version: 66.12
glider: 197
mission: 6
dive: 371
start: 9 20 114 11 42 47
data:
$ID,197
$MISSION,6
$DIVE,371
$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,-13563.683
$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,20
$R_STBD_OVSHOOT,24
$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
$GPS1,200914,073632,7318.146,-14414.253,12,0.9,32,30.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-17.6
$GPS2,200914,073632,7318.146,-14414.253,12,0.9,32,30.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,165.8,92736,-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,-145.9,2577,1827,588,742,0.0,0.0,0,91,0.00,0.00,-70.93,0.000,16386,0.000,0.000,2576,1825,2307,2238,2376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.81,-145.9,2576,1825,2240,2377,3.4,-2.3,7,143,1.00,2.55,-41.53,0.000,20996,0.071,0.099,2223,379,3779,3759,3799,0,0,0,0,0,0,14.39,14.35,14.67
$GC,300,-0.75,-145.9,2224,378,3760,3803,59.7,-24.8,48,306,0.15,2.53,0.00,0.000,3078,0.316,0.083,2243,1797,3782,3761,3803,0,0,0,0,0,0,14.07,14.31,28.83
$GC,603,-0.75,-145.9,2244,1798,3761,3803,117.3,-16.1,79,608,0.00,2.58,0.00,0.000,260,0.000,0.103,2235,3220,3782,3761,3803,0,0,0,0,0,0,28.83,14.30,28.83
$GC,643,-0.73,-145.9,2236,3220,3762,3804,124.0,-17.4,87,648,0.00,2.45,0.00,0.000,1030,0.000,0.062,2238,1795,3782,3761,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,953,-0.73,-145.9,2235,1794,3761,3804,174.5,-15.6,119,958,0.00,2.58,0.00,0.000,260,0.000,0.103,2224,3218,3782,3761,3803,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1100,-0.71,-145.9,2225,3218,3761,3804,180.8,-2.9,125,1105,0.15,2.45,0.00,0.000,3078,0.275,0.063,2255,1796,3782,3761,3803,0,0,0,0,0,0,14.13,14.38,28.83
$GC,1412,-0.74,-145.9,2255,1796,3762,3804,220.7,-11.6,157,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1795,3782,3761,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1711,-0.78,-145.9,2255,1796,3761,3804,253.9,-10.4,185,1716,0.00,2.58,0.00,0.000,260,0.000,0.103,2247,3216,3782,3761,3803,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1791,-0.81,-145.9,2248,3217,3761,3804,262.7,-10.5,201,1796,0.00,2.45,0.00,0.000,1030,0.000,0.064,2246,1792,3782,3761,3803,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2103,-0.85,-145.9,2248,1791,3761,3804,295.1,-10.3,213,2108,0.00,2.58,0.00,0.000,260,0.000,0.104,2237,3222,3781,3760,3803,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2183,-0.88,-145.9,2237,3222,3760,3803,303.9,-10.4,229,2188,0.00,2.45,0.00,0.000,1030,0.000,0.063,2237,1793,3781,3759,3803,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2495,-0.91,-145.9,2238,1793,3759,3804,335.2,-10.0,241,2497,0.12,0.00,0.00,0.000,4102,0.148,0.000,2178,1793,3781,3759,3803,0,0,0,0,0,0,14.57,28.83,28.83
$GC,2795,-0.91,-145.9,2178,1792,3759,3804,372.6,-12.5,251,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1792,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3093,-0.91,-145.9,2179,1792,3759,3802,410.2,-12.5,261,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1792,3780,3759,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3393,-0.91,-145.9,2179,1793,3760,3804,446.9,-12.2,271,3398,0.00,2.55,0.00,0.000,260,0.000,0.102,2167,3215,3781,3759,3804,0,0,0,0,0,0,28.83,14.43,28.83
$GC,3434,-0.89,-145.9,2169,3216,3759,3804,452.1,-13.2,279,3439,0.15,2.42,0.00,0.000,3078,0.280,0.063,2198,1795,3781,3759,3803,0,0,0,0,0,0,14.20,14.50,28.83
$GC,3756,-0.90,-145.9,2199,1795,3759,3804,487.8,-11.0,293,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1794,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4054,-0.92,-145.9,2199,1794,3760,3804,520.7,-10.9,303,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1794,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,-0.93,-145.9,2198,1795,3759,3804,553.0,-10.6,313,4359,0.00,2.53,0.00,0.000,260,0.000,0.099,2190,3215,3781,3759,3804,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4414,-0.93,-145.9,2190,3215,3760,3804,560.1,-11.9,325,4419,0.00,2.40,0.00,0.000,1030,0.000,0.062,2190,1800,3781,3759,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4746,-0.93,-145.9,2190,1801,3760,3805,597.5,-11.3,341,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1800,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5044,-0.93,-145.9,2189,1801,3759,3805,631.7,-11.4,351,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1800,3781,3758,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5344,-0.93,-145.9,2190,1801,3759,3804,666.1,-11.5,361,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1800,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,-0.94,-145.9,2190,1801,3759,3805,700.3,-11.3,371,5649,0.00,2.53,0.00,0.000,260,0.000,0.100,2179,3216,3782,3759,3805,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5699,-0.94,-145.9,2179,3217,3760,3806,707.0,-12.2,382,5705,0.00,2.42,0.00,0.000,1030,0.000,0.062,2179,1793,3782,3759,3805,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6005,-0.94,-145.9,2179,1793,3759,3806,742.6,-11.5,393,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1792,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6092,begin apogee
$GC,6098,-0.16,0.0,2176,2195,3759,3805,753.1,-11.6,396,6227,0.98,0.00,126.07,1.830,10246,0.246,0.000,2432,2194,3181,3140,3223,0,0,0,0,0,0,14.21,28.83,13.19
$STATE,6228,end apogee,CONTROL_FINISHED_OK
$STATE,6228,begin climb
$GC,6230,0.81,145.9,2432,2195,3131,3221,756.1,0.0,400,6365,1.05,0.00,126.32,1.809,10246,0.132,0.000,2751,2194,2577,2499,2655,0,0,0,0,0,0,13.95,28.83,12.73
$GC,6664,0.79,145.9,2752,2195,2491,2653,704.6,13.8,415,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2194,2571,2490,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6965,0.77,145.9,2751,2195,2491,2652,663.8,13.6,425,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2194,2570,2490,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7265,0.75,145.9,2752,2195,2491,2651,622.6,13.7,435,7270,0.00,2.50,0.00,0.000,516,0.000,0.077,2762,764,2570,2490,2650,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7300,0.74,145.9,2763,765,2491,2651,617.7,13.6,442,7305,0.15,2.47,0.00,0.000,5126,0.277,0.081,2731,2180,2570,2490,2650,0,0,0,0,0,0,14.21,14.47,28.83
$GC,7627,0.74,145.9,2732,2181,2489,2650,576.6,12.5,457,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2180,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7925,0.74,145.9,2732,2181,2491,2650,538.8,12.7,467,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2181,2568,2490,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8226,0.74,145.9,2732,2181,2491,2648,501.8,12.2,477,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2181,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8525,0.74,145.9,2732,2181,2490,2650,464.6,12.4,487,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2181,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8825,0.74,145.9,2732,2181,2491,2650,427.6,12.3,497,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2181,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9125,0.74,145.9,2732,2181,2492,2650,390.9,12.2,507,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2181,2569,2490,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9425,0.74,145.9,2732,2181,2491,2650,355.3,11.8,517,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2181,2570,2490,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9725,0.74,150.3,2732,2181,2491,2650,320.9,11.4,527,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2180,2569,2490,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10025,0.75,170.4,2732,2181,2491,2650,288.4,10.6,537,10050,0.00,2.42,20.42,1.285,8708,0.000,0.076,2740,767,2479,2405,2553,0,0,0,0,0,0,28.83,14.66,13.96
$GC,10086,0.77,170.4,2741,766,2403,2546,281.8,11.7,549,10091,0.00,2.47,0.00,0.000,1030,0.000,0.080,2740,2183,2474,2403,2546,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10398,0.79,173.9,2741,2184,2402,2546,245.7,11.4,565,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2183,2473,2400,2546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10696,0.85,233.7,2741,2184,2401,2546,216.8,8.4,595,10757,0.00,2.55,52.17,1.176,8452,0.000,0.099,2740,3585,2216,2139,2293,0,0,0,0,0,0,28.83,14.40,13.81
$GC,10827,0.86,233.7,2741,3585,2130,2295,202.8,12.1,621,10832,0.00,2.40,0.00,0.000,1030,0.000,0.057,2747,2171,2212,2131,2294,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11139,0.93,272.0,2748,2169,2129,2294,171.8,9.6,653,11178,0.12,2.45,31.42,1.131,10756,0.139,0.080,2813,770,2064,1981,2148,0,0,0,0,0,0,14.50,14.45,13.85
$GC,11200,0.93,272.0,2813,771,1981,2138,164.2,13.0,665,11205,0.00,2.47,0.00,0.000,1030,0.000,0.081,2813,2180,2058,1980,2137,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11511,0.93,272.0,2813,2180,1974,2138,123.5,12.7,697,11515,0.00,2.53,0.00,0.000,260,0.000,0.100,2813,3590,2055,1973,2137,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11546,0.90,272.0,2813,3590,1974,2138,118.5,14.8,704,11552,0.17,2.40,0.00,0.000,5126,0.277,0.057,2784,2178,2054,1971,2137,0,0,0,0,0,0,14.12,14.42,28.83
$GC,11853,0.97,328.6,2785,2177,1971,2138,87.1,8.6,735,11881,0.00,0.00,24.02,0.431,8710,0.000,0.000,2784,2177,1841,1751,1932,0,0,0,0,0,0,28.83,28.83,14.06
$GC,12183,1.11,440.6,2785,2177,1769,1937,61.6,5.7,769,12242,0.20,2.55,52.65,0.356,10500,0.106,0.098,2865,3593,1383,1285,1482,0,0,0,0,0,0,14.38,14.31,14.05
$GC,12283,1.11,440.6,2866,3593,1292,1483,50.5,13.9,787,12287,0.00,2.42,0.00,0.000,1030,0.000,0.059,2875,2184,1387,1292,1482,0,0,0,0,0,0,28.83,14.33,28.83
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$STATE,13269,end climb,NO_VERTICAL_VELOCITY
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$STATE,13284,end subsurface finish,NO_VERTICAL_VELOCITY
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$FG_AHR_10Vo,0.000
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$MEM,115884
$DATA_FILE_SIZE,30012,923
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$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$GPS,200914,073632,7318.146,-14414.253,12,0.9,32,30.1