version: 66.12
glider: 199
mission: 5
dive: 189
start: 8 22 114 1 43 42
data:
$ID,199
$MISSION,5
$DIVE,189
$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,-22199.072
$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,15
$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
$GPS1,220814,013548,7324.321,-14555.173,37,0.7,57,22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-74.3
$GPS2,220814,014322,7324.373,-14555.234,6,0.8,26,22.5
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7345.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,300.9,47591,-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,-175.1,194,2364,481,514,0.0,0.0,0,69,0.00,0.00,-52.25,0.000,16386,0.000,0.000,193,2364,1780,1796,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-175.1,193,2365,1797,1767,3.0,-1.7,5,140,10.93,2.53,-52.50,0.000,19204,0.468,0.113,2188,953,3946,4002,3891,0,0,0,0,0,0,13.99,14.34,14.59
$GC,364,-0.72,-175.1,2188,952,4003,3896,80.9,-22.2,64,371,0.00,2.50,0.00,0.000,1030,0.000,0.099,2180,2365,3949,4002,3896,0,0,0,0,0,0,28.83,14.40,28.83
$GC,669,-0.72,-175.1,2180,2365,4003,3896,148.2,-20.6,95,674,0.00,2.42,0.00,0.000,516,0.000,0.086,2180,950,3948,4002,3895,0,0,0,0,0,0,28.83,14.48,28.83
$GC,899,-0.72,-175.1,2181,950,4002,3896,190.5,-18.2,141,905,0.12,2.47,0.00,0.000,3078,0.324,0.099,2190,2360,3948,4002,3895,0,0,0,0,0,0,14.25,14.47,28.83
$GC,1209,-0.72,-175.1,2191,2361,4004,3896,243.6,-16.9,173,1214,0.00,2.50,0.00,0.000,260,0.000,0.122,2183,3769,3948,4002,3895,0,0,0,0,0,0,28.83,14.41,28.83
$GC,1259,-0.72,-175.1,2184,3769,4002,3896,252.5,-18.0,183,1264,0.00,2.42,0.00,0.000,1030,0.000,0.076,2182,2360,3946,4001,3892,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1569,-0.72,-175.1,2183,2359,4002,3896,302.1,-15.3,195,1574,0.00,2.53,0.00,0.000,260,0.000,0.122,2172,3770,3948,4002,3895,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1644,-0.72,-175.1,2173,3771,4002,3896,314.5,-16.7,210,1649,0.00,2.42,0.00,0.000,1030,0.000,0.076,2172,2359,3948,4002,3895,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1959,-0.72,-175.1,2171,2359,4003,3896,361.3,-14.7,223,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2358,3951,4002,3901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2259,-0.72,-175.1,2178,2359,4003,3896,403.6,-14.0,233,2260,0.12,0.00,0.00,0.000,2054,0.304,0.000,2196,2358,3948,4002,3894,0,0,0,0,0,0,14.41,28.83,28.83
$GC,2559,-0.72,-175.1,2197,2359,4001,3896,441.2,-12.4,243,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2358,3948,4001,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2859,-0.72,-175.1,2196,2359,4003,3896,478.8,-12.5,253,2864,0.00,2.50,0.00,0.000,260,0.000,0.122,2187,3767,3948,4002,3895,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2899,-0.72,-175.1,2186,3767,4003,3896,484.2,-14.0,261,2904,0.00,2.42,0.00,0.000,1030,0.000,0.075,2187,2351,3948,4002,3895,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3220,-0.72,-175.1,2186,2351,4003,3896,525.5,-12.9,275,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2351,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3519,-0.72,-175.1,2188,2351,4001,3896,563.9,-12.6,285,3524,0.00,2.53,0.00,0.000,260,0.000,0.121,2176,3769,3948,4002,3895,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3554,-0.72,-175.1,2176,3769,4004,3895,568.8,-14.2,292,3559,0.00,2.40,0.00,0.000,1030,0.000,0.075,2176,2360,3948,4001,3895,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3880,-0.72,-175.1,2177,2360,4002,3896,611.5,-13.1,307,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2360,3948,4002,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4179,-0.72,-175.1,2176,2360,4003,3896,650.1,-12.8,317,4184,0.00,2.50,0.00,0.000,260,0.000,0.120,2165,3770,3948,4001,3895,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4219,-0.72,-175.1,2165,3770,4003,3896,655.6,-14.0,325,4225,0.15,2.42,0.00,0.000,3078,0.286,0.075,2196,2324,3954,4009,3899,0,0,0,0,0,0,14.45,14.65,28.83
$GC,4540,-0.72,-175.1,2197,2323,4002,3897,692.2,-11.2,339,4545,0.00,2.58,0.00,0.000,260,0.000,0.121,2187,3773,3949,4002,3896,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4594,-0.72,-175.1,2188,3775,4001,3897,698.8,-11.7,350,4601,0.00,2.42,0.00,0.000,1030,0.000,0.075,2186,2355,3948,4000,3896,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4899,-0.72,-175.1,2187,2355,4001,3897,734.5,-11.7,361,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2355,3949,4002,3897,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5048,begin apogee
$GC,5052,-0.14,0.0,2186,2608,4002,3898,751.9,-11.6,366,5279,0.77,0.00,223.80,1.750,10246,0.275,0.000,2384,2608,3230,3283,3178,0,0,0,0,0,0,14.45,28.83,12.95
$STATE,5280,end apogee,CONTROL_FINISHED_OK
$STATE,5280,begin climb
$GC,5282,0.72,175.1,2386,2608,3280,3174,759.6,0.0,373,5447,0.93,0.00,158.80,2.076,10502,0.126,0.000,2660,2607,2512,2574,2450,0,0,0,0,0,0,13.57,28.83,12.30
$GC,5739,0.72,175.1,2661,2608,2568,2434,712.0,13.6,404,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2608,2500,2568,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6039,0.72,175.1,2660,2608,2568,2434,672.0,13.1,414,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2608,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6339,0.72,175.1,2660,2608,2568,2433,633.0,13.0,424,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2608,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6639,0.72,175.1,2662,2608,2566,2433,594.5,12.9,434,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2608,2500,2567,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6939,0.72,175.1,2661,2609,2568,2433,556.1,12.7,444,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2608,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7239,0.72,175.1,2660,2608,2568,2433,518.3,12.6,454,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2608,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7539,0.72,175.1,2662,2608,2566,2433,481.3,12.4,464,7545,0.00,2.42,0.00,0.000,516,0.000,0.083,2671,1187,2498,2566,2431,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7569,0.72,175.1,2673,1188,2566,2433,477.6,12.2,470,7575,0.00,2.53,0.00,0.000,1030,0.000,0.099,2671,2603,2499,2566,2432,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7900,0.72,175.1,2672,2604,2566,2432,435.3,12.9,486,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2597,2501,2571,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8201,0.72,175.1,2671,2604,2568,2433,395.8,13.2,496,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2603,2499,2566,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8499,0.72,175.1,2669,2604,2566,2433,357.0,12.6,506,8505,0.00,2.10,0.00,0.000,260,0.000,0.122,2671,3762,2499,2566,2432,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8544,0.72,175.1,2671,3764,2568,2433,350.7,13.7,515,8550,0.00,2.00,0.00,0.000,1030,0.000,0.076,2680,2598,2502,2573,2432,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8860,0.72,175.1,2679,2598,2570,2433,310.9,12.5,528,8865,0.00,2.40,0.00,0.000,516,0.000,0.082,2691,1185,2499,2566,2432,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8894,0.72,175.1,2692,1186,2566,2432,306.5,12.8,535,8900,0.00,2.50,0.00,0.000,1030,0.000,0.096,2691,2608,2499,2566,2432,0,0,0,0,0,0,28.83,14.49,28.83
$GC,9221,0.75,175.1,2692,2608,2566,2433,268.6,10.9,550,9225,0.00,2.05,0.00,0.000,260,0.000,0.120,2690,3768,2499,2566,2432,0,0,0,0,0,0,28.83,14.45,28.83
$GC,9440,0.79,175.1,2691,3769,2571,2433,244.0,10.8,594,9445,0.00,2.03,0.00,0.000,1030,0.000,0.076,2699,2599,2499,2566,2432,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9751,0.87,253.2,2700,2597,2566,2432,215.7,8.2,626,9826,0.00,2.50,67.00,1.466,8708,0.000,0.082,2709,1198,2188,2263,2114,0,0,0,0,0,0,28.83,14.14,13.50
$GC,9860,0.87,253.2,2711,1202,2254,2103,205.1,11.4,647,9866,0.00,2.53,0.00,0.000,1030,0.000,0.096,2709,2601,2180,2254,2106,0,0,0,0,0,0,28.83,14.18,28.83
$GC,10170,0.87,253.2,2711,2601,2252,2104,166.8,11.8,679,10176,0.00,2.45,0.00,0.000,516,0.000,0.083,2719,1191,2179,2254,2105,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10270,0.87,253.2,2721,1192,2254,2104,154.9,11.6,699,10276,0.00,2.50,0.00,0.000,1030,0.000,0.097,2719,2601,2180,2256,2104,0,0,0,0,0,0,28.83,14.40,28.83
$GC,10582,0.92,253.2,2721,2601,2254,2104,120.7,10.2,731,10586,0.00,2.42,0.00,0.000,516,0.000,0.083,2730,1197,2178,2254,2102,0,0,0,0,0,0,28.83,14.48,28.83
$GC,10781,0.99,318.6,2731,1195,2254,2103,102.9,8.7,771,10843,0.00,2.50,56.95,1.353,9222,0.000,0.098,2728,2607,1927,2009,1845,0,0,0,0,0,0,28.83,14.48,13.60
$GC,11141,1.07,318.6,2729,2606,1997,1825,64.9,9.7,813,11146,0.15,2.45,0.00,0.000,2564,0.133,0.084,2794,1194,1909,1995,1824,0,0,0,0,0,0,14.42,14.39,28.83
$GC,11342,1.17,424.9,2796,1195,1994,1824,46.8,6.9,853,11397,0.00,2.50,49.85,0.311,9222,0.000,0.098,2794,2608,1496,1586,1406,0,0,0,0,0,0,28.83,14.43,14.19
$GC,11702,1.38,630.2,2796,2608,1593,1415,17.6,2.5,895,11815,0.25,2.55,101.43,0.228,10756,0.113,0.086,2892,1192,659,703,615,0,0,0,0,0,0,14.47,14.27,14.24
$FREEZE,8.40,-1.036,-1.463,2,1,0
$FREEZE,7.69,-1.036,-1.462,2,1,0
$FREEZE,7.06,-1.088,-1.460,2,1,0
$FREEZE,6.39,-1.088,-1.459,2,1,0
$FREEZE,5.78,-0.851,-1.449,2,1,0
$FREEZE,5.17,-0.851,-1.448,2,1,0
$FREEZE,5.15,-0.705,-1.439,2,1,0
$FREEZE,5.16,-0.705,-1.439,2,1,0
$FREEZE,5.16,-0.820,-1.435,2,1,0
$FREEZE,5.02,-0.820,-1.435,2,1,0
$FREEZE,5.04,-0.838,-1.435,2,1,0
$FREEZE,5.02,-0.838,-1.435,2,1,0
$FREEZE,5.00,-0.828,-1.434,2,1,0
$FREEZE,4.95,-0.828,-1.434,2,1,0
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$STATE,12289,end climb,NO_VERTICAL_VELOCITY
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$STATE,12302,end subsurface finish,NO_VERTICAL_VELOCITY
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$24V_AH,12.30,124.799
$10V_AH,12.54,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_MAMPS,468.180,126.990,2076.210,0.000,0.000,0.000,0.000,160.650,420.000,0.000,20.970,0.000,2.310,10.970,29.700,36.440,0.000,10.000,0.000,5.000,48.000,5.000,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.296,0.000,0.000,0.000
$MEM,250612
$DATA_FILE_SIZE,33362,990
$CAP_FILE_SIZE,147433,0
$CFSIZE,2097872896,2047016960
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12366.37,0x2378b6,7,5
$INTR,1,12291.44,0x2378b6,5,5
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