version: 66.13
glider: 199
mission: 7
dive: 1135
start: 2 8 119 7 31 35
data:
$ID,199
$MISSION,7
$DIVE,1135
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,330
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53675
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019
$HD_B,0.016000001
$HD_C,1.2e-06
$HEADING,190
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,300
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,525
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2070
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,0
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2943
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,500
$VBD_MAXERRORS,2
$W_ADJ_DBAND,4
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,400
$LOITER_D_TOP,120
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.83926
$PRESSURE_SLOPE,0.00010895507
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,6
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043925666
$SEABIRD_T_H,0.0006320356
$SEABIRD_T_I,2.5405934e-05
$SEABIRD_T_J,3.1033937e-06
$SEABIRD_C_G,-9.8267241
$SEABIRD_C_H,1.1324162
$SEABIRD_C_I,-0.0020002997
$SEABIRD_C_J,0.00022812413
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,080219,072625,7111.9224,-14802.0273,0,1001.0,0,18.9,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,26.74
$_SM_ANGLEo,-6.5
$GPS2,080219,072625,7111.9224,-14802.0273,0,1001.0,0,18.9,0.0,0.0,0,0.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,7101.287,-14807.793
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,171.1,20000,-17.7,-10.000,-25.48,2242
$D_GRID,990
$EXEC,0,999,2,0.000000,0.000000
$EXEC,1,101,2,3011900.000000,0.000000
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
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$GC,2398,-0.80,-146.0,1802,3783,3614,3476,26.8,0.0,374,2403,0.00,1.98,0.00,0.000,1030,0.000,0.119,1802,2739,3544,3614,3475,0,0,0,0,0,0,14.06,13.90,14.11
$GC,2591,-0.80,-146.0,1803,2738,3616,3474,26.8,-0.0,394,2596,0.00,2.10,0.00,0.000,260,0.000,0.169,1802,3771,3544,3615,3474,0,0,0,0,0,0,14.38,13.74,14.39
$GC,2824,-0.80,-146.0,1801,3772,3616,3474,26.8,-0.0,440,2830,0.00,1.95,0.00,0.000,1062,0.000,0.120,1802,2748,3542,3610,3474,0,0,0,0,0,0,14.04,13.90,14.09
$GC,3022,-0.80,-146.0,1803,2748,3614,3474,26.8,0.0,460,3027,0.00,2.10,0.00,0.000,292,0.000,0.170,1802,3779,3544,3614,3474,0,0,0,0,0,0,14.33,13.74,14.35
$GC,3256,-0.80,-146.0,1802,3778,3615,3474,26.8,0.0,506,3261,0.00,1.98,0.00,0.000,1062,0.000,0.119,1802,2742,3543,3614,3473,0,0,0,0,0,0,14.04,13.88,14.09
$GC,3453,-0.80,-146.0,1802,2742,3616,3473,26.8,-0.0,526,3458,0.00,2.10,0.00,0.000,292,0.000,0.168,1802,3774,3544,3614,3474,0,0,0,0,0,0,14.33,13.74,14.35
$GC,3686,-0.80,-146.0,1802,3775,3616,3475,26.8,0.0,572,3691,0.00,1.98,0.00,0.000,1062,0.000,0.119,1802,2736,3544,3614,3474,0,0,0,0,0,0,14.07,13.88,14.07
$GC,3883,-0.80,-146.0,1803,2736,3615,3474,26.8,-0.0,592,3888,0.00,2.12,0.00,0.000,292,0.000,0.168,1802,3779,3544,3615,3474,0,0,0,0,0,0,14.35,13.72,14.35
$GC,4117,-0.80,-146.0,1802,3779,3616,3473,26.8,-0.1,638,4122,0.00,1.98,0.00,0.000,1062,0.000,0.118,1799,2741,3544,3614,3474,0,0,0,0,0,0,14.02,13.84,14.07
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$GC,5594,-0.80,-146.0,1802,2740,3615,3475,26.9,0.0,856,5600,0.00,2.12,0.00,0.000,292,0.000,0.165,1802,3776,3544,3615,3474,0,0,0,0,0,0,14.64,13.59,14.66
$GC,5829,-0.80,-146.0,1803,3777,3615,3475,26.9,-0.0,902,5834,0.00,1.98,0.00,0.000,1062,0.000,0.117,1802,2743,3547,3615,3479,0,0,0,0,0,0,13.95,13.77,14.01
$GC,6021,-0.80,-146.0,1803,2744,3616,3474,26.9,0.0,922,6026,0.00,2.12,0.00,0.000,292,0.000,0.166,1802,3777,3544,3614,3474,0,0,0,0,0,0,14.65,13.59,14.66
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$GC,7306,-0.80,-146.0,1802,2745,3616,3474,26.9,0.0,1120,7312,0.00,2.12,0.00,0.000,260,0.000,0.168,1802,3773,3544,3614,3474,0,0,0,0,0,0,14.64,13.60,14.66
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$GC,8403,-0.80,-146.0,1802,3777,3615,3475,26.9,0.1,1298,8408,0.00,1.98,0.00,0.000,1030,0.000,0.118,1802,2746,3544,3614,3474,0,0,0,0,0,0,13.93,13.75,14.00
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$GC,8835,-0.80,-146.0,1802,3775,3616,3476,26.9,0.0,1364,8840,0.00,1.98,0.00,0.000,1062,0.000,0.118,1802,2747,3544,3614,3474,0,0,0,0,0,0,13.91,13.74,13.98
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$GC,9265,-0.80,-146.0,1802,3783,3615,3475,26.9,0.0,1430,9270,0.00,2.00,0.00,0.000,1062,0.000,0.116,1802,2741,3544,3614,3474,0,0,0,0,0,0,13.92,13.74,13.97
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$GC,9696,-0.80,-146.0,1803,3780,3616,3473,26.9,-0.1,1496,9701,0.00,2.00,0.00,0.000,1062,0.000,0.117,1802,2740,3544,3614,3474,0,0,0,0,0,0,13.91,13.73,13.97
$GC,9892,-0.80,-146.0,1802,2740,3616,3474,26.9,-0.0,1516,9897,0.00,2.15,0.00,0.000,292,0.000,0.168,1802,3780,3544,3614,3474,0,0,0,0,0,0,14.59,13.61,14.62
$GC,10127,-0.80,-146.0,1802,3780,3615,3474,26.9,0.0,1562,10132,0.00,2.05,0.00,0.000,1030,0.000,0.118,1801,2745,3544,3614,3474,0,0,0,0,0,0,13.75,13.65,13.82
$GC,10324,-0.80,-146.0,1802,2746,3615,3475,27.0,-0.0,1582,10328,0.00,2.12,0.00,0.000,260,0.000,0.168,1802,3771,3544,3614,3474,0,0,0,0,0,0,14.59,13.62,14.62
$GC,10558,-0.80,-146.0,1802,3771,3615,3474,26.9,-0.0,1628,10563,0.00,1.98,0.00,0.000,1062,0.000,0.119,1802,2746,3544,3614,3474,0,0,0,0,0,0,13.91,13.73,13.97
$GC,10754,-0.80,-146.0,1802,2747,3615,3475,26.9,0.0,1648,10759,0.00,2.12,0.00,0.000,292,0.000,0.170,1802,3773,3544,3615,3474,0,0,0,0,0,0,14.60,13.62,14.62
$GC,10988,-0.80,-146.0,1802,3773,3616,3474,26.9,0.0,1694,10993,0.00,1.98,0.00,0.000,1062,0.000,0.120,1802,2747,3541,3614,3469,0,0,0,0,0,0,13.90,13.72,13.97
$GC,11185,-0.80,-146.0,1802,2749,3615,3475,27.0,0.0,1714,11190,0.00,2.12,0.00,0.000,292,0.000,0.170,1802,3775,3544,3615,3474,0,0,0,0,0,0,14.59,13.62,14.62
$GC,11418,-0.80,-146.0,1802,3776,3615,3475,27.0,-0.0,1760,11423,0.00,2.00,0.00,0.000,1030,0.000,0.119,1802,2735,3544,3614,3474,0,0,0,0,0,0,13.92,13.74,13.97
$GC,11615,-0.80,-146.0,1802,2736,3615,3475,27.0,0.0,1780,11620,0.00,2.15,0.00,0.000,292,0.000,0.171,1802,3771,3544,3614,3474,0,0,0,0,0,0,14.60,13.62,14.62
$GC,11849,-0.80,-146.0,1802,3771,3615,3474,27.0,-0.0,1826,11854,0.00,2.00,0.00,0.000,1062,0.000,0.117,1802,2736,3544,3614,3474,0,0,0,0,0,0,13.90,13.72,13.97
$GC,12042,-0.80,-146.0,1802,2736,3617,3474,27.0,0.0,1846,12047,0.00,2.20,0.00,0.000,260,0.000,0.171,1802,3798,3544,3614,3474,0,0,0,0,0,0,14.64,13.59,14.66
$GC,12276,-0.80,-146.0,1802,3798,3616,3474,27.0,-0.0,1892,12282,0.00,2.05,0.00,0.000,1062,0.000,0.119,1802,2737,3544,3614,3474,0,0,0,0,0,0,13.90,13.72,13.96
$GC,12474,-0.80,-146.0,1802,2738,3615,3475,27.0,-0.0,1912,12479,0.00,2.15,0.00,0.000,292,0.000,0.171,1802,3773,3544,3614,3474,0,0,0,0,0,0,14.62,13.62,14.61
$GC,12708,-0.80,-146.0,1804,3774,3616,3475,27.0,-0.1,1958,12713,0.00,2.00,0.00,0.000,1062,0.000,0.119,1802,2739,3544,3615,3474,0,0,0,0,0,0,13.90,13.71,13.96
$GC,12905,-0.80,-146.0,1802,2740,3615,3474,27.0,0.0,1978,12910,0.00,2.15,0.00,0.000,292,0.000,0.172,1802,3774,3544,3614,3474,0,0,0,0,0,0,14.60,13.63,14.64
$GC,13139,-0.80,-146.0,1802,3774,3615,3473,27.0,-0.1,2024,13144,0.00,2.00,0.00,0.000,1030,0.000,0.120,1802,2741,3544,3614,3474,0,0,0,0,0,0,13.91,13.71,13.98
$GC,13336,-0.80,-146.0,1802,2742,3615,3475,27.0,-0.0,2044,13341,0.00,2.15,0.00,0.000,292,0.000,0.168,1802,3781,3544,3615,3474,0,0,0,0,0,0,14.59,13.63,14.61
$STATE,13505,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13505,begin apogee
$GC,13517,-0.19,0.0,1802,2592,3615,3473,27.0,-0.0,2078,13641,0.73,0.00,121.07,1.431,10246,0.156,0.000,2005,2591,2943,3016,2871,0,0,0,0,0,0,13.58,13.76,12.99
$STATE,13642,end apogee,CONTROL_FINISHED_OK
$STATE,13642,begin climb
$GC,13647,0.80,146.0,2006,2593,3012,2867,27.0,0.0,2091,13791,1.10,2.55,125.03,1.340,11012,0.151,0.166,2324,3780,2340,2391,2290,0,0,0,0,0,0,13.68,13.19,12.59
$FREEZE,9.98,-1.793,-1.787,2,824,2
$FREEZE,9.68,-1.793,-1.787,2,824,2
$FREEZE,9.31,-1.793,-1.786,2,824,2
$FREEZE,9.01,-1.793,-1.786,2,824,2
$FREEZE,8.58,-1.793,-1.785,2,824,2
$FREEZE,8.20,-1.794,-1.785,2,824,2
$FREEZE,7.73,-1.794,-1.784,2,824,2
$FREEZE,7.31,-1.794,-1.784,2,824,2
$FREEZE,6.83,-1.794,-1.783,2,824,2
$GC,14299,0.98,323.9,2325,3780,2392,2273,15.1,1.8,2142,14468,0.20,2.25,154.40,1.327,11302,0.116,0.116,2390,2588,1621,1681,1561,0,0,0,0,0,0,13.96,13.90,12.85
$FREEZE,5.84,-1.794,-1.783,2,824,2
$FREEZE,5.15,-1.794,-1.782,2,824,2
$FREEZE,4.34,-1.794,-1.781,2,824,2
$FREEZE,3.53,-1.795,-1.781,2,824,2
$FREEZE,2.66,-1.794,-1.780,2,824,2
$FREEZE,1.80,-1.793,-1.779,2,824,2
$STATE,14521,end climb,SURFACE_DEPTH_REACHED
$STATE,14521,begin surface coast
$FREEZE,0.91,-1.794,-1.779,2,824,2
$FREEZE,-0.04,-1.791,-1.778,2,824,2
$FINISH,-0.0,1.026124
$STATE,14545,end surface coast,CONTROL_FINISHED_OK
$STATE,14545,begin surface
$SM_CCo,14569,318.05,0.207,0,0,801,525.19
$SM_GC,0.13,6.88,0.38,318.05,0.076,0.171,0.207,192,2757,801,-5.81,-0.23,525.19,0,0,0,0,0,0,13.86,13.70,13.83
$RAFOS_CLK,585
$RAFOS_FIX,7111.848633,-14758.589844,080219,111142,0,1,0.14
$IRIDIUM_FIX,7122.31,-15259.00,281118,214424
$TT8_MAMPS,0.041195,0.30709
$HUMID,47.67
$INTERNAL_PRESSURE,9.43233
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,5.9
$24V_AH,12.38,267.607
$10V_AH,12.24,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,9.700,140.375,400.500,318.050,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,9127.887,777.707,4510.154,671.148,0.000,2395.942,0.000,3085.117,2216.000,2.517,0.000
$DEVICE_MAMPS,156.060,173.655,1430.550,206.550,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,11.470,30.200,36.190,0.000,9.500,0.000,7.490,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,492.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.492,0.000,0.000,0.000
$MEM,334568
$DATA_FILE_SIZE,69796,2177
$CAP_FILE_SIZE,205051,0
$CFSIZE,2097872896,1875279872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.1
$GPS,080219,114138,7126.845,-15447.531,41,1.0,48,18.1,0.9,84.0,9,9.7