version: 66.12
glider: 199
mission: 5
dive: 199
start: 8 23 114 12 8 53
data:
$ID,199
$MISSION,5
$DIVE,199
$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,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,0.079999998
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54269
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.012
$HD_C,2.1999999e-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,669.66901
$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,-22211.59
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2435
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,2
$DBDW,0
$PITCH_W_GAIN,4
$PITCH_W_DBAND,0.5
$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,-64.963387
$PRESSURE_SLOPE,0.0001159754
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$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
$GPS1,230814,120150,7337.180,-14631.259,14,0.8,34,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-73.1
$GPS2,230814,120833,7337.193,-14631.253,6,1.0,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,303.8,17420,-19.5,-11.628,-22.92,2318
$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,-0.72,-175.1,189,2360,490,507,0.0,0.0,0,79,0.00,0.00,-62.30,0.000,16386,0.000,0.000,185,2361,1999,2012,1987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.72,-175.1,189,2362,2016,1988,3.1,-1.8,6,143,10.90,2.47,-44.55,0.000,18948,0.461,0.116,2187,953,3946,4000,3892,0,0,0,0,0,0,13.95,14.28,14.52
$GC,367,-0.72,-175.1,2186,954,4001,3897,83.1,-21.8,64,373,0.00,2.50,0.00,0.000,1030,0.000,0.098,2178,2366,3948,4000,3896,0,0,0,0,0,0,28.83,14.32,28.83
$GC,678,-0.72,-175.1,2178,2361,4001,3897,152.1,-20.9,96,683,0.00,2.42,0.00,0.000,516,0.000,0.084,2179,952,3947,3999,3896,0,0,0,0,0,0,28.83,14.38,28.83
$GC,782,-0.72,-175.1,2179,953,4001,3897,172.8,-18.2,117,789,0.15,2.50,0.00,0.000,3078,0.315,0.097,2196,2358,3948,4000,3896,0,0,0,0,0,0,14.18,14.37,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b474a5d8d;,*0C
$MODEM_MSG,CACST,6,0,20140823120132.474373,3,226,05,0127,0150,100,00,00,03,06,1,004,000,0,5,1,0,150,1.9,2.5,-100,0.5,-01,0.1,14,900,0025*31
$MODEM_MSG,CARDP,10,0,1,0,0,1;5;5aaa2a2747;,*3E
$MODEM_MSG,CACST,6,0,20140823121433.957025,3,3651,17,0342,0150,100,00,00,03,05,1,010,000,0,5,1,0,150,11.7,2.9,-100,0.1,-01,-0.5,18,900,0025*13
$MODEM_MSG,CARDP,14,0,1,0,0,1;5;5857ea7d20;,*68
$MODEM_MSG,CACST,6,0,20140823121747.208605,3,103,14,0093,0150,100,00,00,01,06,1,014,000,0,5,1,0,150,8.2,1.4,-100,1.6,-01,0.5,17,900,0025*35
$MODEM_MSG,CARDP,6,0,1,0,0,1;5;5bc1f9fb14;,*57
$MODEM_MSG,CACST,6,0,20140823122024.139089,3,326,07,0159,0150,100,00,00,03,06,1,006,000,0,5,1,0,150,-0.7,2.7,-100,0.3,-01,-0.2,16,900,0025*33
$GC,1088,-0.72,-175.1,2196,2359,4001,3897,225.7,-16.8,148,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2358,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1407,-0.72,-175.1,2196,2359,4002,3897,273.2,-14.5,170,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1708,-0.72,-175.1,2196,2360,4001,3897,314.1,-13.5,180,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2008,-0.72,-175.1,2196,2359,4001,3897,353.5,-13.1,190,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2358,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2307,-0.72,-175.1,2197,2359,4000,3897,392.0,-12.7,200,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2607,-0.72,-175.1,2196,2359,4002,3897,429.6,-12.5,210,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2359,3948,4001,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2907,-0.72,-175.1,2198,2359,4000,3897,466.4,-12.3,220,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3207,-0.72,-175.1,2196,2359,4001,3897,503.3,-12.2,230,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2358,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3507,-0.72,-175.1,2198,2359,4000,3897,539.4,-12.0,240,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3948,4000,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3807,-0.72,-175.1,2201,2359,4000,3898,575.6,-12.1,250,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3948,4000,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4107,-0.72,-175.1,2196,2359,4002,3898,611.5,-12.0,260,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3946,3996,3897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4407,-0.72,-175.1,2196,2359,4002,3899,646.8,-11.8,270,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3949,4000,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4707,-0.72,-175.1,2198,2359,4000,3899,681.7,-11.6,280,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3949,4000,3898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5007,-0.72,-175.1,2196,2359,4002,3899,716.2,-11.4,290,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3949,4000,3898,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5306,begin apogee
$GC,5310,-0.14,0.0,2198,2605,4000,3899,750.3,-11.3,300,5537,0.70,0.00,222.95,1.727,10246,0.261,0.000,2379,2604,3226,3280,3173,0,0,0,0,0,0,14.45,28.83,12.97
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5539,0.72,175.1,2380,2605,3278,3171,758.7,0.0,307,5704,1.00,2.78,155.90,1.971,10756,0.144,0.082,2675,1195,2507,2572,2443,0,0,0,0,0,0,13.57,13.09,12.41
$GC,5734,0.72,175.1,2675,1195,2571,2436,747.0,12.4,330,5740,0.00,2.72,0.00,0.000,1030,0.000,0.096,2675,2602,2505,2570,2441,0,0,0,0,0,0,28.83,13.33,28.83
$GC,6060,0.72,175.1,2678,2603,2571,2434,701.9,13.9,345,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2602,2501,2569,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6359,0.72,175.1,2675,2603,2571,2433,660.2,13.9,355,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2603,2500,2569,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6660,0.72,175.1,2675,2603,2571,2433,618.8,13.8,365,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2602,2500,2569,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6959,0.72,175.1,2675,2604,2569,2433,577.8,13.6,375,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2603,2500,2569,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7259,0.72,175.1,2675,2603,2571,2433,537.3,13.4,385,7265,0.00,2.47,0.00,0.000,516,0.000,0.084,2686,1192,2500,2569,2432,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7289,0.72,175.1,2685,1192,2570,2433,533.4,13.0,391,7295,0.00,2.50,0.00,0.000,1030,0.000,0.097,2686,2611,2500,2569,2432,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7620,0.72,175.1,2687,2611,2569,2433,487.4,13.9,407,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2611,2500,2569,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7919,0.72,175.1,2686,2611,2570,2433,445.6,13.9,417,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2611,2500,2569,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8219,0.72,175.1,2686,2612,2570,2433,404.0,13.9,427,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2612,2500,2569,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8519,0.72,175.1,2687,2612,2569,2432,362.7,13.7,437,8525,0.00,2.45,0.00,0.000,516,0.000,0.083,2696,1182,2500,2569,2432,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8554,0.72,175.1,2696,1182,2570,2438,357.9,13.3,444,8560,0.00,2.47,0.00,0.000,1030,0.000,0.096,2696,2601,2500,2569,2431,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8881,0.72,175.1,2696,2601,2570,2433,313.1,13.7,459,8885,0.00,2.40,0.00,0.000,516,0.000,0.083,2706,1185,2502,2572,2432,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8919,0.72,175.1,2707,1189,2569,2432,307.6,13.3,467,8925,0.15,2.47,0.00,0.000,5126,0.291,0.096,2675,2605,2500,2569,2432,0,0,0,0,0,0,14.44,14.59,28.83
$GC,9241,0.72,175.1,2675,2605,2571,2432,269.3,11.5,481,9245,0.00,2.40,0.00,0.000,516,0.000,0.083,2684,1189,2500,2569,2432,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9275,0.72,175.1,2684,1190,2570,2433,265.4,11.5,488,9280,0.00,2.47,0.00,0.000,1030,0.000,0.096,2684,2608,2500,2569,2432,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9580,0.79,175.1,2684,2608,2571,2433,232.3,10.1,513,9585,0.00,2.42,0.00,0.000,516,0.000,0.083,2694,1186,2500,2569,2431,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9605,0.84,230.1,2694,1187,2570,2433,229.9,9.2,518,9656,0.00,2.47,46.80,1.391,9222,0.000,0.096,2694,2606,2289,2358,2221,0,0,0,0,0,0,28.83,14.59,13.72
$GC,9961,0.92,230.1,2696,2612,2346,2201,191.5,9.8,559,9966,0.12,2.45,0.00,0.000,2564,0.157,0.083,2747,1184,2273,2346,2200,0,0,0,0,0,0,14.46,14.42,28.83
$GC,10021,0.92,230.1,2748,1186,2346,2200,184.9,11.2,571,10026,0.00,2.50,0.00,0.000,1030,0.000,0.096,2746,2600,2273,2346,2200,0,0,0,0,0,0,28.83,14.44,28.83
$GC,10332,0.96,230.1,2746,2601,2348,2200,149.6,10.5,603,10333,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2601,2272,2346,2199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10631,1.01,279.4,2747,2601,2348,2199,119.2,9.4,633,10677,0.00,2.47,41.45,1.306,8708,0.000,0.081,2757,1185,2082,2163,2002,0,0,0,0,0,0,28.83,14.30,13.71
$GC,10731,1.01,279.4,2758,1186,2157,1993,108.7,11.3,653,10737,0.00,2.55,0.00,0.000,1030,0.000,0.096,2757,2607,2074,2157,1991,0,0,0,0,0,0,28.83,14.31,28.83
$GC,11043,1.06,279.4,2757,2608,2158,1990,74.3,10.2,685,11047,0.00,2.45,0.00,0.000,516,0.000,0.083,2767,1188,2073,2157,1989,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11052,1.14,279.4,2768,1189,2157,1990,73.3,9.7,687,11057,0.12,2.50,0.00,0.000,3078,0.155,0.096,2814,2601,2073,2157,1989,0,0,0,0,0,0,14.46,14.45,28.83
$GC,11363,1.39,527.3,2814,2601,2158,1989,51.9,0.6,719,11489,0.17,0.00,120.85,0.320,10502,0.123,0.000,2880,2600,1081,1152,1011,0,0,0,0,0,0,14.46,28.83,14.14
$FREEZE,8.46,-1.145,-1.477,2,1,0
$FREEZE,7.40,-1.173,-1.473,2,1,0
$FREEZE,6.35,-1.142,-1.467,2,1,0
$FREEZE,5.35,-0.911,-1.459,2,1,0
$FREEZE,4.36,-0.896,-1.459,2,1,0
$FREEZE,3.92,-0.923,-1.458,2,1,0
$FREEZE,3.73,-0.904,-1.457,2,1,0
$FREEZE,3.65,-0.903,-1.457,2,1,0
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$STATE,12205,end subsurface finish,NO_VERTICAL_VELOCITY
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