version: 66.12
glider: 198
mission: 5
dive: 204
start: 8 27 114 21 14 55
data:
$ID,198
$MISSION,5
$DIVE,204
$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,-4282.729
$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,37
$R_STBD_OVSHOOT,16
$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,1.22
$_SM_ANGLEo,-3.4
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.70,-145.9,214,2688,479,515,0.0,0.0,0,200,0.00,0.00,-181.32,0.000,16390,0.000,0.000,213,2689,3780,3842,3719,0,0,0,0,0,0,28.83,28.83,14.70
$GC,203,-0.70,-145.9,214,2689,3844,3719,1.2,-0.0,18,214,6.65,2.05,0.00,0.000,2308,0.130,0.125,2370,3792,3782,3843,3721,0,0,0,0,0,0,14.45,14.42,28.83
$GC,254,-0.57,-145.9,2371,3793,3843,3722,10.1,-31.8,28,259,0.10,1.90,0.00,0.000,3078,0.311,0.070,2396,2687,3782,3842,3722,0,0,0,0,0,0,14.25,14.47,28.83
$GC,564,-0.57,-145.9,2396,2691,3844,3724,81.8,-16.5,60,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2686,3782,3842,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,864,-0.57,-145.9,2396,2691,3844,3724,125.9,-13.6,90,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2686,3783,3842,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1164,-0.60,-145.9,2396,2685,3843,3724,165.7,-13.2,120,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2686,3783,3842,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1464,-0.63,-145.9,2397,2687,3843,3725,202.7,-11.5,150,1469,0.00,2.00,0.00,0.000,260,0.000,0.123,2385,3795,3783,3842,3724,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1524,-0.65,-145.9,2388,3795,3843,3724,210.3,-12.6,162,1529,0.00,1.90,0.00,0.000,1030,0.000,0.072,2388,2684,3781,3838,3724,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1835,-0.69,-145.9,2389,2684,3843,3723,243.5,-9.8,194,1839,0.00,1.98,0.00,0.000,260,0.000,0.125,2387,3787,3783,3842,3724,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1889,-0.72,-145.9,2389,3788,3843,3725,249.4,-10.8,205,1895,0.00,1.90,0.00,0.000,1030,0.000,0.073,2387,2677,3783,3842,3724,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2205,-0.76,-145.9,2388,2678,3843,3724,279.8,-9.3,217,2206,0.15,0.00,0.00,0.000,4102,0.138,0.000,2327,2677,3783,3842,3724,0,0,0,0,0,0,14.65,28.83,28.83
$GC,2504,-0.76,-145.9,2327,2677,3842,3724,315.3,-11.8,227,2509,0.00,2.03,0.00,0.000,260,0.000,0.122,2324,3809,3782,3842,3723,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2569,-0.76,-145.9,2319,3810,3842,3724,323.6,-12.9,240,2574,0.00,1.92,0.00,0.000,1030,0.000,0.073,2318,2678,3782,3842,3723,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2895,-0.76,-145.9,2320,2679,3843,3724,361.7,-11.6,255,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2678,3782,3842,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,-0.76,-145.9,2320,2679,3842,3724,396.5,-11.7,265,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2678,3782,3842,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3494,-0.76,-145.9,2320,2679,3842,3724,430.8,-11.3,275,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2678,3782,3841,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3794,-0.76,-145.9,2320,2679,3843,3724,464.6,-11.2,285,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2678,3782,3842,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4094,-0.76,-145.9,2320,2680,3843,3724,497.7,-11.0,295,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2678,3783,3842,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4394,-0.76,-145.9,2319,2679,3843,3724,530.8,-11.0,305,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2678,3783,3842,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4694,-0.76,-145.9,2320,2678,3843,3725,563.4,-10.8,315,4699,0.00,1.98,0.00,0.000,260,0.000,0.120,2310,3789,3783,3842,3724,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4749,-0.76,-145.9,2311,3789,3843,3724,569.9,-12.3,326,4756,0.10,1.88,0.00,0.000,3078,0.284,0.070,2336,2679,3783,3842,3724,0,0,0,0,0,0,14.44,14.66,28.83
$GC,5055,-0.78,-145.9,2337,2680,3843,3725,600.4,-9.9,337,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2679,3783,3841,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5354,-0.81,-145.9,2337,2680,3843,3726,630.0,-9.8,347,5359,0.00,1.98,0.00,0.000,260,0.000,0.122,2334,3787,3783,3842,3725,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5429,-0.81,-145.9,2336,3788,3843,3725,637.9,-10.6,362,5434,0.00,1.88,0.00,0.000,1030,0.000,0.070,2334,2679,3783,3841,3725,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5745,-0.83,-145.9,2335,2680,3852,3726,668.9,-9.8,375,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2679,3783,3842,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6044,-0.83,-145.9,2334,2679,3843,3725,698.3,-9.9,385,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2679,3783,3842,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6344,-0.85,-145.9,2335,2679,3843,3726,727.5,-9.6,395,6349,0.00,2.00,0.00,0.000,260,0.000,0.123,2333,3796,3784,3842,3726,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6409,-0.85,-145.9,2334,3797,3842,3726,734.2,-10.5,408,6414,0.00,1.88,0.00,0.000,1030,0.000,0.068,2333,2683,3783,3842,3725,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,6582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6582,begin apogee
$GC,6587,-0.14,0.0,2334,3052,3843,3726,751.2,-9.5,418,6773,0.77,0.00,184.20,1.417,10246,0.266,0.000,2538,3052,3186,3280,3093,0,0,0,0,0,0,14.48,28.83,13.35
$STATE,6774,end apogee,CONTROL_FINISHED_OK
$STATE,6774,begin climb
$GC,6776,0.70,145.9,2539,3053,3275,3089,755.1,0.0,424,6910,0.95,1.48,125.03,1.689,10500,0.177,0.116,2807,3789,2581,2656,2507,0,0,0,0,0,0,13.85,13.41,12.83
$GC,6980,0.66,145.9,2808,3789,2652,2501,735.1,14.6,457,6985,0.00,1.33,0.00,0.000,1030,0.000,0.070,2812,3060,2574,2651,2498,0,0,0,0,0,0,28.83,13.72,28.83
$GC,7306,0.64,145.9,2813,3060,2652,2500,691.4,13.5,472,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3060,2574,2650,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7605,0.62,145.9,2813,3061,2652,2500,651.3,13.3,482,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,3060,2575,2651,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7905,0.59,145.9,2813,3060,2652,2499,611.7,13.1,492,7907,0.12,0.00,0.00,0.000,4102,0.308,0.000,2787,3059,2575,2651,2500,0,0,0,0,0,0,14.35,28.83,28.83
$GC,8206,0.59,146.0,2787,3061,2651,2500,576.6,11.6,502,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3059,2575,2651,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8505,0.59,146.3,2788,3061,2649,2500,541.6,11.6,512,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3060,2574,2651,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8805,0.59,146.3,2787,3061,2652,2500,506.2,11.8,522,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3060,2575,2651,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9105,0.59,147.1,2787,3060,2652,2499,471.2,11.6,532,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,3060,2575,2651,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9405,0.60,149.6,2788,3057,2652,2499,436.6,11.5,542,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3060,2575,2651,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9706,0.60,151.1,2787,3060,2653,2499,402.1,11.5,552,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,3060,2575,2651,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10006,0.60,153.3,2787,3060,2652,2499,367.4,11.5,562,10009,0.00,0.00,1.58,0.238,8198,0.000,0.000,2787,3060,2562,2637,2488,0,0,0,0,0,0,28.83,28.83,14.56
$GC,10305,0.60,160.3,2787,3060,2663,2488,333.4,11.3,572,10319,0.00,0.00,11.88,1.242,8198,0.000,0.000,2787,3060,2531,2612,2450,0,0,0,0,0,0,28.83,28.83,14.00
$GC,10606,0.61,170.1,2788,3065,2600,2442,299.3,11.1,582,10616,0.00,2.45,3.47,0.896,8708,0.000,0.075,2797,1643,2497,2585,2410,0,0,0,0,0,0,28.83,14.53,13.78
$GC,10645,0.65,195.7,2798,1642,2601,2412,295.2,10.3,590,10681,0.00,2.47,28.42,1.181,9222,0.000,0.103,2797,3050,2380,2461,2299,0,0,0,0,0,0,28.83,14.50,13.85
$GC,10995,0.66,203.5,2797,3051,2449,2296,255.5,11.2,610,10998,0.00,0.00,1.70,0.229,8198,0.000,0.000,2797,3050,2355,2433,2278,0,0,0,0,0,0,28.83,28.83,14.31
$GC,11296,0.71,239.7,2797,3050,2461,2279,224.0,9.7,636,11338,0.00,2.50,37.75,1.088,8708,0.000,0.076,2806,1644,2201,2277,2126,0,0,0,0,0,0,28.83,14.26,13.82
$MODEM_MSG,CACST,6,1,20140828000536.796277,3,134,15,0142,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,10.1,1.3,-100,1.7,-01,0.3,19,900,0025*2F
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;58bfaa7c7f;,*37
$MODEM_MSG,CACST,6,0,20140828001724.794560,3,651,16,0169,0150,100,00,00,02,05,1,014,000,0,5,1,0,150,15.3,3.2,-100,-0.2,-01,0.3,15,900,0025*27
$GC,11373,0.77,264.7,2807,1644,2265,2123,216.6,10.3,651,11403,0.10,2.53,21.60,1.077,11270,0.167,0.103,2851,3056,2100,2175,2025,0,0,0,0,0,0,14.30,14.26,13.77
$GC,11698,0.77,264.7,2852,3056,2159,2013,175.4,12.4,686,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,3056,2086,2159,2013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11998,0.77,267.3,2852,3056,2159,2011,140.0,11.5,716,12003,0.00,2.40,0.00,0.000,516,0.000,0.076,2860,1641,2084,2157,2011,0,0,0,0,0,0,28.83,14.49,28.83
$GC,12038,0.81,286.8,2861,1640,2159,2011,135.9,10.6,724,12064,0.00,2.50,18.88,1.026,9222,0.000,0.104,2859,3054,2006,2079,1934,0,0,0,0,0,0,28.83,14.48,13.95
$GC,12368,0.82,298.9,2860,3054,2067,1925,98.1,11.0,760,12379,0.00,1.38,3.70,0.294,8452,0.000,0.119,2860,3787,1973,2052,1895,0,0,0,0,0,0,28.83,14.40,14.09
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$STATE,13929,end climb,NO_VERTICAL_VELOCITY
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$STATE,13942,end subsurface finish,NO_VERTICAL_VELOCITY
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