version: 66.12
glider: 199
mission: 5
dive: 251
start: 8 30 114 17 53 20
data:
$ID,199
$MISSION,5
$DIVE,251
$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,-23725.58
$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,32
$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,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
$GPS1,300814,174524,7441.896,-14657.163,38,0.8,58,22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-72.9
$GPS2,300814,175301,7441.912,-14657.190,4,0.8,24,22.4
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,5
$TGT_LATLONG,7515.000,-14650.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,340.8,61374,-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,16,-0.72,-175.1,200,2363,494,501,0.0,0.0,0,80,0.00,0.00,-62.45,0.000,16386,0.000,0.000,198,2363,1985,2004,1966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.72,-175.1,198,2364,1997,1968,3.1,-1.9,6,142,11.02,2.65,-42.55,0.000,18692,0.466,0.138,2179,3770,3945,4003,3888,0,0,0,0,0,0,13.95,14.23,14.51
$GC,366,-0.72,-175.1,2181,3771,4003,3893,90.6,-24.9,63,373,0.00,2.45,0.00,0.000,1030,0.000,0.077,2180,2355,3948,4003,3893,0,0,0,0,0,0,28.83,14.34,28.83
$GC,672,-0.72,-175.1,2180,2354,4005,3894,157.9,-20.3,94,676,0.00,2.55,0.00,0.000,260,0.000,0.119,2171,3767,3948,4003,3893,0,0,0,0,0,0,28.83,14.35,28.83
$GC,901,-0.72,-175.1,2169,3767,4005,3894,207.5,-20.4,140,906,0.00,2.42,0.00,0.000,1030,0.000,0.073,2169,2342,3948,4003,3893,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1231,-0.72,-175.1,2170,2341,4003,3894,265.6,-16.2,168,1237,0.12,2.58,0.00,0.000,2308,0.307,0.119,2184,3767,3948,4003,3893,0,0,0,0,0,0,14.27,14.41,28.83
$GC,1361,-0.72,-175.1,2184,3767,4005,3894,286.3,-15.0,194,1366,0.00,2.38,0.00,0.000,1030,0.000,0.073,2184,2359,3948,4003,3893,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1683,-0.72,-175.1,2184,2359,4003,3893,331.2,-13.8,208,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2358,3947,4001,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1981,-0.72,-175.1,2183,2359,4005,3894,371.2,-13.2,218,1986,0.00,2.55,0.00,0.000,260,0.000,0.119,2173,3773,3947,4002,3893,0,0,0,0,0,0,28.83,14.46,28.83
$GC,2021,-0.72,-175.1,2173,3774,4004,3893,376.8,-14.3,226,2026,0.00,2.40,0.00,0.000,1030,0.000,0.073,2173,2355,3948,4003,3893,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2343,-0.72,-175.1,2174,2354,4003,3894,421.2,-13.8,240,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2354,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2641,-0.72,-175.1,2173,2355,4010,3894,462.4,-13.7,250,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2354,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2942,-0.72,-175.1,2174,2354,4003,3890,503.2,-13.5,260,2946,0.00,2.53,0.00,0.000,260,0.000,0.119,2162,3766,3948,4003,3894,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2991,-0.72,-175.1,2162,3767,4004,3894,510.5,-14.9,270,2997,0.15,2.38,0.00,0.000,3078,0.276,0.073,2192,2356,3947,4002,3893,0,0,0,0,0,0,14.33,14.58,28.83
$GC,3303,-0.72,-175.1,2195,2351,4003,3894,547.2,-11.6,282,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2350,3948,4003,3893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3601,-0.72,-175.1,2196,2351,4003,3894,581.8,-11.6,292,3606,0.00,2.55,0.00,0.000,260,0.000,0.119,2185,3767,3948,4003,3893,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3666,-0.72,-175.1,2186,3768,4003,3893,590.2,-13.2,305,3671,0.00,2.38,0.00,0.000,1030,0.000,0.073,2185,2358,3948,4003,3893,0,0,0,0,0,0,28.83,14.53,28.83
$GC,3993,-0.72,-175.1,2186,2357,4002,3894,630.2,-12.3,320,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4291,-0.72,-175.1,2184,2357,4005,3895,667.0,-12.3,330,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2357,3948,4003,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,-0.72,-175.1,2184,2357,4004,3895,703.4,-12.2,340,4596,0.00,2.53,0.00,0.000,260,0.000,0.119,2173,3767,3949,4003,3895,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4626,-0.72,-175.1,2176,3767,4003,3895,707.9,-13.5,347,4632,0.00,2.38,0.00,0.000,1030,0.000,0.073,2174,2356,3948,4003,3894,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4953,-0.72,-175.1,2175,2357,4003,3895,749.6,-12.8,362,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2356,3946,3998,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4979,begin apogee
$GC,4984,-0.14,0.0,2179,2609,4004,3894,753.3,-12.7,363,5205,0.82,0.00,217.75,1.602,10246,0.270,0.000,2382,2609,3230,3282,3179,0,0,0,0,0,0,14.32,28.83,13.05
$STATE,5206,end apogee,CONTROL_FINISHED_OK
$STATE,5206,begin climb
$GC,5208,0.72,175.1,2382,2609,3280,3175,761.9,0.0,370,5368,0.95,0.00,154.48,1.872,10502,0.142,0.000,2660,2608,2513,2576,2451,0,0,0,0,0,0,13.62,28.83,12.52
$GC,5643,0.72,175.1,2661,2609,2568,2433,720.6,12.8,410,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2609,2500,2569,2432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5943,0.72,175.1,2661,2609,2568,2432,682.5,12.7,420,5948,0.00,2.45,0.00,0.000,516,0.000,0.080,2670,1197,2500,2568,2432,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5988,0.72,175.1,2671,1198,2568,2432,676.9,12.9,429,5993,0.00,2.50,0.00,0.000,1030,0.000,0.095,2670,2600,2500,2568,2432,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6303,0.72,175.1,2670,2601,2570,2432,636.3,12.8,442,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2600,2499,2568,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6603,0.72,175.1,2672,2600,2568,2432,597.8,12.8,452,6608,0.00,2.40,0.00,0.000,516,0.000,0.080,2680,1198,2500,2568,2432,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6648,0.72,175.1,2681,1198,2568,2433,592.1,12.5,461,6653,0.00,2.47,0.00,0.000,1030,0.000,0.094,2680,2606,2500,2568,2432,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6963,0.72,175.1,2682,2606,2568,2432,550.1,13.3,474,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2606,2502,2568,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7263,0.72,175.1,2682,2607,2568,2432,509.8,13.5,484,7268,0.00,2.40,0.00,0.000,516,0.000,0.080,2691,1198,2500,2568,2433,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7288,0.72,175.1,2691,1199,2569,2432,506.5,13.2,489,7294,0.00,2.45,0.00,0.000,1030,0.000,0.094,2691,2600,2497,2568,2427,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7593,0.72,175.1,2691,2601,2570,2432,463.4,14.2,500,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2600,2499,2568,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7893,0.72,175.1,2692,2601,2568,2432,421.2,13.9,510,7898,0.00,2.40,0.00,0.000,516,0.000,0.079,2698,1196,2500,2568,2432,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7923,0.72,175.1,2707,1200,2570,2432,417.0,13.5,516,7928,0.17,2.47,0.00,0.000,5126,0.287,0.094,2664,2603,2499,2568,2431,0,0,0,0,0,0,14.26,14.49,28.83
$GC,8253,0.72,175.1,2665,2604,2568,2432,375.5,12.4,532,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2603,2502,2574,2431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8553,0.72,175.1,2665,2604,2568,2432,339.3,11.9,542,8558,0.00,2.42,0.00,0.000,516,0.000,0.079,2673,1191,2499,2568,2431,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8633,0.75,175.1,2673,1195,2569,2432,330.1,11.1,558,8638,0.00,2.50,0.00,0.000,1030,0.000,0.095,2673,2600,2499,2568,2431,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8943,0.75,175.1,2673,2601,2569,2432,293.7,11.7,570,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2600,2500,2570,2431,0,0,0,0,0,0,28.83,28.83,28.83
$MODEM_MSG,CARDP,4,0,1,0,0,1;5;5b665a6a47;,*5C
$MODEM_MSG,CACST,6,0,20140830200017.214713,3,382,25,0187,0150,100,00,00,00,02,1,004,000,0,5,1,0,150,17.1,4.5,-100,-1.5,-01,-0.1,21,900,0025*04
$GC,9243,0.81,175.1,2671,2600,2568,2432,260.8,10.0,580,9248,0.00,2.40,0.00,0.000,516,0.000,0.079,2683,1197,2500,2568,2432,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9288,0.86,221.0,2681,1198,2568,2432,256.5,9.6,589,9334,0.00,2.47,38.97,1.437,9222,0.000,0.094,2683,2603,2322,2392,2252,0,0,0,0,0,0,28.83,14.47,13.66
$GC,9634,0.93,221.0,2683,2604,2384,2242,219.3,10.0,626,9639,0.12,2.08,0.00,0.000,2308,0.160,0.116,2730,3768,2311,2382,2241,0,0,0,0,0,0,14.38,14.36,28.83
$GC,9664,0.93,221.0,2732,3769,2382,2242,215.4,13.6,632,9669,0.00,2.03,0.00,0.000,1030,0.000,0.073,2739,2599,2311,2382,2241,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9974,0.98,221.0,2741,2599,2379,2242,181.8,10.2,664,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2599,2311,2382,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10274,1.03,273.0,2741,2599,2382,2241,152.6,9.3,694,10326,0.00,2.42,44.58,1.386,8708,0.000,0.081,2747,1200,2107,2185,2030,0,0,0,0,0,0,28.83,14.28,13.66
$GC,10465,1.08,322.5,2748,1200,2180,2021,133.2,9.4,732,10517,0.00,2.50,43.33,1.369,9222,0.000,0.095,2750,2600,1906,1988,1824,0,0,0,0,0,0,28.83,14.31,13.53
$GC,10815,1.08,322.5,2751,2600,1980,1809,90.2,12.1,772,10820,0.00,2.45,0.00,0.000,516,0.000,0.081,2760,1198,1894,1980,1809,0,0,0,0,0,0,28.83,14.26,28.83
$GC,10865,1.08,322.5,2760,1199,1981,1809,84.2,11.5,782,10870,0.00,2.53,0.00,0.000,1030,0.000,0.095,2760,2606,1894,1980,1808,0,0,0,0,0,0,28.83,14.26,28.83
$GC,11175,1.17,409.4,2760,2607,1981,1808,52.1,7.8,814,11222,0.17,2.08,41.00,0.327,10500,0.137,0.116,2820,3766,1559,1647,1471,0,0,0,0,0,0,14.35,14.24,14.05
$GC,11446,1.30,539.3,2822,3767,1651,1482,32.5,5.9,868,11518,0.00,2.00,66.95,0.269,9222,0.000,0.075,2829,2597,1029,1108,950,0,0,0,0,0,0,28.83,14.34,14.08
$FREEZE,8.49,-1.148,-1.443,2,1,0
$FREEZE,7.87,-1.145,-1.442,2,1,0
$FREEZE,7.12,-1.148,-1.441,2,1,0
$FREEZE,6.57,-1.148,-1.441,2,1,0
$FREEZE,5.86,-1.148,-1.440,2,1,0
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$STATE,12224,end subsurface finish,NO_VERTICAL_VELOCITY
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$FG_AHR_10Vo,0.000
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