version: 66.12
glider: 197
mission: 6
dive: 389
start: 9 23 114 7 36 43
data:
$ID,197
$MISSION,6
$DIVE,389
$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,-14872.796
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,230914,072720,7247.342,-14456.029,40,0.9,61,29.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-71.0
$GPS2,230914,073621,7247.360,-14456.103,10,1.2,30,29.4
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,a
$TGT_LATLONG,7130.000,-14800.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,187.6,179458,-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,-145.9,153,1808,419,577,0.0,0.0,0,80,0.00,0.00,-60.85,0.000,16386,0.000,0.000,151,1806,1907,1915,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.81,-145.9,152,1806,1916,1902,3.1,-1.6,6,153,10.40,0.00,-57.10,0.000,18950,0.416,0.000,2223,1806,3778,3758,3798,0,0,0,0,0,0,13.99,28.83,14.62
$GC,448,-0.78,-145.9,2224,1807,3760,3805,83.0,-19.8,47,453,0.00,2.47,0.00,0.000,516,0.000,0.077,2223,389,3781,3759,3804,0,0,0,0,0,0,28.83,14.33,28.83
$GC,483,-0.75,-145.9,2224,388,3760,3805,89.8,-19.1,54,490,0.15,2.47,0.00,0.000,3078,0.291,0.077,2245,1792,3780,3759,3801,0,0,0,0,0,0,14.10,14.31,28.83
$GC,788,-0.75,-145.9,2246,1793,3760,3805,136.7,-14.7,85,793,0.00,2.55,0.00,0.000,260,0.000,0.101,2237,3212,3782,3759,3805,0,0,0,0,0,0,28.83,14.37,28.83
$GC,823,-0.75,-145.9,2237,3213,3760,3806,142.0,-15.5,92,829,0.00,2.42,0.00,0.000,1030,0.000,0.062,2237,1797,3782,3759,3805,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1128,-0.75,-145.9,2237,1797,3760,3805,185.5,-13.5,123,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1796,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1565,-0.77,-145.9,2237,1797,3757,3805,223.9,-11.4,153,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1796,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1873,-0.80,-145.9,2237,1797,3759,3806,257.5,-11.0,180,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1796,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2173,-0.83,-145.9,2237,1797,3759,3805,290.7,-10.9,190,2178,0.00,2.58,0.00,0.000,260,0.000,0.103,2229,3211,3781,3758,3805,0,0,0,0,0,0,28.83,14.21,28.83
$GC,2280,-0.85,-145.9,2229,3212,3757,3805,302.4,-11.1,211,2285,0.00,2.45,0.00,0.000,1030,0.000,0.063,2229,1796,3781,3758,3804,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2597,-0.88,-145.9,2229,1796,3760,3807,335.8,-10.3,224,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1795,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2900,-0.91,-145.9,2229,1796,3758,3805,366.6,-10.3,234,2905,0.00,2.55,0.00,0.000,260,0.000,0.102,2220,3212,3780,3756,3805,0,0,0,0,0,0,28.83,14.33,28.83
$GC,3007,-0.93,-145.9,2219,3213,3757,3806,378.6,-11.1,255,3012,0.00,2.42,0.00,0.000,1030,0.000,0.063,2220,1798,3780,3756,3805,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3324,-0.96,-145.9,2220,1797,3756,3805,412.2,-10.6,268,3325,0.12,0.00,0.00,0.000,4102,0.141,0.000,2164,1796,3781,3757,3805,0,0,0,0,0,0,14.58,28.83,28.83
$GC,3622,-0.95,-145.9,2166,1800,3758,3806,451.5,-13.2,278,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,1795,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3922,-0.93,-145.9,2164,1797,3757,3806,490.8,-13.1,288,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,1796,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4222,-0.92,-145.9,2165,1797,3756,3805,530.5,-13.2,298,4223,0.12,0.00,0.00,0.000,2054,0.275,0.000,2192,1795,3780,3756,3805,0,0,0,0,0,0,14.29,28.83,28.83
$GC,4522,-0.92,-145.9,2189,1796,3756,3806,566.3,-11.9,308,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1795,3780,3756,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4822,-0.92,-145.9,2188,1796,3756,3805,602.0,-11.8,318,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1795,3780,3756,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5122,-0.92,-145.9,2188,1796,3756,3806,636.9,-11.6,328,5127,0.00,2.53,0.00,0.000,260,0.000,0.098,2180,3213,3780,3756,3805,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5177,-0.92,-145.9,2181,3214,3757,3805,643.6,-12.9,339,5183,0.00,2.42,0.00,0.000,1030,0.000,0.061,2181,1793,3778,3756,3801,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5482,-0.92,-145.9,2179,1794,3757,3806,679.6,-11.7,350,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1793,3780,3756,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5782,-0.92,-145.9,2181,1794,3757,3805,714.0,-11.4,360,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1793,3780,3756,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6082,-0.92,-145.9,2181,1794,3756,3806,748.7,-11.7,370,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,1793,3780,3756,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6110,begin apogee
$GC,6116,-0.16,0.0,2179,2196,3757,3805,752.2,-11.7,371,6243,0.98,0.00,124.95,1.839,10246,0.239,0.000,2434,2196,3184,3139,3230,0,0,0,0,0,0,14.19,28.83,13.19
$STATE,6244,end apogee,CONTROL_FINISHED_OK
$STATE,6244,begin climb
$GC,6247,0.81,145.9,2434,2196,3132,3226,755.0,0.0,375,6385,1.00,2.72,125.60,1.825,10756,0.129,0.075,2757,769,2579,2500,2658,0,0,0,0,0,0,13.95,13.48,12.73
$GC,6390,0.79,145.9,2757,770,2499,2656,744.1,12.3,406,6395,0.00,2.65,0.00,0.000,1030,0.000,0.076,2756,2182,2576,2497,2655,0,0,0,0,0,0,28.83,13.55,28.83
$GC,6717,0.76,145.9,2759,2185,2491,2656,698.2,14.1,421,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2182,2570,2490,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7015,0.74,145.9,2758,2184,2490,2656,655.8,14.1,431,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2182,2572,2490,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,0.72,145.9,2758,2182,2490,2656,614.0,13.9,441,7317,0.15,0.00,0.00,0.000,4102,0.297,0.000,2726,2182,2572,2489,2655,0,0,0,0,0,0,14.21,28.83,28.83
$GC,7615,0.72,145.9,2726,2183,2490,2656,577.8,11.9,451,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2182,2572,2489,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,0.72,145.9,2726,2183,2491,2656,542.4,11.8,461,7920,0.00,2.47,0.00,0.000,516,0.000,0.077,2734,760,2572,2489,2655,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7940,0.72,146.9,2735,760,2489,2656,539.5,11.6,466,7946,0.00,2.47,0.00,0.000,1030,0.000,0.080,2734,2182,2572,2489,2655,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8245,0.72,146.9,2735,2183,2490,2656,502.6,12.1,477,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2182,2572,2489,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8545,0.72,146.9,2735,2182,2489,2656,466.5,12.0,487,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2182,2572,2489,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8845,0.72,146.9,2735,2182,2490,2656,430.3,12.1,497,8846,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2182,2571,2488,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9145,0.72,146.9,2735,2183,2493,2656,393.9,12.1,507,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2182,2572,2489,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9445,0.72,146.9,2735,2183,2490,2656,357.6,12.1,517,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2182,2572,2489,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9745,0.72,146.9,2735,2182,2489,2654,321.2,12.2,527,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2182,2572,2489,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10045,0.73,161.7,2735,2182,2489,2655,286.9,10.8,537,10060,0.00,0.00,13.68,1.327,8198,0.000,0.000,2734,2181,2524,2447,2601,0,0,0,0,0,0,28.83,28.83,13.96
$GC,10347,0.76,177.3,2735,2183,2431,2592,254.4,10.8,547,10362,0.00,0.00,13.62,1.297,8198,0.000,0.000,2735,2182,2457,2381,2533,0,0,0,0,0,0,28.83,28.83,13.94
$GC,10645,0.80,206.4,2735,2182,2368,2528,222.1,10.1,573,10676,0.00,0.00,25.00,1.231,8198,0.000,0.000,2735,2182,2331,2255,2408,0,0,0,0,0,0,28.83,28.83,13.89
$GC,10977,0.85,229.6,2735,2182,2249,2404,187.9,10.4,606,10998,0.00,0.00,19.38,1.198,8710,0.000,0.000,2735,2182,2245,2165,2325,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11297,0.93,284.5,2735,2183,2150,2317,158.9,8.7,639,11351,0.15,2.53,46.25,1.125,10756,0.130,0.078,2812,773,2012,1924,2101,0,0,0,0,0,0,14.50,14.37,13.82
$GC,11371,0.93,284.5,2813,774,1923,2095,149.8,13.1,654,11377,0.00,2.50,0.00,0.000,1030,0.000,0.079,2813,2183,2008,1922,2094,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11676,0.93,284.5,2813,2184,1914,2095,107.2,12.9,685,11677,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2185,2004,1914,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11977,0.95,284.5,2813,2184,1912,2095,72.4,11.7,715,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2183,2002,1911,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12277,1.05,390.2,2813,2184,1910,2095,48.1,6.0,745,12327,0.00,0.00,45.22,0.316,8198,0.000,0.000,2812,2183,1592,1493,1691,0,0,0,0,0,0,28.83,28.83,14.07
$GC,12629,1.26,578.0,2813,2184,1498,1691,23.2,1.6,780,12718,0.25,0.00,84.65,0.241,10246,0.093,0.000,2911,2182,823,715,932,0,0,0,0,0,0,14.38,28.83,14.14
$FREEZE,8.77,1.885,-1.488,2,1,0
$FREEZE,7.66,1.884,-1.487,2,1,0
$FREEZE,6.29,1.881,-1.486,2,1,0
$FREEZE,4.94,1.882,-1.485,2,1,0
$FREEZE,3.76,1.882,-1.484,2,1,0
$FREEZE,2.51,1.883,-1.483,2,1,0
$FREEZE,1.84,1.869,-1.483,2,1,0
$STATE,12844,end climb,SURFACE_DEPTH_REACHED
$STATE,12844,begin surface coast
$FREEZE,1.57,1.863,-1.213,2,1,0
$FINISH,1.6,1.017856
$STATE,12854,end surface coast,CONTROL_FINISHED_OK
$STATE,12854,begin surface
$SM_CCo,12874,34.90,0.189,0,0,498,658.14
$SM_GC,2.36,8.00,0.68,34.90,0.062,0.073,0.189,175,1792,498,-7.18,0.79,658.14,0,0,0,0,0,0,14.40,14.42,14.22
$RAFOS_CLK,1094875
$RAFOS_FIX,7328.468750,-15035.317383,130914,121235,2,255,100.36
$IRIDIUM_FIX,7207.11,-14459.88,230914,034103
$TT8_MAMPS,0.042693,0.042693
$HUMID,51.89
$INTERNAL_PRESSURE,8.62023
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3763872
$24V_AH,12.73,150.045
$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,21.325,41.625,498.350,34.900,0.000,0.000,0.000,304.175,0.000,0.000,33.099,0.000,10411.839,627.057,1964.155,309.595,0.000,1576.171,0.000,1208.445,1491.000,0.532,0.000
$DEVICE_MAMPS,416.160,102.510,1839.060,188.955,0.000,0.000,0.000,164.475,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12913.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.399,0.000,0.000,0.000
$MEM,106760
$DATA_FILE_SIZE,26726,803
$CAP_FILE_SIZE,138128,0
$CFSIZE,1047117824,980713472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13394.07,0x2378b6,7,5
$SOUNDSPEED,1450.5
$GPS,230914,111114,7246.093,-14459.769,38,1.0,58,29.4