version: 66.12
glider: 197
mission: 6
dive: 211
start: 8 27 114 3 15 49
data:
$ID,197
$MISSION,6
$DIVE,211
$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,-8060.6235
$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,22
$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
$GPS1,270814,024944,7359.691,-14653.789,38,1.0,58,29.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-71.0
$GPS2,270814,031533,7359.758,-14653.369,10,1.4,30,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,150.5,266248,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.81,-145.9,178,1800,430,557,0.0,0.0,0,94,0.00,0.00,-70.82,0.000,16386,0.000,0.000,177,1800,2111,2116,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.81,-145.9,178,1800,2117,2108,3.1,-1.5,7,156,10.25,2.58,-41.45,0.000,18692,0.422,0.121,2210,3214,3778,3759,3798,0,0,0,0,0,0,14.01,14.23,14.49
$GC,256,-0.71,-145.9,2210,3214,3761,3803,49.8,-32.1,39,264,0.22,2.45,0.00,0.000,3078,0.294,0.067,2258,1805,3782,3761,3803,0,0,0,0,0,0,14.12,14.29,28.83
$GC,568,-0.71,-145.9,2258,1804,3761,3805,109.3,-16.8,71,575,0.00,2.50,0.00,0.000,516,0.000,0.089,2258,387,3782,3760,3805,0,0,0,0,0,0,28.83,14.31,28.83
$GC,635,-0.71,-145.9,2264,389,3760,3805,120.4,-16.3,84,642,0.00,2.50,0.00,0.000,1030,0.000,0.083,2255,1794,3782,3760,3804,0,0,0,0,0,0,28.83,14.31,28.83
$GC,940,-0.71,-145.9,2256,1796,3762,3805,167.5,-14.9,115,946,0.00,2.55,0.00,0.000,260,0.000,0.105,2246,3218,3782,3760,3804,0,0,0,0,0,0,28.83,14.37,28.83
$GC,971,-0.71,-145.9,2244,3219,3761,3805,172.1,-14.9,121,977,0.00,2.45,0.00,0.000,1030,0.000,0.066,2244,1791,3782,3760,3804,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1284,-0.72,-145.9,2244,1791,3761,3805,216.6,-13.2,153,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,1790,3780,3760,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1583,-0.74,-145.9,2244,1791,3761,3806,253.8,-11.6,181,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,1790,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1882,-0.77,-145.9,2244,1791,3761,3805,287.7,-11.1,191,1890,0.00,2.55,0.00,0.000,260,0.000,0.106,2234,3215,3782,3760,3805,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1949,-0.78,-145.9,2235,3215,3765,3807,295.4,-11.4,204,1956,0.00,2.42,0.00,0.000,1030,0.000,0.067,2234,1799,3782,3760,3805,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2277,-0.81,-145.9,2241,1798,3761,3805,330.9,-10.7,219,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1803,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2576,-0.84,-145.9,2234,1799,3760,3805,362.6,-10.5,229,2583,0.00,2.53,0.00,0.000,260,0.000,0.106,2225,3217,3782,3760,3805,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2885,-0.85,-145.9,2225,3216,3760,3805,369.1,-11.3,239,2891,0.00,2.42,0.00,0.000,1030,0.000,0.067,2225,1803,3781,3759,3804,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3197,-0.88,-145.9,2226,1801,3759,3805,402.8,-10.8,251,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1800,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3496,-0.90,-145.9,2225,1801,3759,3805,434.4,-10.4,261,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1802,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3796,-0.93,-145.9,2225,1800,3758,3805,465.2,-10.2,271,3803,0.00,2.55,0.00,0.000,260,0.000,0.106,2217,3218,3782,3759,3805,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3848,-0.94,-145.9,2217,3218,3760,3805,471.0,-11.4,281,3854,0.00,2.45,0.00,0.000,1030,0.000,0.067,2217,1794,3782,3759,3805,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4160,-0.96,-145.9,2217,1794,3760,3805,504.1,-10.6,293,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1794,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4459,-0.98,-145.9,2218,1794,3759,3807,535.5,-10.4,303,4462,0.12,0.00,0.00,0.000,4102,0.143,0.000,2167,1793,3781,3758,3805,0,0,0,0,0,0,14.54,28.83,28.83
$GC,4760,-0.96,-145.9,2167,1794,3760,3805,573.1,-12.6,313,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,1793,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5059,-0.95,-145.9,2167,1794,3760,3805,610.7,-12.5,323,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,1793,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5359,-0.93,-145.9,2167,1794,3760,3806,648.6,-12.7,333,5365,0.00,2.42,0.00,0.000,516,0.000,0.088,2167,389,3782,3759,3806,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5425,-0.91,-145.9,2166,389,3760,3806,657.3,-12.5,346,5432,0.17,2.47,0.00,0.000,3078,0.294,0.083,2196,1807,3782,3759,3805,0,0,0,0,0,0,14.33,14.50,28.83
$GC,5752,-0.91,-145.9,2196,1807,3760,3806,694.1,-11.1,361,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,1807,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6052,-0.92,-145.9,2196,1808,3760,3806,727.3,-11.0,371,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,1807,3780,3759,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6260,begin apogee
$GC,6265,-0.16,0.0,2195,2192,3760,3807,750.4,-11.0,378,6393,0.93,0.00,124.40,1.835,10246,0.253,0.000,2438,2191,3181,3136,3227,0,0,0,0,0,0,14.35,28.83,13.22
$STATE,6395,end apogee,CONTROL_FINISHED_OK
$STATE,6396,begin climb
$GC,6397,0.81,145.9,2438,2192,3127,3225,753.2,0.0,382,6535,1.00,0.00,123.78,1.812,10502,0.132,0.000,2751,2191,2583,2501,2665,0,0,0,0,0,0,13.92,28.83,12.71
$GC,6833,0.78,145.9,2747,2192,2496,2660,698.7,14.7,412,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2194,2577,2495,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7132,0.76,145.9,2746,2192,2496,2660,655.0,14.5,422,7138,0.00,2.53,0.00,0.000,516,0.000,0.084,2761,767,2577,2495,2659,0,0,0,0,0,0,28.83,14.31,28.83
$GC,7163,0.73,145.9,2757,768,2495,2659,650.4,14.4,428,7169,0.00,2.50,0.00,0.000,1030,0.000,0.083,2757,2180,2576,2495,2658,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7496,0.70,145.9,2758,2181,2495,2658,600.3,15.1,444,7502,0.15,2.47,0.00,0.000,4612,0.296,0.082,2731,766,2576,2495,2658,0,0,0,0,0,0,14.28,14.43,28.83
$GC,7522,0.69,145.9,2731,767,2496,2658,596.4,13.6,449,7529,0.00,2.47,0.00,0.000,1030,0.000,0.083,2731,2181,2576,2495,2657,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7828,0.67,145.9,2731,2178,2496,2658,554.8,13.5,460,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2181,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,0.66,145.9,2731,2182,2503,2658,514.6,13.3,470,8133,0.00,2.47,0.00,0.000,516,0.000,0.086,2737,766,2576,2495,2657,0,0,0,0,0,0,28.83,14.49,28.83
$GC,8163,0.66,145.9,2738,765,2496,2664,509.8,12.9,477,8169,0.12,2.47,0.00,0.000,5126,0.275,0.083,2712,2185,2574,2495,2654,0,0,0,0,0,0,14.36,14.50,28.83
$GC,8489,0.66,145.9,2716,2186,2495,2657,469.8,12.3,492,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2186,2576,2496,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8789,0.66,145.9,2713,2187,2495,2658,433.4,12.1,502,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2186,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9089,0.66,145.9,2713,2186,2496,2657,397.7,11.9,512,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2186,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9389,0.66,145.9,2713,2186,2496,2657,362.3,11.8,522,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2185,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9690,0.68,148.7,2713,2186,2496,2658,327.7,11.5,532,9692,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2186,2576,2495,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9989,0.70,161.0,2713,2186,2496,2661,294.2,11.0,542,10010,0.00,2.50,13.35,1.350,8708,0.000,0.086,2717,767,2518,2440,2597,0,0,0,0,0,0,28.83,14.49,13.90
$GC,10056,0.72,168.7,2717,767,2441,2593,286.8,11.2,555,10068,0.00,2.47,3.58,1.229,9222,0.000,0.083,2720,2182,2498,2419,2578,0,0,0,0,0,0,28.83,14.46,13.58
$GC,10382,0.74,176.7,2717,2182,2429,2581,249.7,11.2,570,10405,0.00,2.58,11.90,1.322,8452,0.000,0.102,2717,3593,2455,2377,2534,0,0,0,0,0,0,28.83,14.39,13.88
$GC,10419,0.74,176.7,2714,3594,2376,2534,245.4,11.8,577,10427,0.00,2.40,0.00,0.000,1030,0.000,0.060,2724,2172,2454,2375,2534,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10726,0.80,226.5,2725,2172,2376,2533,214.3,9.0,608,10776,0.00,0.00,41.90,1.196,8198,0.000,0.000,2724,2171,2251,2172,2331,0,0,0,0,0,0,28.83,28.83,13.76
$GC,11075,0.87,263.8,2725,2171,2164,2325,179.1,9.6,643,11111,0.15,0.00,31.60,1.170,10246,0.129,0.000,2790,2171,2102,2016,2188,0,0,0,0,0,0,14.46,28.83,13.76
$GC,11405,0.87,263.8,2790,2172,2006,2181,136.3,12.6,676,11412,0.00,2.47,0.00,0.000,516,0.000,0.087,2800,770,2093,2006,2180,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11456,0.87,263.8,2801,770,2006,2179,129.9,12.0,686,11463,0.00,2.50,0.00,0.000,1030,0.000,0.084,2800,2184,2092,2006,2179,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11769,0.87,269.1,2800,2185,2006,2180,92.8,11.3,718,11772,0.12,0.00,0.00,0.000,4102,0.293,0.000,2776,2185,2092,2005,2179,0,0,0,0,0,0,14.26,28.83,28.83
$GC,12069,0.96,352.1,2776,2186,2005,2179,67.2,7.2,748,12110,0.00,0.00,38.50,0.379,8198,0.000,0.000,2776,2185,1745,1653,1837,0,0,0,0,0,0,28.83,28.83,14.06
$GC,12407,1.13,479.3,2775,2185,1654,1837,42.5,4.9,782,12470,0.25,0.00,57.78,0.302,10502,0.094,0.000,2875,2185,1227,1124,1330,0,0,0,0,0,0,14.35,28.83,14.09
$GC,12767,1.25,578.0,2876,2186,1120,1331,12.4,6.4,820,12820,0.00,2.58,43.22,0.215,8452,0.000,0.106,2875,3587,825,729,921,0,0,0,0,0,0,28.83,14.23,14.14
$FREEZE,7.78,-1.159,-1.442,2,1,0
$FREEZE,7.30,-1.168,-1.441,2,1,0
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$STATE,13246,end climb,NO_VERTICAL_VELOCITY
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$STATE,13261,end subsurface finish,NO_VERTICAL_VELOCITY
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$10V_AH,12.69,0.000
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$FG_AHR_10Vo,0.000
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$MEM,202508
$DATA_FILE_SIZE,30068,899
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$CFSIZE,1047117824,1002602496
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