version: 66.12
glider: 197
mission: 6
dive: 350
start: 9 17 114 8 20 47
data:
$ID,197
$MISSION,6
$DIVE,350
$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,31
$R_STBD_OVSHOOT,20
$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,14.12
$_SM_ANGLEo,-17.6
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.81,-145.9,2575,1804,1684,1805,0.0,0.0,0,58,0.00,0.00,-22.60,0.000,16386,0.000,0.000,2575,1805,2999,2923,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.81,-145.9,2577,1805,2923,3077,15.6,0.0,1,81,1.00,2.53,-12.95,0.000,20740,0.063,0.116,2199,3215,3778,3761,3796,0,0,0,0,0,0,14.42,14.34,14.67
$GC,181,-0.72,-145.9,2199,3216,3763,3799,52.9,-31.3,25,186,0.25,2.42,0.00,0.000,3078,0.288,0.062,2254,1804,3781,3763,3799,0,0,0,0,0,0,14.09,14.39,28.83
$GC,493,-0.72,-145.9,2254,1804,3763,3801,112.4,-16.7,57,497,0.00,2.55,0.00,0.000,260,0.000,0.102,2247,3217,3781,3762,3800,0,0,0,0,0,0,28.83,14.33,28.83
$GC,537,-0.72,-145.9,2245,3217,3763,3801,120.5,-16.9,66,544,0.00,2.42,0.00,0.000,1030,0.000,0.062,2245,1802,3782,3762,3802,0,0,0,0,0,0,28.83,14.31,28.83
$GC,843,-0.72,-145.9,2245,1801,3762,3802,168.1,-15.9,97,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1801,3781,3762,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1143,-0.73,-145.9,2246,1801,3763,3802,210.1,-13.9,127,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1801,3782,3763,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1443,-0.76,-145.9,2246,1801,3763,3802,247.6,-11.1,157,1448,0.00,2.53,0.00,0.000,260,0.000,0.104,2235,3211,3782,3762,3802,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1488,-0.78,-145.9,2235,3211,3763,3802,253.1,-11.1,166,1493,0.00,2.40,0.00,0.000,1030,0.000,0.063,2235,1799,3781,3762,3801,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1805,-0.80,-145.9,2236,1798,3763,3802,288.8,-11.3,179,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1798,3781,3762,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2104,-0.83,-145.9,2236,1798,3763,3802,321.9,-11.0,189,2108,0.00,2.53,0.00,0.000,260,0.000,0.104,2224,3211,3781,3762,3801,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2174,-0.85,-145.9,2229,3211,3762,3802,330.1,-11.5,203,2178,0.00,2.40,0.00,0.000,1030,0.000,0.064,2229,1795,3778,3756,3801,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2496,-0.88,-145.9,2229,1796,3762,3802,363.9,-10.5,217,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1795,3781,3761,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2794,-0.91,-145.9,2229,1794,3761,3802,394.0,-9.8,227,2799,0.00,2.55,0.00,0.000,260,0.000,0.103,2218,3215,3780,3760,3801,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2874,-0.93,-145.9,2219,3216,3760,3802,402.3,-11.0,243,2879,0.00,2.40,0.00,0.000,1030,0.000,0.063,2218,1800,3780,3759,3801,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3186,-0.96,-145.9,2218,1803,3760,3802,433.9,-10.0,255,3191,0.12,2.53,0.00,0.000,4356,0.142,0.100,2147,3213,3780,3759,3801,0,0,0,0,0,0,14.62,14.47,28.83
$GC,3237,-0.92,-145.9,2147,3214,3759,3802,440.7,-14.3,265,3242,0.20,2.40,0.00,0.000,3078,0.280,0.063,2190,1796,3780,3759,3801,0,0,0,0,0,0,14.12,14.54,28.83
$GC,3549,-0.92,-145.9,2190,1797,3759,3802,476.6,-11.6,277,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1796,3780,3760,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3847,-0.92,-145.9,2190,1797,3759,3802,511.6,-11.6,287,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1796,3780,3759,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4147,-0.92,-145.9,2191,1797,3758,3803,546.5,-11.5,297,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1796,3780,3759,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4447,-0.92,-145.9,2190,1797,3760,3803,580.4,-11.2,307,4452,0.00,2.53,0.00,0.000,260,0.000,0.101,2182,3215,3781,3759,3803,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4512,-0.92,-145.9,2183,3216,3759,3803,588.2,-12.0,320,4516,0.00,2.40,0.00,0.000,1030,0.000,0.063,2182,1796,3781,3759,3803,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4838,-0.92,-145.9,2182,1796,3760,3806,626.1,-11.7,335,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1795,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5137,-0.92,-145.9,2182,1795,3759,3804,660.6,-11.4,345,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1795,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5437,-0.92,-145.9,2183,1795,3757,3804,694.3,-11.2,355,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1795,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5737,-0.92,-145.9,2183,1795,3759,3804,727.7,-11.1,365,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1795,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5944,begin apogee
$GC,5950,-0.16,0.0,2180,2186,3759,3805,751.2,-11.2,372,6077,0.98,0.00,123.80,1.850,10246,0.246,0.000,2438,2186,3184,3139,3229,0,0,0,0,0,0,14.26,28.83,13.20
$STATE,6078,end apogee,CONTROL_FINISHED_OK
$STATE,6078,begin climb
$GC,6080,0.81,145.9,2438,2186,3132,3224,753.7,0.0,376,6209,1.00,0.00,125.47,1.826,10502,0.128,0.000,2749,2186,2585,2505,2665,0,0,0,0,0,0,13.96,28.83,12.73
$GC,6487,0.79,145.9,2749,2186,2495,2658,705.2,13.9,395,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2186,2575,2494,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6787,0.77,145.9,2750,2186,2495,2656,663.6,13.8,405,6792,0.00,2.47,0.00,0.000,516,0.000,0.078,2757,769,2575,2494,2656,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6832,0.76,145.9,2763,769,2494,2656,657.4,13.7,414,6837,0.00,2.47,0.00,0.000,1030,0.000,0.082,2757,2177,2574,2494,2655,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7149,0.73,145.9,2758,2178,2494,2655,612.2,14.4,427,7154,0.12,2.45,0.00,0.000,4612,0.310,0.076,2738,765,2575,2494,2656,0,0,0,0,0,0,14.22,14.50,28.83
$GC,7174,0.73,145.9,2739,765,2494,2656,608.6,13.1,432,7180,0.00,2.47,0.00,0.000,1030,0.000,0.082,2738,2179,2574,2494,2655,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7479,0.73,145.9,2738,2180,2494,2655,568.0,13.3,443,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2179,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7779,0.73,145.9,2738,2180,2494,2656,528.3,13.1,453,7784,0.00,2.45,0.00,0.000,516,0.000,0.078,2749,761,2574,2493,2656,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7814,0.73,145.9,2749,761,2494,2656,523.7,13.3,460,7819,0.00,2.47,0.00,0.000,1030,0.000,0.082,2749,2184,2574,2494,2655,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8141,0.72,145.9,2749,2185,2494,2656,479.9,13.5,475,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2184,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8439,0.71,145.9,2749,2184,2494,2655,439.5,13.4,485,8440,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2184,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8739,0.69,145.9,2750,2184,2494,2655,399.6,13.4,495,8744,0.12,2.47,0.00,0.000,4612,0.317,0.075,2729,760,2573,2493,2654,0,0,0,0,0,0,14.29,14.57,28.83
$GC,8774,0.71,145.9,2732,758,2494,2655,395.2,12.0,502,8779,0.00,2.47,0.00,0.000,1030,0.000,0.082,2729,2183,2574,2494,2655,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9101,0.71,145.9,2729,2184,2495,2656,356.3,11.8,517,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2183,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9400,0.71,148.5,2730,2184,2494,2655,321.6,11.5,527,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2183,2574,2494,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9700,0.72,166.7,2729,2184,2495,2655,288.7,10.7,537,9718,0.00,0.00,17.55,1.330,8198,0.000,0.000,2729,2184,2501,2423,2579,0,0,0,0,0,0,28.83,28.83,13.98
$GC,10001,0.75,179.3,2729,2184,2416,2572,255.7,11.0,547,10014,0.00,0.00,11.57,1.317,8198,0.000,0.000,2729,2184,2450,2374,2526,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10300,0.80,220.9,2730,2184,2366,2519,225.5,9.4,573,10340,0.00,0.00,35.20,1.218,8198,0.000,0.000,2729,2183,2273,2198,2349,0,0,0,0,0,0,28.83,28.83,13.86
$GC,10641,0.87,258.8,2729,2184,2190,2347,192.1,9.6,607,10675,0.12,0.00,31.08,1.185,10502,0.141,0.000,2789,2183,2126,2044,2208,0,0,0,0,0,0,14.51,28.83,13.85
$GC,10980,0.87,258.8,2789,2184,2030,2202,150.3,11.9,645,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2183,2115,2030,2201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11281,0.90,275.0,2789,2184,2030,2202,116.1,10.8,675,11302,0.00,2.53,12.35,1.161,8708,0.000,0.080,2799,764,2052,1968,2137,0,0,0,0,0,0,28.83,14.52,13.95
$GC,11354,0.94,294.8,2800,765,1968,2134,108.5,10.6,689,11374,0.00,2.50,15.95,1.112,9222,0.000,0.083,2799,2181,1977,1889,2065,0,0,0,0,0,0,28.83,14.40,13.88
$GC,11674,0.99,331.0,2799,2182,1875,2062,74.5,9.7,723,11693,0.00,0.00,15.38,0.397,8198,0.000,0.000,2799,2181,1831,1739,1923,0,0,0,0,0,0,28.83,28.83,14.04
$GC,11994,1.13,456.4,2800,2181,1749,1924,51.7,5.0,755,12058,0.15,2.55,57.60,0.328,10500,0.124,0.103,2872,3587,1320,1221,1419,0,0,0,0,0,0,14.32,14.26,14.09
$GC,12173,1.13,456.4,2872,3587,1222,1419,31.6,13.4,791,12178,0.00,2.42,0.00,0.000,1030,0.000,0.059,2878,2170,1320,1221,1419,0,0,0,0,0,0,28.83,14.33,28.83
$FREEZE,8.63,-1.401,-1.434,2,4,0
$GC,12485,1.28,579.6,2878,2169,1217,1420,12.2,5.1,823,12542,0.00,0.00,54.28,0.213,8451,0.000,0.000,2878,2168,817,712,923,0,0,0,0,0,0,28.83,28.83,14.17
$STATE,12542,end climb,FINISH_DEPTH_REACHED
$STATE,12542,begin subsurface finish
$FINISH1,8.6,1.021062,359
$GC,12548,0.25,358.8,2878,2169,713,923,8.6,7.8,834,12580,1.05,2.62,-23.42,0.000,20740,0.187,0.125,2561,3584,1723,1659,1787,0,0,0,0,0,0,14.16,14.25,14.58
$FINISH2,8.1
$STATE,12581,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12581,begin surface
$RAFOS_CLK,1199824
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7312.24,-14400.64,160914,195141
$TT8_MAMPS,0.042693,0.042693
$HUMID,47.87
$INTERNAL_PRESSURE,8.71789
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3781344
$24V_AH,12.73,137.133
$10V_AH,12.62,0.000
$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,5.125,69.500,500.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,10204.242,549.774,1724.586,206.307,0.000,1224.719,0.000,1261.009,165.000,0.531,0.000
$DEVICE_MAMPS,316.710,125.460,1849.770,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12633.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.109,0.000,0.000,0.000
$MEM,126680
$DATA_FILE_SIZE,30072,840
$CAP_FILE_SIZE,136511,0
$CFSIZE,1047117824,985399296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12544.89,0x2378b6,5,5
$SOUNDSPEED,1448.9
$GPS,160914,200309,7356.144,-14402.121,181,99.0,181,30.7