version: 66.12
glider: 197
mission: 6
dive: 254
start: 9 2 114 17 42 35
data:
$ID,197
$MISSION,6
$DIVE,254
$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,-9391.833
$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,30
$R_STBD_OVSHOOT,18
$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
$GPS1,020914,173426,7437.049,-14657.947,23,1.0,44,29.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-60.0
$GPS2,020914,174214,7436.992,-14658.065,14,1.1,34,29.4
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,149.8,335231,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.81,-145.9,175,1800,426,562,0.0,0.0,0,120,0.00,0.00,-101.93,0.000,16386,0.000,0.000,175,1800,2729,2702,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.81,-145.9,176,1799,2702,2759,5.1,-5.9,10,157,10.32,2.55,-17.85,0.000,18692,0.430,0.121,2210,3215,3779,3761,3797,0,0,0,0,0,0,14.05,14.38,14.66
$GC,382,-0.74,-145.9,2210,3216,3762,3803,83.6,-22.9,62,387,0.17,2.42,0.00,0.000,3078,0.291,0.065,2246,1804,3779,3755,3804,0,0,0,0,0,0,14.24,14.45,28.83
$GC,692,-0.74,-145.9,2247,1801,3762,3805,140.2,-17.2,94,697,0.00,2.53,0.00,0.000,260,0.000,0.105,2238,3215,3783,3762,3805,0,0,0,0,0,0,28.83,14.50,28.83
$GC,837,-0.73,-145.9,2238,3215,3762,3805,165.5,-16.5,123,843,0.00,2.42,0.00,0.000,1030,0.000,0.067,2238,1792,3782,3761,3804,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1142,-0.73,-145.9,2238,1793,3762,3805,211.9,-14.7,154,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,1792,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1452,-0.74,-145.9,2239,1793,3762,3805,254.4,-13.8,183,1457,0.00,2.53,0.00,0.000,260,0.000,0.105,2229,3212,3783,3762,3804,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1512,-0.74,-145.9,2229,3213,3762,3805,262.3,-13.1,195,1517,0.00,2.40,0.00,0.000,1030,0.000,0.067,2229,1795,3783,3762,3805,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1844,-0.76,-145.9,2229,1795,3761,3805,301.6,-11.5,211,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1794,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2142,-0.78,-145.9,2229,1795,3762,3805,334.7,-10.8,221,2147,0.00,2.53,0.00,0.000,260,0.000,0.104,2219,3218,3783,3761,3805,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2192,-0.79,-145.9,2219,3219,3762,3802,340.4,-11.3,231,2198,0.00,2.40,0.00,0.000,1030,0.000,0.067,2219,1802,3783,3761,3805,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2504,-0.81,-145.9,2219,1803,3761,3806,375.1,-11.2,243,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1801,3783,3761,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2803,-0.82,-145.9,2218,1802,3761,3806,407.9,-10.8,253,2808,0.00,2.50,0.00,0.000,260,0.000,0.105,2210,3212,3782,3760,3805,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2847,-0.82,-145.9,2211,3213,3760,3806,413.2,-11.9,262,2853,0.00,2.42,0.00,0.000,1030,0.000,0.067,2211,1802,3782,3760,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3164,-0.84,-145.9,2211,1801,3760,3805,448.1,-11.0,275,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,1801,3782,3759,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3463,-0.85,-145.9,2210,1802,3760,3805,480.6,-10.8,285,3468,0.00,2.47,0.00,0.000,260,0.000,0.104,2206,3212,3782,3759,3805,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3512,-0.85,-145.9,2203,3213,3760,3805,486.3,-11.6,295,3518,0.00,2.38,0.00,0.000,1030,0.000,0.066,2201,1799,3782,3760,3804,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3824,-0.86,-145.9,2204,1798,3760,3805,521.3,-11.3,307,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,1798,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4123,-0.87,-145.9,2203,1798,3761,3805,555.7,-11.5,317,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1798,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4423,-0.89,-145.9,2203,1798,3760,3805,590.3,-11.4,327,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,1798,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4723,-0.90,-145.9,2203,1798,3760,3806,624.6,-11.4,337,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,1798,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5023,-0.91,-145.9,2203,1799,3761,3805,659.0,-11.5,347,5028,0.00,2.50,0.00,0.000,260,0.000,0.104,2196,3220,3782,3760,3805,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5083,-0.91,-145.9,2197,3220,3761,3806,666.3,-12.6,359,5088,0.00,2.40,0.00,0.000,1030,0.000,0.065,2197,1799,3782,3760,3805,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5414,-0.91,-145.9,2198,1798,3760,3806,704.6,-11.6,375,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1798,3782,3760,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5713,-0.92,-145.9,2198,1798,3761,3806,739.2,-11.5,385,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1798,3782,3759,3806,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5831,begin apogee
$GC,5836,-0.16,0.0,2196,2194,3760,3806,752.9,-11.5,389,5961,0.90,0.00,122.78,1.847,10246,0.253,0.000,2433,2193,3183,3139,3228,0,0,0,0,0,0,14.45,28.83,13.28
$STATE,5962,end apogee,CONTROL_FINISHED_OK
$STATE,5962,begin climb
$GC,5964,0.81,145.9,2434,2193,3134,3225,756.2,0.0,393,6092,1.02,0.00,124.50,1.816,10502,0.140,0.000,2745,2193,2584,2505,2664,0,0,0,0,0,0,13.97,28.83,12.81
$GC,6373,0.78,145.9,2745,2193,2497,2661,707.0,14.2,412,6378,0.00,2.58,0.00,0.000,516,0.000,0.085,2755,757,2578,2497,2660,0,0,0,0,0,0,28.83,14.16,28.83
$GC,6408,0.76,145.9,2756,758,2497,2658,702.1,14.0,419,6413,0.00,2.53,0.00,0.000,1030,0.000,0.082,2756,2177,2578,2497,2659,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6734,0.72,145.9,2756,2178,2497,2659,653.9,14.8,434,6736,0.15,0.00,0.00,0.000,4102,0.299,0.000,2725,2183,2578,2497,2659,0,0,0,0,0,0,14.28,28.83,28.83
$GC,7033,0.72,145.9,2725,2178,2497,2659,614.5,13.1,444,7038,0.00,2.45,0.00,0.000,516,0.000,0.085,2734,765,2577,2497,2658,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7077,0.72,145.9,2734,765,2496,2658,608.6,13.6,453,7083,0.00,2.47,0.00,0.000,1030,0.000,0.083,2734,2188,2577,2496,2658,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7394,0.71,145.9,2734,2189,2497,2659,566.2,13.4,466,7399,0.00,2.45,0.00,0.000,516,0.000,0.085,2745,765,2577,2497,2658,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7424,0.69,145.9,2745,765,2497,2658,561.9,13.7,472,7429,0.12,2.45,0.00,0.000,5126,0.280,0.083,2719,2186,2577,2496,2658,0,0,0,0,0,0,14.45,14.61,28.83
$GC,7754,0.69,145.9,2719,2187,2497,2658,520.0,12.7,488,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2186,2577,2496,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8054,0.69,145.9,2719,2187,2497,2658,481.8,12.7,498,8059,0.00,2.45,0.00,0.000,516,0.000,0.086,2727,764,2577,2496,2658,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8084,0.69,145.9,2728,765,2497,2657,478.1,12.7,504,8089,0.00,2.45,0.00,0.000,1030,0.000,0.083,2727,2188,2577,2496,2658,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9184,0.69,145.9,2725,2185,2497,2658,437.3,12.9,520,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2188,2577,2497,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9484,0.69,145.9,2728,2188,2499,2659,398.9,12.8,530,9489,0.00,2.50,0.00,0.000,516,0.000,0.085,2735,760,2577,2496,2658,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9520,0.69,145.9,2735,761,2498,2658,394.3,13.5,537,9525,0.00,2.47,0.00,0.000,1030,0.000,0.083,2731,2185,2577,2496,2658,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9846,0.68,145.9,2735,2186,2497,2659,352.7,12.6,552,9851,0.00,2.47,0.00,0.000,516,0.000,0.084,2745,757,2577,2496,2658,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9890,0.68,145.9,2746,758,2497,2658,347.0,12.0,561,9896,0.15,2.47,0.00,0.000,5126,0.270,0.082,2713,2188,2577,2496,2658,0,0,0,0,0,0,14.42,14.61,28.83
$GC,10207,0.70,158.9,2714,2189,2497,2658,312.4,10.9,574,10220,0.00,0.00,11.62,1.392,8198,0.000,0.000,2713,2188,2532,2453,2612,0,0,0,0,0,0,28.83,28.83,13.99
$GC,10507,0.72,165.4,2714,2189,2448,2608,278.4,11.3,584,10512,0.00,0.00,3.67,1.318,8198,0.000,0.000,2713,2189,2508,2430,2586,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10807,0.76,197.3,2714,2188,2436,2596,247.5,9.9,594,10842,0.00,2.50,30.05,1.253,8708,0.000,0.085,2717,759,2373,2300,2447,0,0,0,0,0,0,28.83,14.52,13.94
$GC,10888,0.83,233.7,2717,760,2299,2444,240.1,9.7,610,10931,0.12,2.47,30.55,1.232,11270,0.144,0.084,2773,2179,2224,2146,2302,0,0,0,0,0,0,14.54,14.50,13.82
$GC,11228,0.83,233.7,2774,2178,2140,2302,197.3,12.1,648,11233,0.00,2.50,0.00,0.000,260,0.000,0.100,2773,3588,2220,2138,2302,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11283,0.80,233.7,2773,3589,2140,2302,189.7,14.1,659,11289,0.15,2.40,0.00,0.000,5126,0.286,0.060,2753,2164,2220,2139,2302,0,0,0,0,0,0,14.27,14.46,28.83
$GC,11589,0.86,280.1,2753,2163,2138,2302,159.2,9.2,690,11633,0.00,2.42,39.08,1.136,8708,0.000,0.084,2761,777,2035,1946,2124,0,0,0,0,0,0,28.83,14.42,13.88
$GC,11678,0.90,285.9,2762,777,1948,2119,149.9,11.3,708,11690,0.00,2.47,3.20,1.121,9222,0.000,0.083,2761,2185,2016,1929,2103,0,0,0,0,0,0,28.83,14.42,13.57
$GC,11990,0.96,313.3,2762,2185,1934,2105,116.8,10.2,740,12020,0.12,2.47,24.40,1.102,10756,0.133,0.085,2826,777,1899,1806,1992,0,0,0,0,0,0,14.51,14.42,13.88
$GC,12145,0.96,313.3,2827,777,1807,1986,95.6,13.8,771,12151,0.00,2.47,0.00,0.000,1030,0.000,0.084,2826,2185,1897,1806,1988,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12450,0.96,319.7,2827,2187,1802,1985,58.8,11.3,802,12456,0.00,2.58,1.73,0.346,8452,0.000,0.103,2826,3590,1877,1785,1970,0,0,0,0,0,0,28.83,14.35,14.16
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$STATE,13582,end subsurface finish,NO_VERTICAL_VELOCITY
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