version: 66.12
glider: 197
mission: 6
dive: 368
start: 9 20 114 1 31 14
data:
$ID,197
$MISSION,6
$DIVE,368
$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,31
$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,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,3.23
$_SM_ANGLEo,-7.1
$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,-145.9,2580,1797,505,670,0.0,0.0,0,31,0.00,0.00,-11.62,0.000,16386,0.000,0.000,2579,1797,916,843,990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.81,-145.9,2580,1798,845,992,3.1,0.0,1,125,1.02,2.47,-83.53,0.000,21252,0.068,0.109,2214,399,3778,3759,3798,0,0,0,0,0,0,14.40,14.35,14.67
$GC,162,-0.71,-145.9,2215,399,3762,3800,30.0,-39.4,26,167,0.25,2.47,0.00,0.000,3078,0.300,0.081,2256,1795,3781,3762,3800,0,0,0,0,0,0,14.09,14.24,28.83
$GC,472,-0.71,-145.9,2257,1796,3763,3803,94.4,-17.8,58,477,0.00,2.58,0.00,0.000,260,0.000,0.102,2249,3219,3785,3762,3808,0,0,0,0,0,0,28.83,14.31,28.83
$GC,512,-0.69,-145.9,2250,3219,3763,3803,101.4,-17.6,66,517,0.00,2.42,0.00,0.000,1030,0.000,0.062,2249,1805,3782,3762,3802,0,0,0,0,0,0,28.83,14.38,28.83
$GC,822,-0.69,-145.9,2250,1804,3761,3803,150.1,-14.8,98,827,0.00,2.53,0.00,0.000,260,0.000,0.103,2239,3214,3782,3762,3802,0,0,0,0,0,0,28.83,14.38,28.83
$GC,882,-0.69,-145.9,2239,3215,3763,3803,159.5,-15.2,110,887,0.12,2.42,0.00,0.000,3078,0.275,0.062,2263,1798,3782,3762,3802,0,0,0,0,0,0,14.20,14.45,28.83
$GC,1194,-0.72,-145.9,2264,1798,3763,3804,197.6,-11.9,142,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,1798,3782,3762,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1493,-0.76,-145.9,2263,1798,3763,3803,232.8,-10.8,172,1497,0.00,2.55,0.00,0.000,260,0.000,0.103,2254,3212,3782,3762,3802,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1565,-0.79,-145.9,2257,3213,3763,3803,240.6,-11.1,186,1570,0.00,2.45,0.00,0.000,1030,0.000,0.063,2256,1794,3781,3762,3800,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1895,-0.84,-145.9,2256,1794,3762,3803,274.4,-9.9,204,1900,0.00,2.55,0.00,0.000,260,0.000,0.104,2246,3213,3782,3762,3802,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1975,-0.87,-145.9,2246,3214,3762,3803,283.0,-10.7,220,1980,0.12,2.42,0.00,0.000,5126,0.146,0.064,2188,1793,3782,3761,3803,0,0,0,0,0,0,14.51,14.49,28.83
$GC,2287,-0.87,-145.9,2188,1793,3762,3803,324.2,-13.1,232,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3781,3761,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2586,-0.87,-145.9,2188,1793,3761,3803,362.0,-12.4,242,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3781,3761,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2886,-0.87,-145.9,2188,1793,3761,3802,398.4,-12.1,252,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3781,3760,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,-0.87,-145.9,2188,1793,3761,3803,434.0,-11.8,262,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3780,3758,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3486,-0.87,-145.9,2188,1792,3761,3803,470.2,-12.1,272,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3781,3760,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3786,-0.87,-145.9,2188,1793,3760,3803,506.7,-12.2,282,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3781,3760,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4086,-0.87,-145.9,2188,1793,3761,3803,542.7,-12.1,292,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1792,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4386,-0.87,-145.9,2188,1792,3761,3803,578.4,-11.8,302,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1792,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4686,-0.87,-145.9,2188,1793,3760,3804,613.6,-11.5,312,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4986,-0.87,-145.9,2189,1792,3760,3804,648.1,-11.4,322,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5286,-0.87,-145.9,2187,1793,3761,3805,681.1,-11.0,332,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1792,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-0.87,-145.9,2188,1793,3761,3805,713.5,-10.8,342,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,1792,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5886,-0.87,-145.9,2188,1793,3761,3805,745.8,-10.8,352,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1792,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5943,begin apogee
$GC,5949,-0.16,0.0,2187,2194,3761,3805,752.3,-10.8,354,6078,0.95,0.00,126.07,1.831,10246,0.250,0.000,2439,2193,3182,3143,3222,0,0,0,0,0,0,14.22,28.83,13.19
$STATE,6079,end apogee,CONTROL_FINISHED_OK
$STATE,6079,begin climb
$GC,6081,0.81,145.9,2436,2193,3132,3220,754.8,0.0,358,6219,1.02,2.72,124.93,1.805,10756,0.132,0.076,2762,770,2577,2500,2655,0,0,0,0,0,0,13.95,13.49,12.74
$GC,6224,0.78,145.9,2762,769,2499,2653,743.0,13.0,389,6229,0.00,2.65,0.00,0.000,1030,0.000,0.078,2762,2179,2575,2497,2653,0,0,0,0,0,0,28.83,13.55,28.83
$GC,6551,0.75,145.9,2762,2180,2491,2652,695.2,14.7,404,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2179,2571,2491,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6849,0.72,145.9,2762,2180,2491,2653,651.6,14.5,414,6850,0.15,0.00,0.00,0.000,4102,0.301,0.000,2732,2179,2571,2490,2652,0,0,0,0,0,0,14.15,28.83,28.83
$GC,7149,0.72,145.9,2732,2180,2490,2653,613.8,12.5,424,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2179,2571,2490,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7449,0.72,145.9,2732,2180,2489,2652,576.1,12.5,434,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2179,2570,2489,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,0.72,145.9,2732,2180,2490,2653,538.2,12.6,444,7753,0.00,2.45,0.00,0.000,516,0.000,0.078,2740,767,2570,2489,2652,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7773,0.72,145.9,2741,768,2490,2654,535.1,13.3,449,7780,0.00,2.47,0.00,0.000,1030,0.000,0.080,2740,2186,2570,2489,2652,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8079,0.72,145.9,2740,2187,2490,2651,495.6,13.0,460,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2186,2570,2489,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8379,0.72,145.9,2741,2187,2490,2652,456.2,13.2,470,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2187,2570,2489,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8679,0.72,145.9,2740,2187,2491,2652,417.1,12.9,480,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2186,2570,2489,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9827,0.87,349.4,2740,2187,2490,2652,381.4,0.8,490,9998,0.00,0.00,169.02,1.330,8198,0.000,0.000,2740,2186,1751,1657,1846,0,0,0,0,0,0,28.83,28.83,13.38
$GC,10275,0.91,349.4,2740,2187,1639,1830,313.0,15.9,505,10276,0.15,0.00,0.00,0.000,2054,0.125,0.000,2804,2186,1733,1638,1829,0,0,0,0,0,0,14.33,28.83,28.83
$GC,10577,0.91,349.4,2804,2186,1638,1828,253.8,19.6,515,10577,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2186,1733,1638,1828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10875,0.92,349.4,2805,2187,1638,1824,199.9,16.2,543,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2186,1732,1637,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11175,0.94,349.4,2805,2186,1637,1824,152.8,15.6,573,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2186,1731,1636,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11475,0.97,349.4,2805,2187,1636,1828,109.9,13.5,603,11480,0.00,2.50,0.00,0.000,516,0.000,0.080,2812,770,1732,1636,1828,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11500,0.99,349.4,2813,775,1637,1827,106.3,13.4,608,11506,0.00,2.50,0.00,0.000,1030,0.000,0.082,2812,2186,1731,1636,1826,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11807,1.03,356.5,2812,2187,1637,1827,67.0,11.2,639,11808,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2187,1731,1636,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12106,1.17,470.9,2813,2188,1636,1826,44.0,5.5,669,12167,0.15,2.58,52.15,0.302,10500,0.121,0.099,2885,3589,1261,1157,1365,0,0,0,0,0,0,14.39,14.33,14.16
$GC,12392,1.26,581.1,2886,3590,1167,1365,22.5,5.8,726,12448,0.00,2.42,50.65,0.239,9222,0.000,0.057,2894,2162,810,702,919,0,0,0,0,0,0,28.83,14.32,14.16
$FREEZE,8.78,-0.581,-1.420,2,4,0
$FREEZE,8.02,-0.635,-1.419,2,4,0
$FREEZE,7.12,-0.591,-1.418,2,4,0
$FREEZE,6.37,-0.642,-1.418,2,4,0
$FREEZE,5.47,-0.627,-1.417,2,4,0
$FREEZE,4.50,-0.641,-1.416,2,4,0
$FREEZE,3.75,-0.686,-1.415,2,4,0
$FREEZE,3.07,-0.751,-1.414,2,4,0
$FREEZE,3.02,-0.761,-1.415,2,4,0
$FREEZE,3.07,-0.749,-1.415,2,4,0
$FREEZE,3.01,-0.724,-1.413,2,4,0
$FREEZE,3.02,-0.738,-1.414,2,4,0
$FREEZE,2.94,-0.766,-1.415,2,4,0
$FREEZE,2.97,-0.744,-1.414,2,4,0
$FREEZE,2.95,-0.752,-1.414,2,4,0
$FREEZE,3.02,-0.769,-1.415,2,4,0
$FREEZE,3.00,-0.746,-1.413,2,4,0
$FREEZE,2.93,-0.743,-1.413,2,4,0
$FREEZE,3.01,-0.729,-1.412,2,4,0
$FREEZE,2.99,-0.725,-1.413,2,4,0
$FREEZE,3.01,-0.691,-1.411,2,4,0
$FREEZE,2.98,-0.691,-1.411,2,4,0
$FREEZE,2.98,-0.710,-1.412,2,4,0
$FREEZE,2.83,-0.710,-1.412,2,4,0
$FREEZE,2.86,-0.770,-1.415,2,4,0
$FREEZE,2.93,-0.770,-1.415,2,4,0
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$STATE,13026,end climb,NO_VERTICAL_VELOCITY
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$STATE,13044,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13044,begin surface
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$TT8_MAMPS,0.042693,0.042693
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$XPDR_PINGS,0
$SC_FREEKB,3773280
$24V_AH,12.74,142.910
$10V_AH,12.62,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_MAMPS,301.410,109.395,1831.410,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.850,0.000,0.000,0.000
$MEM,117416
$DATA_FILE_SIZE,26693,821
$CAP_FILE_SIZE,132271,0
$CFSIZE,1047117824,983121920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13029.28,0x2378b6,5,5
$SOUNDSPEED,1447.4
$GPS,190914,135857,7326.378,-14410.796,10,2.5,30,30.3