version: 66.12
glider: 198
mission: 5
dive: 372
start: 9 22 114 20 37 15
data:
$ID,198
$MISSION,5
$DIVE,372
$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,-6536.6289
$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,38
$R_STBD_OVSHOOT,18
$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
$GPS1,220914,170010,7305.003,-14402.312,5,0.8,25,23.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-55.1
$GPS2,220914,170010,7305.003,-14402.312,5,0.8,25,23.1
$SPEED_LIMITS,0.166,0.234
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,183.3,72349,-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,-145.9,190,2686,477,532,0.0,0.0,0,33,0.00,0.00,-14.40,0.000,16386,0.000,0.000,189,2686,898,898,899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,35,-0.70,-145.9,189,2683,900,899,3.1,0.0,1,166,10.38,2.47,-112.35,0.000,18948,0.402,0.103,2354,1272,3781,3836,3726,0,0,0,0,0,0,13.96,14.28,14.59
$GC,392,-0.67,-145.9,2354,1269,3837,3729,70.7,-20.4,73,397,0.00,2.55,0.00,0.000,1030,0.000,0.099,2347,2685,3782,3836,3729,0,0,0,0,0,0,28.83,14.24,28.83
$GC,702,-0.67,-145.9,2347,2685,3837,3729,129.3,-17.3,105,707,0.00,2.42,0.00,0.000,516,0.000,0.079,2347,1280,3782,3836,3729,0,0,0,0,0,0,28.83,14.37,28.83
$GC,757,-0.67,-145.9,2348,1280,3837,3730,137.9,-15.1,116,763,0.00,2.53,0.00,0.000,1030,0.000,0.103,2347,2684,3782,3836,3729,0,0,0,0,0,0,28.83,14.25,28.83
$GC,1062,-0.67,-145.9,2348,2684,3837,3730,187.4,-15.7,147,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2684,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1362,-0.67,-145.9,2348,2684,3837,3730,230.5,-13.2,177,1367,0.00,2.42,0.00,0.000,516,0.000,0.080,2347,1281,3782,3836,3729,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1397,-0.69,-145.9,2348,1281,3837,3730,235.0,-12.5,184,1403,0.00,2.53,0.00,0.000,1030,0.000,0.106,2347,2679,3782,3836,3729,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1702,-0.69,-145.9,2347,2679,3837,3729,273.9,-13.2,203,1707,0.00,2.00,0.00,0.000,260,0.000,0.121,2341,3788,3782,3836,3728,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1737,-0.69,-145.9,2342,3788,3837,3729,278.8,-14.6,210,1742,0.00,1.90,0.00,0.000,1030,0.000,0.070,2341,2681,3782,3836,3729,0,0,0,0,0,0,28.83,14.37,28.83
$GC,2064,-0.69,-145.9,2342,2682,3837,3729,319.1,-11.5,225,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2681,3783,3837,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2363,-0.71,-145.9,2343,2682,3837,3728,351.4,-10.8,235,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2681,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,-0.73,-145.9,2342,2681,3837,3729,383.8,-10.7,245,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2681,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2962,-0.76,-145.9,2342,2682,3837,3730,415.1,-10.4,255,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2681,3782,3836,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3262,-0.79,-145.9,2343,2682,3836,3730,445.6,-10.0,265,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2681,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3562,-0.82,-145.9,2342,2682,3837,3729,475.9,-10.2,275,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2681,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3862,-0.85,-145.9,2342,2682,3837,3729,506.0,-10.1,285,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2681,3782,3836,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4162,-0.88,-145.9,2342,2681,3837,3730,536.5,-10.2,295,4163,0.12,0.00,0.00,0.000,4102,0.149,0.000,2292,2681,3782,3836,3729,0,0,0,0,0,0,14.47,28.83,28.83
$GC,4462,-0.88,-145.9,2293,2682,3837,3730,573.5,-12.5,305,4467,0.00,2.40,0.00,0.000,516,0.000,0.078,2292,1275,3783,3836,3730,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4502,-0.88,-145.9,2293,1275,3837,3730,578.4,-12.2,313,4507,0.00,2.50,0.00,0.000,1030,0.000,0.100,2291,2680,3783,3836,3730,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4823,-0.88,-145.9,2292,2680,3837,3730,618.2,-12.4,327,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2680,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5122,-0.88,-145.9,2292,2681,3837,3732,655.1,-12.2,337,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2680,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5422,-0.88,-145.9,2292,2681,3837,3732,692.0,-12.4,347,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2680,3783,3836,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5722,-0.88,-145.9,2292,2680,3837,3732,728.7,-12.2,357,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2679,3783,3836,3731,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5900,begin apogee
$GC,5905,-0.14,0.0,2292,3052,3837,3732,750.4,-12.0,363,6105,0.95,0.00,197.48,1.378,10246,0.261,0.000,2536,3052,3186,3280,3092,0,0,0,0,0,0,14.14,28.83,13.23
$STATE,6106,end apogee,CONTROL_FINISHED_OK
$STATE,6106,begin climb
$GC,6109,0.70,145.9,2538,3053,3277,3088,755.6,0.0,369,6245,0.93,1.40,127.97,1.670,10500,0.164,0.112,2808,3777,2584,2661,2508,0,0,0,0,0,0,13.80,13.37,12.74
$GC,6470,0.66,145.9,2809,3777,2652,2502,716.1,14.6,444,6475,0.00,1.30,0.00,0.000,1030,0.000,0.069,2813,3048,2577,2652,2502,0,0,0,0,0,0,28.83,14.00,28.83
$GC,6786,0.66,145.9,2813,3049,2652,2503,675.8,12.7,457,6791,0.00,1.38,0.00,0.000,260,0.000,0.112,2813,3783,2576,2651,2501,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6876,0.62,145.9,2819,3784,2652,2503,663.0,14.4,475,6880,0.00,1.27,0.00,0.000,1030,0.000,0.070,2818,3048,2576,2650,2502,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7207,0.60,145.9,2818,3048,2660,2502,620.0,13.0,491,7209,0.15,0.00,0.00,0.000,4102,0.275,0.000,2785,3048,2576,2651,2502,0,0,0,0,0,0,14.19,28.83,28.83
$GC,7506,0.60,153.8,2785,3049,2652,2501,586.2,11.2,501,7511,0.00,1.40,2.00,0.236,8452,0.000,0.115,2785,3793,2562,2642,2482,0,0,0,0,0,0,28.83,14.46,12.52
$GC,7561,0.60,153.8,2786,3794,2662,2485,579.5,12.1,512,7568,0.00,1.27,1.90,0.224,9222,0.000,0.071,2790,3048,2561,2644,2479,0,0,0,0,0,0,28.83,14.50,14.23
$GC,7868,0.61,167.4,2791,3049,2666,2483,546.0,10.9,523,7888,0.00,0.00,19.00,1.485,8198,0.000,0.000,2790,3048,2501,2582,2421,0,0,0,0,0,0,28.83,28.83,13.82
$GC,8167,0.62,178.9,2791,3049,2567,2412,512.8,11.0,533,8178,0.00,0.00,10.10,1.433,8198,0.000,0.000,2790,3048,2455,2534,2376,0,0,0,0,0,0,28.83,28.83,13.79
$GC,8467,0.62,185.1,2791,3049,2523,2370,479.2,11.3,543,8470,0.00,0.00,1.92,0.233,8198,0.000,0.000,2791,3048,2429,2508,2351,0,0,0,0,0,0,28.83,28.83,14.21
$GC,8766,0.62,185.1,2791,3049,2538,2352,444.4,11.7,553,8769,0.00,0.00,1.60,0.237,8198,0.000,0.000,2791,3047,2431,2513,2349,0,0,0,0,0,0,28.83,28.83,14.24
$GC,9066,0.63,191.4,2790,3048,2540,2348,410.3,11.3,563,9079,0.00,0.00,11.75,1.349,8198,0.000,0.000,2790,3048,2404,2487,2322,0,0,0,0,0,0,28.83,28.83,13.89
$GC,9366,0.63,191.4,2791,3048,2473,2314,375.4,11.6,573,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,3047,2393,2471,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9666,0.63,198.9,2791,3048,2473,2315,341.4,11.2,583,9670,0.00,0.00,2.25,0.464,8198,0.000,0.000,2790,3047,2374,2452,2297,0,0,0,0,0,0,28.83,28.83,13.64
$GC,9967,0.64,214.2,2791,3049,2482,2298,309.1,10.8,593,9991,0.00,1.33,20.25,1.225,8452,0.000,0.109,2790,3793,2304,2382,2226,0,0,0,0,0,0,28.83,14.52,13.92
$GC,10016,0.64,214.2,2791,3794,2374,2222,303.1,12.8,603,10021,0.00,1.27,0.00,0.000,1030,0.000,0.070,2796,3050,2297,2373,2221,0,0,0,0,0,0,28.83,14.51,28.83
$GC,10328,0.68,231.2,2797,3051,2372,2223,267.3,10.7,615,10344,0.00,0.00,14.98,1.176,8198,0.000,0.000,2796,3050,2242,2317,2167,0,0,0,0,0,0,28.83,28.83,13.88
$GC,10626,0.75,282.1,2797,3051,2303,2155,238.6,8.9,633,10678,0.10,2.42,44.55,1.105,10756,0.162,0.073,2856,1641,2028,2097,1959,0,0,0,0,0,0,14.51,14.33,13.80
$GC,10748,0.78,302.2,2856,1640,2088,1955,225.3,10.6,657,10773,0.00,2.53,18.35,1.105,9222,0.000,0.099,2856,3049,1943,2010,1877,0,0,0,0,0,0,28.83,14.28,13.72
$GC,11078,0.78,302.2,2857,3050,2001,1867,182.8,12.1,693,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,3049,1933,2000,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11379,0.81,308.6,2857,3049,2000,1866,147.5,11.3,723,11379,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,3049,1932,1999,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11679,0.85,338.5,2856,3049,2000,1865,114.8,10.0,753,11714,0.00,1.33,31.25,0.998,8452,0.000,0.112,2856,3784,1799,1864,1734,0,0,0,0,0,0,28.83,14.38,13.89
$GC,11799,0.87,338.5,2856,3784,1853,1724,101.4,12.0,777,11804,0.00,1.27,0.00,0.000,1030,0.000,0.072,2861,3049,1788,1852,1724,0,0,0,0,0,0,28.83,14.34,28.83
$GC,12111,0.94,375.8,2862,3048,1852,1723,69.5,9.6,809,12135,0.00,2.42,18.10,0.376,8708,0.000,0.076,2869,1649,1655,1722,1588,0,0,0,0,0,0,28.83,14.31,14.01
$GC,12346,1.08,466.0,2870,1648,1739,1588,52.6,6.8,854,12406,0.20,2.55,52.58,0.330,11270,0.107,0.103,2951,3053,1287,1334,1241,0,0,0,0,0,0,14.23,14.15,13.97
$GC,12711,1.23,605.1,2951,3053,1348,1242,19.6,4.2,897,12793,0.10,1.42,77.50,0.233,10500,0.160,0.119,2998,3791,718,709,727,0,0,0,0,0,0,14.21,14.12,14.01
$GC,12815,1.26,614.4,3000,3792,721,724,11.4,11.1,917,12826,0.00,1.30,6.22,0.210,9222,0.000,0.070,3002,3051,679,668,690,0,0,0,0,0,0,28.83,14.18,14.01
$FREEZE,8.48,-0.451,-1.427,2,2,0
$FREEZE,7.42,-0.460,-1.426,2,2,0
$FREEZE,6.42,-0.449,-1.426,2,2,0
$FREEZE,5.29,-0.445,-1.425,2,2,0
$FREEZE,4.50,-0.441,-1.424,2,2,0
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$STATE,13300,end subsurface finish,NO_VERTICAL_VELOCITY
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