version: 66.12
glider: 197
mission: 6
dive: 370
start: 9 20 114 7 36 52
data:
$ID,197
$MISSION,6
$DIVE,370
$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,32
$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,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
$GPS1,200914,071955,7318.122,-14413.614,30,0.8,50,30.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-63.3
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.81,-145.9,177,1799,409,601,0.0,0.0,0,130,0.00,0.00,-110.62,0.000,16386,0.000,0.000,177,1798,3005,2969,3042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-0.81,-145.9,177,1799,2970,3043,4.4,-3.2,11,163,10.15,2.47,-13.50,0.000,18948,0.415,0.094,2219,390,3780,3763,3798,0,0,0,0,0,0,13.96,14.32,14.62
$GC,388,-0.76,-145.9,2220,389,3764,3802,80.9,-20.8,62,395,0.15,2.50,0.00,0.000,3078,0.314,0.080,2243,1797,3783,3764,3802,0,0,0,0,0,0,14.07,14.29,28.83
$GC,693,-0.76,-145.9,2243,1798,3770,3803,132.0,-15.1,93,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1797,3783,3764,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,993,-0.76,-145.9,2243,1798,3765,3804,177.0,-14.3,123,998,0.00,2.53,0.00,0.000,260,0.000,0.101,2234,3213,3783,3764,3803,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1033,-0.76,-145.9,2236,3214,3764,3804,183.0,-15.1,131,1038,0.00,2.40,0.00,0.000,1030,0.000,0.061,2234,1806,3783,3764,3803,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1477,-0.76,-145.9,2235,1805,3764,3803,226.3,-2.6,163,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1805,3783,3764,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1797,-0.78,-145.9,2235,1805,3764,3806,265.4,-11.8,187,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1804,3783,3764,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2097,-0.81,-145.9,2235,1804,3764,3804,297.9,-10.6,197,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,1803,3783,3764,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2397,-0.84,-145.9,2235,1805,3763,3803,329.1,-10.4,207,2402,0.00,2.55,0.00,0.000,260,0.000,0.102,2225,3212,3783,3763,3803,0,0,0,0,0,0,28.83,14.29,28.83
$GC,2472,-0.86,-145.9,2225,3213,3763,3803,337.5,-11.3,222,2477,0.00,2.42,0.00,0.000,1030,0.000,0.062,2225,1802,3783,3763,3803,0,0,0,0,0,0,28.83,14.38,28.83
$GC,2789,-0.89,-145.9,2225,1800,3763,3804,371.5,-10.6,235,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1800,3780,3757,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3090,-0.92,-145.9,2225,1800,3763,3803,402.0,-10.1,245,3095,0.00,2.55,0.00,0.000,260,0.000,0.102,2217,3215,3782,3762,3803,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3165,-0.93,-145.9,2218,3216,3762,3803,410.4,-11.7,260,3170,0.00,2.42,0.00,0.000,1030,0.000,0.061,2217,1796,3782,3762,3803,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3482,-0.96,-145.9,2217,1796,3762,3804,443.0,-10.3,273,3483,0.12,0.00,0.00,0.000,4102,0.141,0.000,2162,1795,3782,3762,3803,0,0,0,0,0,0,14.52,28.83,28.83
$GC,3780,-0.94,-145.9,2163,1795,3762,3803,481.5,-12.8,283,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,1795,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4080,-0.93,-145.9,2163,1795,3762,3804,520.1,-12.9,293,4081,0.12,0.00,0.00,0.000,2054,0.282,0.000,2187,1794,3782,3762,3803,0,0,0,0,0,0,14.30,28.83,28.83
$GC,4380,-0.93,-145.9,2187,1795,3763,3804,554.5,-11.3,303,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1794,3782,3762,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4680,-0.93,-145.9,2187,1795,3763,3805,588.7,-11.4,313,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,1794,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4980,-0.93,-145.9,2187,1795,3762,3805,623.0,-11.4,323,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,1794,3783,3762,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5280,-0.93,-145.9,2187,1795,3762,3804,657.0,-11.3,333,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1794,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5580,-0.93,-145.9,2187,1795,3762,3805,690.5,-11.1,343,5585,0.00,2.53,0.00,0.000,260,0.000,0.098,2178,3213,3783,3762,3805,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5630,-0.93,-145.9,2179,3214,3763,3805,696.5,-11.9,353,5635,0.00,2.42,0.00,0.000,1030,0.000,0.061,2178,1793,3783,3762,3804,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5941,-0.93,-145.9,2179,1792,3762,3805,732.6,-11.7,365,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1792,3783,3762,3805,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6118,begin apogee
$GC,6124,-0.16,0.0,2176,2195,3762,3805,753.1,-11.5,371,6253,1.00,0.00,126.80,1.815,10246,0.248,0.000,2437,2194,3182,3140,3225,0,0,0,0,0,0,14.20,28.83,13.20
$STATE,6254,end apogee,CONTROL_FINISHED_OK
$STATE,6254,begin climb
$GC,6257,0.81,145.9,2438,2195,3132,3221,755.9,0.0,375,6386,1.00,0.00,125.72,1.810,10502,0.131,0.000,2748,2194,2585,2507,2663,0,0,0,0,0,0,13.95,28.83,12.74
$GC,6661,0.79,145.9,2748,2195,2485,2653,708.3,13.8,394,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2194,2571,2490,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6961,0.78,145.9,2748,2195,2495,2651,666.8,13.7,404,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2194,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7261,0.77,145.9,2748,2195,2489,2651,626.0,13.6,414,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2194,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7561,0.75,145.9,2753,2192,2490,2651,585.9,13.3,424,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2194,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7861,0.74,145.9,2748,2196,2490,2650,545.9,13.4,434,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2194,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8161,0.73,145.9,2748,2195,2490,2650,506.5,13.0,444,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2194,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8461,0.71,145.9,2748,2195,2490,2650,466.8,13.3,454,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2194,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8761,0.70,145.9,2747,2195,2490,2650,426.6,13.5,464,8762,0.12,0.00,0.00,0.000,4102,0.300,0.000,2723,2195,2569,2489,2649,0,0,0,0,0,0,14.32,28.83,28.83
$GC,9061,0.71,145.9,2724,2195,2490,2650,390.3,11.9,474,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2194,2569,2489,2650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9361,0.73,159.0,2723,2195,2490,2650,356.7,10.9,484,9367,0.00,0.00,4.32,1.185,8198,0.000,0.000,2723,2195,2536,2457,2615,0,0,0,0,0,0,28.83,28.83,13.84
$GC,9663,0.76,174.1,2723,2196,2477,2636,324.2,10.8,494,9692,0.00,2.53,20.75,1.327,8708,0.000,0.077,2732,766,2461,2386,2536,0,0,0,0,0,0,28.83,14.62,13.94
$GC,9707,0.79,179.6,2732,766,2386,2533,319.0,11.3,503,9713,0.00,2.45,1.00,0.262,9222,0.000,0.080,2731,2180,2447,2375,2519,0,0,0,0,0,0,28.83,14.54,14.44
$GC,10025,0.80,179.6,2732,2181,2385,2526,280.4,11.9,516,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2180,2455,2385,2526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10325,0.84,197.3,2731,2181,2385,2526,245.2,10.7,528,10348,0.00,0.00,19.60,1.235,8454,0.000,0.000,2731,2181,2370,2298,2442,0,0,0,0,0,0,28.83,28.83,13.95
$GC,10655,0.89,226.3,2732,2181,2289,2435,211.2,10.1,562,10685,0.12,2.50,24.30,1.189,10500,0.141,0.096,2793,3593,2250,2173,2327,0,0,0,0,0,0,14.54,14.43,13.89
$GC,10730,0.85,226.3,2794,3594,2162,2325,200.8,15.3,577,10736,0.17,2.42,0.00,0.000,5126,0.278,0.057,2767,2161,2243,2162,2324,0,0,0,0,0,0,14.16,14.36,28.83
$GC,11037,0.89,243.5,2768,2161,2161,2324,166.8,10.7,608,11056,0.00,0.00,14.57,1.151,8198,0.000,0.000,2767,2161,2180,2098,2263,0,0,0,0,0,0,28.83,28.83,13.88
$GC,11357,0.94,279.3,2768,2161,2089,2259,134.6,9.7,640,11396,0.00,2.60,30.85,1.093,8452,0.000,0.101,2767,3591,2031,1942,2120,0,0,0,0,0,0,28.83,14.42,13.90
$GC,11438,0.96,279.3,2772,3590,1938,2118,125.6,13.0,656,11443,0.00,2.40,0.00,0.000,1030,0.000,0.058,2770,2177,2027,1937,2117,0,0,0,0,0,0,28.83,14.45,28.83
$GC,11750,1.03,319.6,2770,2174,1934,2116,93.8,9.5,688,11770,0.17,0.00,16.40,0.438,10246,0.112,0.000,2840,2174,1879,1787,1972,0,0,0,0,0,0,14.40,28.83,14.02
$GC,12070,1.10,407.3,2841,2174,1806,1980,58.4,7.0,720,12119,0.00,2.55,41.75,0.347,8452,0.000,0.100,2841,3586,1520,1421,1619,0,0,0,0,0,0,28.83,14.32,14.09
$GC,12132,1.16,457.5,2841,3586,1424,1620,53.6,9.0,732,12161,0.00,2.42,23.75,0.334,9222,0.000,0.058,2851,2168,1316,1212,1420,0,0,0,0,0,0,28.83,14.36,14.07
$GC,12460,1.35,611.6,2852,2169,1223,1421,25.2,3.4,768,12535,0.20,2.58,70.03,0.248,10500,0.101,0.099,2937,3589,685,583,788,0,0,0,0,0,0,14.35,14.27,14.11
$GC,12593,1.37,611.6,2938,3589,585,789,12.1,13.6,794,12597,0.00,2.42,0.00,0.000,1030,0.000,0.061,2946,2184,686,585,788,0,0,0,0,0,0,28.83,14.30,28.83
$FREEZE,7.59,-0.853,-1.420,2,1,0
$FREEZE,6.32,-0.922,-1.420,2,1,0
$FREEZE,5.06,-1.069,-1.420,2,1,0
$FREEZE,4.29,-1.036,-1.419,2,1,0
$FREEZE,3.46,-1.025,-1.418,2,1,0
$FREEZE,2.91,-0.958,-1.417,2,1,0
$FREEZE,2.85,-0.952,-1.416,2,1,0
$FREEZE,2.77,-0.949,-1.416,2,1,0
$FREEZE,2.82,-0.962,-1.417,2,1,0
$FREEZE,2.81,-0.950,-1.416,2,1,0
$FREEZE,2.76,-0.959,-1.417,2,1,0
$FREEZE,2.84,-0.921,-1.415,2,1,0
$FREEZE,2.75,-0.926,-1.415,2,1,0
$FREEZE,2.75,-0.940,-1.416,2,1,0
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