version: 66.12
glider: 199
mission: 5
dive: 360
start: 9 14 114 22 41 52
data:
$ID,199
$MISSION,5
$DIVE,360
$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,-26241.783
$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,33
$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
$GPS1,140914,190826,7520.426,-14351.141,4,0.8,25,23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,27.15
$_SM_ANGLEo,-14.6
$GPS2,140914,190826,7520.426,-14351.141,4,0.8,25,23.7
$SPEED_LIMITS,0.139,0.275
$TGT_NAME,8
$TGT_LATLONG,7520.000,-14345.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,81.6,2986,-23.6,-11.628,-26.68,1623
$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,-0.79,-122.6,2434,2360,3280,3189,0.0,0.0,0,29,0.00,0.00,-6.18,0.000,16390,0.000,0.000,2433,2359,3735,3794,3676,0,0,0,0,0,0,28.83,28.83,14.54
$GC,31,-0.79,-122.6,2433,2361,3795,3677,31.5,0.0,1,36,0.75,2.58,0.00,0.000,4356,0.090,0.114,2166,3770,3734,3793,3676,0,0,0,0,0,0,14.17,14.17,28.83
$GC,263,-0.79,-122.6,2166,3771,3794,3679,97.4,-24.2,47,268,0.00,2.45,0.00,0.000,1030,0.000,0.070,2167,2362,3735,3793,3678,0,0,0,0,0,0,28.83,14.26,28.83
$GC,573,-0.79,-122.6,2168,2360,3793,3681,162.0,-19.7,79,578,0.00,2.60,0.00,0.000,260,0.000,0.112,2156,3769,3736,3793,3680,0,0,0,0,0,0,28.83,14.23,28.83
$GC,803,-0.79,-122.6,2157,3769,3793,3681,209.5,-19.5,125,808,0.00,2.45,0.00,0.000,1030,0.000,0.071,2156,2356,3737,3793,3681,0,0,0,0,0,0,28.83,14.36,28.83
$GC,1133,-0.79,-122.6,2157,2354,3793,3681,264.2,-15.7,153,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3736,3793,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1433,-0.79,-122.6,2157,2354,3801,3681,309.3,-14.9,163,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3737,3794,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1733,-0.79,-122.6,2156,2355,3795,3681,352.5,-14.3,173,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3736,3793,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2033,-0.79,-122.6,2156,2354,3795,3681,393.3,-13.5,183,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3737,3794,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2333,-0.79,-122.6,2155,2355,3795,3681,433.3,-13.3,193,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3736,3793,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2633,-0.79,-122.6,2157,2354,3793,3679,472.5,-12.9,203,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2353,3736,3793,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2933,-0.79,-122.6,2156,2354,3795,3681,511.0,-12.7,213,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3736,3793,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,-0.79,-122.6,2156,2354,3793,3680,548.7,-12.5,223,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3737,3794,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3533,-0.79,-122.6,2156,2354,3795,3680,585.9,-12.3,233,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3736,3793,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3833,-0.79,-122.6,2156,2354,3795,3681,622.5,-12.2,243,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3737,3793,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4133,-0.79,-122.6,2156,2353,3795,3682,658.7,-12.1,253,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3737,3793,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4433,-0.79,-122.6,2157,2354,3793,3682,694.9,-12.2,263,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2354,3738,3794,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4735,-0.79,-122.6,2157,2354,3792,3682,731.4,-12.2,273,4740,0.00,2.65,0.00,0.000,260,0.000,0.114,2145,3770,3737,3793,3681,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4770,-0.79,-122.6,2146,3771,3795,3682,736.4,-13.7,280,4775,0.15,2.47,0.00,0.000,3078,0.295,0.070,2174,2350,3738,3794,3682,0,0,0,0,0,0,13.92,14.28,28.83
$STATE,4912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4913,begin apogee
$GC,4918,-0.14,0.0,2175,2604,3793,3682,753.0,-11.1,289,5079,0.85,0.00,158.75,1.841,10246,0.271,0.000,2382,2603,3229,3282,3176,0,0,0,0,0,0,13.96,28.83,12.93
$STATE,5080,end apogee,CONTROL_FINISHED_OK
$STATE,5080,begin climb
$GC,5083,0.79,122.6,2383,2609,3277,3172,758.1,0.0,294,5203,1.02,2.35,109.60,2.016,10500,0.148,0.111,2680,3764,2722,2768,2676,0,0,0,0,0,0,13.60,13.19,12.43
$GC,5392,0.79,122.6,2680,3765,2765,2666,731.9,12.5,359,5399,0.00,2.08,0.00,0.000,1030,0.000,0.070,2688,2599,2714,2764,2665,0,0,0,0,0,0,28.83,13.83,28.83
$GC,5698,0.79,122.6,2688,2599,2765,2665,697.0,11.4,370,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2599,2713,2763,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5998,0.79,122.6,2688,2599,2765,2664,663.0,11.4,380,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2598,2715,2764,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6298,0.79,122.6,2689,2599,2763,2664,629.3,11.2,390,6303,0.00,2.45,0.00,0.000,516,0.000,0.078,2699,1191,2713,2764,2663,0,0,0,0,0,0,28.83,14.36,28.83
$GC,6328,0.82,122.6,2701,1192,2764,2663,626.1,10.9,396,6333,0.00,2.50,0.00,0.000,1030,0.000,0.092,2699,2598,2713,2764,2663,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6659,0.82,122.6,2700,2599,2764,2662,587.6,11.7,412,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2597,2713,2764,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6958,0.82,122.6,2700,2599,2764,2664,553.0,11.5,422,6963,0.00,2.45,0.00,0.000,516,0.000,0.077,2709,1188,2713,2764,2663,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6988,0.85,122.6,2710,1192,2764,2660,549.7,10.8,428,6993,0.00,2.50,0.00,0.000,1030,0.000,0.091,2709,2608,2713,2764,2663,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7320,0.85,122.6,2711,2609,2763,2663,511.0,11.7,444,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2608,2714,2764,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7618,0.85,122.6,2709,2609,2765,2664,475.6,11.9,454,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2609,2711,2760,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7918,0.85,122.6,2711,2609,2764,2663,440.8,11.6,464,7923,0.00,2.47,0.00,0.000,516,0.000,0.078,2719,1187,2713,2764,2663,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7958,0.87,122.6,2720,1188,2763,2663,436.4,11.1,472,7963,0.00,2.50,0.00,0.000,1030,0.000,0.091,2720,2601,2713,2764,2663,0,0,0,0,0,0,28.83,14.37,28.83
$GC,8279,0.87,122.6,2719,2601,2765,2664,398.9,11.6,486,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2600,2713,2764,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8578,0.87,122.6,2721,2601,2763,2663,364.0,11.4,496,8583,0.00,2.42,0.00,0.000,516,0.000,0.077,2729,1195,2713,2764,2663,0,0,0,0,0,0,28.83,14.39,28.83
$GC,8668,0.91,122.6,2729,1196,2763,2663,353.9,10.8,514,8673,0.00,2.47,0.00,0.000,1030,0.000,0.091,2729,2601,2710,2759,2662,0,0,0,0,0,0,28.83,14.35,28.83
$GC,8999,0.91,122.6,2729,2601,2763,2664,315.4,11.6,530,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2601,2713,2764,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9298,0.97,122.6,2730,2601,2763,2663,283.1,10.1,540,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2601,2713,2763,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9598,1.02,171.1,2729,2601,2765,2664,255.7,8.6,550,9641,0.00,0.00,41.62,1.343,8198,0.000,0.000,2729,2601,2531,2587,2476,0,0,0,0,0,0,28.83,28.83,13.72
$GC,9928,1.06,215.2,2729,2601,2576,2455,224.0,8.8,577,9970,0.15,2.53,37.33,1.297,10756,0.139,0.078,2789,1196,2343,2404,2283,0,0,0,0,0,0,14.28,14.29,13.64
$GC,10020,1.06,215.2,2791,1196,2397,2272,213.7,12.2,595,10025,0.00,2.53,0.00,0.000,1030,0.000,0.091,2789,2602,2333,2396,2271,0,0,0,0,0,0,28.83,14.21,28.83
$GC,10330,1.06,215.2,2790,2600,2396,2269,174.2,12.5,627,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2600,2332,2396,2269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10630,1.10,255.7,2789,2601,2398,2269,141.6,9.1,657,10671,0.00,2.47,34.35,1.304,8708,0.000,0.080,2800,1190,2176,2246,2107,0,0,0,0,0,0,28.83,14.28,13.66
$GC,10718,1.12,255.7,2799,1192,2243,2100,133.1,11.1,672,10724,0.00,2.53,0.00,0.000,1030,0.000,0.091,2800,2601,2170,2241,2099,0,0,0,0,0,0,28.83,14.24,28.83
$GC,11021,1.12,255.7,2801,2601,2242,2096,96.5,12.2,703,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2601,2168,2241,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11321,1.18,311.6,2800,2601,2243,2096,68.3,8.1,733,11353,0.00,2.10,25.55,0.365,8452,0.000,0.113,2800,3769,1961,2038,1885,0,0,0,0,0,0,28.83,14.21,13.94
$GC,11378,1.22,347.7,2801,3769,2042,1898,63.6,9.3,744,11404,0.00,2.03,19.88,0.353,9222,0.000,0.073,2808,2590,1813,1889,1737,0,0,0,0,0,0,28.83,14.26,13.95
$GC,11703,1.40,528.3,2811,2591,1902,1750,46.1,0.2,779,11806,0.22,2.17,95.00,0.308,10500,0.118,0.114,2883,3766,1073,1147,1000,0,0,0,0,0,0,14.20,14.10,13.93
$GC,11946,1.45,528.3,2884,3766,1147,1009,21.1,10.3,827,11951,0.00,2.05,0.00,0.000,1030,0.000,0.072,2892,2584,1078,1147,1009,0,0,0,0,0,0,28.83,14.17,28.83
$FREEZE,8.90,-1.251,-1.449,2,2,0
$FREEZE,7.97,-1.253,-1.449,2,2,0
$FREEZE,6.94,-1.251,-1.448,2,2,0
$FREEZE,6.12,-1.253,-1.447,2,2,0
$FREEZE,5.23,-1.257,-1.446,2,2,0
$FREEZE,4.38,-1.257,-1.446,2,2,0
$FREEZE,4.25,-1.257,-1.446,2,2,0
$FREEZE,4.36,-1.266,-1.446,2,2,0
$FREEZE,4.61,-1.265,-1.446,2,2,0
$FREEZE,4.73,-1.265,-1.446,2,2,0
$FREEZE,4.62,-1.267,-1.446,2,2,0
$FREEZE,4.57,-1.274,-1.446,2,2,0
$FREEZE,4.53,-1.274,-1.446,2,2,0
$FREEZE,4.40,-1.269,-1.446,2,2,0
$FREEZE,4.17,-1.268,-1.446,2,2,0
$FREEZE,3.98,-1.267,-1.445,2,2,0
$FREEZE,3.86,-1.269,-1.445,2,2,0
$FREEZE,3.52,-1.269,-1.445,2,2,0
$FREEZE,3.23,-1.267,-1.445,2,2,0
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$STATE,12678,end subsurface finish,NO_VERTICAL_VELOCITY
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