version: 66.12
glider: 197
mission: 6
dive: 203
start: 8 25 114 20 54 1
data:
$ID,197
$MISSION,6
$DIVE,203
$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,-7685.7485
$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,27
$R_STBD_OVSHOOT,19
$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,3
$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
$GPS1,250814,165545,7344.739,-14653.466,9,0.9,29,28.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.02
$_SM_ANGLEo,0.3
$GPS2,250814,165545,7344.739,-14653.466,9,0.9,29,28.9
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7400.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,334.7,28319,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.81,-145.9,2582,1809,510,658,0.0,0.0,0,36,0.00,0.00,-11.10,0.000,16386,0.000,0.000,2581,1808,924,853,996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.81,-145.9,2582,1809,854,997,4.0,0.0,1,131,1.08,2.58,-81.12,0.000,20740,0.112,0.124,2220,3206,3780,3759,3801,0,0,0,0,0,0,14.38,14.35,14.63
$GC,356,-0.75,-145.9,2220,3207,3761,3805,78.7,-21.8,65,363,0.12,2.42,0.00,0.000,3078,0.303,0.067,2242,1802,3783,3761,3805,0,0,0,0,0,0,14.21,14.37,28.83
$GC,669,-0.75,-145.9,2243,1802,3761,3806,133.3,-16.2,97,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1801,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,968,-0.75,-145.9,2243,1801,3761,3805,179.4,-14.9,127,974,0.00,2.53,0.00,0.000,260,0.000,0.105,2234,3212,3782,3760,3805,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1023,-0.75,-145.9,2235,3213,3761,3805,188.2,-15.6,138,1031,0.00,2.45,0.00,0.000,1030,0.000,0.067,2234,1789,3782,3761,3804,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1330,-0.76,-145.9,2235,1790,3761,3805,230.7,-13.3,169,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1789,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1639,-0.78,-145.9,2235,1790,3756,3805,267.9,-11.7,190,1646,0.00,2.55,0.00,0.000,260,0.000,0.105,2223,3212,3783,3761,3805,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1671,-0.78,-145.9,2223,3213,3761,3805,271.6,-11.9,196,1677,0.00,2.42,0.00,0.000,1030,0.000,0.067,2223,1799,3782,3760,3805,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2003,-0.80,-145.9,2224,1797,3760,3805,309.9,-11.2,212,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1797,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2302,-0.82,-145.9,2225,1797,3760,3805,343.5,-11.1,222,2309,0.00,2.55,0.00,0.000,260,0.000,0.105,2215,3218,3782,3759,3805,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2338,-0.82,-145.9,2215,3219,3759,3805,347.8,-11.8,229,2345,0.00,2.42,0.00,0.000,1030,0.000,0.068,2214,1801,3781,3759,3804,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2666,-0.84,-145.9,2215,1801,3759,3805,385.0,-11.3,244,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,1800,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2965,-0.85,-145.9,2215,1801,3760,3806,418.4,-11.1,254,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3264,-0.87,-145.9,2215,1800,3753,3805,451.1,-10.8,264,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3565,-0.89,-145.9,2215,1800,3760,3806,483.3,-10.7,274,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3865,-0.91,-145.9,2215,1800,3759,3805,515.4,-10.6,284,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1800,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4165,-0.93,-145.9,2215,1800,3760,3806,547.2,-10.5,294,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1800,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4465,-0.96,-145.9,2215,1800,3759,3806,578.2,-10.3,304,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4765,-0.98,-145.9,2215,1800,3759,3806,609.3,-10.3,314,4771,0.12,2.53,0.00,0.000,4356,0.143,0.100,2147,3214,3782,3759,3805,0,0,0,0,0,0,14.56,14.49,28.83
$GC,4821,-0.94,-145.9,2148,3214,3759,3805,616.8,-13.8,325,4829,0.20,2.42,0.00,0.000,3078,0.293,0.067,2189,1794,3782,3759,3805,0,0,0,0,0,0,14.30,14.47,28.83
$GC,5127,-0.94,-145.9,2190,1794,3759,3806,651.3,-11.1,336,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1794,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5426,-0.94,-145.9,2189,1794,3760,3806,684.8,-11.3,346,5432,0.00,2.42,0.00,0.000,516,0.000,0.088,2189,390,3782,3759,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5472,-0.94,-145.9,2189,390,3760,3806,690.1,-11.4,355,5478,0.00,2.45,0.00,0.000,1030,0.000,0.081,2181,1795,3782,3759,3805,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5789,-0.94,-145.9,2181,1797,3759,3805,726.4,-11.5,368,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,1796,3782,3759,3806,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5996,begin apogee
$GC,6001,-0.16,0.0,2179,2191,3759,3806,750.4,-11.5,375,6129,1.00,0.00,124.00,1.839,10246,0.259,0.000,2438,2189,3181,3138,3225,0,0,0,0,0,0,14.34,28.83,13.21
$STATE,6132,end apogee,CONTROL_FINISHED_OK
$STATE,6132,begin climb
$GC,6134,0.81,145.9,2439,2190,3130,3224,753.1,0.0,379,6270,1.02,0.00,124.53,1.815,10246,0.131,0.000,2748,2190,2582,2502,2662,0,0,0,0,0,0,13.93,28.83,12.73
$GC,6568,0.78,145.9,2749,2190,2497,2658,697.6,14.9,394,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2190,2576,2495,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6868,0.75,145.9,2749,2190,2497,2657,652.6,15.0,404,6875,0.00,2.53,0.00,0.000,516,0.000,0.084,2759,767,2576,2495,2657,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6910,0.72,145.9,2759,768,2498,2657,646.3,15.1,412,6917,0.15,2.50,0.00,0.000,5126,0.283,0.083,2729,2180,2576,2496,2656,0,0,0,0,0,0,14.18,14.32,28.83
$GC,7233,0.71,145.9,2729,2180,2496,2656,602.1,13.6,426,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2180,2576,2496,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7532,0.70,145.9,2729,2181,2498,2656,562.2,13.1,436,7539,0.00,2.50,0.00,0.000,516,0.000,0.086,2737,762,2576,2496,2656,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7568,0.69,145.9,2738,759,2497,2656,557.2,13.8,443,7576,0.00,2.50,0.00,0.000,1030,0.000,0.083,2737,2188,2576,2497,2656,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7896,0.67,145.9,2738,2189,2497,2656,512.1,13.8,458,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2189,2579,2497,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8196,0.66,145.9,2738,2189,2498,2662,471.1,13.6,468,8202,0.12,2.47,0.00,0.000,4612,0.303,0.082,2717,768,2576,2497,2656,0,0,0,0,0,0,14.38,14.51,28.83
$GC,8237,0.66,145.9,2717,768,2497,2656,465.7,12.3,476,8243,0.00,2.47,0.00,0.000,1030,0.000,0.084,2713,2185,2576,2496,2656,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8560,0.66,145.9,2717,2186,2497,2656,425.6,12.5,490,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2186,2576,2497,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8858,0.66,145.9,2717,2186,2497,2656,388.2,12.4,500,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2186,2575,2496,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9158,0.66,145.9,2717,2186,2497,2656,352.2,11.8,510,9166,0.00,2.50,0.00,0.000,516,0.000,0.087,2717,760,2576,2497,2656,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9190,0.67,145.9,2714,760,2497,2656,348.5,12.1,516,9197,0.00,2.47,0.00,0.000,1030,0.000,0.084,2718,2182,2575,2496,2655,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9523,0.67,149.4,2717,2183,2497,2657,310.5,11.4,532,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2182,2576,2496,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9822,0.68,161.0,2718,2182,2497,2656,276.6,11.0,542,9838,0.00,0.00,13.38,1.334,8198,0.000,0.000,2717,2182,2523,2445,2602,0,0,0,0,0,0,28.83,28.83,13.93
$GC,10123,0.71,179.0,2718,2183,2435,2595,244.5,10.7,554,10144,0.00,0.00,15.73,1.297,8198,0.000,0.000,2717,2182,2447,2371,2523,0,0,0,0,0,0,28.83,28.83,13.86
$GC,10443,0.77,228.9,2718,2183,2367,2520,212.3,9.0,586,10487,0.00,0.00,41.47,1.189,8198,0.000,0.000,2717,2182,2248,2171,2325,0,0,0,0,0,0,28.83,28.83,13.77
$GC,10782,0.85,275.5,2718,2182,2157,2319,180.3,9.2,620,10825,0.15,0.00,39.28,1.153,10246,0.122,0.000,2784,2182,2056,1972,2140,0,0,0,0,0,0,14.47,28.83,13.76
$GC,11122,0.85,275.5,2784,2182,1955,2133,136.9,12.8,654,11129,0.00,2.50,0.00,0.000,516,0.000,0.087,2792,768,2044,1955,2133,0,0,0,0,0,0,28.83,14.41,28.83
$GC,12265,0.86,275.5,2788,768,1956,2132,131.7,12.0,662,12271,0.00,2.50,0.00,0.000,1030,0.000,0.084,2791,2179,2043,1955,2131,0,0,0,0,0,0,28.83,14.36,28.83
$GC,12577,0.87,275.5,2791,2177,1954,2132,91.2,12.1,694,12583,0.00,2.55,0.00,0.000,260,0.000,0.103,2791,3593,2042,1954,2131,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12618,0.85,275.5,2792,3593,1956,2132,85.5,13.5,702,12626,0.15,2.42,0.00,0.000,5126,0.283,0.061,2771,2170,2042,1954,2131,0,0,0,0,0,0,14.21,14.35,28.83
$GC,12930,0.96,358.8,2772,2169,1953,2131,58.8,7.2,734,12973,0.00,2.65,35.60,0.354,8452,0.000,0.104,2771,3591,1718,1627,1810,0,0,0,0,0,0,28.83,14.28,14.07
$GC,13053,1.06,430.5,2771,3592,1629,1810,49.4,7.8,758,13096,0.20,2.42,32.83,0.324,11270,0.106,0.061,2847,2171,1427,1326,1529,0,0,0,0,0,0,14.32,14.32,14.12
$GC,13393,1.20,547.9,2848,2172,1325,1530,20.0,5.4,796,13455,0.00,2.53,52.83,0.237,8708,0.000,0.090,2852,781,945,842,1049,0,0,0,0,0,0,28.83,14.26,14.12
$GC,13466,1.34,632.3,2852,782,842,1049,15.6,7.1,810,13512,0.22,2.50,36.92,0.222,11270,0.094,0.085,2939,2187,600,514,686,0,0,0,0,0,0,14.33,14.27,14.10
$FREEZE,8.65,-1.174,-1.446,2,2,0
$FREEZE,7.22,-1.175,-1.444,2,2,0
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$STATE,13965,end climb,NO_VERTICAL_VELOCITY
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$STATE,13983,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13983,begin surface
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$10V_AH,12.81,0.000
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$FG_AHR_10Vo,0.000
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$MEM,206988
$DATA_FILE_SIZE,30044,866
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