version: 66.12
glider: 197
mission: 6
dive: 365
start: 9 19 114 13 59 17
data:
$ID,197
$MISSION,6
$DIVE,365
$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,-13562.423
$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,19
$R_STBD_OVSHOOT,27
$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
$GPS1,190914,134356,7326.330,-14410.702,26,1.9,46,30.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-67.9
$GPS2,190914,135857,7326.378,-14410.796,10,2.5,30,30.3
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7315.000,-14420.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,162.8,21638,-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,-145.9,171,1813,422,580,0.0,0.0,0,60,0.00,0.00,-41.03,0.000,16386,0.000,0.000,170,1813,1484,1485,1484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.81,-145.9,171,1814,1486,1485,3.1,-1.2,4,154,10.30,2.55,-73.93,0.000,18948,0.418,0.106,2219,387,3780,3762,3799,0,0,0,0,0,0,13.94,14.29,14.59
$GC,381,-0.76,-145.9,2220,386,3764,3804,78.7,-21.4,68,386,0.15,2.50,0.00,0.000,3078,0.311,0.080,2242,1791,3783,3763,3803,0,0,0,0,0,0,14.07,14.29,28.83
$GC,692,-0.76,-145.9,2243,1792,3764,3804,132.1,-17.2,100,696,0.00,2.47,0.00,0.000,516,0.000,0.080,2242,383,3783,3763,3803,0,0,0,0,0,0,28.83,14.40,28.83
$GC,746,-0.76,-145.9,2242,384,3764,3804,141.5,-16.3,111,752,0.00,2.50,0.00,0.000,1030,0.000,0.080,2235,1802,3783,3763,3803,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1052,-0.76,-145.9,2234,1803,3763,3804,188.3,-14.2,142,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1802,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-0.78,-145.9,2235,1803,3763,3804,230.6,-13.1,172,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1802,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-0.80,-145.9,2235,1802,3763,3804,267.5,-11.5,193,1667,0.00,2.53,0.00,0.000,260,0.000,0.103,2223,3213,3783,3763,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1759,-0.81,-145.9,2224,3219,3763,3804,278.6,-11.5,212,1763,0.00,2.42,0.00,0.000,1030,0.000,0.064,2223,1796,3782,3763,3802,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2086,-0.83,-145.9,2224,1795,3762,3804,314.7,-10.9,227,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1795,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2384,-0.86,-145.9,2224,1796,3764,3805,346.9,-10.7,237,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1795,3783,3763,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,-0.88,-145.9,2224,1795,3764,3804,379.0,-10.7,247,2689,0.00,2.55,0.00,0.000,260,0.000,0.103,2215,3218,3782,3762,3803,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2744,-0.90,-145.9,2215,3218,3762,3805,385.8,-11.1,259,2749,0.00,2.42,0.00,0.000,1030,0.000,0.063,2215,1793,3782,3762,3803,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3077,-0.92,-145.9,2215,1793,3762,3803,423.2,-11.3,275,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1793,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3375,-0.95,-145.9,2215,1793,3763,3804,456.2,-10.9,285,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1792,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,-0.97,-145.9,2215,1793,3762,3804,488.5,-10.7,295,3680,0.12,2.55,0.00,0.000,4356,0.142,0.098,2146,3217,3783,3762,3804,0,0,0,0,0,0,14.62,14.45,28.83
$GC,3740,-0.93,-145.9,2146,3217,3762,3804,497.6,-14.7,308,3745,0.20,2.42,0.00,0.000,3078,0.280,0.063,2188,1792,3780,3762,3799,0,0,0,0,0,0,14.12,14.47,28.83
$GC,4065,-0.93,-145.9,2188,1792,3762,3805,536.3,-11.8,323,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1792,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4365,-0.93,-145.9,2189,1793,3762,3805,570.7,-11.3,333,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4665,-0.93,-145.9,2189,1792,3762,3806,604.5,-11.2,343,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4965,-0.93,-145.9,2188,1793,3763,3805,638.4,-11.3,353,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5266,-0.93,-145.9,2189,1792,3762,3805,672.3,-11.3,363,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,-0.94,-145.9,2188,1793,3763,3806,706.5,-11.5,373,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5865,-0.95,-145.9,2189,1792,3762,3806,740.5,-11.3,383,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5953,begin apogee
$GC,5959,-0.16,0.0,2188,2197,3762,3806,750.5,-11.1,386,6087,0.93,0.00,125.57,1.830,10246,0.246,0.000,2432,2196,3183,3139,3227,0,0,0,0,0,0,14.23,28.83,13.19
$STATE,6088,end apogee,CONTROL_FINISHED_OK
$STATE,6088,begin climb
$GC,6090,0.81,145.9,2433,2196,3132,3223,753.6,0.0,390,6220,1.02,0.00,125.62,1.816,10758,0.134,0.000,2749,2196,2584,2506,2663,0,0,0,0,0,0,13.97,28.83,12.73
$GC,6495,0.79,145.9,2749,2196,2493,2655,706.0,14.1,414,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2196,2574,2493,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6795,0.78,145.9,2749,2196,2493,2655,663.7,14.1,424,6800,0.00,2.50,0.00,0.000,516,0.000,0.077,2758,769,2574,2494,2654,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6820,0.76,145.9,2760,768,2493,2654,660.2,14.4,429,6826,0.00,2.47,0.00,0.000,1030,0.000,0.080,2759,2178,2573,2493,2654,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7127,0.74,145.9,2759,2180,2495,2655,615.9,14.6,440,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2179,2573,2493,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8100,0.71,145.9,2759,2180,2489,2650,575.6,14.2,450,8101,0.17,0.00,0.00,0.000,4102,0.288,0.000,2722,2179,2573,2493,2654,0,0,0,0,0,0,14.17,28.83,28.83
$GC,8398,0.71,145.9,2723,2179,2494,2654,539.4,12.0,460,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2179,2573,2493,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,0.72,145.9,2722,2180,2492,2655,503.7,11.7,470,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2180,2573,2493,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9000,0.73,148.0,2722,2180,2493,2655,469.0,11.5,480,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2179,2573,2493,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9298,0.75,149.9,2722,2180,2493,2655,434.3,11.5,490,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2179,2573,2492,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9598,0.76,153.0,2722,2179,2494,2655,399.7,11.5,500,9601,0.00,0.00,1.70,0.249,8198,0.000,0.000,2722,2179,2557,2477,2637,0,0,0,0,0,0,28.83,28.83,14.18
$GC,9900,0.78,157.1,2723,2179,2491,2658,365.4,11.4,510,9911,0.00,0.00,9.48,1.423,8198,0.000,0.000,2722,2179,2541,2461,2621,0,0,0,0,0,0,28.83,28.83,13.91
$GC,10200,0.79,157.1,2723,2180,2455,2615,330.1,11.9,520,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2179,2534,2454,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10499,0.82,169.5,2722,2180,2455,2615,296.4,11.0,530,10518,0.12,2.50,11.55,1.348,10756,0.143,0.077,2791,750,2484,2410,2558,0,0,0,0,0,0,14.61,14.66,13.95
$GC,10533,0.80,169.5,2791,751,2410,2556,291.7,14.3,537,10538,0.17,2.47,0.00,0.000,5126,0.272,0.080,2754,2181,2482,2409,2555,0,0,0,0,0,0,14.26,14.45,28.83
$GC,10858,0.80,169.5,2755,2181,2408,2556,251.0,12.0,552,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2181,2481,2408,2555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11159,0.82,209.6,2755,2181,2409,2555,221.1,9.5,580,11199,0.00,0.00,34.20,1.209,8198,0.000,0.000,2754,2181,2318,2245,2392,0,0,0,0,0,0,28.83,28.83,13.91
$GC,11501,0.88,264.2,2755,2181,2236,2390,185.5,8.7,614,11554,0.00,2.58,45.65,1.151,8452,0.000,0.099,2754,3585,2093,2008,2179,0,0,0,0,0,0,28.83,14.37,13.81
$GC,11581,0.88,264.2,2755,3586,2004,2177,177.5,11.9,630,11586,0.00,2.40,0.00,0.000,1030,0.000,0.058,2759,2169,2089,2003,2176,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11893,0.93,277.0,2761,2167,1999,2176,142.5,10.9,662,11905,0.00,0.00,9.95,1.193,8198,0.000,0.000,2760,2167,2051,1964,2139,0,0,0,0,0,0,28.83,28.83,13.89
$GC,12203,1.01,315.6,2761,2167,1950,2132,111.5,9.6,693,12243,0.17,2.62,34.12,1.072,10500,0.113,0.100,2830,3591,1887,1792,1982,0,0,0,0,0,0,14.43,14.35,13.87
$GC,12270,0.98,315.6,2831,3591,1788,1975,102.7,16.2,703,12277,0.15,2.40,0.00,0.000,5126,0.283,0.058,2810,2183,1880,1787,1974,0,0,0,0,0,0,14.16,14.37,28.83
$GC,12575,1.04,357.2,2811,2180,1782,1973,67.4,9.4,734,12595,0.00,0.00,17.20,0.370,8198,0.000,0.000,2810,2180,1723,1629,1818,0,0,0,0,0,0,28.83,28.83,14.06
$GC,12895,1.17,469.3,2811,2180,1645,1819,44.3,5.7,766,12955,0.17,2.58,51.92,0.306,10500,0.114,0.099,2887,3594,1267,1165,1369,0,0,0,0,0,0,14.31,14.30,14.11
$GC,13050,1.17,469.3,2887,3594,1166,1370,26.5,16.0,797,13056,0.00,2.42,0.00,0.000,1030,0.000,0.060,2894,2179,1267,1166,1369,0,0,0,0,0,0,28.83,14.32,28.83
$FREEZE,8.96,-1.393,-1.422,2,1,0
$GC,13357,1.30,578.8,2894,2177,1166,1369,10.5,5.8,828,13380,0.00,0.00,21.42,0.209,8706,0.000,0.000,2894,2177,1074,968,1180,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13381,end climb,FINISH_DEPTH_REACHED
$STATE,13381,begin subsurface finish
$FINISH1,9.0,1.020881,368
$GC,13387,0.26,368.2,2894,2177,968,1180,9.0,7.8,832,13410,1.10,2.47,-16.55,0.000,20996,0.198,0.097,2582,773,1682,1608,1757,0,0,0,0,0,0,14.16,14.33,14.60
$FINISH2,6.9
$STATE,13411,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13411,begin surface
$RAFOS_CLK,527663
$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,48.70
$INTERNAL_PRESSURE,8.70812
$TCM_TEMP,12.60
$XPDR_PINGS,0
$SC_FREEKB,3774624
$24V_AH,12.73,141.929
$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,14.800,53.075,488.400,0.000,0.000,0.000,0.000,596.375,0.000,0.000,32.859,0.000,10320.299,593.022,2298.287,396.761,0.000,1861.217,0.000,1248.003,1471.000,0.531,0.000
$DEVICE_MAMPS,418.455,105.570,1829.880,0.000,0.000,0.000,0.000,181.305,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13465.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.533,0.000,0.000,0.000
$MEM,118896
$DATA_FILE_SIZE,30005,836
$CAP_FILE_SIZE,144389,0
$CFSIZE,1047117824,983515136
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12469.17,0x2378b6,7,5
$INTR,1,13383.72,0x2378b6,5,5
$SOUNDSPEED,1448.3
$GPS,190914,135857,7326.378,-14410.796,10,2.5,30,30.3