version: 66.12
glider: 197
mission: 6
dive: 247
start: 9 1 114 16 22 0
data:
$ID,197
$MISSION,6
$DIVE,247
$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,-9381.5156
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,010914,123115,7442.943,-14701.295,10,1.0,30,29.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,1.5
$GPS2,010914,123115,7442.943,-14701.295,10,1.0,30,29.5
$SPEED_LIMITS,0.201,0.242
$TGT_NAME,7
$TGT_LATLONG,7500.000,-14650.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,340.2,32050,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.81,-145.9,2581,1796,728,899,0.0,0.0,0,81,0.00,0.00,-62.05,0.000,16386,0.000,0.000,2580,1795,2283,2211,2355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.81,-145.9,2581,1796,2212,2356,3.4,-2.4,6,130,1.02,0.00,-40.22,0.000,20742,0.070,0.000,2216,1795,3778,3760,3797,0,0,0,0,0,0,14.43,28.83,14.64
$GC,429,-0.77,-145.9,2217,1795,3761,3804,93.1,-19.0,42,434,0.00,2.53,0.00,0.000,260,0.000,0.102,2205,3209,3782,3761,3803,0,0,0,0,0,0,28.83,14.45,28.83
$GC,539,-0.72,-145.9,2206,3210,3761,3803,115.5,-20.2,64,544,0.22,2.40,0.00,0.000,3078,0.278,0.067,2255,1801,3781,3759,3803,0,0,0,0,0,0,14.28,14.49,28.83
$GC,851,-0.73,-145.9,2256,1801,3761,3804,163.5,-15.1,96,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1801,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1149,-0.75,-145.9,2256,1801,3761,3804,206.0,-13.4,126,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,1801,3781,3760,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1449,-0.78,-145.9,2256,1801,3760,3804,243.5,-11.6,156,1454,0.00,2.50,0.00,0.000,260,0.000,0.106,2247,3212,3781,3760,3803,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1509,-0.81,-145.9,2248,3212,3761,3804,250.8,-11.5,168,1514,0.00,2.40,0.00,0.000,1030,0.000,0.067,2248,1800,3781,3760,3803,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1841,-0.84,-145.9,2248,1800,3761,3804,288.2,-11.3,184,1846,0.00,2.50,0.00,0.000,260,0.000,0.106,2238,3208,3781,3760,3803,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1937,-0.87,-145.9,2238,3208,3760,3804,299.2,-11.0,203,1942,0.00,2.40,0.00,0.000,1030,0.000,0.069,2238,1797,3781,3760,3803,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2263,-0.90,-145.9,2238,1796,3760,3804,333.6,-10.3,218,2264,0.12,0.00,0.00,0.000,4102,0.152,0.000,2183,1796,3781,3759,3803,0,0,0,0,0,0,14.67,28.83,28.83
$GC,2561,-0.90,-145.9,2184,1797,3766,3804,372.2,-12.9,228,2566,0.00,2.50,0.00,0.000,260,0.000,0.104,2176,3208,3780,3758,3803,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2596,-0.87,-145.9,2175,3210,3759,3804,376.9,-13.6,235,2602,0.15,2.40,0.00,0.000,3078,0.291,0.068,2205,1796,3780,3758,3803,0,0,0,0,0,0,14.44,14.62,28.83
$GC,2923,-0.88,-145.9,2206,1796,3759,3804,414.6,-11.4,250,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1795,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-0.90,-145.9,2206,1795,3758,3804,448.4,-11.2,260,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,1795,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,-0.91,-145.9,2206,1796,3759,3804,481.7,-11.1,270,3526,0.00,2.50,0.00,0.000,260,0.000,0.103,2198,3215,3780,3758,3803,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3591,-0.91,-145.9,2198,3216,3758,3803,489.9,-11.9,284,3596,0.00,2.40,0.00,0.000,1030,0.000,0.067,2197,1798,3781,3758,3804,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3913,-0.91,-145.9,2198,1797,3759,3804,526.4,-11.4,298,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1797,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4212,-0.91,-145.9,2198,1797,3758,3804,560.1,-11.3,308,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1797,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4511,-0.91,-145.9,2198,1798,3758,3803,593.5,-11.1,318,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1797,3780,3758,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4812,-0.91,-145.9,2197,1797,3758,3804,626.9,-11.2,328,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1797,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5112,-0.92,-145.9,2198,1797,3759,3805,660.3,-11.2,338,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1797,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5412,-0.94,-145.9,2198,1797,3759,3810,693.5,-11.0,348,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1797,3781,3758,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5712,-0.95,-145.9,2198,1798,3759,3805,726.1,-10.9,358,5716,0.00,2.47,0.00,0.000,260,0.000,0.103,2188,3209,3781,3758,3805,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5772,-0.95,-145.9,2189,3210,3754,3806,732.9,-11.5,370,5776,0.00,2.38,0.00,0.000,1030,0.000,0.067,2189,1798,3781,3758,3805,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,5949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5949,begin apogee
$GC,5955,-0.16,0.0,2187,2192,3759,3805,753.0,-11.1,381,6079,0.95,0.00,122.30,1.846,10246,0.264,0.000,2434,2191,3182,3137,3227,0,0,0,0,0,0,14.45,28.83,13.28
$STATE,6080,end apogee,CONTROL_FINISHED_OK
$STATE,6081,begin climb
$GC,6083,0.81,145.9,2435,2192,3131,3226,755.6,0.0,385,6210,1.05,0.00,123.85,1.816,10246,0.144,0.000,2748,2193,2585,2505,2666,0,0,0,0,0,0,13.98,28.83,12.83
$GC,6492,0.78,145.9,2748,2193,2494,2662,703.6,14.8,399,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2193,2580,2498,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6792,0.75,145.9,2748,2193,2498,2661,659.7,14.6,409,6796,0.00,2.50,0.00,0.000,516,0.000,0.084,2758,764,2579,2497,2661,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6822,0.72,145.9,2759,765,2498,2661,655.2,14.3,415,6827,0.15,2.50,0.00,0.000,5126,0.282,0.083,2728,2185,2579,2498,2660,0,0,0,0,0,0,14.23,14.40,28.83
$GC,7152,0.71,145.9,2729,2187,2498,2661,611.2,13.2,431,7157,0.00,2.47,0.00,0.000,516,0.000,0.086,2737,763,2579,2498,2660,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7172,0.70,145.9,2737,763,2498,2661,608.4,13.9,435,7177,0.00,2.45,0.00,0.000,1030,0.000,0.083,2737,2180,2578,2497,2660,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7483,0.68,145.9,2738,2181,2498,2660,565.8,13.8,447,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2180,2579,2498,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7782,0.66,145.9,2737,2181,2499,2661,524.7,13.7,457,7787,0.15,2.45,0.00,0.000,4612,0.298,0.085,2714,768,2578,2497,2660,0,0,0,0,0,0,14.46,14.64,28.83
$GC,7832,0.66,145.9,2713,768,2498,2660,518.4,12.0,467,7837,0.00,2.45,0.00,0.000,1030,0.000,0.083,2714,2184,2579,2498,2660,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8142,0.66,145.9,2713,2185,2498,2660,480.7,12.1,479,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2185,2578,2497,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8442,0.66,145.9,2714,2185,2498,2660,444.6,12.0,489,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2185,2578,2497,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8742,0.66,145.9,2714,2186,2498,2660,409.1,11.8,499,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2185,2579,2498,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9042,0.66,145.9,2714,2185,2498,2660,373.4,12.0,509,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2185,2578,2497,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9342,0.66,146.3,2714,2185,2498,2660,338.3,11.6,519,9347,0.00,2.45,0.00,0.000,516,0.000,0.085,2717,768,2578,2497,2660,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9387,0.69,158.9,2717,769,2498,2659,333.3,11.0,528,9403,0.00,2.42,11.62,1.408,9222,0.000,0.083,2717,2181,2531,2452,2610,0,0,0,0,0,0,28.83,14.69,14.04
$GC,9703,0.70,158.9,2717,2181,2449,2608,296.5,11.8,541,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2181,2527,2448,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10002,0.72,168.6,2717,2181,2449,2608,262.5,11.1,551,10017,0.00,2.45,9.27,1.366,8708,0.000,0.087,2717,768,2489,2413,2565,0,0,0,0,0,0,28.83,14.67,14.03
$GC,10042,0.75,183.2,2717,768,2413,2564,258.2,10.9,559,10063,0.00,2.45,13.10,1.320,9222,0.000,0.083,2717,2183,2429,2353,2506,0,0,0,0,0,0,28.83,14.63,14.01
$GC,10363,0.83,246.2,2717,2184,2352,2505,227.1,8.3,589,10417,0.12,0.00,52.10,1.199,10246,0.138,0.000,2773,2183,2178,2098,2258,0,0,0,0,0,0,14.60,28.83,13.82
$GC,10712,0.83,246.2,2774,2184,2084,2249,184.0,12.7,624,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2184,2168,2084,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11012,0.84,250.1,2774,2184,2083,2252,147.8,11.4,654,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2183,2167,2082,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11312,0.89,291.2,2774,2184,2082,2252,117.3,9.4,684,11354,0.00,2.50,35.53,1.083,8708,0.000,0.084,2783,762,1989,1900,2078,0,0,0,0,0,0,28.83,14.45,13.93
$GC,11396,0.93,315.9,2783,762,1901,2075,109.1,10.3,700,11420,0.00,2.50,19.88,1.089,9222,0.000,0.084,2783,2183,1891,1799,1984,0,0,0,0,0,0,28.83,14.42,13.87
$GC,11725,0.99,343.8,2783,2184,1787,1974,73.5,10.1,736,11741,0.00,2.47,11.38,0.401,8452,0.000,0.103,2783,3591,1779,1688,1871,0,0,0,0,0,0,28.83,14.38,14.12
$GC,11766,1.01,343.8,2783,3592,1689,1872,68.9,11.9,744,11771,0.00,2.42,0.00,0.000,1030,0.000,0.063,2792,2165,1779,1688,1871,0,0,0,0,0,0,28.83,14.42,28.83
$GC,12078,1.18,488.3,2794,2163,1690,1872,45.8,3.9,776,12149,0.20,2.65,65.07,0.314,10500,0.106,0.103,2885,3597,1190,1086,1295,0,0,0,0,0,0,14.50,14.35,14.18
$GC,12190,1.18,488.3,2885,3598,1086,1295,34.8,13.1,798,12195,0.00,2.42,0.00,0.000,1030,0.000,0.063,2895,2182,1189,1085,1294,0,0,0,0,0,0,28.83,14.34,28.83
$FREEZE,8.83,-1.131,-1.424,2,2,0
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$STATE,12975,end subsurface finish,NO_VERTICAL_VELOCITY
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