version: 66.12
glider: 198
mission: 5
dive: 202
start: 8 27 114 13 35 35
data:
$ID,198
$MISSION,5
$DIVE,202
$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,1.75
$D_SAFE,500
$D_CALL,3
$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,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54305
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0023000001
$HD_B,0.014
$HD_C,1e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,658.87579
$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,-3917.2126
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2590
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2680
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3186
$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,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,-84.212708
$PRESSURE_SLOPE,0.0001160319
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.44999999
$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,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$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
$GPS1,270814,022421,7337.721,-14513.202,181,99.0,181,22.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.32
$_SM_ANGLEo,-18.4
$GPS2,270814,022421,7337.721,-14513.202,181,99.0,181,22.8
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,8
$TGT_LATLONG,7340.000,-14510.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,358.8,4539,-21.4,-11.628,-26.45,1932
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-145.9,2678,2680,1767,1675,0.0,0.0,0,29,0.00,0.00,-11.88,0.000,16386,0.000,0.000,2676,2680,2280,2342,2219,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-0.70,-145.9,2677,2680,2344,2225,11.9,0.0,1,64,0.90,2.00,-27.67,0.000,20740,0.073,0.142,2344,3787,3781,3840,3723,0,0,0,0,0,0,14.44,14.38,14.65
$GC,159,-0.60,-145.9,2345,3787,3842,3727,50.3,-29.6,27,164,0.17,1.90,0.00,0.000,3078,0.304,0.070,2388,2682,3784,3840,3728,0,0,0,0,0,0,14.23,14.44,28.83
$GC,469,-0.60,-145.9,2388,2681,3842,3728,105.7,-15.8,59,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2681,3784,3840,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,769,-0.60,-145.9,2388,2681,3842,3728,149.0,-14.2,89,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2681,3784,3840,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1069,-0.63,-145.9,2388,2681,3842,3729,188.8,-12.8,119,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2681,3784,3841,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1369,-0.66,-145.9,2388,2681,3842,3728,224.7,-11.4,149,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2681,3784,3840,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1669,-0.69,-145.9,2389,2682,3841,3729,256.6,-10.3,175,1674,0.00,2.00,0.00,0.000,260,0.000,0.125,2387,3792,3784,3840,3728,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1729,-0.72,-145.9,2387,3792,3842,3728,262.8,-9.8,187,1734,0.10,1.85,0.00,0.000,5126,0.168,0.072,2344,2679,3784,3840,3728,0,0,0,0,0,0,14.61,14.64,28.83
$GC,2060,-0.72,-145.9,2345,2679,3841,3728,301.3,-11.4,203,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2678,3784,3840,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2359,-0.72,-145.9,2345,2680,3841,3729,334.6,-11.0,213,2364,0.00,1.98,0.00,0.000,260,0.000,0.123,2336,3787,3783,3840,3727,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2398,-0.72,-145.9,2337,3788,3841,3728,339.3,-12.9,221,2404,0.00,1.90,0.00,0.000,1030,0.000,0.072,2336,2674,3783,3840,3727,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2720,-0.72,-145.9,2337,2675,3841,3728,375.3,-11.2,235,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2673,3783,3840,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3019,-0.72,-145.9,2336,2674,3842,3727,408.4,-11.0,245,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2674,3783,3840,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3319,-0.72,-145.9,2336,2674,3841,3727,441.0,-10.8,255,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2680,3783,3840,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3619,-0.72,-145.9,2337,2674,3842,3727,472.6,-10.5,265,3624,0.00,2.03,0.00,0.000,260,0.000,0.122,2327,3785,3783,3840,3727,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3689,-0.72,-145.9,2328,3785,3841,3727,480.9,-11.7,279,3694,0.00,1.88,0.00,0.000,1030,0.000,0.070,2328,2678,3783,3840,3727,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4010,-0.72,-145.9,2328,2680,3842,3727,515.9,-11.0,293,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2679,3786,3845,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4309,-0.72,-145.9,2328,2680,3841,3736,547.9,-10.6,303,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2679,3784,3840,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4609,-0.72,-145.9,2328,2680,3841,3729,579.7,-10.8,313,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2683,3784,3840,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4909,-0.72,-145.9,2328,2679,3842,3729,611.2,-10.6,323,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2679,3784,3840,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5209,-0.72,-145.9,2328,2680,3841,3730,642.5,-10.4,333,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2679,3784,3840,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5509,-0.72,-145.9,2327,2678,3841,3730,673.7,-10.5,343,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2679,3781,3834,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5809,-0.72,-145.9,2325,2679,3842,3730,704.3,-10.2,353,5814,0.00,2.03,0.00,0.000,260,0.000,0.120,2319,3789,3785,3840,3730,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5874,-0.72,-145.9,2320,3789,3841,3733,711.8,-11.8,366,5879,0.10,1.88,0.00,0.000,3078,0.274,0.070,2346,2679,3787,3840,3734,0,0,0,0,0,0,14.47,14.69,28.83
$GC,6200,-0.75,-145.9,2347,2680,3842,3731,742.7,-9.4,381,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2679,3785,3840,3730,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6287,begin apogee
$GC,6292,-0.14,0.0,2347,3061,3841,3730,751.3,-9.5,384,6422,0.73,0.00,128.43,1.720,10246,0.254,0.000,2540,3061,3186,3274,3099,0,0,0,0,0,0,14.46,28.83,13.31
$STATE,6423,end apogee,CONTROL_FINISHED_OK
$STATE,6423,begin climb
$GC,6425,0.70,145.9,2542,3061,3268,3093,754.3,0.0,388,6553,0.93,0.00,125.43,1.704,10246,0.175,0.000,2805,3061,2593,2668,2518,0,0,0,0,0,0,13.90,28.83,12.90
$GC,6829,0.70,145.9,2806,3061,2646,2502,709.3,13.1,402,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,3061,2574,2646,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7129,0.70,145.9,2806,3061,2647,2501,670.4,13.0,412,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,3060,2573,2645,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7429,0.70,145.9,2806,3061,2646,2501,631.7,12.9,422,7434,0.00,1.33,0.00,0.000,260,0.000,0.119,2801,3784,2571,2641,2501,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7494,0.66,145.9,2806,3785,2646,2502,622.4,14.6,435,7499,0.00,1.25,0.00,0.000,1030,0.000,0.072,2810,3052,2573,2645,2501,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7820,0.66,145.9,2811,3053,2646,2501,580.2,13.0,450,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2573,2645,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8119,0.66,145.9,2810,3051,2647,2501,541.2,12.9,460,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2573,2645,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8419,0.66,145.9,2811,3053,2646,2501,502.9,12.8,470,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2574,2645,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8720,0.66,145.9,2811,3052,2646,2501,464.8,12.6,480,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2573,2645,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9019,0.66,145.9,2811,3053,2646,2502,427.0,12.6,490,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2573,2645,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9319,0.66,145.9,2811,3053,2646,2502,389.4,12.4,500,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3058,2573,2645,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9619,0.66,145.9,2811,3053,2651,2501,352.3,12.2,510,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2572,2645,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9919,0.66,145.9,2811,3052,2646,2502,315.8,12.2,520,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,3052,2573,2645,2501,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;58a4ea7caa;,*38
$MODEM_MSG,CACST,6,0,20140827161726.944179,3,229,11,0097,0150,100,00,00,02,06,1,014,000,0,5,1,0,150,12.3,2.6,-100,0.4,-01,0.1,16,900,0025*0C
$GC,10219,0.66,146.4,2811,3053,2646,2501,280.6,11.6,530,10224,0.00,1.33,0.00,0.000,260,0.000,0.118,2810,3777,2573,2645,2501,0,0,0,0,0,0,28.83,14.49,28.83
$GC,10284,0.63,146.4,2811,3778,2646,2502,272.5,12.6,543,10289,0.00,1.23,0.00,0.000,1030,0.000,0.072,2815,3052,2573,2645,2501,0,0,0,0,0,0,28.83,14.63,28.83
$GC,10589,0.65,174.0,2817,3052,2647,2501,240.0,10.2,562,10614,0.00,0.00,23.58,1.134,8198,0.000,0.000,2816,3052,2475,2551,2399,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10910,0.68,216.1,2817,3053,2534,2386,207.9,9.4,594,10951,0.00,2.47,35.70,1.079,8708,0.000,0.076,2823,1641,2294,2365,2224,0,0,0,0,0,0,28.83,14.37,13.90
$GC,11001,0.74,265.5,2824,1642,2356,2221,199.4,9.0,612,11052,0.00,2.50,42.20,1.051,9222,0.000,0.103,2823,3043,2093,2161,2026,0,0,0,0,0,0,28.83,14.39,13.77
$GC,11351,0.79,290.3,2824,3044,2149,2015,162.6,10.3,652,11377,0.00,2.40,20.30,1.035,8708,0.000,0.076,2831,1649,1995,2062,1929,0,0,0,0,0,0,28.83,14.35,13.89
$GC,11432,0.86,318.1,2832,1649,2052,1927,154.4,10.1,668,11463,0.12,2.50,25.17,1.011,11270,0.145,0.105,2887,3050,1883,1946,1820,0,0,0,0,0,0,14.41,14.36,13.78
$GC,11761,0.86,318.1,2888,3050,1927,1807,109.0,13.4,704,11766,0.00,1.35,0.00,0.000,260,0.000,0.117,2887,3786,1866,1925,1807,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11816,0.86,318.1,2888,3786,1925,1806,101.0,15.4,715,11823,0.00,1.27,0.00,0.000,1030,0.000,0.071,2892,3045,1865,1924,1806,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12121,0.87,337.9,2893,3046,1924,1807,63.1,10.6,746,12133,0.00,0.00,7.38,0.337,8198,0.000,0.000,2892,3045,1811,1876,1746,0,0,0,0,0,0,28.83,28.83,14.18
$GC,12432,0.99,463.5,2893,3046,1901,1747,40.9,4.9,777,12508,0.00,2.42,69.82,0.308,8708,0.000,0.074,2901,1642,1299,1349,1249,0,0,0,0,0,0,28.83,14.30,14.14
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$STATE,13314,end climb,NO_VERTICAL_VELOCITY
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$STATE,13326,end subsurface finish,NO_VERTICAL_VELOCITY
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$FG_AHR_10Vo,0.000
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