version: 66.12
glider: 197
mission: 6
dive: 372
start: 9 20 114 15 46 34
data:
$ID,197
$MISSION,6
$DIVE,372
$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,31
$R_STBD_OVSHOOT,20
$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,2.69
$_SM_ANGLEo,0.1
$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,-145.9,2568,1799,504,673,0.0,0.0,0,71,0.00,0.00,-51.22,0.000,16386,0.000,0.000,2568,1798,1850,1793,1907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.81,-145.9,2568,1799,1794,1908,3.0,-0.9,5,141,0.98,2.45,-59.47,0.000,20996,0.072,0.093,2221,389,3778,3759,3798,0,0,0,0,0,0,14.40,14.36,14.66
$GC,342,-0.76,-145.9,2222,389,3760,3802,73.3,-22.6,59,347,0.15,2.53,0.00,0.000,3078,0.314,0.083,2242,1798,3780,3759,3801,0,0,0,0,0,0,14.04,14.23,28.83
$GC,652,-0.76,-145.9,2243,1800,3760,3802,127.6,-16.8,91,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1799,3780,3760,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1043,-0.76,-145.9,2243,1800,3760,3802,174.5,-15.0,121,1047,0.00,2.55,0.00,0.000,260,0.000,0.103,2234,3213,3780,3759,3802,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1134,-0.76,-145.9,2235,3214,3760,3802,188.8,-15.3,139,1139,0.00,2.42,0.00,0.000,1030,0.000,0.061,2234,1805,3781,3760,3802,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1446,-0.77,-145.9,2235,1805,3760,3802,231.8,-13.0,171,1450,0.00,2.55,0.00,0.000,260,0.000,0.103,2223,3214,3780,3759,3802,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1476,-0.77,-145.9,2224,3214,3760,3802,236.2,-13.6,177,1480,0.00,2.42,0.00,0.000,1030,0.000,0.062,2224,1801,3780,3759,3802,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1796,-0.79,-145.9,2224,1800,3760,3802,275.3,-11.9,196,1800,0.00,2.55,0.00,0.000,260,0.000,0.104,2216,3213,3780,3759,3801,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1890,-0.79,-145.9,2217,3214,3759,3802,286.7,-11.9,215,1895,0.00,2.42,0.00,0.000,1030,0.000,0.063,2216,1796,3780,3759,3802,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2218,-0.81,-145.9,2216,1796,3760,3802,323.3,-11.3,230,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1794,3780,3758,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-0.83,-145.9,2216,1796,3759,3802,357.2,-11.3,240,2522,0.00,2.55,0.00,0.000,260,0.000,0.104,2214,3213,3780,3758,3802,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2593,-0.84,-145.9,2210,3213,3758,3802,366.1,-11.9,255,2598,0.00,2.42,0.00,0.000,1030,0.000,0.062,2209,1802,3779,3758,3801,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2910,-0.86,-145.9,2210,1802,3759,3802,401.5,-11.2,268,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1802,3780,3758,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3208,-0.88,-145.9,2210,1802,3759,3802,435.1,-11.1,278,3213,0.00,2.55,0.00,0.000,260,0.000,0.103,2204,3218,3780,3758,3802,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3268,-0.88,-145.9,2204,3219,3759,3802,442.3,-12.7,290,3273,0.00,2.42,0.00,0.000,1030,0.000,0.062,2203,1798,3779,3758,3801,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3600,-0.89,-145.9,2204,1797,3758,3802,479.4,-11.1,306,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,1796,3780,3758,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.91,-145.9,2204,1797,3758,3802,512.2,-10.8,316,3903,0.00,2.55,0.00,0.000,260,0.000,0.103,2196,3214,3780,3758,3802,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3964,-0.91,-145.9,2197,3214,3759,3802,519.8,-11.8,329,3968,0.00,2.40,0.00,0.000,1030,0.000,0.062,2197,1802,3780,3758,3802,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4291,-0.92,-145.9,2197,1801,3758,3802,556.0,-11.2,344,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1801,3780,3758,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4589,-0.94,-145.9,2196,1801,3759,3801,589.0,-10.9,354,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,1801,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4889,-0.95,-145.9,2196,1801,3758,3804,621.9,-10.9,364,4894,0.00,2.55,0.00,0.000,260,0.000,0.103,2189,3219,3780,3758,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4939,-0.95,-145.9,2190,3220,3758,3803,627.6,-11.2,374,4944,0.00,2.42,0.00,0.000,1030,0.000,0.062,2189,1795,3780,3758,3803,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5251,-0.95,-145.9,2190,1795,3759,3804,662.3,-11.2,386,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1794,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5549,-0.95,-145.9,2190,1794,3753,3804,695.5,-11.1,396,5554,0.00,2.55,0.00,0.000,260,0.000,0.103,2187,3213,3780,3758,3803,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5604,-0.95,-145.9,2187,3214,3759,3804,702.0,-12.1,407,5610,0.00,2.42,0.00,0.000,1030,0.000,0.061,2186,1792,3780,3758,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5910,-0.95,-145.9,2187,1792,3758,3804,735.8,-11.0,418,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1792,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6057,begin apogee
$GC,6063,-0.16,0.0,2186,2193,3759,3805,752.4,-11.0,423,6192,0.95,0.00,126.12,1.828,10246,0.247,0.000,2435,2192,3182,3141,3223,0,0,0,0,0,0,14.21,28.83,13.19
$STATE,6192,end apogee,CONTROL_FINISHED_OK
$STATE,6193,begin climb
$GC,6195,0.81,145.9,2436,2193,3131,3221,755.2,0.0,427,6332,1.00,2.72,124.95,1.809,10756,0.132,0.076,2754,773,2578,2502,2655,0,0,0,0,0,0,13.94,13.47,12.73
$GC,6337,0.78,145.9,2754,773,2502,2653,744.0,12.7,458,6342,0.00,2.65,0.00,0.000,1030,0.000,0.078,2754,2179,2576,2500,2652,0,0,0,0,0,0,28.83,13.52,28.83
$GC,6665,0.76,145.9,2754,2180,2494,2653,698.3,14.1,473,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2179,2573,2494,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6962,0.74,145.9,2751,2177,2493,2653,655.8,14.3,483,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2179,2572,2493,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7263,0.72,145.9,2755,2180,2493,2653,613.2,14.1,493,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2179,2572,2492,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7563,0.70,145.9,2754,2180,2493,2653,571.3,13.9,503,7564,0.15,0.00,0.00,0.000,4102,0.297,0.000,2723,2179,2572,2492,2652,0,0,0,0,0,0,14.24,28.83,28.83
$GC,7863,0.70,145.9,2724,2180,2491,2652,534.9,12.0,513,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2179,2571,2492,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8163,0.70,145.9,2724,2180,2492,2652,498.9,12.0,523,8167,0.00,2.45,0.00,0.000,516,0.000,0.076,2732,766,2572,2492,2652,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8182,0.70,145.9,2732,766,2493,2652,496.4,12.4,527,8187,0.00,2.47,0.00,0.000,1030,0.000,0.080,2732,2188,2571,2492,2651,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8493,0.70,145.9,2732,2190,2493,2652,458.8,12.1,539,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2189,2571,2492,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8793,0.70,145.9,2732,2190,2493,2652,422.7,12.1,549,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2189,2571,2492,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9093,0.70,145.9,2733,2189,2492,2652,387.1,11.7,559,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2189,2571,2492,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9393,0.71,152.0,2733,2189,2492,2651,352.8,11.3,569,9395,0.00,0.00,1.12,0.254,8198,0.000,0.000,2732,2189,2559,2481,2638,0,0,0,0,0,0,28.83,28.83,14.31
$GC,9693,0.71,154.8,2732,2190,2493,2649,318.4,11.5,579,9697,0.00,0.00,2.45,0.590,8198,0.000,0.000,2732,2189,2549,2471,2627,0,0,0,0,0,0,28.83,28.83,13.66
$GC,9993,0.72,166.5,2733,2190,2490,2645,284.8,11.0,589,10011,0.00,0.00,16.80,1.294,8198,0.000,0.000,2732,2189,2503,2427,2579,0,0,0,0,0,0,28.83,28.83,13.96
$GC,10295,0.76,195.5,2733,2190,2415,2566,253.2,10.1,599,10323,0.00,0.00,24.75,1.245,8198,0.000,0.000,2732,2189,2376,2305,2447,0,0,0,0,0,0,28.83,28.83,13.93
$GC,10623,0.80,214.8,2732,2190,2299,2442,219.8,10.6,628,10643,0.00,0.00,16.20,1.218,8454,0.000,0.000,2732,2188,2301,2232,2371,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10945,0.88,274.2,2733,2189,2217,2366,189.8,8.5,662,11004,0.12,2.58,49.75,1.144,10500,0.143,0.099,2793,3590,2052,1968,2136,0,0,0,0,0,0,14.47,14.35,13.80
$GC,11074,0.86,274.2,2793,3590,1961,2131,172.2,15.2,688,11080,0.15,2.42,0.00,0.000,5126,0.281,0.057,2774,2165,2045,1960,2131,0,0,0,0,0,0,14.13,14.40,28.83
$GC,11387,0.90,281.0,2774,2164,1958,2130,136.7,11.3,720,11392,0.00,2.40,0.00,0.000,516,0.000,0.079,2782,776,2043,1958,2129,0,0,0,0,0,0,28.83,14.43,28.83
$GC,11407,0.94,289.0,2783,776,1958,2129,134.2,11.2,724,11423,0.00,2.47,11.18,1.121,9222,0.000,0.083,2782,2182,2002,1915,2090,0,0,0,0,0,0,28.83,14.31,13.88
$GC,11728,0.99,311.8,2783,2183,1900,2082,99.7,10.4,758,11739,0.00,0.00,9.30,0.435,8198,0.000,0.000,2781,2182,1909,1819,2000,0,0,0,0,0,0,28.83,28.83,14.01
$GC,12040,1.11,394.5,2782,2182,1838,2013,70.0,7.2,789,12089,0.17,2.60,39.58,0.380,10500,0.113,0.100,2862,3588,1572,1478,1667,0,0,0,0,0,0,14.30,14.34,14.05
$GC,12124,1.09,394.5,2863,3588,1479,1668,60.4,13.6,806,12130,0.15,2.40,0.00,0.000,5126,0.283,0.058,2843,2181,1574,1481,1667,0,0,0,0,0,0,14.12,14.35,28.83
$GC,12431,1.18,459.8,2843,2180,1486,1668,31.3,8.2,837,12470,0.00,2.60,31.05,0.267,8452,0.000,0.101,2843,3587,1305,1202,1408,0,0,0,0,0,0,28.83,14.26,14.12
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$STATE,13280,end climb,NO_VERTICAL_VELOCITY
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$STATE,13294,end subsurface finish,NO_VERTICAL_VELOCITY
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$GPS,200914,073632,7318.146,-14414.253,12,0.9,32,30.1