version: 66.12
glider: 197
mission: 6
dive: 367
start: 9 19 114 21 28 33
data:
$ID,197
$MISSION,6
$DIVE,367
$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,36
$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,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
$GPS1,190914,135857,7326.378,-14410.796,10,2.5,30,30.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-5.9
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.81,-145.9,2579,1786,510,669,0.0,0.0,0,31,0.00,0.00,-11.52,0.000,16386,0.000,0.000,2579,1786,920,848,993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.81,-145.9,2580,1786,848,993,3.3,0.0,1,147,1.00,2.45,-105.10,0.000,21252,0.064,0.098,2219,399,3778,3757,3799,0,0,0,0,0,0,14.42,14.29,14.66
$GC,367,-0.76,-145.9,2219,400,3754,3804,72.5,-19.8,68,374,0.17,2.47,0.00,0.000,3078,0.307,0.080,2243,1799,3781,3759,3803,0,0,0,0,0,0,14.07,14.32,28.83
$GC,672,-0.76,-145.9,2243,1800,3759,3804,123.6,-16.1,99,677,0.00,2.55,0.00,0.000,260,0.000,0.103,2234,3213,3781,3759,3803,0,0,0,0,0,0,28.83,14.37,28.83
$GC,747,-0.76,-145.9,2235,3214,3760,3804,136.5,-17.0,114,753,0.00,2.40,0.00,0.000,1030,0.000,0.062,2234,1810,3781,3759,3803,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1052,-0.76,-145.9,2235,1809,3759,3804,184.4,-15.0,145,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,1809,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-0.77,-145.9,2235,1809,3759,3804,225.7,-12.9,175,1357,0.00,2.53,0.00,0.000,260,0.000,0.102,2225,3214,3781,3759,3803,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1382,-0.77,-145.9,2225,3214,3759,3805,229.6,-13.1,181,1387,0.00,2.42,0.00,0.000,1030,0.000,0.062,2224,1800,3781,3759,3804,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1693,-0.79,-145.9,2225,1798,3759,3804,269.6,-12.7,203,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1796,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1993,-0.81,-145.9,2225,1797,3759,3804,304.4,-11.3,213,1997,0.00,2.45,0.00,0.000,516,0.000,0.082,2225,385,3781,3759,3803,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2038,-0.83,-145.9,2225,385,3759,3804,309.5,-11.2,222,2043,0.00,2.47,0.00,0.000,1030,0.000,0.081,2218,1799,3780,3758,3803,0,0,0,0,0,0,28.83,14.44,28.83
$GC,2355,-0.85,-145.9,2218,1800,3759,3804,344.1,-10.9,235,2360,0.00,2.53,0.00,0.000,260,0.000,0.106,2212,3211,3780,3758,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2410,-0.87,-145.9,2212,3211,3758,3804,350.5,-11.6,246,2416,0.00,2.40,0.00,0.000,1030,0.000,0.063,2212,1798,3780,3758,3803,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2717,-0.89,-145.9,2212,1799,3758,3804,384.2,-11.0,257,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,1798,3780,3757,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3015,-0.91,-145.9,2212,1798,3759,3804,416.2,-10.6,267,3020,0.00,2.53,0.00,0.000,260,0.000,0.103,2204,3212,3781,3758,3804,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3065,-0.91,-145.9,2205,3212,3758,3804,421.8,-11.1,277,3070,0.00,2.40,0.00,0.000,1030,0.000,0.063,2204,1802,3780,3757,3803,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3377,-0.92,-145.9,2204,1801,3765,3803,456.0,-11.1,289,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,1800,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3675,-0.94,-145.9,2204,1800,3758,3804,489.0,-11.1,299,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,1800,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3975,-0.95,-145.9,2204,1801,3758,3804,522.5,-11.2,309,3980,0.00,2.53,0.00,0.000,260,0.000,0.104,2197,3212,3781,3758,3804,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4015,-0.95,-145.9,2198,3212,3758,3804,527.2,-12.1,317,4020,0.00,2.40,0.00,0.000,1030,0.000,0.063,2197,1800,3780,3757,3803,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4338,-0.97,-145.9,2198,1800,3758,3805,563.3,-11.2,331,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1799,3780,3757,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4636,-0.98,-145.9,2197,1800,3758,3805,596.6,-11.0,341,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1799,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4936,-0.99,-145.9,2197,1800,3758,3805,629.5,-10.9,351,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1799,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5236,-1.01,-145.9,2197,1800,3758,3805,662.3,-11.0,361,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1799,3780,3757,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5536,-1.02,-145.9,2197,1800,3758,3805,695.6,-11.1,371,5537,0.12,0.00,0.00,0.000,4102,0.147,0.000,2147,1799,3781,3757,3805,0,0,0,0,0,0,14.67,28.83,28.83
$GC,5836,-1.00,-145.9,2148,1799,3758,3805,735.3,-13.3,381,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,1799,3781,3757,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5953,begin apogee
$GC,5959,-0.16,0.0,2145,2188,3758,3805,751.1,-13.2,385,6088,1.15,0.00,126.05,1.826,10246,0.269,0.000,2437,2188,3184,3139,3229,0,0,0,0,0,0,14.19,28.83,13.21
$STATE,6089,end apogee,CONTROL_FINISHED_OK
$STATE,6089,begin climb
$GC,6091,0.81,145.9,2437,2189,3131,3224,754.5,0.0,389,6226,1.00,0.00,126.53,1.805,10758,0.133,0.000,2747,2188,2578,2499,2657,0,0,0,0,0,0,13.95,28.83,12.74
$GC,6526,0.80,145.9,2747,2189,2491,2654,703.5,13.8,414,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2188,2572,2491,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6826,0.78,145.9,2747,2188,2491,2653,661.9,14.0,424,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2188,2571,2490,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7126,0.77,145.9,2747,2189,2491,2653,620.6,13.7,434,7130,0.00,2.47,0.00,0.000,516,0.000,0.079,2757,767,2571,2490,2652,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7151,0.75,145.9,2757,768,2491,2652,617.2,13.4,439,7157,0.00,2.47,0.00,0.000,1030,0.000,0.081,2757,2182,2570,2490,2651,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7458,0.73,145.9,2757,2183,2491,2650,574.6,13.9,450,7459,0.15,0.00,0.00,0.000,4102,0.290,0.000,2727,2183,2571,2490,2652,0,0,0,0,0,0,14.26,28.83,28.83
$GC,7756,0.73,145.9,2727,2184,2491,2652,537.6,12.2,460,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2183,2571,2490,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8056,0.73,145.9,2727,2184,2490,2652,501.3,12.0,470,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2183,2571,2490,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8356,0.73,145.9,2726,2184,2491,2653,465.4,12.0,480,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2183,2571,2490,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8656,0.73,145.9,2727,2184,2492,2652,429.6,11.8,490,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2183,2571,2490,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8956,0.73,145.9,2726,2184,2491,2653,394.1,11.9,500,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2183,2571,2490,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10124,0.74,146.6,2726,2184,2491,2653,360.9,11.6,510,10129,0.00,2.47,0.00,0.000,516,0.000,0.078,2735,766,2571,2490,2652,0,0,0,0,0,0,28.83,14.47,28.83
$GC,10139,0.74,146.6,2735,766,2490,2652,359.0,11.9,513,10143,0.00,2.47,0.00,0.000,1030,0.000,0.080,2735,2181,2571,2490,2652,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10456,0.74,146.6,2735,2181,2491,2652,321.2,11.9,526,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2181,2571,2490,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10754,0.74,149.5,2736,2181,2491,2653,285.7,11.5,536,10759,0.00,2.45,0.00,0.000,516,0.000,0.076,2745,763,2571,2490,2652,0,0,0,0,0,0,28.83,14.50,28.83
$GC,10784,0.75,166.9,2746,764,2491,2653,282.4,10.7,542,10809,0.00,2.47,17.60,1.279,9222,0.000,0.080,2745,2179,2493,2416,2570,0,0,0,0,0,0,28.83,14.49,13.90
$GC,11114,0.76,177.7,2745,2183,2411,2564,244.0,11.1,560,11125,0.00,2.53,3.28,0.926,8452,0.000,0.099,2745,3583,2462,2389,2536,0,0,0,0,0,0,28.83,14.47,13.58
$GC,11165,0.74,177.7,2746,3583,2408,2543,237.7,12.4,570,11176,0.00,2.38,2.35,0.580,9222,0.000,0.057,2755,2163,2457,2385,2530,0,0,0,0,0,0,28.83,14.54,13.56
$GC,11477,0.78,221.1,2756,2163,2405,2547,205.8,9.3,602,11526,0.00,0.00,43.53,1.169,8198,0.000,0.000,2755,2163,2269,2196,2343,0,0,0,0,0,0,28.83,28.83,13.83
$GC,11827,0.83,252.5,2756,2163,2184,2340,169.0,10.0,637,11856,0.00,0.00,26.27,1.132,8198,0.000,0.000,2755,2162,2146,2066,2227,0,0,0,0,0,0,28.83,28.83,13.86
$GC,12157,0.90,298.2,2756,2163,2052,2221,137.2,9.2,670,12201,0.00,2.55,39.05,1.086,8452,0.000,0.099,2755,3588,1958,1867,2050,0,0,0,0,0,0,28.83,14.34,13.84
$GC,12246,0.93,301.9,2756,3590,1857,2045,127.8,11.4,688,12251,0.00,2.40,0.00,0.000,1030,0.000,0.059,2764,2181,1950,1856,2044,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12558,1.01,332.8,2764,2179,1854,2042,94.4,10.0,720,12577,0.17,0.00,13.95,0.441,10246,0.111,0.000,2834,2178,1824,1733,1915,0,0,0,0,0,0,14.39,28.83,14.00
$GC,12878,1.05,367.4,2834,2179,1754,1921,56.1,9.8,752,12902,0.00,2.60,17.55,0.339,8452,0.000,0.101,2834,3590,1683,1592,1774,0,0,0,0,0,0,28.83,14.30,14.08
$GC,13012,1.10,439.7,2834,3590,1609,1774,44.4,7.8,779,13053,0.00,2.42,34.15,0.308,9222,0.000,0.057,2843,2170,1390,1289,1491,0,0,0,0,0,0,28.83,14.35,14.06
$GC,13358,1.33,638.7,2843,2170,1297,1492,24.8,1.0,818,13456,0.20,2.58,89.78,0.247,10500,0.103,0.099,2929,3588,574,474,674,0,0,0,0,0,0,14.36,14.26,14.06
$FREEZE,8.80,-0.616,-1.418,2,3,0
$FREEZE,8.33,-0.616,-1.418,2,3,0
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$STATE,13985,end climb,NO_VERTICAL_VELOCITY
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$STATE,14000,end subsurface finish,NO_VERTICAL_VELOCITY
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$FG_AHR_10Vo,0.000
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$MEM,117960
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$SOUNDSPEED,1447.2
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