version: 66.12
glider: 199
mission: 5
dive: 430
start: 9 25 114 8 35 18
data:
$ID,199
$MISSION,5
$DIVE,430
$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,190
$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,4
$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,-29916.861
$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,30
$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,48
$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
$GPS1,250914,080426,7500.910,-14140.484,0,2255.0,0,23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-0.0
$GPS2,250914,080426,7500.910,-14140.484,0,2255.0,0,23.5
$SPEED_LIMITS,0.139,0.282
$TGT_NAME,1
$TGT_LATLONG,7230.000,-14500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,178.2,300761,-18.9,-11.628,-22.41,2446
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.72,-184.8,2547,2360,766,630,0.0,0.0,0,81,0.00,0.00,-61.83,0.000,16386,0.000,0.000,2548,2359,2194,2244,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.72,-184.8,2548,2360,2245,2146,3.1,-2.0,6,137,1.02,2.60,-46.10,0.000,20740,0.076,0.129,2182,3772,3963,4023,3903,0,0,0,0,0,0,14.23,14.15,14.55
$GC,213,-0.72,-184.8,2182,3772,4024,3906,45.0,-33.8,32,217,0.00,2.45,0.00,0.000,1030,0.000,0.071,2181,2364,3964,4023,3905,0,0,0,0,0,0,28.83,14.23,28.83
$GC,522,-0.72,-184.8,2183,2360,4023,3907,118.6,-20.4,64,527,0.00,2.45,0.00,0.000,516,0.000,0.078,2182,946,3964,4023,3906,0,0,0,0,0,0,28.83,14.19,28.83
$GC,607,-0.72,-184.8,2184,946,4023,3906,134.5,-17.3,81,614,0.15,2.53,0.00,0.000,3078,0.295,0.090,2200,2365,3964,4023,3906,0,0,0,0,0,0,13.86,14.17,28.83
$GC,912,-0.72,-184.8,2200,2366,4025,3907,186.1,-16.2,112,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2365,3964,4023,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1212,-0.72,-184.8,2201,2366,4022,3907,231.6,-14.3,142,1217,0.00,2.45,0.00,0.000,516,0.000,0.078,2200,952,3964,4023,3906,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1287,-0.72,-184.8,2201,952,4022,3907,241.6,-12.6,157,1293,0.00,2.53,0.00,0.000,1030,0.000,0.092,2191,2364,3964,4023,3906,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1594,-0.72,-184.8,2191,2365,4024,3906,282.1,-12.7,172,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2364,3964,4023,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1892,-0.72,-184.8,2191,2365,4020,3907,320.1,-12.5,182,1897,0.00,2.45,0.00,0.000,516,0.000,0.078,2191,945,3964,4023,3906,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1922,-0.72,-184.8,2192,946,4022,3907,323.9,-12.4,188,1927,0.00,2.53,0.00,0.000,1030,0.000,0.093,2181,2366,3964,4022,3906,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2254,-0.72,-184.8,2182,2367,4022,3907,365.3,-12.6,204,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2366,3964,4023,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2553,-0.72,-184.8,2182,2367,4022,3907,402.8,-12.5,214,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2366,3964,4022,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.72,-184.8,2181,2367,4024,3907,439.5,-12.2,224,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2366,3964,4023,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3152,-0.72,-184.8,2181,2367,4024,3907,476.1,-12.2,234,3157,0.00,2.45,0.00,0.000,516,0.000,0.077,2181,950,3964,4023,3906,0,0,0,0,0,0,28.83,14.30,28.83
$GC,3197,-0.72,-184.8,2181,947,4024,3907,481.6,-12.0,243,3202,0.12,2.50,0.00,0.000,3078,0.273,0.092,2194,2360,3964,4023,3906,0,0,0,0,0,0,14.00,14.26,28.83
$GC,3515,-0.72,-184.8,2194,2361,4024,3907,515.7,-10.8,256,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2357,3966,4026,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3813,-0.72,-184.8,2196,2361,4021,3907,547.9,-10.6,266,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2360,3965,4023,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4113,-0.72,-184.8,2196,2361,4022,3907,580.1,-10.7,276,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2360,3964,4023,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4413,-0.72,-184.8,2196,2361,4022,3908,612.4,-10.6,286,4417,0.00,2.45,0.00,0.000,516,0.000,0.080,2195,945,3965,4023,3907,0,0,0,0,0,0,28.83,14.30,28.83
$GC,4452,-0.72,-184.8,2194,945,4024,3909,616.6,-10.1,294,4457,0.00,2.53,0.00,0.000,1030,0.000,0.093,2186,2368,3965,4023,3907,0,0,0,0,0,0,28.83,14.26,28.83
$GC,4774,-0.72,-184.8,2187,2368,4022,3908,651.7,-11.0,308,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2368,3968,4023,3914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5073,-0.72,-184.8,2186,2369,4024,3908,684.4,-10.9,318,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2368,3965,4023,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5373,-0.72,-184.8,2187,2368,4023,3909,716.7,-10.8,328,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2369,3965,4023,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5673,-0.72,-184.8,2187,2369,4023,3909,749.4,-10.9,338,5677,0.00,2.47,0.00,0.000,516,0.000,0.081,2186,950,3965,4023,3908,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,5680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5680,begin apogee
$GC,5689,-0.14,0.0,2176,2599,4022,3909,750.5,-10.8,340,5924,0.82,0.00,232.40,1.584,10246,0.265,0.000,2379,2598,3230,3280,3180,0,0,0,0,0,0,13.92,28.83,12.86
$STATE,5925,end apogee,CONTROL_FINISHED_OK
$STATE,5925,begin climb
$GC,5928,0.72,184.8,2379,2599,3276,3175,761.1,0.0,348,6108,0.95,2.70,171.32,1.860,10756,0.133,0.078,2666,1196,2469,2534,2405,0,0,1,0,0,0,13.57,13.21,12.49
$GC,6145,0.72,184.8,2667,1197,2527,2397,749.1,11.4,367,6150,0.00,2.67,0.00,0.000,1030,0.000,0.093,2666,2598,2460,2527,2394,0,0,0,0,0,0,28.83,13.43,28.83
$GC,6467,0.72,184.8,2666,2599,2529,2394,708.7,12.8,381,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2599,2460,2527,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6766,0.72,184.8,2666,2599,2529,2395,670.9,12.6,391,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2598,2460,2527,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7066,0.72,184.8,2666,2599,2529,2394,633.2,12.6,401,7070,0.00,2.10,0.00,0.000,260,0.000,0.116,2666,3771,2460,2527,2393,0,0,0,0,0,0,28.83,14.28,28.83
$GC,7110,0.72,184.8,2666,3771,2529,2394,626.8,14.9,410,7115,0.00,2.00,0.00,0.000,1030,0.000,0.070,2675,2587,2460,2527,2393,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7427,0.72,184.8,2676,2588,2526,2393,586.1,12.9,423,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2592,2460,2527,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7726,0.72,184.8,2675,2588,2529,2393,547.6,12.8,433,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2587,2462,2527,2398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8026,0.72,184.8,2681,2588,2529,2393,509.2,12.9,443,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2588,2460,2527,2393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8326,0.72,184.8,2677,2588,2527,2393,470.8,12.7,453,8331,0.00,2.15,0.00,0.000,260,0.000,0.113,2675,3775,2459,2527,2392,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8371,0.72,184.8,2675,3776,2528,2393,464.3,14.4,462,8376,0.00,2.00,0.00,0.000,1030,0.000,0.070,2684,2593,2459,2527,2392,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8686,0.72,184.8,2685,2593,2527,2393,423.6,12.9,475,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2593,2459,2527,2392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8986,0.72,184.8,2684,2594,2529,2393,385.1,12.7,485,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2593,2460,2527,2394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9286,0.72,184.8,2692,2593,2527,2393,348.0,12.1,495,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2593,2458,2526,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9586,0.72,184.8,2683,2594,2529,2393,311.2,12.4,505,9590,0.00,2.12,0.00,0.000,260,0.000,0.112,2684,3771,2459,2527,2392,0,0,0,0,0,0,28.83,14.26,28.83
$GC,9626,0.72,184.8,2685,3772,2527,2393,305.7,13.9,513,9630,0.00,1.98,0.00,0.000,1030,0.000,0.070,2692,2601,2459,2527,2392,0,0,0,0,0,0,28.83,14.43,28.83
$GC,9948,0.72,184.8,2693,2602,2527,2392,266.4,12.3,527,9952,0.00,2.40,0.00,0.000,516,0.000,0.076,2703,1200,2459,2527,2392,0,0,0,0,0,0,28.83,14.34,28.83
$GC,9997,0.72,184.8,2701,1201,2529,2393,260.4,11.6,537,10003,0.15,2.50,0.00,0.000,5126,0.275,0.089,2672,2613,2459,2527,2392,0,0,0,0,0,0,14.02,14.31,28.83
$GC,10308,0.79,258.0,2674,2613,2527,2393,230.6,8.6,563,10379,0.00,2.08,64.82,1.426,8452,0.000,0.112,2672,3767,2168,2235,2101,0,0,0,0,0,0,28.83,14.20,13.47
$GC,10429,0.79,258.0,2674,3768,2226,2092,218.2,11.7,587,10434,0.00,2.00,0.00,0.000,1030,0.000,0.070,2679,2598,2159,2226,2092,0,0,0,0,0,0,28.83,14.25,28.83
$GC,10742,0.84,308.2,2680,2598,2226,2087,187.6,9.5,619,10791,0.00,2.50,44.62,1.404,8708,0.000,0.076,2690,1194,1963,2041,1885,0,0,0,0,0,0,28.83,14.25,13.54
$GC,10856,0.91,308.2,2691,1195,2030,1874,176.5,9.9,642,10863,0.12,2.53,0.00,0.000,3078,0.142,0.090,2746,2600,1951,2030,1872,0,0,0,0,0,0,14.24,14.19,28.83
$GC,11163,0.91,308.2,2741,2601,2032,1869,138.4,12.2,673,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2600,1953,2037,1869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11461,0.94,308.2,2742,2600,2030,1868,103.5,10.8,703,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2600,1949,2030,1868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11761,1.02,384.5,2742,2600,2030,1868,73.7,8.4,733,11803,0.00,2.53,36.22,0.374,8708,0.000,0.076,2752,1194,1662,1742,1582,0,0,0,0,0,0,28.83,14.28,13.95
$GC,11888,1.08,439.7,2753,1195,1754,1595,63.1,9.3,758,11924,0.00,2.53,31.25,0.343,9222,0.000,0.092,2751,2598,1435,1519,1352,0,0,0,0,0,0,28.83,14.16,13.95
$GC,12223,1.18,546.2,2753,2598,1528,1368,34.0,7.2,795,12288,0.17,2.53,57.62,0.261,10756,0.122,0.076,2832,1199,1004,1079,929,0,0,0,0,0,0,14.09,14.10,13.98
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$STATE,12999,end subsurface finish,NO_VERTICAL_VELOCITY
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