version: 66.12
glider: 197
mission: 6
dive: 175
start: 8 21 114 12 27 41
data:
$ID,197
$MISSION,6
$DIVE,175
$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,-7654.2061
$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,2000
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,21
$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
$GPS1,210814,121425,7315.938,-14557.180,39,1.0,59,29.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-72.9
$GPS2,210814,122721,7315.950,-14557.264,13,1.1,33,29.2
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7330.000,-14550.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,339.2,26300,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.81,-145.9,183,1989,424,564,0.0,0.0,0,63,0.00,0.00,-40.97,0.000,16386,0.000,0.000,179,1989,1490,1491,1490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.81,-145.9,183,1990,1496,1490,3.1,-1.8,4,164,10.27,2.62,-76.47,0.000,18692,0.431,0.126,2213,3413,3780,3760,3800,0,0,0,0,0,0,14.10,14.32,14.57
$GC,388,-0.74,-145.9,2213,3417,3761,3805,80.3,-21.5,69,396,0.17,2.40,0.00,0.000,3078,0.306,0.063,2248,2000,3783,3761,3805,0,0,0,0,0,0,14.22,14.45,28.83
$GC,693,-0.74,-145.9,2249,1999,3761,3805,133.8,-16.0,100,700,0.00,2.53,0.00,0.000,260,0.000,0.108,2241,3408,3782,3760,3805,0,0,0,0,0,0,28.83,14.45,28.83
$GC,749,-0.73,-145.9,2241,3409,3761,3805,143.2,-16.7,111,757,0.00,2.38,0.00,0.000,1030,0.000,0.063,2241,2000,3783,3761,3805,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1054,-0.73,-145.9,2241,2000,3760,3805,189.8,-14.7,142,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2000,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1354,-0.74,-145.9,2241,2000,3761,3805,231.4,-12.6,172,1362,0.00,2.45,0.00,0.000,516,0.000,0.090,2241,591,3782,3760,3805,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1451,-0.76,-145.9,2241,591,3760,3805,243.8,-12.3,191,1459,0.00,2.47,0.00,0.000,1030,0.000,0.090,2234,1994,3781,3760,3803,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1777,-0.78,-145.9,2234,2003,3761,3806,283.0,-11.6,206,1783,0.00,2.45,0.00,0.000,516,0.000,0.091,2234,591,3783,3760,3806,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1847,-0.80,-145.9,2234,592,3761,3811,291.7,-11.9,220,1854,0.00,2.47,0.00,0.000,1030,0.000,0.091,2230,2003,3782,3760,3805,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2170,-0.82,-145.9,2230,2004,3761,3805,328.5,-11.5,234,2176,0.00,2.45,0.00,0.000,516,0.000,0.090,2230,591,3782,3760,3805,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2240,-0.84,-145.9,2230,592,3760,3805,336.9,-11.8,248,2247,0.00,2.47,0.00,0.000,1030,0.000,0.091,2228,2001,3783,3761,3805,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2563,-0.86,-145.9,2229,2003,3760,3805,372.6,-11.0,262,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2000,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2862,-0.89,-145.9,2228,2003,3760,3806,405.4,-11.1,272,2868,0.00,2.45,0.00,0.000,516,0.000,0.090,2228,589,3782,3759,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2959,-0.91,-145.9,2229,588,3760,3805,416.2,-11.3,291,2965,0.00,2.47,0.00,0.000,1030,0.000,0.090,2224,2006,3782,3759,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3286,-0.94,-145.9,2225,2007,3759,3805,451.8,-10.8,306,3294,0.00,2.45,0.00,0.000,516,0.000,0.089,2224,588,3783,3761,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3349,-0.96,-145.9,2224,588,3760,3805,458.9,-11.3,318,3356,0.12,2.47,0.00,0.000,5126,0.142,0.090,2168,2008,3782,3759,3805,0,0,0,0,0,0,14.64,14.59,28.83
$GC,3681,-0.94,-145.9,2169,2008,3760,3806,503.1,-13.4,334,3688,0.00,2.45,0.00,0.000,516,0.000,0.090,2169,588,3782,3759,3805,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3768,-0.92,-145.9,2169,589,3759,3805,515.1,-13.6,351,3776,0.15,2.45,0.00,0.000,3078,0.311,0.090,2188,2001,3782,3759,3805,0,0,0,0,0,0,14.44,14.59,28.83
$GC,4074,-0.92,-145.9,2188,2001,3755,3806,552.4,-12.2,362,4081,0.00,2.42,0.00,0.000,516,0.000,0.090,2188,591,3782,3759,3805,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4150,-0.92,-145.9,2190,592,3759,3805,562.1,-12.5,377,4158,0.00,2.45,0.00,0.000,1030,0.000,0.090,2180,2000,3780,3755,3806,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4468,-0.92,-145.9,2180,2001,3759,3805,601.9,-12.5,390,4475,0.00,2.42,0.00,0.000,516,0.000,0.090,2180,590,3782,3759,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4566,-0.91,-145.9,2180,590,3762,3805,614.5,-13.0,409,4573,0.12,2.45,0.00,0.000,3078,0.295,0.089,2192,2001,3782,3759,3805,0,0,0,0,0,0,14.47,14.61,28.83
$GC,4892,-0.91,-145.9,2193,2002,3759,3806,653.0,-11.7,424,4899,0.00,2.42,0.00,0.000,516,0.000,0.090,2192,592,3782,3759,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4983,-0.91,-145.9,2193,591,3759,3805,664.0,-11.9,442,4991,0.00,2.45,0.00,0.000,1030,0.000,0.089,2185,2000,3781,3759,3804,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5316,-0.91,-145.9,2184,2001,3759,3806,704.0,-12.0,458,5323,0.00,2.42,0.00,0.000,516,0.000,0.088,2184,590,3782,3759,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5378,-0.91,-145.9,2185,595,3760,3806,711.7,-12.0,470,5385,0.00,2.45,0.00,0.000,1030,0.000,0.089,2174,2002,3782,3759,3805,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,5709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5709,begin apogee
$GC,5714,-0.16,0.0,2171,2406,3760,3806,752.6,-12.2,486,5841,1.02,0.00,123.00,1.836,10246,0.275,0.000,2436,2406,3181,3134,3228,0,0,0,0,0,0,14.46,28.83,13.29
$STATE,5844,end apogee,CONTROL_FINISHED_OK
$STATE,5844,begin climb
$GC,5845,0.81,145.9,2436,2406,3127,3227,755.6,0.0,490,5980,1.02,2.55,121.93,1.811,10500,0.139,0.099,2750,3705,2582,2502,2663,0,0,0,0,0,0,13.97,13.47,12.82
$GC,6046,0.74,145.9,2750,3705,2497,2662,733.3,17.5,531,6054,0.00,2.30,0.00,0.000,1030,0.000,0.056,2760,2393,2578,2496,2661,0,0,0,0,0,0,28.83,13.75,28.83
$GC,6351,0.70,145.9,2760,2393,2497,2660,685.5,15.7,542,6358,0.15,2.47,0.00,0.000,4612,0.292,0.080,2734,994,2576,2496,2657,0,0,0,0,0,0,14.05,14.17,28.83
$GC,6462,0.68,145.9,2734,995,2497,2659,670.0,13.1,564,6469,0.00,2.50,0.00,0.000,1030,0.000,0.087,2734,2400,2576,2496,2657,0,0,0,0,0,0,28.83,14.27,28.83
$GC,6775,0.66,145.9,2734,2401,2497,2658,625.9,14.1,576,6781,0.00,2.45,0.00,0.000,516,0.000,0.083,2745,993,2576,2496,2657,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6872,0.64,145.9,2745,992,2496,2658,612.2,13.7,595,6879,0.20,2.47,0.00,0.000,5126,0.268,0.086,2699,2403,2576,2496,2657,0,0,0,0,0,0,14.31,14.43,28.83
$GC,7198,0.64,145.9,2700,2403,2496,2658,572.2,12.0,610,7205,0.00,2.45,0.00,0.000,516,0.000,0.084,2704,988,2576,2496,2657,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7301,0.65,145.9,2705,989,2496,2658,560.1,11.8,630,7307,0.00,2.47,0.00,0.000,1030,0.000,0.089,2703,2406,2576,2496,2657,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7623,0.65,145.9,2705,2407,2498,2657,520.5,12.3,644,7630,0.00,2.45,0.00,0.000,516,0.000,0.086,2704,988,2576,2495,2657,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7720,0.67,148.3,2705,988,2496,2657,508.8,11.5,663,7727,0.00,2.45,0.00,0.000,1030,0.000,0.089,2704,2399,2576,2496,2657,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8048,0.67,148.3,2704,2397,2497,2658,468.7,12.3,678,8054,0.00,2.40,0.00,0.000,516,0.000,0.084,2704,995,2576,2496,2657,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8135,0.68,151.1,2704,996,2497,2657,458.4,11.5,695,8143,0.00,2.45,1.12,0.283,9222,0.000,0.089,2704,2403,2566,2487,2645,0,0,0,0,0,0,28.83,14.62,14.43
$GC,8439,0.68,151.1,2705,2404,2495,2656,421.6,12.0,706,8447,0.00,2.42,0.00,0.000,516,0.000,0.084,2704,995,2574,2494,2655,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8521,0.70,152.5,2704,995,2495,2656,412.1,11.6,722,8534,0.00,2.45,2.78,1.022,9222,0.000,0.088,2704,2405,2560,2481,2640,0,0,0,0,0,0,28.83,14.57,13.61
$GC,8832,0.70,152.5,2705,2406,2491,2651,375.7,11.7,734,8843,0.00,2.50,1.65,0.392,8708,0.000,0.083,2711,994,2562,2480,2644,0,0,0,0,0,0,28.83,14.62,14.19
$GC,8919,0.72,157.3,2711,995,2484,2652,365.8,11.4,751,8935,0.00,2.45,9.20,1.470,9222,0.000,0.088,2710,2404,2536,2456,2616,0,0,0,0,0,0,28.83,14.62,13.95
$GC,9254,0.72,157.3,2711,2405,2454,2615,324.6,12.2,768,9261,0.00,2.42,0.00,0.000,516,0.000,0.083,2717,995,2533,2453,2614,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9376,0.73,157.3,2717,996,2454,2615,310.3,12.1,792,9383,0.00,2.45,0.00,0.000,1030,0.000,0.088,2717,2405,2533,2453,2614,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9708,0.73,159.0,2717,2406,2454,2614,271.1,11.5,808,9715,0.00,2.45,0.00,0.000,516,0.000,0.084,2716,986,2534,2454,2614,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9831,0.78,193.2,2718,986,2454,2614,258.2,9.8,832,9867,0.00,2.45,29.55,1.265,9222,0.000,0.088,2717,2398,2390,2312,2469,0,0,0,0,0,0,28.83,14.62,13.92
$GC,10172,0.81,215.0,2717,2402,2312,2463,221.0,10.5,870,10198,0.12,2.47,19.02,1.252,10756,0.142,0.083,2788,992,2299,2223,2376,0,0,0,0,0,0,14.59,14.47,13.90
$GC,10293,0.80,215.0,2788,992,2224,2373,205.1,13.9,894,10300,0.17,2.50,0.00,0.000,5126,0.279,0.087,2751,2410,2297,2223,2372,0,0,0,0,0,0,14.33,14.44,28.83
$GC,10605,0.82,247.1,2752,2411,2222,2373,171.7,9.9,926,10641,0.00,2.55,27.55,1.174,8708,0.000,0.083,2759,991,2168,2086,2250,0,0,0,0,0,0,28.83,14.38,13.86
$GC,10691,0.85,255.5,2760,992,2085,2247,162.4,11.2,943,10704,0.00,2.50,6.97,1.301,9222,0.000,0.087,2760,2406,2142,2060,2224,0,0,0,0,0,0,28.83,14.36,13.86
$GC,11008,0.88,267.9,2760,2407,2049,2222,126.6,11.0,976,11025,0.00,2.53,8.60,1.245,8708,0.000,0.084,2769,993,2087,2000,2174,0,0,0,0,0,0,28.83,14.45,13.93
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$STATE,13913,end climb,NO_VERTICAL_VELOCITY
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$STATE,13929,end subsurface finish,NO_VERTICAL_VELOCITY
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$MEM,222384
$DATA_FILE_SIZE,43230,1209
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