version: 66.12
glider: 199
mission: 5
dive: 233
start: 8 28 114 3 19 27
data:
$ID,199
$MISSION,5
$DIVE,233
$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,-22976.789
$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,29
$R_STBD_OVSHOOT,16
$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
$GPS1,280814,030754,7412.801,-14653.638,32,0.8,52,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-73.7
$GPS2,280814,031908,7412.809,-14653.495,5,0.9,26,22.3
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7515.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.5,115189,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.72,-175.1,197,2361,490,507,0.0,0.0,0,90,0.00,0.00,-71.45,0.000,16386,0.000,0.000,196,2361,2169,2184,2155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.72,-175.1,196,2361,2178,2157,3.3,-1.8,7,146,11.00,2.47,-37.17,0.000,18948,0.464,0.103,2192,946,3945,4001,3889,0,0,0,0,0,0,13.91,14.22,14.50
$GC,370,-0.72,-175.1,2193,947,3999,3893,81.6,-21.3,63,375,0.00,2.53,0.00,0.000,1030,0.000,0.097,2183,2364,3947,4001,3893,0,0,0,0,0,0,28.83,14.30,28.83
$GC,680,-0.72,-175.1,2178,2365,4002,3894,149.1,-20.4,95,685,0.00,2.42,0.00,0.000,516,0.000,0.083,2181,952,3947,4001,3893,0,0,0,0,0,0,28.83,14.42,28.83
$GC,825,-0.72,-175.1,2184,954,4001,3893,176.3,-17.8,124,831,0.00,2.50,0.00,0.000,1030,0.000,0.099,2172,2369,3947,4001,3893,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1130,-0.72,-175.1,2172,2363,4002,3894,234.2,-17.2,155,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2363,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1440,-0.72,-175.1,2174,2364,4000,3893,283.5,-15.5,172,1445,0.00,2.47,0.00,0.000,260,0.000,0.121,2162,3763,3947,4001,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1530,-0.72,-175.1,2163,3763,4000,3894,298.7,-16.9,190,1536,0.15,2.38,0.00,0.000,3078,0.286,0.076,2193,2356,3946,4000,3892,0,0,0,0,0,0,14.29,14.54,28.83
$GC,1861,-0.72,-175.1,2194,2356,4000,3893,342.8,-13.0,206,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2355,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,-0.72,-175.1,2194,2356,4000,3893,380.9,-12.6,216,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2461,-0.72,-175.1,2194,2356,4000,3893,418.8,-12.7,226,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2355,3947,4002,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,-0.72,-175.1,2194,2356,4000,3889,456.0,-12.3,236,2765,0.00,2.53,0.00,0.000,260,0.000,0.119,2188,3762,3947,4001,3893,0,0,0,0,0,0,28.83,14.40,28.83
$GC,2825,-0.72,-175.1,2185,3762,4000,3893,464.7,-13.7,249,2830,0.00,2.38,0.00,0.000,1030,0.000,0.074,2184,2359,3946,4000,3893,0,0,0,0,0,0,28.83,14.45,28.83
$GC,3151,-0.72,-175.1,2184,2359,4002,3894,506.3,-12.7,264,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2358,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3450,-0.72,-175.1,2182,2359,4000,3892,544.2,-12.5,274,3456,0.00,2.55,0.00,0.000,260,0.000,0.119,2173,3760,3947,4001,3893,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3490,-0.72,-175.1,2173,3764,4000,3893,549.6,-13.8,282,3495,0.00,2.40,0.00,0.000,1030,0.000,0.073,2173,2349,3947,4001,3893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3811,-0.72,-175.1,2173,2348,4002,3894,592.0,-13.1,296,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2347,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b6eaa6873;,*08
$MODEM_MSG,CACST,6,0,20140828040053.799852,3,869,17,0097,0150,100,00,00,02,04,1,004,000,0,5,1,0,150,12.2,4.9,-100,-1.9,-01,-0.2,19,900,0025*0E
$MODEM_MSG,CACST,6,1,20140828041805.764012,3,150,09,0120,0150,100,00,00,02,05,-1,-01,-01,1,3,1,0,150,3.3,0.7,-100,2.3,-01,0.3,17,900,0025*12
$GC,4110,-0.72,-175.1,2174,2348,4000,3893,630.9,-13.0,306,4116,0.00,2.55,0.00,0.000,260,0.000,0.119,2163,3761,3946,4000,3893,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4170,-0.72,-175.1,2164,3761,4001,3893,639.3,-14.1,318,4176,0.15,2.38,0.00,0.000,3078,0.281,0.074,2194,2356,3947,4001,3893,0,0,0,0,0,0,14.30,14.54,28.83
$GC,4500,-0.72,-175.1,2194,2356,4002,3894,678.2,-11.7,334,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2355,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4800,-0.72,-175.1,2194,2356,4002,3895,712.9,-11.7,344,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2355,3947,4001,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5100,-0.72,-175.1,2195,2355,3998,3895,748.0,-11.6,354,5106,0.00,2.55,0.00,0.000,260,0.000,0.121,2185,3760,3945,3996,3895,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,5118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5119,begin apogee
$GC,5125,-0.14,0.0,2186,2590,4001,3895,750.4,-12.0,358,5348,0.75,0.00,220.00,1.616,10246,0.255,0.000,2380,2589,3227,3280,3174,0,0,0,0,0,0,14.35,28.83,13.01
$STATE,5349,end apogee,CONTROL_FINISHED_OK
$STATE,5349,begin climb
$GC,5351,0.72,175.1,2382,2589,3277,3172,759.6,0.0,365,5513,0.95,2.70,153.77,1.890,10756,0.147,0.079,2669,1203,2508,2573,2443,0,0,0,0,0,0,13.59,13.19,12.57
$GC,5584,0.72,175.1,2669,1204,2569,2432,745.0,12.8,415,5589,0.00,2.65,0.00,0.000,1030,0.000,0.094,2669,2595,2498,2569,2427,0,0,0,0,0,0,28.83,13.55,28.83
$GC,5904,0.72,175.1,2671,2596,2568,2431,702.3,13.4,429,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2595,2498,2568,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6203,0.72,175.1,2669,2596,2569,2431,662.5,13.2,439,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2594,2499,2568,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6503,0.72,175.1,2670,2596,2569,2431,622.7,13.3,449,6508,0.00,2.40,0.00,0.000,516,0.000,0.081,2680,1201,2499,2568,2430,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6533,0.72,175.1,2681,1202,2567,2431,618.7,12.5,455,6539,0.00,2.47,0.00,0.000,1030,0.000,0.095,2676,2603,2499,2568,2430,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6865,0.72,175.1,2681,2604,2567,2431,573.4,13.6,471,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2603,2499,2568,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7163,0.72,175.1,2679,2604,2569,2430,532.4,13.7,481,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2603,2499,2568,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7464,0.72,175.1,2679,2604,2569,2431,491.6,13.6,491,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2603,2499,2568,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7763,0.72,175.1,2679,2604,2567,2430,451.2,13.4,501,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2603,2499,2568,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8063,0.72,175.1,2681,2604,2567,2431,411.4,13.2,511,8068,0.00,2.40,0.00,0.000,516,0.000,0.080,2689,1201,2499,2568,2430,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8088,0.72,175.1,2690,1202,2569,2430,408.2,12.5,516,8095,0.00,2.47,0.00,0.000,1030,0.000,0.096,2690,2609,2499,2568,2430,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8393,0.72,175.1,2691,2609,2567,2430,366.6,13.6,527,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2609,2499,2568,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8693,0.72,175.1,2691,2609,2567,2430,326.3,13.3,537,8698,0.00,2.42,0.00,0.000,516,0.000,0.082,2700,1193,2498,2568,2429,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8718,0.72,175.1,2699,1196,2569,2430,323.1,12.6,542,8725,0.12,2.45,0.00,0.000,5126,0.292,0.096,2675,2596,2498,2568,2429,0,0,0,0,0,0,14.40,14.57,28.83
$GC,9024,0.72,175.1,2676,2596,2567,2431,286.0,12.0,553,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2596,2498,2567,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9324,0.76,175.1,2676,2596,2567,2431,253.0,10.6,563,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2596,2499,2568,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9623,0.83,244.7,2675,2597,2568,2431,224.7,8.5,591,9685,0.00,0.00,58.70,1.427,8454,0.000,0.000,2675,2596,2228,2301,2155,0,0,0,0,0,0,28.83,28.83,13.65
$GC,9983,0.89,297.4,2674,2596,2294,2137,190.6,9.3,631,10035,0.15,2.47,45.35,1.390,10756,0.139,0.080,2736,1196,2006,2091,1922,0,0,0,0,0,0,14.47,14.19,13.58
$GC,10085,0.89,297.4,2737,1196,2084,1916,178.4,12.7,651,10090,0.00,2.55,0.00,0.000,1030,0.000,0.096,2735,2602,1999,2084,1915,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10395,0.89,297.4,2737,2602,2083,1910,137.1,12.8,683,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2602,1996,2084,1909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10695,0.89,297.4,2737,2602,2083,1908,100.2,11.6,713,10700,0.00,2.45,0.00,0.000,516,0.000,0.083,2746,1196,1996,2084,1908,0,0,0,0,0,0,28.83,14.41,28.83
$GC,10735,0.93,297.4,2746,1196,2085,1907,95.8,10.6,721,10740,0.00,2.50,0.00,0.000,1030,0.000,0.096,2746,2599,1996,2084,1908,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11045,1.02,386.5,2747,2600,2085,1907,66.6,7.7,753,11089,0.00,0.00,42.20,0.365,8198,0.000,0.000,2745,2599,1653,1743,1563,0,0,0,0,0,0,28.83,28.83,14.08
$GC,11386,1.19,562.0,2747,2599,1751,1577,45.4,3.8,787,11481,0.22,0.00,92.20,0.300,10246,0.119,0.000,2825,2596,937,1006,869,0,0,0,0,0,0,14.33,28.83,14.06
$FREEZE,8.56,-1.171,-1.465,2,1,0
$FREEZE,7.84,-1.139,-1.463,2,1,0
$FREEZE,6.99,-1.123,-1.462,2,1,0
$FREEZE,6.35,-1.124,-1.461,2,1,0
$FREEZE,5.50,-1.121,-1.461,2,1,0
$FREEZE,5.10,-1.121,-1.460,2,1,0
$FREEZE,4.64,-1.124,-1.460,2,1,0
$FREEZE,3.94,-1.124,-1.459,2,1,0
$FREEZE,3.52,-1.129,-1.459,2,1,0
$FREEZE,2.84,-1.129,-1.458,2,1,0
$FREEZE,2.37,-1.141,-1.458,2,1,0
$FREEZE,2.31,-1.141,-1.458,2,1,0
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