version: 66.13
glider: 199
mission: 7
dive: 15
start: 9 22 118 20 23 16
data:
$ID,199
$MISSION,7
$DIVE,15
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,370
$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,0
$ICE_FREEZE_MARGIN,0.079999998
$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,2
$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,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,653.96979
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$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,2100
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3166
$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,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1
$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,883
$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,10
$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
$LOGGERDEVICE1,53
$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
$GPS1,220918,201236,7413.0283,-14659.1816,40,0.7,41,22.2,0.0,0.0,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-62.7
$GPS2,220918,202239,7413.0586,-14659.3750,7,0.7,11,22.2,0.0,207.0,11,9.3
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,167.9,67200,-18.8,-10.000,-22.50,2245
$D_GRID,990
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.84,-146.0,196,2653,519,468,0.0,0.0,0,131,0.00,0.00,-120.65,0.002,16386,0.000,0.000,195,2653,2280,2305,2255,0,0,0,0,0,0,14.16,28.83,14.19
$PING,10.4,12.2,9000.0,0.00,0.00
$GC,134,-0.84,-146.0,196,2653,2307,2257,3.9,-6.6,12,187,8.98,2.40,-35.38,0.004,18724,0.470,0.250,1813,3766,3764,3806,3722,0,0,0,0,0,0,13.84,13.31,14.09
$PING,21.6,24.5,9000.0,0.00,0.00
$PING,42.7,46.2,46.3,1.05,1.00
$PING,53.2,56.8,56.9,1.03,1.00
$PING,63.8,68.0,67.9,1.03,1.00
$PING,74.6,78.9,79.0,1.03,1.00
$GC,412,-0.84,-146.0,1813,3766,3808,3732,82.3,-21.7,66,417,0.00,2.20,0.00,0.000,1030,0.000,0.175,1813,2650,3766,3807,3725,0,0,0,0,0,0,14.19,14.09,14.21
$PING,86.3,91.7,91.5,1.05,1.00
$PING,107.8,113.5,113.6,1.04,1.00
$GC,604,-0.84,-146.0,1814,2650,3808,3726,116.1,-16.6,86,609,0.00,2.35,0.00,0.000,260,0.000,0.226,1805,3772,3766,3807,3726,0,0,0,0,0,0,14.33,14.07,14.35
$PING,118.1,123.8,123.8,1.01,1.00
$GC,834,-0.84,-146.0,1805,3773,3808,3727,156.4,-16.8,132,839,0.00,2.20,0.00,0.000,1030,0.000,0.174,1805,2648,3766,3807,3726,0,0,0,0,0,0,14.26,14.14,14.28
$GC,1026,-0.84,-146.0,1804,2649,3807,3726,184.8,-14.5,152,1031,0.00,2.33,0.00,0.000,260,0.000,0.227,1796,3768,3766,3807,3726,0,0,0,0,0,0,14.45,14.17,14.46
$GC,1237,-0.84,-146.0,1796,3769,3808,3725,217.5,-15.0,194,1242,0.12,2.17,0.00,0.000,3078,0.304,0.177,1820,2649,3766,3807,3725,0,0,0,0,0,0,14.20,14.26,14.36
$GC,1429,-0.84,-146.0,1820,2650,3808,3727,241.3,-12.1,214,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2649,3766,3807,3726,0,0,0,0,0,0,14.52,14.55,14.54
$GC,1627,-0.84,-146.0,1820,2649,3808,3725,263.7,-11.0,226,1633,0.00,2.33,0.00,0.000,260,0.000,0.232,1813,3773,3766,3807,3726,0,0,0,0,0,0,14.56,14.29,14.59
$GC,1683,-0.84,-146.0,1811,3774,3808,3727,270.2,-11.6,237,1691,0.00,2.20,0.00,0.000,1030,0.000,0.179,1813,2643,3766,3807,3725,0,0,0,0,0,0,14.42,14.31,14.45
$GC,1989,-0.84,-146.0,1815,2644,3808,3725,301.5,-9.8,248,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2644,3766,3807,3725,0,0,0,0,0,0,14.61,14.63,14.62
$GC,2289,-0.84,-146.0,1814,2644,3808,3725,331.4,-10.1,258,2294,0.00,2.33,0.00,0.000,260,0.000,0.234,1805,3768,3766,3807,3725,0,0,0,0,0,0,14.66,14.38,14.68
$GC,2359,-0.84,-146.0,1805,3769,3808,3727,339.0,-10.9,272,2364,0.00,2.15,0.00,0.000,1030,0.000,0.180,1804,2651,3766,3807,3726,0,0,0,0,0,0,14.54,14.42,14.56
$GC,2680,-0.84,-146.0,1804,2652,3808,3727,371.2,-9.8,286,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2651,3766,3808,3725,0,0,0,0,0,0,14.67,14.69,14.69
$GC,2979,-0.84,-146.0,1804,2652,3807,3725,400.1,-9.6,296,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2651,3766,3807,3726,0,0,0,0,0,0,14.70,14.73,14.72
$GC,3280,-0.84,-146.0,1805,2651,3808,3725,428.4,-9.3,306,3285,0.00,2.30,0.00,0.000,260,0.000,0.231,1796,3775,3766,3807,3725,0,0,0,0,0,0,14.71,14.44,14.73
$GC,3365,-0.84,-146.0,1797,3775,3808,3725,437.1,-10.4,323,3372,0.12,2.17,0.00,0.000,3078,0.282,0.177,1821,2649,3766,3807,3725,0,0,0,0,0,0,14.44,14.48,14.59
$GC,3670,-0.84,-146.0,1821,2649,3808,3726,463.3,-8.4,334,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2648,3766,3807,3725,0,0,0,0,0,0,14.73,14.76,14.75
$GC,3970,-0.84,-146.0,1822,2648,3806,3725,488.3,-8.3,344,3975,0.00,2.28,0.00,0.000,260,0.000,0.230,1814,3769,3766,3807,3725,0,0,0,0,0,0,14.74,14.47,14.76
$GC,4071,-0.84,-146.0,1814,3769,3808,3725,497.3,-9.2,364,4076,0.00,2.12,0.00,0.000,1030,0.000,0.176,1814,2650,3766,3807,3725,0,0,0,0,0,0,14.62,14.50,14.64
$GC,4392,-0.84,-146.0,1815,2650,3809,3725,524.5,-8.4,378,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2650,3766,3807,3725,0,0,0,0,0,0,14.75,14.79,14.76
$GC,4691,-0.84,-146.0,1815,2651,3808,3726,549.6,-8.3,388,4696,0.00,2.28,0.00,0.000,260,0.000,0.228,1806,3770,3766,3807,3725,0,0,0,0,0,0,14.77,14.49,14.78
$GC,4751,-0.84,-146.0,1806,3771,3808,3725,555.1,-9.5,400,4756,0.00,2.15,0.00,0.000,1030,0.000,0.174,1806,2642,3766,3807,3725,0,0,0,0,0,0,14.64,14.52,14.66
$GC,5081,-0.84,-146.0,1806,2643,3808,3726,584.1,-8.7,416,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2642,3766,3807,3725,0,0,0,0,0,0,14.76,14.79,14.79
$GC,5382,-0.84,-146.0,1806,2641,3808,3725,610.5,-8.8,426,5387,0.00,2.28,0.00,0.000,260,0.000,0.227,1798,3767,3766,3807,3725,0,0,0,0,0,0,14.77,14.50,14.78
$GC,5488,-0.84,-146.0,1798,3768,3808,3725,620.8,-9.9,447,5493,0.12,2.12,0.00,0.000,3078,0.284,0.174,1823,2645,3766,3807,3725,0,0,0,0,0,0,14.50,14.54,14.64
$GC,5806,-0.84,-146.0,1824,2645,3808,3725,646.1,-7.9,460,5806,0.00,0.00,0.00,0.000,38,0.000,0.000,1823,2645,3766,3807,3725,0,0,0,0,0,0,14.78,14.81,14.80
$GC,6104,-0.84,-146.0,1824,2645,3808,3725,670.0,-8.0,470,6109,0.00,2.28,0.00,0.000,292,0.000,0.228,1823,3769,3766,3807,3725,0,0,0,0,0,0,14.79,14.51,14.81
$GC,6174,-0.84,-146.0,1817,3770,3808,3726,676.2,-8.9,484,6179,0.00,2.12,0.00,0.000,1030,0.000,0.174,1817,2649,3766,3807,3725,0,0,0,0,0,0,14.66,14.55,14.69
$GC,6495,-0.84,-146.0,1817,2650,3808,3726,703.2,-8.5,498,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2649,3766,3807,3725,0,0,0,0,0,0,14.80,14.81,14.81
$GC,6795,-0.84,-146.0,1817,2649,3808,3725,728.4,-8.4,508,6800,0.00,2.25,0.00,0.000,260,0.000,0.225,1807,3769,3766,3807,3725,0,0,0,0,0,0,14.78,14.52,14.81
$GC,6860,-0.84,-146.0,1808,3769,3807,3726,734.5,-9.4,521,6866,0.00,2.12,0.00,0.000,1030,0.000,0.173,1808,2643,3766,3807,3725,0,0,0,0,0,0,14.67,14.56,14.69
$GC,7187,-0.84,-146.0,1808,2644,3817,3725,762.6,-8.6,536,7192,0.00,2.28,0.00,0.000,260,0.000,0.225,1800,3770,3766,3807,3725,0,0,0,0,0,0,14.80,14.52,14.82
$GC,7242,-0.84,-146.0,1800,3770,3809,3725,767.8,-9.5,547,7248,0.00,2.12,0.00,0.000,1030,0.000,0.172,1800,2646,3766,3807,3725,0,0,0,0,0,0,14.67,14.56,14.69
$GC,7547,-0.84,-146.0,1800,2648,3808,3726,795.0,-8.9,558,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2647,3766,3808,3725,0,0,0,0,0,0,14.80,14.82,14.81
$GC,7847,-0.84,-146.0,1801,2648,3809,3725,821.6,-8.8,568,7853,0.00,2.25,0.00,0.000,260,0.000,0.225,1792,3770,3766,3807,3726,0,0,0,0,0,0,14.81,14.52,14.82
$GC,7923,-0.84,-146.0,1792,3771,3808,3726,828.9,-9.8,583,7928,0.15,2.12,0.00,0.000,3078,0.278,0.172,1825,2644,3766,3807,3725,0,0,0,0,0,0,14.51,14.56,14.66
$GC,8240,-0.84,-146.0,1825,2646,3808,3727,853.7,-7.8,596,8241,0.00,0.00,0.00,0.000,38,0.000,0.000,1825,2644,3766,3807,3726,0,0,0,0,0,0,14.80,14.82,14.81
$GC,8538,-0.84,-146.0,1825,2646,3808,3727,876.6,-7.6,606,8543,0.00,2.28,0.00,0.000,292,0.000,0.227,1819,3768,3766,3807,3726,0,0,0,0,0,0,14.81,14.52,14.82
$GC,8619,-0.84,-146.0,1819,3770,3808,3726,883.3,-8.4,622,8624,0.00,2.12,0.00,0.000,1030,0.000,0.174,1819,2644,3766,3808,3725,0,0,0,0,0,0,14.68,14.56,14.70
$PING,903.0,7.0,9000.0,-0.14,0.99
$GC,8929,-0.84,-146.0,1819,2644,3808,3729,907.7,-7.9,634,8930,0.00,0.00,0.00,0.000,38,0.000,0.000,1818,2644,3766,3807,3726,0,0,0,0,0,0,14.81,14.83,14.81
$GC,9229,-0.84,-146.0,1819,2645,3808,3726,931.0,-7.7,644,9234,0.00,2.28,0.00,0.000,292,0.000,0.228,1810,3769,3766,3807,3725,0,0,0,0,0,0,14.81,14.53,14.83
$GC,9289,-0.84,-146.0,1810,3770,3807,3726,936.1,-8.8,656,9296,0.00,2.10,0.00,0.000,1030,0.000,0.174,1810,2653,3766,3807,3725,0,0,0,0,0,0,14.69,14.56,14.70
$GC,9623,-0.84,-146.0,1810,2654,3808,3727,962.6,-8.0,672,9624,0.00,0.00,0.00,0.000,38,0.000,0.000,1809,2653,3766,3806,3726,0,0,0,0,0,0,14.81,14.83,14.82
$GC,9921,-0.84,-146.0,1810,2653,3808,3727,986.3,-7.9,682,9926,0.00,2.25,0.00,0.000,292,0.000,0.226,1802,3768,3766,3807,3725,0,0,0,0,0,0,14.81,14.53,14.83
$GC,9961,-0.84,-146.0,1802,3769,3808,3727,989.7,-9.3,690,9966,0.00,2.12,0.00,0.000,1030,0.000,0.174,1802,2641,3767,3808,3726,0,0,0,0,0,0,14.69,14.57,14.69
$STATE,9969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9969,begin apogee
$PING,991.3,36.6,9000.0,-0.12,0.89
$GC,9975,-0.19,0.0,1803,2495,3808,3725,990.4,-8.5,692,10111,0.85,0.00,133.93,2.658,10246,0.247,0.000,2031,2496,3165,3229,3102,0,0,0,0,0,0,14.52,13.47,12.61
$STATE,10112,end apogee,CONTROL_FINISHED_OK
$STATE,10113,begin climb
$GC,10115,0.84,146.0,2032,2496,3226,3101,992.7,0.0,696,10262,1.12,2.92,136.15,2.582,10756,0.151,0.159,2370,1090,2567,2644,2490,0,0,0,0,0,0,13.46,13.26,12.47
$GC,10323,0.84,146.0,2375,1091,2645,2482,974.4,13.1,736,10328,0.00,2.95,0.00,0.000,1030,0.000,0.177,2369,2502,2562,2644,2481,0,0,0,0,0,0,13.74,13.59,13.76
$PING,932.0,7.2,9000.0,0.36,0.90
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