773,1990,2160,155.6,11.0,647,11042,0.00,2.47,10.80,1.221,9222,0.000,0.083,2786,2185,2029,1940,2118,0,0,0,0,0,0,28.83,14.44,13.85
$GC,11343,0.96,294.5,2786,2186,1930,2117,118.7,10.9,680,11353,0.00,0.00,9.00,1.195,8198,0.000,0.000,2786,2185,1981,1889,2074,0,0,0,0,0,0,28.83,28.83,13.89
$GC,11653,1.01,325.2,2787,2186,1877,2070,85.6,10.0,711,11672,0.00,0.00,13.38,0.431,8198,0.000,0.000,2786,2185,1855,1761,1949,0,0,0,0,0,0,28.83,28.83,14.04
$GC,11973,1.15,428.4,2787,2186,1768,1950,58.5,6.1,743,12027,0.20,2.55,47.42,0.350,10500,0.107,0.101,2876,3594,1434,1336,1533,0,0,0,0,0,0,14.41,14.28,14.09
$GC,12122,1.15,428.4,2876,3595,1336,1533,39.7,12.3,773,12127,0.00,2.42,0.00,0.000,1030,0.000,0.059,2885,2174,1434,1335,1533,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12434,1.30,589.2,2886,2173,1330,1533,19.3,3.1,805,12513,0.00,2.47,71.38,0.235,8708,0.000,0.083,2894,774,777,676,878,0,0,0,0,0,0,28.83,14.27,14.15
$FREEZE,8.82,-1.412,-1.440,2,3,0
$STATE,12583,end climb,FINISH_DEPTH_REACHED
$STATE,12583,begin subsurface finish
$FINISH1,8.8,1.021156,354
$GC,12591,0.25,353.9,2894,2178,676,878,8.8,9.1,835,12625,1.10,2.53,-24.92,0.000,20996,0.191,0.102,2580,775,1743,1683,1803,0,0,0,0,0,0,14.14,14.30,14.58
$FINISH2,8.2
$STATE,12625,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12625,begin surface
$RAFOS_CLK,1285370
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7312.24,-14400.64,160914,195141
$TT8_MAMPS,0.041944,0.041944
$HUMID,47.44
$INTERNAL_PRESSURE,8.70812
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3781792
$24V_AH,12.73,136.852
$10V_AH,12.63,0.000
$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,14.350,72.450,508.875,0.000,0.000,0.000,0.000,121.050,0.000,0.000,183.288,0.000,10299.224,651.183,2017.119,443.254,0.000,1455.937,0.000,1258.426,0.000,0.531,0.000
$DEVICE_MAMPS,420.750,105.570,1845.945,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12677.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.084,0.000,0.000,0.000
$MEM,127160
$DATA_FILE_SIZE,30068,842
$CAP_FILE_SIZE,144705,0
$CFSIZE,1047117824,985513984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,15112.48,0x2378b6,7,5
$SOUNDSPEED,1448.2
$GPS,160914,200309,7356.144,-14402.121,181,99.0,181,30.7