version: 66.12
glider: 197
mission: 6
dive: 358
start: 9 18 114 13 14 20
data:
$ID,197
$MISSION,6
$DIVE,358
$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,-12817.454
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,170914,214333,7343.803,-14401.098,10,1.0,30,30.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.65
$_SM_ANGLEo,-20.1
$GPS2,170914,214333,7343.803,-14401.098,10,1.0,30,30.5
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7315.000,-14420.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,160.2,54289,-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,-145.9,2574,1806,1649,1766,0.0,0.0,0,31,0.00,0.00,-12.05,0.000,16386,0.000,0.000,2574,1806,2426,2361,2491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.81,-145.9,2574,1807,2362,2491,17.9,0.0,1,63,1.00,2.50,-20.75,0.000,20996,0.067,0.106,2215,387,3780,3765,3796,0,0,0,0,0,0,14.40,14.33,14.66
$GC,288,-0.77,-145.9,2215,387,3767,3800,84.2,-20.2,52,294,0.17,2.50,0.00,0.000,3078,0.303,0.080,2240,1800,3782,3766,3799,0,0,0,0,0,0,14.10,14.33,28.83
$GC,593,-0.77,-145.9,2241,1800,3769,3800,135.6,-15.4,83,598,0.00,2.45,0.00,0.000,516,0.000,0.080,2240,390,3783,3766,3800,0,0,0,0,0,0,28.83,14.44,28.83
$GC,758,-0.77,-145.9,2241,390,3767,3801,161.2,-15.1,116,764,0.00,2.47,0.00,0.000,1030,0.000,0.080,2232,1799,3783,3766,3800,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1063,-0.77,-145.9,2233,1800,3766,3807,207.2,-13.9,147,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1800,3783,3766,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-0.78,-145.9,2233,1800,3766,3801,244.3,-11.7,177,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1800,3783,3766,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1685,-0.80,-145.9,2232,1801,3767,3801,281.7,-11.3,191,1690,0.00,2.53,0.00,0.000,260,0.000,0.103,2221,3214,3783,3766,3800,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1830,-0.81,-145.9,2221,3214,3765,3801,298.9,-11.9,220,1836,0.00,2.42,0.00,0.000,1030,0.000,0.063,2221,1801,3782,3765,3800,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2137,-0.83,-145.9,2221,1801,3765,3801,332.5,-10.9,231,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1801,3782,3765,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2436,-0.86,-145.9,2220,1801,3765,3801,365.3,-10.8,241,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1800,3782,3765,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2735,-0.88,-145.9,2221,1801,3765,3801,397.5,-10.7,251,2740,0.00,2.53,0.00,0.000,260,0.000,0.103,2213,3213,3782,3764,3800,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2815,-0.90,-145.9,2213,3214,3765,3800,406.3,-11.2,267,2820,0.00,2.40,0.00,0.000,1030,0.000,0.063,2213,1801,3781,3763,3800,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3127,-0.92,-145.9,2214,1800,3764,3801,439.4,-10.6,279,3132,0.00,2.53,0.00,0.000,260,0.000,0.103,2204,3213,3782,3764,3800,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3177,-0.92,-145.9,2205,3214,3764,3801,445.2,-11.1,289,3182,0.00,2.40,0.00,0.000,1030,0.000,0.062,2204,1799,3782,3764,3800,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3489,-0.93,-145.9,2204,1799,3764,3801,479.1,-11.0,301,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,1798,3781,3763,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3787,-0.95,-145.9,2204,1798,3764,3801,511.8,-11.0,311,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,1797,3782,3764,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4087,-0.96,-145.9,2205,1798,3764,3802,543.9,-10.7,321,4092,0.00,2.53,0.00,0.000,260,0.000,0.103,2196,3210,3783,3764,3802,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4157,-0.96,-145.9,2197,3214,3764,3802,551.7,-11.1,335,4162,0.00,2.40,0.00,0.000,1030,0.000,0.062,2196,1799,3782,3764,3801,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4479,-0.97,-145.9,2196,1798,3764,3803,587.5,-11.2,349,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1798,3782,3763,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4778,-0.99,-145.9,2196,1798,3764,3802,621.5,-11.4,359,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1797,3786,3770,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-1.00,-145.9,2196,1798,3764,3803,655.8,-11.3,369,5082,0.00,2.53,0.00,0.000,260,0.000,0.103,2190,3212,3783,3763,3803,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5147,-1.00,-145.9,2190,3213,3764,3803,664.2,-12.3,383,5152,0.00,2.40,0.00,0.000,1030,0.000,0.061,2189,1795,3783,3764,3802,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5469,-1.00,-145.9,2190,1794,3762,3804,700.4,-11.2,397,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1793,3783,3764,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5768,-1.01,-145.9,2190,1794,3764,3804,733.3,-10.8,407,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1793,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5945,begin apogee
$GC,5951,-0.16,0.0,2190,2188,3764,3803,752.6,-10.7,413,6079,0.93,0.00,125.50,1.838,10246,0.244,0.000,2434,2187,3182,3136,3229,0,0,0,0,0,0,14.25,28.83,13.19
$STATE,6080,end apogee,CONTROL_FINISHED_OK
$STATE,6080,begin climb
$GC,6082,0.81,145.9,2434,2188,3125,3226,755.3,0.0,417,6221,1.00,2.75,124.53,1.810,10756,0.131,0.076,2754,763,2576,2497,2655,0,0,0,0,0,0,13.95,13.50,12.74
$GC,6226,0.78,145.9,2754,763,2496,2654,743.4,12.7,448,6231,0.00,2.65,0.00,0.000,1030,0.000,0.079,2754,2176,2574,2495,2653,0,0,0,0,0,0,28.83,13.56,28.83
$GC,6553,0.76,145.9,2754,2177,2489,2654,696.4,14.5,463,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2176,2569,2486,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6851,0.74,145.9,2755,2177,2489,2653,653.3,14.2,473,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2177,2570,2489,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7151,0.72,145.9,2755,2176,2489,2653,610.5,14.3,483,7156,0.00,2.45,0.00,0.000,516,0.000,0.079,2759,768,2570,2489,2652,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7181,0.71,145.9,2759,769,2489,2652,606.2,14.3,489,7186,0.15,2.47,0.00,0.000,5126,0.274,0.081,2725,2188,2570,2489,2651,0,0,0,0,0,0,14.23,14.47,28.83
$GC,7511,0.71,145.9,2726,2188,2489,2651,564.1,12.5,505,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2188,2570,2489,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7812,0.71,145.9,2727,2188,2489,2651,526.4,12.5,515,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2188,2570,2489,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8112,0.71,145.9,2726,2188,2489,2651,489.0,12.4,525,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2188,2570,2489,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8411,0.71,145.9,2727,2188,2489,2651,452.4,12.2,535,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2188,2569,2488,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8711,0.71,145.9,2726,2188,2489,2651,416.3,11.9,545,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2188,2569,2488,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9011,0.71,145.9,2726,2188,2489,2651,380.6,11.9,555,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2188,2569,2488,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9312,0.72,147.1,2726,2188,2489,2651,345.7,11.6,565,9317,0.00,2.47,0.00,0.000,516,0.000,0.078,2734,767,2570,2489,2651,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9337,0.73,150.2,2735,768,2489,2651,342.8,11.5,570,9343,0.00,2.45,0.00,0.000,1030,0.000,0.081,2735,2179,2570,2489,2651,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9642,0.73,153.8,2735,2180,2489,2651,307.4,11.4,581,9645,0.00,0.00,1.62,0.237,8198,0.000,0.000,2734,2179,2551,2470,2633,0,0,0,0,0,0,28.83,28.83,14.31
$GC,10887,0.88,359.6,2735,2179,2489,2648,275.8,0.7,591,11070,0.12,0.00,174.20,1.208,10758,0.145,0.000,2789,2179,1705,1612,1799,0,0,0,0,0,0,14.57,28.83,13.47
$GC,11367,0.90,359.6,2790,2180,1596,1788,196.6,15.9,647,11371,0.00,2.53,0.00,0.000,516,0.000,0.080,2799,763,1691,1595,1788,0,0,0,0,0,0,28.83,14.23,28.83
$GC,11397,0.92,359.6,2800,763,1596,1786,191.5,16.3,653,11402,0.00,2.53,0.00,0.000,1030,0.000,0.080,2799,2180,1691,1595,1787,0,0,0,0,0,0,28.83,14.24,28.83
$GC,11709,0.95,359.6,2800,2181,1595,1786,144.9,14.4,685,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2181,1690,1595,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12007,0.98,359.6,2800,2184,1593,1786,104.2,13.1,715,12008,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2181,1688,1592,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12307,1.04,380.9,2800,2180,1591,1786,67.3,10.5,745,12318,0.00,0.00,6.75,0.333,8198,0.000,0.000,2799,2180,1628,1532,1725,0,0,0,0,0,0,28.83,28.83,14.08
$GC,12619,1.21,509.5,2800,2181,1559,1731,42.5,4.8,776,12688,0.22,2.58,60.67,0.301,10500,0.096,0.100,2898,3584,1105,1000,1210,0,0,0,0,0,0,14.39,14.28,14.14
$GC,12715,1.21,509.5,2898,3584,1001,1210,32.2,14.6,795,12721,0.00,2.42,0.00,0.000,1030,0.000,0.060,2909,2168,1105,1001,1210,0,0,0,0,0,0,28.83,14.35,28.83
$FREEZE,8.54,-1.344,-1.412,2,5,0
$STATE,12958,end climb,FINISH_DEPTH_REACHED
$STATE,12958,begin subsurface finish
$FINISH1,8.5,1.020751,375
$GC,12963,0.26,375.0,2909,2166,1006,1210,8.5,8.5,820,12981,1.20,0.00,-14.10,0.000,20486,0.208,0.000,2578,2166,1655,1581,1730,0,0,0,0,0,0,14.15,28.83,14.60
$FINISH2,8.1
$STATE,12982,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12982,begin surface
$RAFOS_CLK,202835
$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,48.66
$INTERNAL_PRESSURE,8.70812
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3777760
$24V_AH,12.74,139.571
$10V_AH,12.64,0.000
$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,4.800,63.675,493.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,9760.536,520.357,1677.336,185.411,0.000,1180.641,0.000,1227.543,1471.000,0.531,0.000
$DEVICE_MAMPS,302.940,105.570,1837.530,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13036.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.001,0.000,0.000,0.000
$MEM,122612
$DATA_FILE_SIZE,26700,822
$CAP_FILE_SIZE,126276,0
$CFSIZE,1047117824,984449024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12960.93,0x2378b6,5,5
$SOUNDSPEED,1450.4
$GPS,170914,214333,7343.803,-14401.098,10,1.0,30,30.5