version: 66.13
glider: 199
mission: 7
dive: 16
start: 9 23 118 1 49 8
data:
$ID,199
$MISSION,7
$DIVE,16
$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,13
$R_STBD_OVSHOOT,8
$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
$GPS1,230918,013755,7410.9546,-14701.9531,38,0.8,39,22.2,0.0,0.0,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-60.2
$GPS2,230918,014831,7410.9014,-14701.9932,7,0.7,7,22.2,0.0,0.0,12,0.0
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,168.4,63015,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.84,-146.0,200,2655,518,467,0.0,0.0,0,133,0.00,0.00,-121.07,0.002,16386,0.000,0.000,196,2656,2273,2299,2247,0,0,0,0,0,0,14.26,28.83,14.28
$PING,10.1,11.9,9000.0,0.00,0.00
$GC,136,-0.84,-146.0,200,2655,2301,2248,3.7,-6.1,12,187,8.85,2.35,-36.12,0.004,18724,0.470,0.249,1811,3770,3764,3808,3721,0,0,0,0,0,0,13.93,13.37,14.18
$PING,21.1,23.1,9000.0,0.00,0.00
$PING,31.5,35.2,34.9,1.09,1.00
$PING,42.0,44.9,45.4,1.05,1.00
$PING,52.1,56.2,55.8,1.02,1.00
$PING,73.6,78.8,78.9,1.07,1.00
$GC,412,-0.84,-146.0,1812,3770,3809,3724,81.4,-21.9,66,417,0.00,2.20,0.00,0.000,1030,0.000,0.173,1811,2648,3766,3808,3724,0,0,0,0,0,0,14.28,14.16,14.30
$PING,107.5,112.8,112.9,1.02,1.00
$GC,604,-0.84,-146.0,1812,2649,3809,3724,116.0,-16.8,86,609,0.00,2.35,0.00,0.000,260,0.000,0.225,1802,3773,3766,3808,3725,0,0,0,0,0,0,14.43,14.14,14.45
$GC,835,-0.84,-146.0,1803,3771,3809,3725,156.1,-16.5,132,839,0.00,2.17,0.00,0.000,1030,0.000,0.174,1803,2651,3770,3816,3724,0,0,0,0,0,0,14.35,14.23,14.36
$PING,171.5,179.5,179.3,1.03,1.00
$GC,1027,-0.84,-146.0,1803,2652,3809,3724,185.0,-14.9,152,1032,0.00,2.35,0.00,0.000,260,0.000,0.226,1794,3776,3766,3808,3724,0,0,0,0,0,0,14.51,14.24,14.52
$GC,1257,-0.84,-146.0,1795,3776,3809,3724,221.4,-14.9,198,1262,0.15,2.17,0.00,0.000,3078,0.296,0.176,1825,2651,3766,3808,3724,0,0,0,0,0,0,14.26,14.31,14.40
$GC,1447,-0.84,-146.0,1825,2651,3809,3724,245.0,-11.8,218,1454,0.00,2.33,0.00,0.000,260,0.000,0.230,1817,3770,3766,3808,3724,0,0,0,0,0,0,14.57,14.29,14.59
$GC,1584,-0.84,-146.0,1818,3771,3809,3725,261.7,-12.1,245,1590,0.00,2.17,0.00,0.000,1030,0.000,0.177,1818,2648,3766,3808,3724,0,0,0,0,0,0,14.44,14.32,14.45
$GC,1900,-0.84,-146.0,1818,2649,3809,3725,294.5,-10.1,258,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2648,3766,3808,3724,0,0,0,0,0,0,14.64,14.66,14.66
$GC,2200,-0.84,-146.0,1818,2649,3809,3725,324.0,-9.6,268,2205,0.00,2.33,0.00,0.000,260,0.000,0.230,1809,3776,3766,3808,3724,0,0,0,0,0,0,14.67,14.39,14.69
$GC,2245,-0.84,-146.0,1809,3776,3808,3725,328.6,-10.4,277,2251,0.00,2.17,0.00,0.000,1030,0.000,0.177,1809,2650,3766,3808,3724,0,0,0,0,0,0,14.53,14.41,14.54
$GC,2562,-0.84,-146.0,1809,2651,3809,3725,358.8,-9.4,290,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2650,3766,3808,3724,0,0,0,0,0,0,14.68,14.70,14.70
$GC,2861,-0.84,-146.0,1809,2651,3809,3725,387.0,-9.4,300,2866,0.00,2.28,0.00,0.000,260,0.000,0.229,1801,3770,3766,3809,3723,0,0,0,0,0,0,14.71,14.43,14.73
$GC,2956,-0.84,-146.0,1802,3770,3809,3723,396.9,-10.3,319,2961,0.00,2.15,0.00,0.000,1030,0.000,0.176,1801,2647,3765,3808,3723,0,0,0,0,0,0,14.59,14.47,14.62
$GC,3282,-0.84,-146.0,1806,2648,3809,3724,428.4,-9.6,334,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,2647,3765,3808,3723,0,0,0,0,0,0,14.73,14.75,14.74
$GC,3582,-0.84,-146.0,1802,2647,3809,3723,457.3,-9.5,344,3587,0.00,2.28,0.00,0.000,260,0.000,0.226,1793,3769,3765,3808,3723,0,0,0,0,0,0,14.74,14.46,14.76
$GC,3682,-0.84,-146.0,1793,3770,3809,3724,467.7,-10.5,364,3687,0.15,2.12,0.00,0.000,3078,0.276,0.175,1825,2651,3765,3808,3723,0,0,0,0,0,0,14.45,14.50,14.60
$GC,4004,-0.84,-146.0,1825,2652,3809,3724,494.8,-8.4,378,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2651,3763,3803,3723,0,0,0,0,0,0,14.75,14.76,14.76
$GC,4302,-0.84,-146.0,1826,2652,3809,3724,520.0,-8.5,388,4307,0.00,2.28,0.00,0.000,260,0.000,0.226,1819,3773,3765,3808,3723,0,0,0,0,0,0,14.76,14.48,14.78
$GC,4398,-0.84,-146.0,1819,3776,3809,3723,528.8,-9.4,407,4403,0.00,2.12,0.00,0.000,1030,0.000,0.174,1818,2650,3765,3808,3723,0,0,0,0,0,0,14.64,14.52,14.66
$GC,4723,-0.84,-146.0,1819,2652,3809,3724,557.2,-8.7,422,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2651,3765,3808,3723,0,0,0,0,0,0,14.77,14.79,14.78
$GC,5023,-0.84,-146.0,1819,2652,3809,3724,582.8,-8.5,432,5028,0.00,2.28,0.00,0.000,260,0.000,0.226,1810,3776,3766,3809,3723,0,0,0,0,0,0,14.78,14.50,14.80
$GC,5103,-0.84,-146.0,1810,3776,3809,3723,590.2,-9.4,448,5108,0.00,2.15,0.00,0.000,1030,0.000,0.173,1810,2644,3765,3808,3723,0,0,0,0,0,0,14.65,14.54,14.67
$GC,5414,-0.84,-146.0,1806,2644,3809,3723,617.4,-8.8,460,5419,0.00,2.28,0.00,0.000,260,0.000,0.224,1802,3770,3765,3808,3723,0,0,0,0,0,0,14.77,14.50,14.78
$GC,5454,-0.84,-146.0,1802,3770,3809,3723,621.2,-9.7,468,5459,0.00,2.12,0.00,0.000,1030,0.000,0.171,1802,2642,3765,3808,3723,0,0,0,0,0,0,14.66,14.54,14.67
$GC,5776,-0.84,-146.0,1802,2645,3810,3723,650.4,-9.1,482,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2646,3765,3808,3723,0,0,0,0,0,0,14.77,14.79,14.79
$GC,6074,-0.84,-146.0,1802,2647,3809,3724,677.6,-9.0,492,6079,0.00,2.28,0.00,0.000,260,0.000,0.223,1796,3770,3765,3808,3723,0,0,0,0,0,0,14.79,14.51,14.81
$GC,6160,-0.84,-146.0,1794,3770,3809,3723,686.0,-10.1,509,6167,0.12,2.10,0.00,0.000,3078,0.275,0.171,1820,2654,3765,3808,3723,0,0,0,0,0,0,14.50,14.54,14.66
$PING,694.2,7.5,9000.0,-0.24,0.77
$GC,6465,-0.84,-146.0,1820,2655,3809,3725,711.6,-8.3,520,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2654,3765,3808,3723,0,0,0,0,0,0,14.79,14.82,14.81
$PING,731.5,7.5,9000.0,-0.32,1.00
$GC,6765,-0.84,-146.0,1820,2655,3809,3725,736.4,-8.3,530,6770,0.00,2.25,0.00,0.000,260,0.000,0.224,1813,3770,3766,3808,3724,0,0,0,0,0,0,14.80,14.52,14.82
$GC,6835,-0.84,-146.0,1814,3770,3809,3723,742.8,-9.2,544,6840,0.00,2.12,0.00,0.000,1030,0.000,0.171,1813,2647,3765,3808,3723,0,0,0,0,0,0,14.67,14.55,14.69
$PING,752.3,7.4,9000.0,-0.00,0.89
$GC,7155,-0.84,-146.0,1814,2647,3809,3723,770.1,-8.4,558,7160,0.00,2.28,0.00,0.000,260,0.000,0.223,1805,3776,3765,3808,3723,0,0,0,0,0,0,14.80,14.52,14.81
$GC,7205,-0.84,-146.0,1805,3777,3809,3725,774.6,-9.2,568,7211,0.00,2.12,0.00,0.000,1030,0.000,0.171,1805,2650,3765,3808,3723,0,0,0,0,0,0,14.67,14.55,14.69
$GC,7516,-0.84,-146.0,1805,2651,3809,3724,801.5,-8.6,580,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,2650,3766,3808,3724,0,0,0,0,0,0,14.80,14.82,14.82
$PING,804.1,7.5,9000.0,0.00,0.29
$PING,814.3,7.5,9000.0,0.00,0.97
$GC,7827,-0.84,-146.0,1804,2651,3809,3725,826.9,-8.4,590,7832,0.00,2.25,0.00,0.000,260,0.000,0.224,1797,3770,3766,3808,3724,0,0,0,0,0,0,14.76,14.50,14.78
$GC,7897,-0.84,-146.0,1797,3770,3810,3724,834.3,-9.4,604,7905,0.12,2.12,0.00,0.000,3078,0.275,0.171,1822,2644,3766,3808,3724,0,0,0,0,0,0,14.50,14.53,14.64
$PING,845.4,6.9,9000.0,-0.02,0.94
$GC,8223,-0.84,-146.0,1823,2647,3810,3724,859.0,-7.6,618,8223,0.00,0.00,0.00,0.000,38,0.000,0.000,1822,2644,3766,3808,3724,0,0,0,0,0,0,14.71,14.72,14.71
$GC,8521,-0.84,-146.0,1823,2644,3809,3724,881.2,-7.4,628,8526,0.00,2.30,0.00,0.000,292,0.000,0.224,1816,3776,3765,3808,3723,0,0,0,0,0,0,14.68,14.41,14.69
$GC,8591,-0.84,-146.0,1816,3776,3809,3723,887.0,-8.1,642,8596,0.00,2.15,0.00,0.000,1030,0.000,0.171,1816,2645,3766,3809,3724,0,0,0,0,0,0,14.54,14.45,14.57
$GC,8911,-0.84,-146.0,1816,2646,3809,3725,911.6,-7.7,656,8912,0.00,0.00,0.00,0.000,38,0.000,0.000,1816,2645,3765,3808,3723,0,0,0,0,0,0,14.64,14.66,14.66
$GC,9211,-0.84,-146.0,1816,2644,3809,3724,934.4,-7.6,666,9216,0.00,2.30,0.00,0.000,292,0.000,0.223,1807,3770,3766,3808,3724,0,0,0,0,0,0,14.63,14.37,14.64
$GC,9266,-0.84,-146.0,1813,3771,3809,3725,939.1,-8.6,677,9274,0.00,2.15,0.00,0.000,1030,0.000,0.171,1807,2649,3766,3808,3724,0,0,0,0,0,0,14.51,14.40,14.54
$GC,9572,-0.84,-146.0,1807,2651,3806,3725,963.6,-8.0,688,9573,0.00,0.00,0.00,0.000,38,0.000,0.000,1807,2650,3766,3808,3724,0,0,0,0,0,0,14.62,14.64,14.64
$GC,9872,-0.84,-146.0,1807,2651,3809,3725,987.5,-8.0,698,9877,0.00,2.30,0.00,0.000,292,0.000,0.225,1799,3776,3766,3808,3724,0,0,0,0,0,0,14.61,14.35,14.62
$STATE,9899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9899,begin apogee
$PING,991.1,34.6,9000.0,0.16,0.97
$GC,9908,-0.19,0.0,1800,2498,3810,3723,990.0,-9.1,704,10046,0.88,0.00,135.35,2.621,10246,0.251,0.000,2031,2498,3163,3227,3100,0,0,0,0,0,0,14.34,13.43,12.57
$STATE,10047,end apogee,CONTROL_FINISHED_OK
$STATE,10047,begin climb
$GC,10050,0.84,146.0,2032,2499,3227,3100,992.5,0.0,708,10197,1.15,2.92,136.23,2.551,10756,0.149,0.158,2376,1090,2567,2644,2491,0,0,0,0,0,0,13.43,13.24,12.45
$GC,10263,0.84,146.0,2376,1090,2645,2481,973.1,13.3,749,10270,0.00,2.95,0.00,0.000,1030,0.000,0.177,2376,2502,2562,2644,2481,0,0,0,0,0,0,13.71,13.58,13.74
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$PING,893.2,7.4,9000.0,0.20,0.91
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