version: 66.13
glider: 199
mission: 7
dive: 21
start: 9 24 118 4 38 31
data:
$ID,199
$MISSION,7
$DIVE,21
$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,13
$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
$GPS1,240918,042803,7400.2441,-14715.2236,36,0.8,37,22.1,0.0,0.0,10,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-59.7
$GPS2,240918,043747,7400.2090,-14715.2822,10,0.8,10,22.1,0.0,0.0,10,8.1
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,168.3,42362,-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
$MODEM_MSG,CACST,6,1,20180924040536.769895,18,80,06,0123,0150,246,02,02,02,04,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0B
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$PING,11.2,13.5,9000.0,0.00,0.00
$GC,135,-0.84,-146.0,196,2661,2311,2256,3.8,-5.9,12,188,8.68,2.33,-35.95,0.004,18724,0.469,0.223,1774,3767,3764,3808,3720,0,0,0,0,0,0,13.88,13.34,14.13
$PING,21.9,24.5,9000.0,0.00,0.00
$PING,32.9,36.4,36.3,1.05,1.00
$PING,43.3,46.7,46.9,1.04,1.00
$PING,54.2,6.1,9000.0,-1.44,0.53
$PING,64.6,6.2,9000.0,-1.92,0.76
$PING,86.0,90.8,9000.0,2.86,0.90
$GC,413,-0.84,-146.0,1774,3767,3808,3723,87.1,-23.7,66,418,0.00,2.15,0.00,0.000,1030,0.000,0.150,1774,2643,3766,3809,3723,0,0,0,0,0,0,14.21,14.12,14.23
$PING,97.9,103.3,9000.0,3.04,0.94
$PING,109.7,115.9,115.9,1.06,1.00
$GC,606,-0.84,-146.0,1774,2643,3810,3723,124.9,-18.7,86,611,0.00,2.28,0.00,0.000,260,0.000,0.200,1765,3770,3765,3809,3722,0,0,0,0,0,0,14.42,14.16,14.44
$PING,131.3,6.4,9000.0,-3.18,0.80
$PING,142.1,6.4,9000.0,-3.62,0.89
$PING,152.9,160.2,9000.0,7.09,0.75
$GC,836,-0.84,-146.0,1766,3770,3809,3724,170.1,-18.6,132,841,0.00,2.12,0.00,0.000,1030,0.000,0.151,1765,2643,3766,3809,3723,0,0,0,0,0,0,14.36,14.26,14.38
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$GC,1258,-0.84,-146.0,1757,3778,3810,3723,241.8,-15.7,198,1263,0.12,2.10,0.00,0.000,3078,0.311,0.152,1779,2651,3765,3808,3723,0,0,0,0,0,0,14.25,14.32,14.41
$GC,1471,-0.84,-146.0,1776,2652,3809,3724,269.3,-12.7,210,1476,0.00,2.25,0.00,0.000,260,0.000,0.204,1773,3775,3766,3809,3723,0,0,0,0,0,0,14.57,14.31,14.59
$GC,1701,-0.84,-146.0,1774,3776,3809,3724,299.6,-12.6,256,1706,0.00,2.10,0.00,0.000,1030,0.000,0.152,1773,2651,3766,3809,3723,0,0,0,0,0,0,14.49,14.38,14.50
$GC,2012,-0.84,-146.0,1774,2652,3810,3723,335.0,-11.4,268,2017,0.00,2.22,0.00,0.000,260,0.000,0.203,1765,3770,3765,3808,3723,0,0,0,0,0,0,14.64,14.38,14.66
$GC,2167,-0.84,-146.0,1766,3770,3809,3723,354.5,-12.5,299,2172,0.00,2.10,0.00,0.000,1030,0.000,0.152,1765,2645,3766,3809,3723,0,0,0,0,0,0,14.53,14.43,14.54
$GC,2492,-0.84,-146.0,1765,2645,3809,3724,391.6,-11.2,314,2497,0.00,2.25,0.00,0.000,260,0.000,0.204,1757,3778,3766,3809,3723,0,0,0,0,0,0,14.67,14.40,14.69
$GC,2547,-0.84,-146.0,1757,3778,3809,3724,398.3,-12.4,325,2555,0.00,2.10,0.00,0.000,1030,0.000,0.150,1757,2651,3766,3809,3723,0,0,0,0,0,0,14.56,14.45,14.57
$GC,2852,-0.84,-146.0,1757,2651,3804,3723,433.6,-11.5,336,2858,0.12,2.22,0.00,0.000,2308,0.301,0.200,1774,3776,3766,3809,3723,0,0,0,0,0,0,14.40,14.42,14.57
$GC,2898,-0.84,-146.0,1774,3777,3809,3724,438.8,-11.5,345,2904,0.00,2.08,0.00,0.000,1030,0.000,0.148,1774,2650,3766,3809,3723,0,0,1,0,0,0,14.57,14.44,14.58
$GC,3214,-0.84,-146.0,1775,2650,3809,3722,472.3,-10.6,358,3219,0.00,2.20,0.00,0.000,260,0.000,0.200,1765,3770,3765,3809,3722,0,0,0,0,0,0,14.71,14.41,14.73
$GC,3269,-0.84,-146.0,1766,3771,3809,3722,478.6,-11.8,369,3276,0.00,2.08,0.00,0.000,1030,0.000,0.148,1766,2648,3766,3809,3723,0,0,0,0,0,0,14.59,14.49,14.61
$GC,3575,-0.84,-146.0,1766,2648,3809,3722,511.9,-10.8,380,3580,0.00,2.20,0.00,0.000,260,0.000,0.200,1757,3770,3765,3808,3722,0,0,0,0,0,0,14.71,14.46,14.73
$GC,3655,-0.84,-146.0,1758,3770,3808,3722,521.5,-12.1,396,3662,0.12,2.08,0.00,0.000,3078,0.301,0.148,1782,2641,3765,3809,3722,0,0,0,0,0,0,14.43,14.50,14.59
$GC,3967,-0.84,-146.0,1781,2642,3809,3724,552.5,-9.8,408,3972,0.00,2.22,0.00,0.000,260,0.000,0.199,1775,3775,3766,3810,3723,0,0,0,0,0,0,14.73,14.47,14.75
$GC,4022,-0.84,-146.0,1775,3780,3808,3724,558.4,-10.9,419,4028,0.00,2.10,0.00,0.000,1030,0.000,0.147,1775,2641,3765,3808,3723,0,0,0,0,0,0,14.62,14.52,14.64
$GC,4327,-0.84,-146.0,1774,2641,3809,3722,589.6,-10.2,430,4332,0.00,2.22,0.00,0.000,260,0.000,0.200,1767,3774,3766,3809,3723,0,0,0,0,0,0,14.73,14.48,14.76
$GC,4413,-0.84,-146.0,1766,3774,3810,3722,599.2,-11.4,447,4419,0.00,2.08,0.00,0.000,1030,0.000,0.145,1767,2641,3765,3808,3723,0,0,0,0,0,0,14.63,14.53,14.65
$GC,4718,-0.84,-146.0,1767,2642,3809,3724,631.2,-10.5,458,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2641,3765,3808,3722,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5018,-0.84,-146.0,1767,2642,3809,3724,662.9,-10.6,468,5023,0.00,2.22,0.00,0.000,260,0.000,0.197,1758,3779,3766,3809,3723,0,0,0,0,0,0,14.77,14.51,14.79
$GC,5130,-0.84,-146.0,1759,3779,3809,3722,675.8,-11.8,490,5135,0.12,2.08,0.00,0.000,3078,0.300,0.145,1783,2643,3765,3808,3723,0,0,0,0,0,0,14.48,14.55,14.64
$GC,5440,-0.84,-146.0,1783,2643,3809,3724,706.5,-9.7,502,5445,0.00,2.20,0.00,0.000,260,0.000,0.198,1777,3770,3765,3809,3722,0,0,0,0,0,0,14.78,14.51,14.79
$GC,5495,-0.84,-146.0,1777,3770,3809,3722,712.3,-10.8,513,5502,0.00,2.05,0.00,0.000,1030,0.000,0.146,1777,2650,3765,3808,3723,0,0,0,0,0,0,14.66,14.56,14.67
$PING,742.6,7.4,9000.0,-0.12,0.23
$GC,5801,-0.84,-146.0,1777,2651,3809,3724,742.6,-9.9,524,5806,0.00,2.20,0.00,0.000,260,0.000,0.198,1768,3776,3766,3809,3723,0,0,0,0,0,0,14.78,14.52,14.78
$GC,5862,-0.84,-146.0,1769,3777,3809,3724,749.2,-11.0,536,5867,0.00,2.08,0.00,0.000,1030,0.000,0.145,1768,2641,3766,3809,3723,0,0,0,0,0,0,14.66,14.56,14.68
$PING,755.4,7.5,9000.0,-0.26,1.00
$PING,779.7,7.5,9000.0,0.00,0.42
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$PING,802.3,7.5,9000.0,0.00,0.39
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$GC,7363,-0.84,-146.0,1777,3774,3809,3724,901.7,-10.1,635,7369,0.00,2.05,0.00,0.000,1030,0.000,0.145,1776,2648,3766,3809,3723,0,0,0,0,0,0,14.67,14.57,14.69
$GC,7669,-0.84,-146.0,1777,2647,3809,3723,930.8,-9.6,646,7674,0.00,2.20,0.00,0.000,260,0.000,0.197,1768,3777,3766,3809,3723,0,0,0,0,0,0,14.78,14.52,14.80
$GC,7704,-0.84,-146.0,1769,3777,3808,3723,934.6,-10.5,653,7710,0.00,2.08,0.00,0.000,1030,0.000,0.143,1768,2642,3766,3809,3723,0,0,0,0,0,0,14.66,14.57,14.68
$GC,8031,-0.84,-146.0,1769,2642,3810,3722,967.1,-10.0,668,8036,0.00,2.20,0.00,0.000,260,0.000,0.198,1760,3770,3765,3808,3723,0,0,0,0,0,0,14.78,14.53,14.80
$GC,8117,-0.84,-146.0,1761,3770,3810,3723,976.5,-11.8,685,8124,0.00,2.05,0.00,0.000,1030,0.000,0.145,1760,2649,3766,3809,3723,0,0,0,0,0,0,14.67,14.57,14.69
$STATE,8270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8270,begin apogee
$PING,993.9,23.5,9000.0,0.08,0.99
$GC,8276,-0.19,0.0,1761,2501,3806,3724,992.4,-10.3,691,8412,0.88,0.00,133.15,2.656,10246,0.267,0.000,1991,2500,3166,3232,3101,0,0,0,0,0,0,14.50,13.48,12.64
$STATE,8413,end apogee,CONTROL_FINISHED_OK
$STATE,8413,begin climb
$GC,8416,0.84,146.0,1992,2501,3230,3101,996.1,0.0,695,8559,1.17,0.00,136.23,2.577,10758,0.174,0.000,2323,2500,2568,2648,2488,0,0,0,0,0,0,13.47,13.28,12.47
$GC,8874,0.84,146.0,2324,2501,2647,2470,953.1,11.0,735,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2499,2555,2646,2464,0,0,0,0,0,0,14.19,14.21,14.21
$GC,9174,0.84,146.0,2323,2500,2646,2466,920.0,11.1,745,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2500,2556,2646,2466,0,0,0,0,0,0,14.37,14.39,14.39
$GC,9474,0.84,146.0,2323,2500,2646,2465,886.9,11.0,755,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2500,2555,2646,2464,0,0,0,0,0,0,14.48,14.50,14.50
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