version: 66.12
glider: 197
mission: 6
dive: 364
start: 9 19 114 10 31 27
data:
$ID,197
$MISSION,6
$DIVE,364
$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,-13561.162
$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,28
$R_STBD_OVSHOOT,24
$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
$GPS1,190914,062009,7329.387,-14410.029,181,99.0,181,30.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,-69.0
$GPS2,190914,062009,7329.387,-14410.029,181,99.0,181,30.3
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.81,-145.9,161,1802,411,591,0.0,0.0,0,34,0.00,0.00,-14.50,0.000,16386,0.000,0.000,159,1801,888,844,932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-0.81,-145.9,161,1801,846,932,3.2,0.0,1,173,9.85,2.55,-118.68,0.000,18948,0.398,0.104,2221,393,3778,3760,3797,0,0,0,0,0,0,14.09,14.39,14.70
$GC,399,-0.76,-145.9,2221,392,3763,3802,73.1,-21.7,74,405,0.15,2.47,0.00,0.000,3078,0.324,0.080,2243,1793,3780,3763,3797,0,0,0,0,0,0,14.07,14.32,28.83
$GC,703,-0.76,-145.9,2243,1794,3763,3802,127.5,-16.1,105,708,0.00,2.45,0.00,0.000,516,0.000,0.080,2243,395,3782,3762,3802,0,0,0,0,0,0,28.83,14.41,28.83
$GC,753,-0.76,-145.9,2244,395,3763,3803,135.8,-17.3,115,758,0.00,2.50,0.00,0.000,1030,0.000,0.080,2235,1808,3782,3762,3802,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1063,-0.76,-145.9,2235,1809,3763,3800,184.1,-14.8,147,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1808,3782,3762,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-0.77,-145.9,2232,1809,3763,3803,227.4,-12.8,177,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1808,3782,3762,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1674,-0.79,-145.9,2235,1808,3762,3803,264.2,-11.6,200,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1808,3782,3763,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,-0.82,-145.9,2235,1809,3763,3802,298.9,-11.5,210,1978,0.00,2.53,0.00,0.000,260,0.000,0.103,2224,3218,3780,3762,3798,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2013,-0.84,-145.9,2224,3219,3762,3803,303.8,-12.7,218,2018,0.00,2.42,0.00,0.000,1030,0.000,0.063,2224,1799,3782,3762,3802,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2335,-0.87,-145.9,2224,1799,3762,3803,341.2,-11.5,232,2340,0.00,2.55,0.00,0.000,260,0.000,0.103,2215,3219,3782,3762,3802,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2385,-0.88,-145.9,2215,3221,3763,3803,347.5,-11.7,242,2390,0.00,2.42,0.00,0.000,1030,0.000,0.063,2215,1799,3781,3761,3802,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2697,-0.90,-145.9,2215,1800,3762,3803,382.2,-11.0,254,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1799,3781,3761,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2996,-0.92,-145.9,2214,1800,3758,3803,414.5,-10.7,264,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1799,3779,3757,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3296,-0.95,-145.9,2215,1800,3762,3803,446.8,-10.8,274,3301,0.00,2.53,0.00,0.000,260,0.000,0.103,2205,3214,3781,3761,3802,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3356,-0.96,-145.9,2206,3214,3761,3803,453.7,-11.5,286,3361,0.00,2.42,0.00,0.000,1030,0.000,0.063,2205,1793,3781,3761,3802,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3688,-0.97,-145.9,2206,1793,3761,3803,489.9,-10.8,302,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1793,3781,3761,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3986,-0.99,-145.9,2205,1793,3762,3803,522.0,-10.6,312,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1792,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4286,-1.01,-145.9,2205,1793,3762,3803,554.1,-10.8,322,4287,0.12,0.00,0.00,0.000,4102,0.144,0.000,2153,1792,3782,3761,3803,0,0,0,0,0,0,14.65,28.83,28.83
$GC,4586,-0.99,-145.9,2154,1792,3761,3804,593.5,-13.3,332,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,1792,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4886,-0.97,-145.9,2153,1793,3762,3805,632.9,-13.1,342,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,1792,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,-0.95,-145.9,2154,1792,3761,3805,672.1,-13.0,352,5187,0.15,0.00,0.00,0.000,2054,0.286,0.000,2183,1792,3786,3761,3811,0,0,0,0,0,0,14.26,28.83,28.83
$GC,6046,-0.95,-145.9,2183,1792,3761,3806,705.2,-11.5,362,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1792,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6344,-0.95,-145.9,2183,1793,3761,3805,738.8,-11.0,372,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1792,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6462,begin apogee
$GC,6468,-0.16,0.0,2184,2195,3760,3805,752.3,-11.2,376,6596,0.98,0.00,125.25,1.845,10246,0.246,0.000,2439,2194,3180,3135,3225,0,0,0,0,0,0,14.17,28.83,13.15
$STATE,6597,end apogee,CONTROL_FINISHED_OK
$STATE,6597,begin climb
$GC,6600,0.81,145.9,2439,2195,3129,3224,754.8,0.0,380,6731,1.00,0.00,125.12,1.817,10502,0.129,0.000,2750,2194,2583,2501,2665,0,0,0,0,0,0,13.92,28.83,12.71
$GC,7036,0.79,145.9,2750,2196,2491,2655,701.0,14.3,415,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2194,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7336,0.78,145.9,2750,2195,2492,2654,658.6,14.1,425,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2194,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7636,0.76,145.9,2750,2195,2490,2655,616.9,13.8,435,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2194,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7936,0.74,145.9,2750,2195,2491,2651,576.1,13.5,445,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2194,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8236,0.73,145.9,2750,2194,2490,2654,535.8,13.4,455,8241,0.00,2.47,0.00,0.000,516,0.000,0.076,2760,766,2571,2490,2653,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8271,0.71,145.9,2761,766,2490,2654,531.0,14.0,462,8276,0.17,2.47,0.00,0.000,5126,0.272,0.080,2722,2188,2571,2489,2654,0,0,0,0,0,0,14.25,14.52,28.83
$GC,8596,0.72,145.9,2722,2189,2491,2654,492.6,11.7,477,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2188,2570,2486,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8896,0.73,145.9,2723,2189,2490,2654,457.6,11.7,487,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2189,2571,2490,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9196,0.75,146.2,2723,2189,2491,2654,422.8,11.6,497,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2188,2571,2489,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9496,0.76,146.9,2723,2189,2491,2654,388.1,11.6,507,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2188,2572,2490,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9797,0.78,152.6,2719,2188,2491,2654,354.2,11.3,517,9799,0.00,0.00,1.45,0.245,8198,0.000,0.000,2723,2189,2557,2476,2638,0,0,0,0,0,0,28.83,28.83,14.28
$GC,10098,0.79,153.8,2722,2189,2489,2652,319.9,11.6,527,10101,0.00,0.00,1.98,0.251,8198,0.000,0.000,2722,2354,2553,2472,2634,0,0,0,0,0,0,28.83,28.83,14.10
$GC,10398,0.81,154.5,2723,2374,2490,2651,285.1,11.6,537,10407,0.00,2.80,2.10,0.389,8708,0.000,0.076,2732,770,2556,2475,2637,0,0,0,0,0,0,28.83,14.62,13.46
$GC,10448,0.83,154.5,2733,771,2484,2646,279.0,12.0,547,10453,0.00,2.45,1.62,0.285,9222,0.000,0.080,2732,2183,2551,2472,2631,0,0,0,0,0,0,28.83,14.56,14.12
$GC,10758,0.87,188.3,2733,2184,2490,2650,246.4,9.8,561,10799,0.12,0.00,35.03,1.229,10246,0.145,0.000,2786,2183,2403,2329,2478,0,0,0,0,0,0,14.65,28.83,13.91
$GC,11098,0.86,192.0,2787,2184,2325,2472,203.8,11.4,595,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2183,2395,2324,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11398,0.88,218.3,2787,2184,2325,2472,172.7,10.2,625,11429,0.00,2.50,24.83,1.169,8452,0.000,0.096,2786,3593,2282,2205,2360,0,0,0,0,0,0,28.83,14.48,13.91
$GC,11481,0.84,218.3,2787,3593,2198,2359,163.2,13.0,641,11486,0.15,2.40,0.00,0.000,5126,0.287,0.057,2768,2164,2278,2197,2359,0,0,0,0,0,0,14.20,14.48,28.83
$GC,11794,0.91,280.9,2768,2162,2195,2359,134.3,8.3,673,11852,0.00,0.00,53.85,1.082,8198,0.000,0.000,2768,2161,2027,1938,2117,0,0,0,0,0,0,28.83,28.83,13.81
$GC,12152,0.98,313.2,2768,2161,1923,2111,98.4,9.9,709,12173,0.12,2.47,12.80,0.452,10756,0.137,0.080,2826,783,1904,1810,1999,0,0,0,0,0,0,14.37,14.33,13.96
$GC,12183,0.98,313.2,2826,784,1818,2000,94.9,11.7,714,12188,0.00,2.47,0.00,0.000,1030,0.000,0.081,2826,2184,1908,1818,1999,0,0,0,0,0,0,28.83,14.27,28.83
$GC,12495,1.04,365.9,2825,2181,1829,2004,60.5,8.8,746,12525,0.00,2.60,25.55,0.353,8452,0.000,0.099,2825,3588,1689,1596,1782,0,0,0,0,0,0,28.83,14.33,14.08
$GC,12676,1.11,443.2,2826,3588,1609,1783,44.2,7.5,782,12717,0.00,2.40,36.50,0.304,9222,0.000,0.058,2835,2176,1373,1268,1478,0,0,0,0,0,0,28.83,14.35,14.04
$GC,13015,1.33,631.4,2835,2176,1274,1479,27.1,1.6,820,13109,0.22,2.55,84.85,0.252,10500,0.096,0.096,2931,3589,605,506,704,0,0,0,0,0,0,14.35,14.26,14.10
$FREEZE,8.41,-0.980,-1.415,2,2,0
$FREEZE,7.80,-0.980,-1.414,2,2,0
$FREEZE,7.12,-0.985,-1.414,2,2,0
$FREEZE,6.51,-0.985,-1.413,2,2,0
$FREEZE,5.84,-0.988,-1.413,2,2,0
$FREEZE,5.10,-0.988,-1.412,2,2,0
$FREEZE,4.53,-0.990,-1.412,2,2,0
$FREEZE,3.84,-0.990,-1.411,2,2,0
$FREEZE,3.32,-0.998,-1.411,2,2,0
$FREEZE,2.68,-0.998,-1.410,2,2,0
$FREEZE,2.20,-1.006,-1.410,2,2,0
$FREEZE,1.80,-1.006,-1.410,2,2,0
$STATE,13252,end climb,SURFACE_DEPTH_REACHED
$STATE,13252,begin surface coast
$FREEZE,1.81,-0.988,-1.409,2,2,0
$FREEZE,1.88,-0.988,-1.409,2,2,0
$FINISH,1.9,1.020774
$STATE,13262,end surface coast,CONTROL_FINISHED_OK
$STATE,13262,begin surface
$SM_CCo,13282,11.98,0.195,0,0,498,657.89
$SM_GC,2.78,8.30,3.12,11.98,0.086,0.064,0.195,176,1817,498,-7.18,1.19,657.89,0,0,0,0,0,0,14.41,14.37,14.22
$RAFOS_CLK,713665
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7250.09,-14402.25,190914,060931
$TT8_MAMPS,0.042693,0.042693
$HUMID,48.22
$INTERNAL_PRESSURE,8.60069
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3775072
$24V_AH,12.71,141.580
$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,21.350,56.300,530.925,11.975,0.000,0.000,0.000,122.900,0.000,0.000,183.285,0.000,10364.663,622.815,2079.201,357.731,0.000,1453.388,0.000,1302.055,1480.000,0.531,0.000
$DEVICE_MAMPS,397.800,104.040,1845.180,195.075,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13315.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.384,0.000,0.000,0.000
$MEM,119320
$DATA_FILE_SIZE,30031,869
$CAP_FILE_SIZE,144099,0
$CFSIZE,1047117824,983613440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,15055.54,0x2378b6,7,5
$SOUNDSPEED,1447.9
$GPS,190914,134356,7326.330,-14410.702,26,1.9,46,30.3