version: 66.12
glider: 196
mission: 7
dive: 82
start: 8 6 114 16 48 4
data:
$ID,196
$MISSION,7
$DIVE,82
$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,5
$SURFACE_URGENCY_FORCE,10
$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,0.050000001
$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,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$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,-5125.0493
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$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,20
$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,-73.350418
$PRESSURE_SLOPE,0.0001164176
$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,10
$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,0.75
$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,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$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
$GPS1,060814,164124,7201.862,-14411.629,23,0.9,43,22.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-78.8
$GPS2,060814,164746,7201.875,-14411.736,5,0.9,25,22.7
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,4
$TGT_LATLONG,7136.000,-14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,156.1,47932,-22.3,-11.628,-24.76,1933
$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,13,begin dive
$GC,15,-0.69,-145.9,203,2740,440,540,0.0,0.0,0,89,0.00,0.00,-72.32,0.000,16386,0.000,0.000,202,2740,2265,2277,2254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,203,2741,2273,2256,3.0,-2.5,7,144,11.75,1.90,-35.17,0.000,18692,0.394,0.129,2658,3786,3856,3916,3796,0,0,0,0,0,0,14.09,14.29,14.51
$GC,368,-0.69,-145.9,2659,3787,3917,3802,81.0,-22.8,63,374,0.00,1.73,0.00,0.000,1030,0.000,0.055,2658,2750,3858,3916,3800,0,0,0,0,0,0,28.83,14.41,28.83
$GC,678,-0.69,-145.9,2659,2750,3917,3801,144.3,-18.7,95,684,0.00,1.85,0.00,0.000,260,0.000,0.103,2650,3780,3857,3914,3801,0,0,0,0,0,0,28.83,14.42,28.83
$GC,773,-0.69,-145.9,2651,3780,3918,3801,163.3,-19.8,114,780,0.00,1.70,0.00,0.000,1030,0.000,0.057,2650,2757,3858,3916,3800,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1078,-0.69,-145.9,2651,2758,3917,3800,216.0,-15.5,145,1084,0.00,1.85,0.00,0.000,260,0.000,0.105,2642,3786,3859,3917,3801,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1158,-0.69,-145.9,2639,3787,3917,3802,229.6,-17.3,161,1164,0.08,1.70,0.00,0.000,3078,0.264,0.057,2661,2763,3858,3916,3800,0,0,0,0,0,0,14.37,14.52,28.83
$GC,1488,-0.69,-145.9,2662,2764,3917,3801,274.8,-13.2,183,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2763,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1788,-0.69,-145.9,2661,2763,3917,3801,313.0,-12.7,193,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2763,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2088,-0.69,-145.9,2662,2763,3919,3800,350.4,-12.4,203,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2763,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2388,-0.69,-145.9,2661,2763,3917,3800,387.0,-12.2,213,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2763,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2688,-0.69,-145.9,2662,2764,3917,3802,423.2,-12.0,223,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2763,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2988,-0.69,-145.9,2662,2764,3917,3801,459.0,-12.0,233,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2763,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3288,-0.69,-145.9,2662,2764,3917,3802,494.4,-11.9,243,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2763,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3588,-0.69,-145.9,2662,2764,3917,3802,529.6,-11.6,253,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3888,-0.69,-145.9,2662,2764,3917,3802,564.0,-11.4,263,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2763,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4188,-0.69,-145.9,2661,2763,3917,3801,598.3,-11.5,273,4194,0.00,2.33,0.00,0.000,516,0.000,0.069,2661,1356,3858,3916,3801,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4228,-0.69,-145.9,2661,1356,3917,3801,602.7,-10.6,281,4234,0.00,2.50,0.00,0.000,1030,0.000,0.099,2652,2765,3858,3916,3801,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4549,-0.69,-145.9,2652,2765,3918,3801,640.8,-11.9,295,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2765,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4848,-0.69,-145.9,2653,2766,3917,3802,676.0,-11.7,305,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2765,3858,3916,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5148,-0.69,-145.9,2653,2766,3917,3802,710.9,-11.6,315,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2765,3858,3916,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5448,-0.69,-145.9,2653,2766,3917,3802,745.5,-11.5,325,5454,0.00,1.80,0.00,0.000,260,0.000,0.105,2644,3786,3858,3916,3801,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,5482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5482,begin apogee
$GC,5486,-0.13,0.0,2646,2738,3917,3802,750.0,-13.3,332,5614,0.73,0.00,125.18,1.942,10244,0.227,0.000,2842,2736,3259,3279,3240,0,0,0,0,0,0,14.56,28.83,13.14
$STATE,5615,end apogee,CONTROL_FINISHED_OK
$STATE,5615,begin climb
$GC,5616,0.69,145.9,2844,2738,3274,3236,753.5,0.0,336,5750,0.90,0.00,125.50,1.905,11270,0.140,0.000,3112,2737,2657,2666,2648,0,0,0,0,0,0,13.79,28.83,12.88
$GC,6054,0.69,145.9,3113,2737,2667,2642,702.2,13.7,376,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2737,2653,2666,2641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6354,0.69,145.9,3112,2737,2667,2641,661.8,13.5,386,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2737,2653,2666,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6654,0.69,145.9,3113,2737,2667,2640,622.2,13.2,396,6659,0.00,2.40,0.00,0.000,516,0.000,0.070,3123,1347,2653,2666,2640,0,0,0,0,0,0,28.83,14.39,28.83
$GC,6689,0.69,145.9,3124,1347,2667,2640,617.8,12.5,403,6695,0.00,2.50,0.00,0.000,1030,0.000,0.094,3123,2739,2653,2666,2640,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7015,0.69,145.9,3124,2740,2667,2640,573.1,13.9,418,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2740,2653,2666,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7314,0.69,145.9,3124,2740,2667,2641,531.9,13.7,428,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2740,2653,2666,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7614,0.69,145.9,3124,2740,2668,2639,491.1,13.6,438,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2740,2652,2665,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7914,0.69,145.9,3124,2739,2667,2640,450.4,13.7,448,7919,0.00,2.38,0.00,0.000,516,0.000,0.070,3133,1325,2653,2666,2640,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7934,0.69,145.9,3132,1325,2667,2640,447.7,13.5,452,7940,0.00,2.50,0.00,0.000,1030,0.000,0.093,3131,2738,2653,2666,2640,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8244,0.69,145.9,3132,2738,2667,2641,404.2,14.1,464,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2738,2653,2666,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8544,0.69,145.9,3132,2738,2667,2640,362.0,14.0,474,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2737,2653,2666,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8844,0.69,145.9,3132,2738,2667,2641,320.7,13.7,484,8849,0.00,2.35,0.00,0.000,516,0.000,0.069,3142,1353,2650,2666,2635,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8859,0.69,145.9,3143,1353,2667,2641,318.7,13.5,487,8865,0.00,2.45,0.00,0.000,1030,0.000,0.093,3142,2742,2653,2666,2640,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9174,0.69,145.9,3143,2743,2662,2641,275.6,13.5,500,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2742,2653,2666,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9475,0.69,145.9,3143,2743,2667,2641,236.6,12.4,516,9480,0.00,2.33,0.00,0.000,516,0.000,0.068,3151,1350,2653,2666,2640,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9509,0.69,145.9,3152,1350,2668,2640,232.5,11.7,523,9516,0.10,2.45,0.00,0.000,5126,0.237,0.095,3124,2736,2653,2666,2640,0,0,0,0,0,0,14.49,14.58,28.83
$GC,9815,0.72,188.4,3125,2736,2668,2642,200.6,9.4,554,9856,0.00,2.40,34.78,1.367,8708,0.000,0.072,3133,1343,2484,2491,2477,0,0,0,0,0,0,28.83,14.34,13.78
$GC,9905,0.74,221.4,3134,1344,2491,2478,191.7,9.9,572,9938,0.00,2.50,27.92,1.347,9222,0.000,0.094,3133,2731,2354,2357,2351,0,0,0,0,0,0,28.83,14.36,13.68
$GC,10235,0.77,259.0,3133,2730,2355,2342,157.1,9.6,608,10272,0.00,1.90,31.52,1.255,8452,0.000,0.100,3133,3790,2198,2202,2195,0,0,0,0,0,0,28.83,14.17,13.69
$GC,10301,0.77,259.0,3134,3790,2200,2194,149.6,12.9,620,10308,0.00,1.77,0.00,0.000,1030,0.000,0.055,3139,2741,2195,2199,2192,0,0,0,0,0,0,28.83,14.22,28.83
$GC,10607,0.79,292.2,3140,2741,2201,2188,117.3,9.9,651,10638,0.00,2.40,25.65,1.192,8708,0.000,0.072,3150,1350,2060,2064,2056,0,0,0,0,0,0,28.83,14.23,13.72
$GC,10712,0.82,333.9,3151,1351,2060,2054,106.9,9.4,672,10750,0.00,2.50,32.80,1.215,9222,0.000,0.097,3150,2721,1894,1890,1898,0,0,0,0,0,0,28.83,14.25,13.62
$GC,11048,0.84,359.5,3151,2722,1888,1882,71.1,10.3,709,11064,0.00,1.95,10.10,0.400,8452,0.000,0.105,3150,3786,1794,1794,1795,0,0,0,0,0,0,28.83,14.28,14.11
$GC,11138,0.84,359.5,3150,3786,1803,1795,60.6,12.3,727,11144,0.00,1.80,0.00,0.000,1030,0.000,0.057,3156,2725,1798,1801,1795,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11449,0.91,455.6,3157,2726,1802,1793,35.9,6.5,759,11497,0.00,2.42,43.47,0.314,8708,0.000,0.075,3165,1344,1398,1404,1392,0,0,0,0,0,0,28.83,14.30,14.14
$GC,11624,0.97,549.9,3165,1344,1406,1384,23.6,6.6,794,11671,0.12,2.45,41.95,0.269,11270,0.128,0.099,3219,2720,1015,1010,1020,0,0,0,0,0,0,14.35,14.31,14.15
$FREEZE,8.61,-0.694,-1.484,2,1,0
$FREEZE,7.97,-0.423,-1.478,2,1,0
$FREEZE,7.23,-0.302,-1.473,2,1,0
$FREEZE,6.72,-0.175,-1.470,2,1,0
$FREEZE,6.03,-0.362,-1.460,2,1,0
$FREEZE,5.48,-0.166,-1.449,2,1,0
$FREEZE,4.88,-0.197,-1.448,2,1,0
$FREEZE,4.36,-0.092,-1.431,2,1,0
$FREEZE,3.92,-0.165,-1.416,2,1,0
$FREEZE,3.43,-0.432,-1.408,2,1,0
$FREEZE,3.03,-0.510,-1.400,2,1,0
$FREEZE,3.09,-0.638,-1.403,2,1,0
$FREEZE,2.97,-0.740,-1.404,2,1,0
$FREEZE,2.92,-0.682,-1.400,2,1,0
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$STATE,12311,end subsurface finish,NO_VERTICAL_VELOCITY
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