version: 66.12
glider: 197
mission: 6
dive: 240
start: 8 31 114 14 59 23
data:
$ID,197
$MISSION,6
$DIVE,240
$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,-9190.5508
$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,23
$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
$GPS1,310814,105557,7431.453,-14703.308,181,99.0,181,29.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-47.9
$GPS2,310814,105557,7431.453,-14703.308,181,99.0,181,29.3
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,337.6,53253,-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,17,-0.81,-145.9,173,1798,422,566,0.0,0.0,0,81,0.00,0.00,-61.80,0.000,16386,0.000,0.000,173,1798,1971,1971,1971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.81,-145.9,173,1798,1972,1972,3.5,-1.4,6,142,10.07,2.60,-42.88,0.000,19204,0.423,0.122,2209,3215,3779,3760,3798,0,0,0,0,0,0,14.18,14.47,14.74
$GC,367,-0.74,-145.9,2209,3216,3762,3803,84.0,-23.5,63,373,0.20,2.42,0.00,0.000,3078,0.295,0.066,2251,1798,3782,3761,3803,0,0,0,0,0,0,14.28,14.50,28.83
$GC,672,-0.74,-145.9,2252,1798,3761,3804,136.7,-16.4,94,677,0.00,2.50,0.00,0.000,260,0.000,0.103,2244,3208,3782,3761,3803,0,0,0,0,0,0,28.83,14.47,28.83
$GC,902,-0.74,-145.9,2244,3208,3761,3804,174.3,-15.7,140,907,0.00,2.40,0.00,0.000,1030,0.000,0.067,2244,1798,3782,3761,3803,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1212,-0.74,-145.9,2244,1798,3762,3805,220.1,-13.7,172,1217,0.00,2.50,0.00,0.000,260,0.000,0.103,2233,3208,3782,3761,3803,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1377,-0.74,-145.9,2233,3209,3768,3805,243.2,-13.3,205,1383,0.00,2.45,0.00,0.000,1030,0.000,0.068,2233,1796,3782,3761,3804,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1682,-0.75,-145.9,2233,1796,3762,3805,280.3,-12.1,220,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,1795,3782,3760,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1982,-0.78,-145.9,2233,1796,3761,3805,315.2,-11.5,230,1987,0.00,2.50,0.00,0.000,260,0.000,0.106,2224,3208,3782,3760,3804,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2052,-0.78,-145.9,2224,3208,3760,3804,323.4,-11.4,244,2057,0.00,2.40,0.00,0.000,1030,0.000,0.067,2223,1793,3782,3760,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2373,-0.79,-145.9,2224,1793,3761,3804,359.6,-11.1,258,2378,0.00,2.50,0.00,0.000,260,0.000,0.106,2214,3208,3781,3759,3804,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2403,-0.79,-145.9,2221,3208,3759,3804,363.1,-12.5,264,2408,0.00,2.40,0.00,0.000,1030,0.000,0.067,2214,1793,3781,3759,3804,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2735,-0.80,-145.9,2214,1794,3760,3805,401.1,-11.3,280,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1793,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3033,-0.82,-145.9,2214,1794,3760,3805,434.6,-11.1,290,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1793,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3334,-0.84,-145.9,2215,1794,3759,3804,467.6,-11.0,300,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1793,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4023,-0.85,-145.9,2214,1794,3760,3804,498.7,-1.6,310,4028,0.00,2.50,0.00,0.000,260,0.000,0.103,2203,3210,3782,3759,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4083,-0.85,-145.9,2207,3209,3759,3805,505.8,-11.4,322,4088,0.00,2.38,0.00,0.000,1030,0.000,0.066,2207,1802,3781,3759,3804,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4414,-0.87,-145.9,2207,1802,3760,3805,543.0,-11.1,338,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1802,3779,3755,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4713,-0.88,-145.9,2207,1802,3760,3804,576.5,-11.1,348,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1801,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5013,-0.89,-145.9,2207,1802,3760,3805,609.5,-11.0,358,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1801,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5314,-0.90,-145.9,2207,1802,3759,3805,641.9,-10.8,368,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1801,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5613,-0.92,-145.9,2207,1802,3760,3805,674.2,-10.7,378,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,1801,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5913,-0.94,-145.9,2207,1803,3760,3805,706.3,-10.7,388,5918,0.00,2.47,0.00,0.000,260,0.000,0.104,2201,3216,3782,3759,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5968,-0.94,-145.9,2202,3211,3760,3805,712.6,-11.3,399,5974,0.00,2.38,0.00,0.000,1030,0.000,0.066,2201,1799,3782,3759,3805,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6274,-0.95,-145.9,2202,1798,3759,3805,746.0,-11.0,410,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,1798,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6331,begin apogee
$GC,6335,-0.16,0.0,2200,2184,3760,3805,752.5,-10.9,412,6460,0.90,0.00,121.88,1.847,10246,0.259,0.000,2437,2183,3182,3138,3227,0,0,0,0,0,0,14.45,28.83,13.29
$STATE,6461,end apogee,CONTROL_FINISHED_OK
$STATE,6461,begin climb
$GC,6463,0.81,145.9,2438,2183,3133,3226,755.3,0.0,416,6591,1.05,0.00,124.57,1.819,10246,0.138,0.000,2753,2183,2584,2505,2664,0,0,0,0,0,0,13.99,28.83,12.81
$GC,6873,0.78,145.9,2753,2183,2498,2660,703.4,14.9,430,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2183,2581,2497,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7173,0.74,145.9,2753,2183,2498,2659,658.7,14.9,440,7178,0.00,2.50,0.00,0.000,516,0.000,0.086,2763,761,2577,2496,2658,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7233,0.71,145.9,2764,762,2497,2658,649.7,14.9,452,7238,0.17,2.50,0.00,0.000,5126,0.285,0.083,2727,2186,2577,2497,2657,0,0,0,0,0,0,14.26,14.45,28.83
$GC,7563,0.71,145.9,2727,2187,2497,2657,605.8,13.1,468,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2186,2576,2496,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7863,0.71,145.9,2727,2187,2498,2657,566.1,13.2,478,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2186,2577,2497,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8163,0.71,145.9,2727,2187,2497,2657,526.8,13.0,488,8168,0.00,2.47,0.00,0.000,516,0.000,0.086,2735,758,2577,2497,2657,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8208,0.71,145.9,2736,759,2497,2657,520.7,13.7,497,8213,0.00,2.45,0.00,0.000,1030,0.000,0.083,2735,2180,2576,2497,2656,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8524,0.70,145.9,2736,2181,2498,2657,478.4,13.5,510,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2181,2576,2497,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8823,0.68,145.9,2736,2181,2497,2657,438.0,13.4,520,8828,0.00,2.45,0.00,0.000,516,0.000,0.086,2746,762,2576,2497,2656,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8848,0.67,145.9,2745,762,2497,2657,434.6,13.3,525,8854,0.15,2.45,0.00,0.000,5126,0.269,0.083,2714,2186,2576,2497,2656,0,0,0,0,0,0,14.50,14.68,28.83
$GC,9154,0.67,145.9,2714,2187,2498,2656,397.9,11.9,536,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2186,2576,2496,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9453,0.67,145.9,2714,2187,2498,2657,362.3,11.8,546,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2186,2576,2497,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9753,0.67,145.9,2714,2187,2498,2657,327.5,11.7,556,9758,0.00,2.45,0.00,0.000,516,0.000,0.086,2717,767,2576,2497,2656,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9778,0.68,150.8,2718,767,2497,2657,324.5,11.4,561,9784,0.00,2.45,1.05,0.291,9222,0.000,0.083,2718,2188,2568,2489,2647,0,0,0,0,0,0,28.83,14.69,14.41
$GC,10084,0.69,164.3,2718,2189,2496,2656,290.7,10.9,572,10101,0.00,0.00,15.80,1.352,8198,0.000,0.000,2717,2188,2510,2433,2588,0,0,0,0,0,0,28.83,28.83,14.06
$GC,10384,0.72,180.5,2718,2189,2427,2582,257.3,10.8,582,10400,0.00,0.00,14.20,1.324,8198,0.000,0.000,2717,2188,2446,2370,2522,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10683,0.77,226.0,2718,2189,2364,2517,227.7,9.2,606,10724,0.00,0.00,38.30,1.216,8198,0.000,0.000,2717,2188,2256,2178,2334,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11024,0.85,272.7,2718,2189,2170,2332,196.1,9.1,640,11065,0.15,0.00,39.08,1.177,10246,0.125,0.000,2783,2188,2069,1984,2154,0,0,0,0,0,0,14.50,28.83,13.83
$GC,11363,0.85,272.7,2783,2189,1972,2147,152.6,12.1,674,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2187,2059,1971,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11663,0.87,277.0,2783,2189,1970,2148,116.0,11.4,704,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2188,2058,1969,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11963,0.91,309.1,2783,2189,1968,2148,84.3,9.9,734,11984,0.00,0.00,15.25,0.443,8198,0.000,0.000,2783,2188,1924,1834,2014,0,0,0,0,0,0,28.83,28.83,14.15
$GC,12285,0.99,365.7,2784,2189,1834,2016,55.0,8.6,766,12315,0.00,2.58,25.90,0.347,8452,0.000,0.103,2783,3586,1691,1596,1786,0,0,0,0,0,0,28.83,14.40,14.19
$GC,12325,1.09,428.0,2784,3587,1596,1786,51.5,8.3,772,12361,0.15,2.40,28.33,0.334,11270,0.124,0.060,2858,2165,1437,1336,1539,0,0,0,0,0,0,14.46,14.45,14.15
$GC,12666,1.22,549.9,2856,2166,1331,1539,24.3,5.1,810,12727,0.00,0.00,54.67,0.250,8198,0.000,0.000,2856,2165,937,838,1037,0,0,0,0,0,0,28.83,28.83,14.21
$FREEZE,8.45,-1.200,-1.416,2,2,0
$FREEZE,7.90,-1.201,-1.415,2,2,0
$FREEZE,7.26,-1.201,-1.415,2,2,0
$FREEZE,6.60,-1.200,-1.414,2,2,0
$FREEZE,5.91,-1.201,-1.414,2,2,0
$FREEZE,5.29,-1.202,-1.413,2,2,0
$FREEZE,4.80,-1.204,-1.413,2,2,0
$FREEZE,4.26,-1.202,-1.412,2,2,0
$FREEZE,3.68,-1.208,-1.412,2,2,0
$FREEZE,2.93,-1.209,-1.411,2,2,0
$FREEZE,2.73,-1.215,-1.411,2,2,0
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$STATE,13398,end climb,NO_VERTICAL_VELOCITY
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$STATE,13412,end subsurface finish,NO_VERTICAL_VELOCITY
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$IRIDIUM_FIX,7350.26,-14714.44,310814,104935
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$XPDR_PINGS,0
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$24V_AH,12.81,101.460
$10V_AH,12.98,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_MAMPS,423.045,122.400,1846.710,0.000,0.000,0.000,0.000,48.960,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.952,0.000,0.000,0.000
$MEM,186616
$DATA_FILE_SIZE,30049,910
$CAP_FILE_SIZE,151081,0
$CFSIZE,1047117824,998686720
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14584.97,0x2378b6,7,5
$INTR,1,13399.85,0x2378b6,5,5
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