version: 66.13
glider: 199
mission: 7
dive: 20
start: 9 23 118 23 25 19
data:
$ID,199
$MISSION,7
$DIVE,20
$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,2060
$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,15
$R_STBD_OVSHOOT,9
$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
$GPS1,230918,231502,7402.5269,-14713.9756,40,0.7,40,22.1,0.0,0.0,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-59.2
$GPS2,230918,232443,7402.5015,-14714.0322,10,0.8,10,22.1,0.0,0.0,11,8.2
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,160.6,46656,-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,-146.0,198,2658,517,469,0.0,0.0,0,132,0.00,0.00,-120.78,0.002,16386,0.000,0.000,197,2658,2281,2310,2252,0,0,0,0,0,0,14.26,28.83,14.28
$PING,10.8,13.3,9000.0,0.00,0.00
$GC,136,-0.84,-146.0,197,2658,2310,2256,3.7,-6.1,12,188,8.60,2.33,-36.62,0.004,18724,0.469,0.229,1771,3767,3765,3809,3721,0,0,0,0,0,0,13.93,13.38,14.17
$PING,21.3,23.3,9000.0,0.00,0.00
$PING,32.5,36.3,35.9,1.06,1.00
$PING,42.9,46.4,46.8,1.08,1.00
$PING,53.9,6.1,9000.0,-1.44,0.54
$PING,65.1,69.2,9000.0,1.04,0.13
$GC,415,-0.84,-146.0,1771,3768,3810,3725,86.5,-23.7,66,420,0.00,2.12,0.00,0.000,1030,0.000,0.155,1771,2653,3767,3809,3725,0,0,0,0,0,0,14.26,14.15,14.27
$GC,607,-0.84,-146.0,1771,2652,3810,3724,124.6,-18.8,86,612,0.00,2.28,0.00,0.000,260,0.000,0.204,1763,3770,3766,3808,3725,0,0,0,0,0,0,14.43,14.18,14.45
$PING,130.1,6.4,9000.0,-0.33,0.14
$PING,140.2,6.4,2.2,-0.88,0.98
$GC,837,-0.84,-146.0,1763,3771,3810,3726,170.0,-19.0,132,842,0.00,2.15,0.00,0.000,1030,0.000,0.155,1763,2641,3766,3808,3725,0,0,0,0,0,0,14.38,14.26,14.39
$GC,1029,-0.84,-146.0,1763,2642,3809,3725,202.6,-16.3,152,1035,0.00,2.28,0.00,0.000,260,0.000,0.205,1754,3769,3767,3809,3725,0,0,0,0,0,0,14.50,14.25,14.53
$GC,1261,-0.84,-146.0,1755,3770,3809,3726,242.1,-16.3,198,1266,0.15,2.12,0.00,0.000,3078,0.304,0.155,1784,2643,3766,3808,3724,0,0,0,0,0,0,14.26,14.32,14.40
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$GC,1669,-0.84,-146.0,1778,3769,3810,3724,295.1,-13.0,249,1675,0.00,2.10,0.00,0.000,1030,0.000,0.156,1778,2648,3766,3809,3724,0,0,0,0,0,0,14.48,14.38,14.50
$GC,1988,-0.84,-146.0,1778,2652,3809,3726,332.1,-11.4,262,1993,0.00,2.25,0.00,0.000,260,0.000,0.207,1769,3776,3766,3809,3724,0,0,0,0,0,0,14.62,14.38,14.64
$GC,2053,-0.84,-146.0,1768,3776,3809,3726,340.2,-12.1,275,2058,0.00,2.10,0.00,0.000,1030,0.000,0.155,1769,2653,3767,3809,3725,0,0,0,0,0,0,14.53,14.42,14.54
$GC,2379,-0.84,-146.0,1768,2654,3809,3725,376.7,-11.2,290,2383,0.00,2.25,0.00,0.000,260,0.000,0.208,1761,3773,3767,3809,3725,0,0,0,0,0,0,14.60,14.35,14.62
$GC,2424,-0.84,-146.0,1761,3774,3809,3724,382.2,-12.4,299,2429,0.00,2.10,0.00,0.000,1030,0.000,0.154,1761,2650,3766,3809,3724,0,0,0,0,0,0,14.49,14.38,14.51
$GC,2739,-0.84,-146.0,1762,2650,3809,3724,418.3,-11.4,312,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2650,3766,3808,3724,0,0,0,0,0,0,14.58,14.60,14.59
$GC,3039,-0.84,-146.0,1762,2651,3809,3724,452.0,-11.2,322,3044,0.00,2.22,0.00,0.000,260,0.000,0.203,1753,3769,3766,3808,3725,0,0,0,0,0,0,14.57,14.33,14.58
$GC,3156,-0.84,-146.0,1753,3770,3809,3725,466.2,-12.5,345,3163,0.15,2.10,0.00,0.000,3078,0.295,0.152,1783,2650,3766,3809,3724,0,0,0,0,0,0,14.29,14.35,14.45
$GC,3459,-0.84,-146.0,1783,2650,3812,3725,497.6,-10.2,356,3464,0.00,2.22,0.00,0.000,260,0.000,0.202,1777,3769,3766,3808,3724,0,0,0,0,0,0,14.57,14.31,14.58
$GC,3524,-0.84,-146.0,1776,3769,3809,3725,504.8,-11.3,369,3530,0.00,2.10,0.00,0.000,1030,0.000,0.151,1777,2649,3766,3809,3724,0,0,0,0,0,0,14.46,14.35,14.47
$GC,3850,-0.84,-146.0,1778,2650,3809,3726,539.4,-10.5,384,3855,0.00,2.25,0.00,0.000,260,0.000,0.202,1769,3776,3765,3807,3724,0,0,0,0,0,0,14.57,14.32,14.59
$GC,3895,-0.84,-146.0,1769,3776,3809,3724,544.5,-11.4,393,3901,0.00,2.10,0.00,0.000,1030,0.000,0.149,1768,2648,3766,3808,3724,0,0,0,0,0,0,14.46,14.35,14.47
$GC,4211,-0.84,-146.0,1769,2649,3809,3725,579.1,-10.9,406,4216,0.00,2.22,0.00,0.000,260,0.000,0.200,1764,3768,3766,3809,3724,0,0,0,0,0,0,14.57,14.32,14.59
$GC,4296,-0.84,-146.0,1761,3770,3809,3725,589.3,-12.2,423,4303,0.00,2.10,0.00,0.000,1030,0.000,0.148,1760,2644,3766,3809,3724,0,0,0,0,0,0,14.48,14.38,14.50
$GC,4603,-0.84,-146.0,1761,2644,3809,3724,623.7,-11.1,434,4607,0.00,2.22,0.00,0.000,260,0.000,0.202,1752,3769,3766,3808,3724,0,0,0,0,0,0,14.64,14.38,14.66
$GC,4663,-0.84,-146.0,1753,3769,3810,3724,631.0,-12.3,446,4668,0.15,2.08,0.00,0.000,3078,0.297,0.148,1783,2648,3766,3808,3724,0,0,0,0,0,0,14.37,14.44,14.52
$GC,4995,-0.84,-146.0,1782,2649,3809,3725,664.3,-9.9,462,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2648,3766,3809,3724,0,0,0,0,0,0,14.69,14.71,14.71
$GC,5294,-0.84,-146.0,1783,2648,3810,3725,693.6,-9.7,472,5299,0.00,2.20,0.00,0.000,260,0.000,0.200,1776,3766,3766,3809,3724,0,0,0,0,0,0,14.71,14.45,14.72
$GC,5411,-0.84,-146.0,1777,3767,3809,3725,705.9,-10.7,495,5417,0.00,2.05,0.00,0.000,1030,0.000,0.149,1776,2651,3766,3809,3724,0,0,0,0,0,0,14.59,14.50,14.62
$GC,5715,-0.84,-146.0,1777,2652,3809,3726,736.2,-9.9,506,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,2651,3766,3808,3725,0,0,0,0,0,0,14.73,14.76,14.76
$PING,762.7,7.7,9000.0,0.00,1.00
$GC,6015,-0.84,-146.0,1777,2651,3810,3724,765.7,-9.8,516,6020,0.00,2.20,0.00,0.000,260,0.000,0.199,1769,3775,3767,3809,3725,0,0,0,0,0,0,14.76,14.49,14.77
$GC,6110,-0.84,-146.0,1768,3775,3810,3725,776.0,-10.9,535,6115,0.00,2.08,0.00,0.000,1030,0.000,0.147,1768,2643,3766,3808,3724,0,0,0,0,0,0,14.62,14.52,14.64
$GC,6436,-0.84,-146.0,1769,2643,3809,3724,808.6,-10.0,550,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,2643,3766,3809,3724,0,0,0,0,0,0,14.76,14.77,14.77
$GC,6735,-0.84,-146.0,1769,2643,3810,3724,838.4,-9.8,560,6740,0.00,2.20,0.00,0.000,260,0.000,0.201,1760,3770,3766,3808,3725,0,0,0,0,0,0,14.78,14.51,14.79
$GC,6840,-0.84,-146.0,1760,3771,3809,3726,849.9,-11.1,581,6846,0.00,2.05,0.00,0.000,1030,0.000,0.149,1760,2651,3766,3809,3724,0,0,0,0,0,0,14.66,14.55,14.67
$GC,7156,-0.84,-146.0,1760,2651,3810,3724,882.5,-10.3,594,7161,0.00,2.20,0.00,0.000,260,0.000,0.200,1752,3776,3767,3810,3725,0,0,0,0,0,0,14.78,14.52,14.80
$GC,7222,-0.84,-146.0,1752,3777,3809,3726,889.8,-11.5,607,7228,0.15,2.08,0.00,0.000,3078,0.298,0.148,1783,2643,3767,3809,3725,0,0,0,0,0,0,14.49,14.55,14.64
$GC,7550,-0.84,-146.0,1783,2644,3809,3726,920.4,-9.3,622,7555,0.00,2.22,0.00,0.000,260,0.000,0.203,1777,3776,3766,3808,3725,0,0,0,0,0,0,14.78,14.52,14.80
$GC,7615,-0.84,-146.0,1777,3776,3810,3724,927.2,-10.2,635,7620,0.00,2.08,0.00,0.000,1030,0.000,0.148,1777,2642,3766,3809,3724,0,0,0,0,0,0,14.66,14.56,14.68
$GC,7940,-0.84,-146.0,1777,2642,3808,3724,958.5,-9.6,650,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,2642,3766,3808,3725,0,0,0,0,0,0,14.78,14.81,14.80
$GC,8241,-0.84,-146.0,1777,2643,3810,3731,987.0,-9.5,660,8246,0.00,2.22,0.00,0.000,260,0.000,0.203,1768,3777,3767,3809,3725,0,0,0,0,0,0,14.82,14.52,14.81
$STATE,8268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8268,begin apogee
$GC,8276,-0.19,0.0,1769,2500,3810,3724,990.1,-10.5,666,8412,0.85,0.00,133.27,2.652,10246,0.261,0.000,1993,2500,3166,3231,3101,0,0,0,0,0,0,14.50,13.51,12.62
$STATE,8413,end apogee,CONTROL_FINISHED_OK
$STATE,8413,begin climb
$GC,8415,0.84,146.0,1994,2499,3230,3100,993.6,0.0,670,8563,1.15,2.85,135.95,2.570,10756,0.171,0.135,2330,1087,2565,2646,2484,0,0,0,0,0,0,13.45,13.16,12.47
$GC,8608,0.84,146.0,2330,1088,2647,2480,979.4,10.9,707,8613,0.00,2.88,0.00,0.000,1030,0.000,0.154,2330,2500,2561,2646,2477,0,0,1,0,0,0,13.66,13.53,13.69
$GC,8934,0.84,146.0,2330,2501,2647,2469,941.7,11.7,722,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2501,2556,2646,2467,0,0,0,0,0,0,14.23,14.26,14.23
$PING,906.9,7.3,9000.0,0.00,0.79
$GC,9234,0.84,146.0,2330,2500,2647,2465,906.9,11.6,732,9239,0.00,2.53,0.00,0.000,260,0.000,0.195,2330,3770,2555,2646,2465,0,0,0,0,0,0,14.42,14.14,14.40
$GC,9285,0.84,146.0,2330,3770,2647,2465,900.3,13.5,742,9290,0.00,2.40,0.00,0.000,1030,0.000,0.142,2338,2493,2555,2646,2464,0,0,0,0,0,0,14.30,14.21,14.32
$PING,862.9,7.3,9000.0,-0.00,0.91
$GC,9598,0.84,146.0,2338,2493,2647,2463,862.9,12.0,754,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2492,2555,2646,2464,0,0,0,0,0,0,14.51,14.52,14.52
$GC,9895,0.84,146.0,2338,2494,2647,2464,827.0,12.0,764,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2493,2554,2646,2462,0,0,0,0,0,0,14.58,14.60,14.59
$GC,10195,0.84,146.0,2339,2493,2642,2461,791.6,11.8,774,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2493,2553,2646,2461,0,0,0,0,0,0,14.63,14.65,14.65
$PING,788.0,7.3,9000.0,0.00,0.00
$PING,777.4,7.2,9000.0,0.00,0.71
$PING,756.3,7.2,9000.0,0.00,0.57
$GC,10496,0.84,146.0,2339,2493,2647,2461,756.3,11.7,784,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2493,2553,2646,2460,0,0,0,0,0,0,14.65,14.68,14.66
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$SOUNDSPEED,1452.5
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