version: 66.12
glider: 196
mission: 7
dive: 418
start: 9 25 114 1 26 46
data:
$ID,196
$MISSION,7
$DIVE,418
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,300
$T_MISSION,330
$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,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-12006.904
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-73.350418
$PRESSURE_SLOPE,0.0001164176
$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,10
$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,0.75
$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,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$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
$GPS1,240914,101826,7236.094,-14125.888,181,99.0,181,23.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-79.0
$GPS2,250914,012624,7229.675,-14136.593,39,1.0,59,23.7
$SPEED_LIMITS,0.191,0.270
$TGT_NAME,a
$TGT_LATLONG,7130.000,-14800.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,220.2,250955,-19.5,-11.000,-22.14,2450
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.63,-175.1,204,2739,427,564,0.0,0.0,0,90,0.00,0.00,-70.85,0.000,16386,0.000,0.000,204,2739,2208,2224,2193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.63,-175.1,205,2739,2225,2194,3.5,-3.1,7,142,12.27,1.92,-31.27,0.000,18692,0.390,0.121,2676,3785,3963,4018,3909,0,0,0,0,0,0,13.83,14.16,14.44
$GC,352,-0.63,-175.1,2677,3786,4019,3915,76.8,-22.6,59,357,0.00,1.73,0.00,0.000,1030,0.000,0.049,2676,2734,3966,4018,3914,0,0,0,0,0,0,28.83,14.26,28.83
$GC,663,-0.63,-175.1,2677,2734,4019,3914,134.7,-17.4,91,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2739,3966,4018,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,962,-0.63,-175.1,2677,2734,4019,3915,184.9,-15.1,121,967,0.00,2.30,0.00,0.000,516,0.000,0.063,2676,1376,3969,4025,3914,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1012,-0.63,-175.1,2677,1375,4020,3914,191.9,-13.0,131,1017,0.00,2.47,0.00,0.000,1030,0.000,0.093,2665,2759,3966,4019,3914,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1322,-0.63,-175.1,2666,2759,4020,3914,234.7,-13.5,163,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2758,3966,4019,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1622,-0.63,-175.1,2666,2759,4020,3914,274.6,-13.0,181,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2759,3966,4018,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,-0.63,-175.1,2666,2759,4020,3914,311.3,-12.0,191,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2759,3966,4019,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2222,-0.63,-175.1,2666,2760,4020,3914,347.6,-12.2,201,2230,0.00,1.80,0.00,0.000,260,0.000,0.101,2657,3786,3966,4018,3914,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2250,-0.63,-175.1,2657,3786,4020,3914,351.3,-13.5,206,2256,0.10,1.73,0.00,0.000,3078,0.207,0.052,2697,2750,3966,4018,3914,0,0,0,0,0,0,14.08,14.43,28.83
$GC,2557,-0.63,-175.1,2698,2751,4019,3915,381.4,-9.6,217,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2750,3966,4018,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2856,-0.63,-175.1,2698,2750,4019,3914,409.3,-9.2,227,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2750,3966,4018,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3156,-0.63,-175.1,2698,2751,4019,3915,437.0,-9.2,237,3160,0.00,2.30,0.00,0.000,516,0.000,0.061,2697,1370,3966,4019,3914,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3205,-0.63,-175.1,2698,1370,4019,3915,441.4,-8.7,247,3210,0.00,2.45,0.00,0.000,1030,0.000,0.093,2690,2753,3966,4019,3914,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3517,-0.63,-175.1,2691,2753,4020,3915,469.8,-9.1,259,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2753,3966,4019,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-0.63,-175.1,2691,2753,4020,3914,496.8,-9.1,269,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2753,3966,4019,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4116,-0.63,-175.1,2691,2757,4020,3915,524.0,-9.0,279,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2753,3966,4019,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4416,-0.63,-175.1,2691,2753,4020,3915,551.5,-9.2,289,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2753,3966,4018,3915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4716,-0.63,-175.1,2691,2754,4020,3916,579.1,-9.2,299,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2753,3967,4019,3915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5016,-0.63,-175.1,2691,2754,4019,3916,606.9,-9.2,309,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2754,3967,4019,3915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5316,-0.63,-175.1,2691,2754,4020,3916,634.5,-9.2,319,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2753,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5616,-0.63,-175.1,2691,2754,4019,3917,661.9,-9.2,329,5620,0.00,2.33,0.00,0.000,516,0.000,0.061,2690,1368,3967,4019,3916,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5660,-0.63,-175.1,2691,1367,4020,3922,665.9,-9.6,338,5665,0.00,2.47,0.00,0.000,1030,0.000,0.095,2688,2760,3967,4019,3916,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5977,-0.63,-175.1,2689,2756,4019,3917,694.6,-9.1,351,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2755,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6276,-0.63,-175.1,2689,2756,4019,3917,721.8,-9.1,361,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2755,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6576,-0.63,-175.1,2689,2755,4020,3916,748.4,-8.8,371,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2754,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6876,-0.63,-175.1,2689,2756,4019,3917,774.9,-8.7,381,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2754,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7176,-0.63,-175.1,2688,2756,4019,3917,800.8,-8.6,391,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2755,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7476,-0.63,-175.1,2689,2756,4019,3917,827.0,-8.7,401,7480,0.00,2.33,0.00,0.000,516,0.000,0.062,2688,1369,3967,4019,3916,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7520,-0.63,-175.1,2689,1370,4019,3917,830.9,-8.7,410,7525,0.00,2.45,0.00,0.000,1030,0.000,0.096,2688,2743,3967,4019,3916,0,0,0,0,0,0,28.83,14.26,28.83
$GC,7837,-0.63,-175.1,2689,2744,4020,3916,857.7,-8.5,423,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2742,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8136,-0.63,-175.1,2690,2744,4020,3917,883.0,-8.3,433,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2744,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8436,-0.63,-175.1,2689,2744,4020,3916,908.3,-8.4,443,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2744,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8736,-0.63,-175.1,2689,2745,4019,3917,933.7,-8.5,453,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2744,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9036,-0.63,-175.1,2686,2746,4020,3917,959.2,-8.5,463,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2745,3967,4019,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9337,-0.63,-175.1,2687,2744,4021,3916,984.6,-8.6,473,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2745,3968,4019,3917,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9423,begin apogee
$GC,9429,-0.13,0.0,2687,2745,4021,3916,992.2,-8.5,476,9590,0.60,0.00,158.62,2.300,10244,0.191,0.000,2848,2745,3256,3278,3235,0,0,0,0,0,0,14.01,28.83,12.54
$STATE,9591,end apogee,CONTROL_FINISHED_OK
$STATE,9591,begin climb
$GC,9593,0.63,175.1,2849,2745,3276,3232,997.3,0.0,481,9761,0.80,0.00,160.05,2.161,11270,0.106,0.000,3090,2745,2538,2556,2521,0,0,0,0,0,0,13.38,28.83,12.26
$GC,10086,0.63,175.1,3091,2745,2556,2515,948.9,12.5,533,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2745,2535,2555,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10386,0.63,175.1,3091,2746,2555,2516,911.8,12.3,543,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2744,2534,2555,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10688,0.63,175.1,3091,2746,2555,2515,874.8,12.3,553,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2745,2534,2555,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10986,0.63,175.1,3091,2746,2555,2515,838.2,12.2,563,10990,0.00,2.38,0.00,0.000,516,0.000,0.066,3100,1343,2534,2555,2514,0,0,0,0,0,0,28.83,14.36,28.83
$GC,11011,0.63,175.1,3101,1343,2556,2515,835.2,11.2,568,11017,0.00,2.47,0.00,0.000,1030,0.000,0.090,3100,2743,2534,2555,2514,0,0,0,0,0,0,28.83,14.33,28.83
$GC,11318,0.63,175.1,3101,2744,2556,2514,796.5,12.8,579,11318,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2743,2534,2555,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11616,0.63,175.1,3101,2743,2556,2513,758.2,12.7,589,11620,0.00,2.38,0.00,0.000,516,0.000,0.064,3109,1344,2534,2555,2513,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11641,0.63,175.1,3110,1343,2556,2513,755.2,11.7,594,11647,0.00,2.45,0.00,0.000,1030,0.000,0.090,3109,2738,2534,2555,2513,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11946,0.63,175.1,3110,2739,2555,2514,715.5,12.9,605,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2738,2533,2554,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12246,0.63,175.1,3110,2738,2556,2513,676.6,12.9,615,12247,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2738,2534,2555,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12546,0.63,175.1,3110,2738,2555,2512,637.6,12.9,625,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2738,2533,2554,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12846,0.63,175.1,3110,2738,2556,2513,598.8,12.9,635,12847,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2738,2533,2554,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13146,0.63,175.1,3110,2738,2554,2513,560.1,12.9,645,13147,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2738,2533,2554,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13446,0.63,175.1,3110,2738,2555,2513,522.0,12.7,655,13450,0.00,2.35,0.00,0.000,516,0.000,0.063,3117,1345,2533,2554,2513,0,0,0,0,0,0,28.83,14.40,28.83
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$STATE,18750,end climb,NO_VERTICAL_VELOCITY
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$STATE,18765,end subsurface finish,NO_VERTICAL_VELOCITY
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$MEM,123176
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