version: 66.12
glider: 196
mission: 7
dive: 420
start: 9 25 114 7 8 47
data:
$ID,196
$MISSION,7
$DIVE,420
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,300
$T_MISSION,330
$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,180
$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,1
$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,-12006.904
$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,48
$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
$GPS1,250914,012624,7229.675,-14136.593,39,1.0,59,23.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-3.8
$GPS2,250914,012624,7229.675,-14136.593,39,1.0,59,23.7
$SPEED_LIMITS,0.191,0.270
$TGT_NAME,a
$TGT_LATLONG,7130.000,-14800.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,220.2,250955,-19.5,-11.000,-22.14,2450
$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,-0.63,-175.1,3195,2744,445,549,0.0,0.0,0,100,0.00,0.00,-81.15,0.000,16386,0.000,0.000,3194,2746,2612,2673,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.63,-175.1,3194,2745,2674,2554,3.5,-4.0,8,142,1.55,1.92,-33.95,0.000,20740,0.108,0.121,2683,3792,3960,4019,3902,0,0,0,0,0,0,14.18,14.19,14.50
$GC,367,-0.63,-175.1,2684,3793,4017,3908,73.6,-21.2,61,373,0.00,1.75,0.00,0.000,1030,0.000,0.049,2683,2746,3963,4019,3907,0,0,0,0,0,0,28.83,14.25,28.83
$GC,672,-0.63,-175.1,2684,2747,4019,3908,129.4,-17.6,92,677,0.00,1.85,0.00,0.000,260,0.000,0.099,2676,3791,3963,4019,3907,0,0,0,0,0,0,28.83,14.21,28.83
$GC,902,-0.63,-175.1,2677,3791,4019,3908,168.2,-16.3,138,907,0.00,1.67,0.00,0.000,1030,0.000,0.050,2676,2751,3962,4018,3907,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1212,-0.63,-175.1,2677,2751,4020,3907,212.4,-13.8,170,1217,0.00,1.85,0.00,0.000,260,0.000,0.099,2669,3792,3963,4019,3907,0,0,0,0,0,0,28.83,14.23,28.83
$GC,1362,-0.63,-175.1,2669,3792,4019,3907,234.0,-14.6,200,1367,0.00,1.67,0.00,0.000,1030,0.000,0.052,2669,2756,3962,4018,3907,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1672,-0.63,-175.1,2669,2756,4020,3907,272.4,-12.0,220,1677,0.00,2.35,0.00,0.000,516,0.000,0.064,2669,1372,3962,4018,3907,0,0,0,0,0,0,28.83,14.32,28.83
$GC,1732,-0.63,-175.1,2669,1371,4019,3908,279.4,-11.5,232,1737,0.00,2.50,0.00,0.000,1030,0.000,0.097,2663,2763,3962,4018,3907,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2064,-0.63,-175.1,2664,2763,4020,3910,320.4,-12.3,248,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2763,3962,4018,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2363,-0.63,-175.1,2662,2765,4019,3908,355.9,-11.6,258,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2764,3962,4018,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,-0.63,-175.1,2664,2763,4020,3907,390.6,-11.6,268,2667,0.00,2.35,0.00,0.000,516,0.000,0.062,2663,1376,3962,4018,3907,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2697,-0.63,-175.1,2660,1376,4025,3907,394.5,-10.9,275,2702,0.00,2.47,0.00,0.000,1030,0.000,0.095,2663,2759,3962,4018,3906,0,0,0,0,0,0,28.83,14.28,28.83
$GC,3035,-0.63,-175.1,2663,2761,4020,3907,431.4,-11.3,290,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3962,4018,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3322,-0.63,-175.1,2663,2760,4021,3907,464.8,-11.1,300,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2761,3962,4018,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3622,-0.63,-175.1,2664,2761,4019,3907,498.2,-11.1,310,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3958,4018,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3923,-0.63,-175.1,2664,2761,4020,3906,531.3,-11.0,320,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3962,4018,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4223,-0.63,-175.1,2664,2761,4019,3908,564.1,-10.9,330,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2761,3962,4018,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4523,-0.63,-175.1,2664,2761,4019,3908,596.6,-10.9,340,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2760,3962,4018,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4823,-0.63,-175.1,2664,2761,4019,3909,629.3,-11.0,350,4827,0.00,2.35,0.00,0.000,516,0.000,0.061,2663,1370,3963,4018,3908,0,0,0,0,0,0,28.83,14.29,28.83
$GC,4862,-0.63,-175.1,2663,1369,4020,3908,633.3,-10.1,358,4867,0.00,2.47,0.00,0.000,1030,0.000,0.093,2663,2753,3963,4019,3908,0,0,0,0,0,0,28.83,14.24,28.83
$GC,5184,-0.63,-175.1,2663,2753,4019,3904,667.6,-10.6,372,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2753,3963,4018,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5483,-0.63,-175.1,2664,2753,4020,3908,699.6,-10.6,382,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2753,3963,4018,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5783,-0.63,-175.1,2663,2754,4020,3909,731.2,-10.5,392,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2754,3964,4018,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6083,-0.63,-175.1,2663,2754,4019,3910,762.6,-10.4,402,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3963,4018,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6383,-0.63,-175.1,2664,2754,4019,3910,793.8,-10.4,412,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2754,3963,4018,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6683,-0.63,-175.1,2664,2754,4019,3910,825.0,-10.5,422,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2753,3963,4018,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6983,-0.63,-175.1,2663,2754,4020,3909,856.0,-10.3,432,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2754,3963,4018,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7283,-0.63,-175.1,2664,2754,4019,3910,887.4,-10.6,442,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2753,3963,4018,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7583,-0.63,-175.1,2662,2754,4019,3910,918.3,-10.3,452,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2753,3961,4018,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7883,-0.63,-175.1,2664,2755,4019,3910,949.3,-10.3,462,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2753,3963,4018,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8183,-0.63,-175.1,2663,2753,4020,3909,980.0,-10.3,472,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2753,3963,4018,3909,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8300,begin apogee
$GC,8305,-0.13,0.0,2664,2754,4019,3910,992.5,-10.4,476,8465,0.70,0.00,157.30,2.306,10244,0.206,0.000,2848,2755,3257,3279,3235,0,0,0,0,0,0,14.06,28.83,12.57
$STATE,8466,end apogee,CONTROL_FINISHED_OK
$STATE,8466,begin climb
$GC,8469,0.63,175.1,2849,2754,3276,3232,998.3,0.0,481,8634,0.80,0.00,159.35,2.170,11270,0.106,0.000,3092,2755,2540,2555,2525,0,0,0,0,0,0,13.43,28.83,12.27
$GC,8934,0.63,175.1,3093,2755,2554,2517,954.4,12.4,527,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2754,2535,2553,2517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9232,0.63,175.1,3093,2755,2554,2518,916.9,12.4,537,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2754,2534,2553,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9532,0.63,175.1,3093,2755,2555,2517,879.6,12.5,547,9533,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2754,2534,2553,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9833,0.63,175.1,3093,2754,2555,2515,842.2,12.6,557,9837,0.00,2.38,0.00,0.000,516,0.000,0.064,3103,1355,2534,2553,2516,0,0,0,0,0,0,28.83,14.38,28.83
$GC,9848,0.63,175.1,3103,1354,2555,2516,840.3,12.9,560,9852,0.00,2.45,0.00,0.000,1030,0.000,0.089,3103,2743,2535,2554,2516,0,0,0,0,0,0,28.83,14.33,28.83
$GC,10164,0.63,175.1,3104,2743,2555,2515,799.0,13.1,573,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2534,2553,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10463,0.63,175.1,3104,2744,2554,2516,759.8,13.0,583,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2534,2553,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10763,0.63,175.1,3104,2743,2555,2515,721.1,12.8,593,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2534,2553,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11063,0.63,175.1,3103,2743,2555,2515,683.0,12.8,603,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2533,2552,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11363,0.63,175.1,3103,2744,2554,2515,644.9,12.6,613,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2743,2534,2553,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11663,0.63,175.1,3103,2744,2554,2516,606.7,12.7,623,11667,0.00,2.35,0.00,0.000,516,0.000,0.066,3111,1351,2534,2553,2515,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11677,0.63,175.1,3112,1352,2554,2514,604.9,12.9,626,11682,0.00,2.45,0.00,0.000,1030,0.000,0.089,3111,2744,2534,2553,2515,0,0,0,0,0,0,28.83,14.35,28.83
$GC,11994,0.63,175.1,3111,2746,2554,2516,563.6,13.1,639,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2745,2534,2553,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12293,0.63,175.1,3112,2745,2555,2515,524.5,12.9,649,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2745,2534,2553,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12593,0.63,175.1,3113,2746,2554,2516,486.0,12.8,659,12597,0.00,2.35,0.00,0.000,516,0.000,0.062,3121,1353,2534,2553,2515,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12617,0.63,175.1,3121,1353,2554,2515,482.9,11.9,664,12623,0.00,2.45,0.00,0.000,1030,0.000,0.088,3120,2745,2534,2553,2515,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12923,0.63,175.1,3121,2746,2554,2516,443.1,13.0,675,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2745,2538,2562,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13223,0.63,175.1,3121,2746,2554,2516,403.8,13.0,685,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2745,2534,2553,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13523,0.63,175.1,3121,2745,2554,2515,365.1,12.9,695,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2745,2534,2553,2515,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,17603,end climb,NO_VERTICAL_VELOCITY
$STATE,17603,begin subsurface finish
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$STATE,17618,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,17618,begin surface
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$TCM_TEMP,13.20
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$10V_AH,12.29,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,122156
$DATA_FILE_SIZE,40030,1114
$CAP_FILE_SIZE,173776,0
$CFSIZE,2097872896,2011136000
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$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,376