version: 66.12
glider: 197
mission: 6
dive: 363
start: 9 19 114 6 20 31
data:
$ID,197
$MISSION,6
$DIVE,363
$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,-13191.583
$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,23
$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
$GPS1,190914,060425,7329.325,-14409.499,30,0.8,50,30.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-68.0
$GPS2,190914,062009,7329.387,-14410.029,8,0.9,28,30.3
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7315.000,-14420.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,161.0,27171,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.81,-145.9,177,1802,422,574,0.0,0.0,0,60,0.00,0.00,-40.97,0.000,16386,0.000,0.000,176,1802,1484,1483,1485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.81,-145.9,177,1802,1485,1485,3.1,-1.7,4,162,10.10,2.50,-79.45,0.000,18948,0.409,0.103,2225,397,3778,3757,3800,0,0,0,0,0,0,13.98,14.31,14.60
$GC,362,-0.76,-145.9,2225,397,3762,3804,71.1,-22.5,64,367,0.12,2.47,0.00,0.000,3078,0.324,0.080,2239,1794,3782,3762,3803,0,0,0,0,0,0,14.07,14.30,28.83
$GC,672,-0.76,-145.9,2240,1795,3763,3804,125.2,-16.2,96,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1794,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,972,-0.76,-145.9,2240,1796,3760,3805,170.8,-15.1,126,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1794,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1273,-0.77,-145.9,2240,1794,3762,3805,212.4,-12.0,156,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1794,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1573,-0.80,-145.9,2240,1794,3762,3805,248.7,-11.7,186,1577,0.00,2.55,0.00,0.000,260,0.000,0.103,2231,3218,3783,3762,3804,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1653,-0.82,-145.9,2231,3219,3763,3805,258.4,-12.0,202,1658,0.00,2.40,0.00,0.000,1030,0.000,0.063,2235,1810,3783,3762,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1965,-0.84,-145.9,2231,1810,3762,3805,294.1,-11.7,214,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1809,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2263,-0.87,-145.9,2231,1810,3762,3805,326.9,-10.8,224,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1809,3786,3762,3810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2563,-0.90,-145.9,2231,1809,3762,3805,360.7,-11.2,234,2568,0.00,2.53,0.00,0.000,260,0.000,0.101,2220,3223,3782,3761,3804,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2613,-0.92,-145.9,2220,3224,3761,3805,366.5,-11.6,244,2618,0.00,2.42,0.00,0.000,1030,0.000,0.063,2220,1800,3782,3760,3804,0,0,0,0,0,0,28.83,14.53,28.83
$GC,2925,-0.95,-145.9,2216,1798,3761,3805,400.0,-10.6,256,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1798,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3224,-0.97,-145.9,2220,1798,3761,3805,431.1,-10.4,266,3229,0.12,2.55,0.00,0.000,4356,0.146,0.099,2151,3219,3782,3760,3804,0,0,0,0,0,0,14.63,14.46,28.83
$GC,3279,-0.94,-145.9,2151,3220,3760,3805,438.6,-13.9,277,3285,0.17,2.42,0.00,0.000,3078,0.280,0.063,2187,1796,3781,3759,3804,0,0,0,0,0,0,14.21,14.53,28.83
$GC,3586,-0.94,-145.9,2188,1797,3760,3805,474.7,-11.7,288,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1796,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3884,-0.94,-145.9,2188,1797,3760,3805,509.8,-11.7,298,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1796,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4184,-0.94,-145.9,2188,1797,3756,3805,544.7,-11.6,308,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1796,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4484,-0.94,-145.9,2188,1796,3760,3805,579.8,-11.6,318,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1796,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4784,-0.94,-145.9,2188,1796,3761,3805,614.3,-11.4,328,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1796,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5084,-0.94,-145.9,2188,1797,3761,3806,648.2,-11.2,338,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1796,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5384,-0.94,-145.9,2187,1797,3760,3806,681.3,-10.9,348,5389,0.00,2.42,0.00,0.000,516,0.000,0.080,2187,387,3782,3760,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5429,-0.94,-145.9,2186,388,3761,3806,686.5,-11.2,357,5434,0.00,2.47,0.00,0.000,1030,0.000,0.079,2180,1810,3782,3760,3805,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5746,-0.94,-145.9,2176,1815,3760,3806,722.4,-11.5,370,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1810,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6565,begin apogee
$GC,6572,-0.16,0.0,2177,2189,3761,3807,751.7,-1.1,379,6700,1.00,0.00,125.05,1.831,10246,0.250,0.000,2437,2189,3184,3138,3230,0,0,0,0,0,0,14.17,28.83,13.18
$STATE,6701,end apogee,CONTROL_FINISHED_OK
$STATE,6701,begin climb
$GC,6704,0.81,145.9,2438,2189,3132,3224,754.6,0.0,383,6838,1.00,0.00,125.80,1.818,10502,0.129,0.000,2748,2189,2581,2501,2661,0,0,0,0,0,0,13.92,28.83,12.71
$GC,7137,0.79,145.9,2749,2189,2494,2657,703.5,13.6,403,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2189,2575,2494,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7437,0.78,145.9,2752,2186,2494,2656,662.5,13.7,413,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2189,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7738,0.76,145.9,2749,2190,2494,2656,622.0,13.5,423,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2189,2575,2495,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8037,0.75,145.9,2750,2191,2494,2656,581.6,13.3,433,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2189,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8337,0.73,145.9,2749,2190,2494,2656,541.4,13.4,443,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2189,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8637,0.72,145.9,2749,2190,2494,2655,501.5,13.2,453,8642,0.00,2.47,0.00,0.000,516,0.000,0.076,2759,759,2574,2494,2655,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8652,0.70,145.9,2759,761,2495,2655,499.5,13.3,456,8657,0.17,2.47,0.00,0.000,5126,0.268,0.080,2721,2184,2573,2493,2654,0,0,0,0,0,0,14.27,14.54,28.83
$GC,8969,0.72,146.2,2721,2185,2494,2656,462.8,11.6,469,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2185,2574,2493,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9268,0.73,149.0,2721,2185,2494,2656,428.1,11.5,479,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2185,2574,2494,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9568,0.74,151.8,2721,2186,2494,2656,393.9,11.5,489,9570,0.00,0.00,1.20,0.255,8198,0.000,0.000,2721,2185,2561,2481,2642,0,0,0,0,0,0,28.83,28.83,14.28
$GC,9869,0.76,158.3,2721,2186,2493,2655,359.7,11.3,499,9882,0.00,0.00,11.00,1.415,8198,0.000,0.000,2721,2185,2535,2456,2615,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10169,0.78,161.8,2721,2186,2447,2607,325.1,11.4,509,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2185,2526,2446,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10468,0.81,179.2,2721,2185,2447,2608,292.1,10.7,519,10491,0.00,0.00,18.27,1.320,8454,0.000,0.000,2721,2185,2443,2367,2520,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10799,0.85,193.4,2720,2186,2363,2518,256.1,10.9,535,10813,0.15,0.00,12.52,1.301,10246,0.133,0.000,2779,2185,2392,2319,2465,0,0,0,0,0,0,14.58,28.83,13.93
$GC,11098,0.84,193.4,2783,2186,2310,2456,215.7,11.8,561,11098,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2185,2382,2309,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11397,0.86,218.1,2784,2185,2309,2456,183.5,10.3,591,11420,0.00,0.00,21.35,1.195,8198,0.000,0.000,2783,2185,2291,2218,2364,0,0,0,0,0,0,28.83,28.83,13.92
$GC,11719,0.87,241.5,2783,2186,2203,2357,149.8,10.4,623,11741,0.00,0.00,20.35,1.159,8198,0.000,0.000,2783,2185,2196,2116,2276,0,0,0,0,0,0,28.83,28.83,13.90
$GC,12039,0.92,284.0,2783,2185,2100,2269,118.4,9.4,655,12078,0.00,0.00,35.58,1.086,8198,0.000,0.000,2783,2185,2018,1929,2107,0,0,0,0,0,0,28.83,28.83,13.88
$GC,12379,0.97,296.6,2784,2185,1915,2103,84.4,11.0,689,12390,0.00,2.55,4.20,0.363,8452,0.000,0.098,2783,3597,1971,1879,2064,0,0,0,0,0,0,28.83,14.32,13.95
$GC,12435,0.98,296.6,2783,3597,1891,2067,77.2,13.3,700,12441,0.00,2.42,0.00,0.000,1030,0.000,0.058,2794,2171,1979,1891,2067,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12742,1.12,428.0,2794,2171,1893,2071,54.7,4.6,731,12805,0.15,0.00,60.65,0.336,10502,0.123,0.000,2865,2170,1436,1335,1538,0,0,0,0,0,0,14.37,28.83,14.08
$GC,13100,1.33,650.6,2865,2170,1335,1538,26.4,-0.2,770,13207,0.15,2.58,99.28,0.250,10500,0.119,0.099,2932,3587,526,433,620,0,0,0,0,0,0,14.36,14.26,14.10
$FREEZE,8.72,-1.053,-1.416,2,1,0
$FREEZE,8.17,-1.051,-1.416,2,1,0
$FREEZE,7.46,-1.051,-1.415,2,1,0
$FREEZE,6.96,-1.083,-1.415,2,1,0
$FREEZE,6.31,-1.083,-1.414,2,1,0
$FREEZE,5.98,-1.087,-1.414,2,1,0
$FREEZE,5.57,-1.087,-1.413,2,1,0
$GC,13313,1.40,661.2,2932,3587,436,621,6.0,11.1,812,13325,0.00,2.42,3.65,0.216,9222,0.000,0.060,2942,2181,497,402,592,0,0,0,0,0,0,28.83,14.31,14.05
$FREEZE,3.15,-1.093,-1.411,2,1,0
$FREEZE,2.05,-1.087,-1.411,2,1,0
$FREEZE,1.68,-1.093,-1.410,2,1,0
$STATE,13350,end climb,SURFACE_DEPTH_REACHED
$STATE,13350,begin surface coast
$FREEZE,1.75,-1.098,-1.410,2,1,0
$FINISH,1.8,1.020793
$STATE,13362,end surface coast,CONTROL_FINISHED_OK
$STATE,13362,begin surface
$SM_CCo,13440,0.00,0.000,0,0,500,657.89
$SM_GC,3.06,8.43,0.65,0.00,0.096,0.080,0.000,169,1805,500,-7.19,1.07,657.89,0,0,0,0,0,0,14.42,14.40,28.83
$RAFOS_CLK,665770
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7242.81,-14538.82,190914,022001
$TT8_MAMPS,0.042693,0.042693
$HUMID,47.87
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3775520
$24V_AH,12.71,141.266
$10V_AH,12.59,0.000
$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,21.575,41.000,538.900,0.000,0.000,0.000,0.000,619.975,0.000,0.000,30.805,0.000,10471.506,630.487,2286.602,416.664,0.000,1902.694,0.000,1227.058,1488.000,0.531,0.000
$DEVICE_MAMPS,409.275,106.335,1831.410,0.000,0.000,0.000,0.000,185.895,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13416.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.402,0.000,0.000,0.000
$MEM,119888
$DATA_FILE_SIZE,26691,818
$CAP_FILE_SIZE,143570,0
$CFSIZE,1047117824,983564288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13741.28,0x2378b6,7,5
$SOUNDSPEED,1448.1
$GPS,190914,062009,7329.387,-14410.029,181,99.0,181,30.3