version: 66.12
glider: 197
mission: 6
dive: 180
start: 8 22 114 6 58 28
data:
$ID,197
$MISSION,6
$DIVE,180
$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,-7659.2505
$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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,220814,064355,7321.531,-14609.901,34,1.1,54,29.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-72.0
$GPS2,220814,065809,7321.509,-14609.824,14,1.1,34,29.1
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7330.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,277.6,26341,-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,-145.9,176,1798,437,555,0.0,0.0,0,63,0.00,0.00,-40.95,0.000,16386,0.000,0.000,176,1798,1494,1497,1492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.81,-145.9,177,1798,1498,1493,3.1,-1.7,4,159,10.25,2.50,-75.80,0.000,18948,0.427,0.108,2219,389,3778,3759,3797,0,0,0,0,0,0,14.11,14.34,14.59
$GC,384,-0.76,-145.9,2220,388,3760,3802,73.8,-19.7,68,391,0.15,2.50,0.00,0.000,3078,0.321,0.086,2243,1803,3781,3760,3802,0,0,0,0,0,0,14.24,14.36,28.83
$GC,696,-0.76,-145.9,2243,1804,3761,3803,128.4,-16.8,100,703,0.00,2.47,0.00,0.000,516,0.000,0.090,2242,392,3781,3760,3802,0,0,0,0,0,0,28.83,14.45,28.83
$GC,807,-0.76,-145.9,2239,392,3761,3803,146.8,-16.2,122,815,0.00,2.47,0.00,0.000,1030,0.000,0.085,2235,1799,3781,3760,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1119,-0.76,-145.9,2237,1801,3761,3803,194.9,-14.7,154,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1801,3782,3761,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1419,-0.76,-145.9,2236,1801,3760,3805,237.1,-14.0,184,1426,0.00,2.53,0.00,0.000,260,0.000,0.108,2223,3215,3781,3760,3803,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1480,-0.76,-145.9,2224,3216,3761,3803,245.6,-14.1,196,1486,0.00,2.42,0.00,0.000,1030,0.000,0.068,2224,1796,3782,3762,3803,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1792,-0.76,-145.9,2224,1795,3760,3804,286.4,-12.4,210,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1795,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2091,-0.77,-145.9,2224,1795,3761,3804,322.0,-11.7,220,2099,0.00,2.53,0.00,0.000,260,0.000,0.108,2215,3215,3781,3760,3803,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2173,-0.77,-145.9,2218,3216,3758,3803,332.5,-13.2,236,2180,0.00,2.40,0.00,0.000,1030,0.000,0.069,2215,1800,3780,3759,3802,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2486,-0.78,-145.9,2215,1800,3759,3803,369.3,-11.8,248,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1799,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2785,-0.80,-145.9,2216,1800,3759,3803,403.8,-11.3,258,2791,0.00,2.45,0.00,0.000,516,0.000,0.092,2215,389,3781,3759,3803,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2846,-0.81,-145.9,2215,390,3760,3803,411.1,-11.9,270,2852,0.00,2.47,0.00,0.000,1030,0.000,0.086,2211,1808,3781,3759,3803,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3178,-0.82,-145.9,2211,1806,3759,3803,448.2,-11.3,286,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1809,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3477,-0.83,-145.9,2211,1809,3759,3803,481.7,-11.1,296,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1808,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4114,-0.85,-145.9,2211,1809,3759,3803,513.6,-1.9,306,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1808,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4413,-0.86,-145.9,2211,1809,3761,3803,547.3,-11.2,316,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1809,3784,3765,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4713,-0.88,-145.9,2211,1809,3759,3804,580.3,-10.9,326,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1809,3781,3759,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5013,-0.89,-145.9,2210,1809,3759,3807,613.0,-10.9,336,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1808,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5314,-0.91,-145.9,2210,1809,3760,3811,645.6,-10.9,346,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1808,3781,3759,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5613,-0.93,-145.9,2212,1807,3760,3805,677.6,-10.5,356,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1808,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5913,-0.95,-145.9,2211,1809,3759,3805,709.3,-10.6,366,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,1809,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6213,-0.96,-145.9,2211,1809,3760,3806,741.1,-10.7,376,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1808,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6301,begin apogee
$GC,6306,-0.16,0.0,2211,2306,3759,3805,750.8,-10.6,379,6434,0.85,0.00,123.62,1.833,10246,0.256,0.000,2434,2306,3179,3133,3226,0,0,0,0,0,0,14.45,28.83,13.26
$STATE,6437,end apogee,CONTROL_FINISHED_OK
$STATE,6437,begin climb
$GC,6438,0.81,145.9,2435,2308,3128,3224,753.8,0.0,383,6576,1.02,0.00,123.75,1.812,10758,0.138,0.000,2752,2306,2581,2501,2662,0,0,0,0,0,0,13.96,28.83,12.78
$GC,6872,0.78,145.9,2748,2307,2496,2658,699.2,14.7,408,6879,0.00,2.55,0.00,0.000,516,0.000,0.083,2758,887,2576,2495,2657,0,0,0,0,0,0,28.83,14.07,28.83
$GC,6934,0.74,145.9,2759,888,2496,2657,690.1,14.8,420,6941,0.00,2.55,0.00,0.000,1030,0.000,0.086,2758,2304,2576,2496,2656,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7267,0.70,145.9,2759,2305,2497,2657,639.8,15.2,436,7274,0.15,2.50,0.00,0.000,4612,0.302,0.081,2733,879,2576,2496,2656,0,0,0,0,0,0,14.23,14.38,28.83
$GC,7338,0.69,145.9,2734,880,2496,2656,629.9,13.2,450,7345,0.00,2.53,0.00,0.000,1030,0.000,0.086,2733,2307,2575,2495,2655,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7661,0.67,145.9,2733,2308,2496,2656,585.3,13.9,464,7668,0.00,2.47,0.00,0.000,516,0.000,0.083,2744,885,2578,2502,2655,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7737,0.65,145.9,2745,886,2496,2656,574.5,13.8,479,7744,0.17,2.47,0.00,0.000,5126,0.268,0.086,2706,2304,2575,2495,2655,0,0,0,0,0,0,14.38,14.52,28.83
$GC,8055,0.65,145.9,2706,2305,2496,2656,536.1,12.1,492,8061,0.00,2.45,0.00,0.000,516,0.000,0.085,2714,885,2575,2495,2655,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8115,0.65,145.9,2715,885,2496,2656,528.5,12.6,504,8122,0.00,2.47,0.00,0.000,1030,0.000,0.087,2714,2308,2575,2496,2655,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8448,0.65,145.9,2715,2309,2495,2656,486.9,12.5,520,8454,0.00,2.45,0.00,0.000,516,0.000,0.086,2717,887,2575,2496,2655,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8509,0.65,145.9,2717,888,2496,2656,479.2,12.6,532,8516,0.00,2.45,0.00,0.000,1030,0.000,0.087,2717,2298,2575,2495,2655,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8841,0.65,145.9,2717,2299,2496,2656,437.4,12.5,548,8848,0.00,2.45,0.00,0.000,516,0.000,0.087,2717,883,2575,2495,2655,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8907,0.65,145.9,2717,883,2496,2656,429.1,13.0,561,8915,0.00,2.47,0.00,0.000,1030,0.000,0.087,2717,2309,2575,2496,2655,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9235,0.65,145.9,2718,2309,2496,2655,387.9,12.8,576,9242,0.00,2.47,0.00,0.000,516,0.000,0.086,2717,879,2574,2495,2654,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9306,0.65,145.9,2718,877,2496,2656,379.0,12.9,590,9313,0.00,2.47,0.00,0.000,1030,0.000,0.087,2717,2300,2575,2496,2655,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9629,0.65,145.9,2716,2301,2496,2656,339.1,12.3,604,9635,0.00,2.45,0.00,0.000,516,0.000,0.087,2717,887,2575,2495,2655,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9700,0.67,145.9,2718,887,2496,2656,330.5,11.7,618,9707,0.00,2.45,0.00,0.000,1030,0.000,0.087,2717,2300,2575,2495,2656,0,0,0,0,0,0,28.83,14.61,28.83
$GC,10022,0.67,154.5,2717,2301,2496,2656,293.7,11.2,632,10030,0.00,0.00,4.38,1.411,8198,0.000,0.000,2717,2300,2553,2474,2632,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10322,0.69,179.6,2718,2300,2481,2643,261.4,10.3,642,10353,0.00,0.00,25.45,1.278,8198,0.000,0.000,2717,2300,2442,2366,2519,0,0,0,0,0,0,28.83,28.83,13.90
$GC,10652,0.74,215.5,2717,2300,2364,2519,227.8,9.7,667,10685,0.00,0.00,30.27,1.228,8198,0.000,0.000,2717,2300,2299,2220,2379,0,0,0,0,0,0,28.83,28.83,13.85
$GC,10983,0.80,260.7,2717,2300,2213,2370,195.1,9.2,700,11029,0.10,2.53,37.85,1.173,10756,0.162,0.084,2769,881,2111,2029,2193,0,0,0,0,0,0,14.50,14.28,13.78
$GC,11073,0.82,260.7,2770,881,2028,2190,184.3,13.1,718,11080,0.00,2.53,0.00,0.000,1030,0.000,0.087,2769,2301,2108,2028,2189,0,0,0,0,0,0,28.83,14.32,28.83
$GC,11385,0.83,262.3,2770,2301,2023,2189,145.8,11.5,750,11392,0.00,2.47,0.00,0.000,516,0.000,0.088,2769,888,2105,2022,2189,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11462,0.85,262.3,2769,888,2024,2190,136.8,11.9,765,11471,0.00,2.50,0.00,0.000,1030,0.000,0.088,2766,2304,2105,2022,2189,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11768,0.88,276.4,2770,2305,2021,2189,102.6,10.9,796,11784,0.00,2.50,10.80,1.146,8708,0.000,0.086,2769,881,2049,1962,2137,0,0,0,0,0,0,28.83,14.47,13.95
$GC,11825,0.92,284.2,2770,882,1962,2132,96.3,11.2,807,11833,0.00,2.50,2.60,0.383,9222,0.000,0.088,2769,2302,2023,1937,2109,0,0,0,0,0,0,28.83,14.42,14.18
$GC,12130,0.99,327.6,2766,2302,1947,2113,64.6,9.3,838,12154,0.12,0.00,20.55,0.369,10246,0.138,0.000,2822,2302,1845,1754,1937,0,0,0,0,0,0,14.55,28.83,14.25
$GC,12449,1.07,411.8,2822,2302,1760,1938,35.9,7.2,870,12496,0.00,2.58,37.75,0.284,8452,0.000,0.109,2821,3705,1501,1402,1600,0,0,0,0,0,0,28.83,14.42,14.26
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