version: 66.13
glider: 199
mission: 7
dive: 17
start: 9 23 118 7 14 47
data:
$ID,199
$MISSION,7
$DIVE,17
$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,11
$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
$GPS1,230918,070433,7408.7153,-14704.7207,36,0.8,36,22.2,0.0,0.0,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-59.0
$GPS2,230918,071411,7408.7212,-14704.9668,11,0.9,11,22.2,0.0,0.0,9,8.6
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,168.4,58760,-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,-146.0,195,2657,517,469,0.0,0.0,0,132,0.00,0.00,-121.12,0.002,16386,0.000,0.000,194,2657,2284,2312,2256,0,0,0,0,0,0,14.25,28.83,14.28
$PING,10.2,12.7,9000.0,0.00,0.00
$GC,135,-0.84,-146.0,195,2657,2313,2259,3.9,-6.4,12,188,8.85,2.40,-35.45,0.004,18724,0.467,0.248,1811,3769,3764,3807,3721,0,0,0,0,0,0,13.93,13.38,14.17
$PING,21.9,24.3,9000.0,0.00,0.00
$PING,32.2,35.4,35.3,1.03,1.00
$PING,42.9,46.1,46.3,1.04,1.00
$PING,53.3,57.1,57.0,1.03,1.00
$PING,63.6,6.2,9000.0,-1.93,0.55
$PING,74.5,79.1,9000.0,1.09,0.09
$GC,413,-0.84,-146.0,1811,3768,3809,3725,82.3,-22.1,66,419,0.00,2.17,0.00,0.000,1030,0.000,0.172,1811,2651,3765,3806,3725,0,0,0,0,0,0,14.23,14.12,14.25
$PING,107.9,113.9,9000.0,2.11,0.78
$GC,605,-0.84,-146.0,1812,2651,3808,3724,116.3,-16.7,86,610,0.00,2.33,0.00,0.000,260,0.000,0.221,1802,3768,3766,3807,3725,0,0,0,0,0,0,14.43,14.16,14.45
$PING,128.7,135.7,135.7,1.04,1.00
$PING,138.9,6.3,9000.0,-2.80,0.41
$PING,149.0,6.4,9000.0,-6.40,0.75
$GC,836,-0.84,-146.0,1803,3767,3809,3725,155.7,-16.8,132,841,0.00,2.17,0.00,0.000,1030,0.000,0.172,1803,2647,3766,3808,3724,0,0,0,0,0,0,14.38,14.26,14.39
$GC,1028,-0.84,-146.0,1803,2647,3809,3725,184.5,-14.6,152,1033,0.00,2.33,0.00,0.000,260,0.000,0.223,1794,3772,3766,3807,3725,0,0,0,0,0,0,14.51,14.25,14.52
$GC,1258,-0.84,-146.0,1794,3772,3809,3725,221.0,-15.5,198,1263,0.15,2.17,0.00,0.000,3078,0.299,0.174,1825,2651,3766,3808,3725,0,0,0,0,0,0,14.26,14.31,14.42
$GC,1452,-0.84,-146.0,1824,2651,3809,3724,244.0,-11.8,218,1457,0.00,2.30,0.00,0.000,260,0.000,0.227,1817,3766,3766,3807,3725,0,0,0,0,0,0,14.56,14.28,14.58
$GC,1558,-0.84,-146.0,1818,3767,3809,3726,257.2,-12.0,239,1563,0.00,2.15,0.00,0.000,1030,0.000,0.174,1817,2651,3766,3807,3725,0,0,0,0,0,0,14.46,14.38,14.49
$GC,1874,-0.84,-146.0,1818,2653,3808,3726,290.5,-10.2,252,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2651,3766,3807,3725,0,0,0,0,0,0,14.62,14.64,14.64
$GC,2174,-0.84,-146.0,1817,2653,3808,3726,319.7,-9.6,262,2179,0.00,2.30,0.00,0.000,260,0.000,0.229,1809,3772,3766,3808,3725,0,0,0,0,0,0,14.66,14.39,14.69
$GC,2269,-0.84,-146.0,1809,3772,3808,3726,329.7,-10.6,281,2275,0.00,2.15,0.00,0.000,1030,0.000,0.176,1809,2648,3766,3807,3725,0,0,0,0,0,0,14.55,14.43,14.57
$GC,2595,-0.84,-146.0,1809,2648,3808,3724,361.5,-9.6,296,2600,0.00,2.30,0.00,0.000,260,0.000,0.228,1801,3772,3766,3807,3725,0,0,0,0,0,0,14.69,14.41,14.71
$GC,2655,-0.84,-146.0,1802,3772,3808,3724,367.8,-10.8,308,2671,0.00,2.15,0.00,0.000,1030,0.000,0.176,1802,2651,3766,3808,3725,0,0,0,0,0,0,14.57,14.45,14.59
$GC,2996,-0.84,-146.0,1801,2651,3808,3724,400.8,-9.6,324,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2655,3765,3807,3724,0,0,0,0,0,0,14.62,14.65,14.64
$GC,3296,-0.84,-146.0,1801,2651,3809,3724,429.3,-9.5,334,3301,0.00,2.30,0.00,0.000,260,0.000,0.225,1793,3775,3765,3807,3724,0,0,0,0,0,0,14.61,14.35,14.63
$GC,3367,-0.84,-146.0,1791,3774,3808,3725,436.5,-10.5,348,3372,0.15,2.15,0.00,0.000,3078,0.277,0.173,1825,2651,3765,3807,3724,0,0,0,0,0,0,14.33,14.38,14.47
$GC,3688,-0.84,-146.0,1825,2652,3808,3724,463.8,-8.4,362,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2651,3766,3808,3724,0,0,0,0,0,0,14.59,14.60,14.60
$GC,3988,-0.84,-146.0,1825,2652,3808,3725,488.9,-8.3,372,3993,0.00,2.30,0.00,0.000,260,0.000,0.223,1818,3773,3766,3807,3725,0,0,0,0,0,0,14.57,14.32,14.59
$GC,4101,-0.84,-146.0,1818,3774,3809,3725,499.1,-9.3,394,4106,0.00,2.15,0.00,0.000,1030,0.000,0.170,1818,2649,3765,3807,3724,0,0,0,0,0,0,14.46,14.35,14.48
$GC,4411,-0.84,-146.0,1818,2650,3808,3725,526.0,-8.5,406,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2650,3763,3802,3724,0,0,0,0,0,0,14.57,14.59,14.59
$GC,4712,-0.84,-146.0,1818,2650,3808,3725,551.7,-8.6,416,4717,0.00,2.30,0.00,0.000,260,0.000,0.222,1806,3773,3765,3807,3724,0,0,0,0,0,0,14.57,14.32,14.59
$GC,4777,-0.84,-146.0,1809,3773,3808,3724,557.8,-9.5,429,4783,0.00,2.15,0.00,0.000,1030,0.000,0.168,1809,2650,3766,3808,3724,0,0,0,0,0,0,14.47,14.35,14.48
$GC,5105,-0.84,-146.0,1810,2650,3809,3724,586.5,-8.8,444,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2650,3764,3805,3724,0,0,0,0,0,0,14.64,14.66,14.65
$GC,5403,-0.84,-146.0,1809,2654,3809,3725,612.7,-8.7,454,5408,0.00,2.28,0.00,0.000,260,0.000,0.220,1801,3772,3766,3808,3724,0,0,0,0,0,0,14.69,14.40,14.70
$GC,5503,-0.84,-146.0,1801,3773,3808,3725,622.4,-9.7,474,5508,0.10,2.12,0.00,0.000,3078,0.290,0.167,1820,2650,3765,3807,3724,0,0,0,0,0,0,14.40,14.45,14.55
$GC,5824,-0.84,-146.0,1820,2650,3809,3724,649.1,-8.2,488,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2650,3766,3808,3724,0,0,0,0,0,0,14.71,14.73,14.72
$GC,6124,-0.84,-146.0,1820,2650,3809,3724,673.6,-8.2,498,6130,0.00,2.25,0.00,0.000,260,0.000,0.220,1813,3771,3766,3808,3724,0,0,0,0,0,0,14.73,14.46,14.76
$GC,6215,-0.84,-146.0,1813,3773,3809,3725,681.8,-9.1,516,6220,0.00,2.12,0.00,0.000,1030,0.000,0.167,1813,2643,3766,3808,3724,0,0,0,0,0,0,14.62,14.50,14.64
$GC,6545,-0.84,-146.0,1813,2643,3809,3724,709.5,-8.3,532,6550,0.00,2.28,0.00,0.000,260,0.000,0.220,1801,3772,3765,3807,3724,0,0,0,0,0,0,14.75,14.47,14.76
$GC,6600,-0.84,-146.0,1805,3773,3809,3725,714.5,-9.3,543,6610,0.00,2.12,0.00,0.000,1030,0.000,0.167,1803,2643,3766,3808,3724,0,0,0,0,0,0,14.62,14.51,14.64
$PING,725.3,7.5,9000.0,0.00,1.00
$GC,6906,-0.84,-146.0,1805,2643,3809,3724,740.7,-8.6,554,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,2641,3766,3808,3724,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7207,-0.84,-146.0,1805,2643,3808,3725,766.3,-8.6,564,7211,0.00,2.25,0.00,0.000,260,0.000,0.219,1796,3768,3765,3807,3724,0,0,0,0,0,0,14.76,14.50,14.78
$GC,7297,-0.84,-146.0,1802,3769,3808,3725,774.8,-9.5,582,7302,0.12,2.10,0.00,0.000,3078,0.271,0.167,1822,2648,3766,3809,3724,0,0,0,0,0,0,14.49,14.53,14.64
$GC,7629,-0.84,-146.0,1822,2649,3808,3726,800.9,-7.8,598,7630,0.00,0.00,0.00,0.000,38,0.000,0.000,1822,2648,3766,3807,3725,0,0,0,0,0,0,14.78,14.79,14.79
$GC,7928,-0.84,-146.0,1823,2648,3809,3724,824.5,-7.9,608,7932,0.00,2.25,0.00,0.000,292,0.000,0.220,1815,3767,3766,3808,3725,0,0,0,0,0,0,14.78,14.51,14.80
$GC,8008,-0.84,-146.0,1816,3769,3809,3726,831.4,-8.7,624,8013,0.00,2.10,0.00,0.000,1030,0.000,0.168,1815,2649,3766,3808,3725,0,0,0,0,0,0,14.66,14.54,14.68
$GC,8319,-0.84,-146.0,1816,2650,3808,3726,856.7,-8.1,636,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2645,3766,3808,3725,0,0,0,0,0,0,14.77,14.78,14.78
$GC,8619,-0.84,-146.0,1816,2648,3809,3725,881.0,-8.1,646,8624,0.00,2.25,0.00,0.000,260,0.000,0.220,1807,3770,3766,3808,3724,0,0,0,0,0,0,14.78,14.52,14.80
$GC,8694,-0.84,-146.0,1807,3771,3809,3726,887.7,-8.8,661,8700,0.00,2.10,0.00,0.000,1030,0.000,0.168,1807,2650,3766,3808,3724,0,0,0,0,0,0,14.67,14.55,14.69
$GC,9010,-0.84,-146.0,1807,2651,3809,3726,914.3,-8.3,674,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2650,3766,3808,3724,0,0,0,0,0,0,14.80,14.82,14.81
$GC,9310,-0.84,-146.0,1807,2650,3808,3724,939.2,-8.3,684,9315,0.00,2.25,0.00,0.000,260,0.000,0.221,1799,3772,3766,3808,3724,0,0,0,0,0,0,14.80,14.52,14.82
$GC,9380,-0.84,-146.0,1800,3772,3809,3724,945.6,-9.5,698,9386,0.12,2.10,0.00,0.000,3078,0.279,0.168,1824,2650,3765,3807,3724,0,0,0,0,0,0,14.52,14.56,14.66
$GC,9704,-0.84,-146.0,1825,2652,3809,3725,969.8,-7.5,712,9705,0.00,0.00,0.00,0.000,38,0.000,0.000,1824,2651,3768,3808,3729,0,0,0,0,0,0,14.79,14.81,14.81
$STATE,10000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10000,begin apogee
$GC,10006,-0.19,0.0,1825,2503,3808,3726,992.2,-7.4,722,10142,0.75,0.00,133.30,2.625,10246,0.240,0.000,2030,2502,3165,3230,3101,0,0,0,0,0,0,14.53,13.50,12.63
$STATE,10143,end apogee,CONTROL_FINISHED_OK
$STATE,10143,begin climb
$GC,10145,0.84,146.0,2031,2502,3227,3098,994.9,0.0,726,10292,1.15,2.92,135.52,2.534,10756,0.149,0.157,2376,1089,2567,2644,2490,0,0,0,0,0,0,13.48,13.27,12.50
$GC,10447,0.84,146.0,2376,1088,2645,2476,964.4,12.7,785,10455,0.00,2.88,0.00,0.000,1030,0.000,0.174,2376,2498,2559,2643,2475,0,0,1,0,0,0,13.93,13.78,13.95
$GC,10753,0.84,146.0,2376,2499,2644,2471,922.5,13.7,796,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2498,2556,2643,2469,0,0,0,0,0,0,14.29,14.31,14.31
$PING,910.1,7.4,9000.0,0.00,0.89
$PING,897.9,7.4,9000.0,-0.00,0.96
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