version: 66.13
glider: 199
mission: 7
dive: 22
start: 9 24 118 9 58 11
data:
$ID,199
$MISSION,7
$DIVE,22
$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,17
$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
$GPS1,240918,094802,7357.8672,-14718.0029,38,0.7,38,22.0,0.0,0.0,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-60.2
$GPS2,240918,095734,7357.8779,-14718.1406,10,0.8,10,22.0,0.0,0.0,11,7.8
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,164.5,37909,-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,-146.0,202,2665,519,468,0.0,0.0,0,132,0.00,0.00,-120.80,0.002,16386,0.000,0.000,202,2665,2299,2326,2273,0,0,0,0,0,0,14.26,28.83,14.28
$PING,10.4,12.6,9000.0,0.00,0.00
$GC,135,-0.84,-146.0,203,2665,2328,2275,4.0,-6.8,12,184,8.62,2.78,-34.85,0.004,19236,0.473,0.158,1779,1239,3764,3809,3720,0,0,0,0,0,0,13.93,13.39,14.18
$PING,21.5,23.6,9000.0,0.00,0.00
$PING,32.6,34.7,34.7,1.00,1.00
$PING,43.0,47.5,47.1,1.11,1.00
$PING,53.8,6.1,9000.0,-1.37,0.47
$PING,74.7,79.3,9000.0,1.35,0.35
$GC,409,-0.84,-146.0,1778,1240,3809,3724,81.0,-20.8,65,417,0.00,2.75,0.00,0.000,1030,0.000,0.164,1770,2650,3766,3809,3723,0,0,1,0,0,0,14.25,14.13,14.27
$PING,86.1,91.1,9000.0,2.74,0.95
$PING,106.6,112.4,112.3,1.03,1.00
$GC,598,-0.84,-146.0,1770,2651,3810,3724,118.0,-18.5,84,603,0.00,2.62,0.00,0.000,516,0.000,0.135,1770,1240,3766,3809,3723,0,0,0,0,0,0,14.40,14.20,14.42
$GC,768,-0.84,-146.0,1770,1240,3809,3723,148.1,-16.9,118,773,0.12,2.75,0.00,0.000,3078,0.323,0.164,1781,2656,3764,3809,3719,0,0,0,0,0,0,14.18,14.23,14.35
$GC,958,-0.84,-146.0,1781,2656,3811,3723,179.3,-16.0,138,963,0.00,2.20,0.00,0.000,260,0.000,0.202,1774,3768,3766,3809,3723,0,0,0,0,0,0,14.50,14.26,14.52
$GC,984,-0.84,-146.0,1775,3768,3809,3724,183.5,-17.0,143,991,0.00,2.10,0.00,0.000,1030,0.000,0.148,1775,2650,3766,3809,3723,0,0,0,0,0,0,14.37,14.28,14.39
$GC,1171,-0.84,-146.0,1775,2649,3810,3723,212.3,-15.1,162,1175,0.00,2.22,0.00,0.000,260,0.000,0.200,1766,3767,3766,3809,3723,0,0,0,0,0,0,14.53,14.28,14.54
$GC,1261,-0.84,-146.0,1766,3769,3809,3724,227.6,-16.5,180,1266,0.00,2.10,0.00,0.000,1030,0.000,0.150,1766,2644,3765,3809,3722,0,0,0,0,0,0,14.43,14.33,14.45
$GC,1453,-0.84,-146.0,1767,2644,3809,3723,254.0,-13.2,198,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,2644,3766,3809,3723,0,0,0,0,0,0,14.57,14.59,14.58
$GC,1752,-0.84,-146.0,1766,2644,3810,3723,292.9,-12.8,208,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,2644,3766,3809,3723,0,0,0,0,0,0,14.61,14.62,14.62
$GC,2051,-0.84,-146.0,1766,2645,3809,3724,329.2,-11.9,218,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,2644,3766,3809,3723,0,0,0,0,0,0,14.66,14.68,14.68
$GC,2351,-0.84,-146.0,1767,2644,3809,3723,363.5,-11.2,228,2356,0.00,2.22,0.00,0.000,260,0.000,0.205,1758,3769,3766,3809,3723,0,0,0,0,0,0,14.69,14.42,14.71
$GC,2441,-0.84,-146.0,1759,3770,3809,3724,374.7,-12.3,246,2446,0.10,2.08,0.00,0.000,3078,0.315,0.150,1779,2646,3765,3808,3723,0,0,0,0,0,0,14.40,14.47,14.56
$GC,2774,-0.84,-146.0,1779,2647,3809,3724,409.0,-10.2,262,2779,0.00,2.22,0.00,0.000,260,0.000,0.203,1773,3768,3765,3809,3722,0,0,0,0,0,0,14.71,14.42,14.72
$GC,2849,-0.84,-146.0,1773,3770,3810,3723,417.7,-11.4,277,2855,0.00,2.08,0.00,0.000,1030,0.000,0.149,1773,2647,3766,3809,3723,0,0,0,0,0,0,14.59,14.49,14.61
$GC,3166,-0.84,-146.0,1774,2647,3810,3722,451.3,-10.6,290,3171,0.00,2.22,0.00,0.000,260,0.000,0.200,1765,3772,3766,3809,3723,0,0,0,0,0,0,14.70,14.45,14.72
$GC,3261,-0.84,-146.0,1765,3772,3808,3722,462.5,-12.1,309,3267,0.00,2.08,0.00,0.000,1030,0.000,0.147,1765,2645,3768,3814,3723,0,0,0,0,0,0,14.61,14.50,14.62
$GC,3588,-0.84,-146.0,1765,2646,3805,3724,498.1,-10.9,324,3593,0.00,2.22,0.00,0.000,260,0.000,0.199,1757,3770,3766,3809,3723,0,0,0,0,0,0,14.70,14.47,14.72
$GC,3653,-0.84,-146.0,1757,3771,3809,3723,505.9,-12.0,337,3660,0.12,2.08,0.00,0.000,3078,0.300,0.146,1781,2643,3763,3804,3722,0,0,0,0,0,0,14.45,14.52,14.60
$GC,3982,-0.84,-146.0,1781,2643,3810,3722,539.0,-10.0,352,3987,0.00,2.20,0.00,0.000,260,0.000,0.198,1774,3769,3765,3809,3722,0,0,0,0,0,0,14.74,14.49,14.76
$GC,4042,-0.84,-146.0,1774,3770,3809,3723,545.6,-11.4,364,4047,0.00,2.05,0.00,0.000,1030,0.000,0.145,1774,2651,3765,3808,3722,0,0,0,0,0,0,14.63,14.52,14.64
$GC,4375,-0.84,-146.0,1774,2652,3809,3723,579.6,-10.2,380,4380,0.00,2.20,0.00,0.000,260,0.000,0.199,1766,3775,3765,3808,3722,0,0,0,0,0,0,14.75,14.50,14.76
$GC,4435,-0.84,-146.0,1766,3775,3810,3722,586.6,-11.4,392,4440,0.00,2.08,0.00,0.000,1030,0.000,0.145,1769,2644,3766,3809,3723,0,0,0,0,0,0,14.64,14.54,14.66
$GC,4768,-0.84,-146.0,1766,2645,3809,3724,621.3,-10.4,408,4773,0.00,2.20,0.00,0.000,260,0.000,0.197,1757,3769,3766,3809,3723,0,0,0,0,0,0,14.76,14.50,14.78
$GC,4813,-0.84,-146.0,1758,3769,3810,3722,626.6,-11.7,417,4819,0.12,2.05,0.00,0.000,3078,0.301,0.144,1782,2645,3766,3809,3723,0,0,0,0,0,0,14.48,14.55,14.63
$GC,5129,-0.84,-146.0,1782,2646,3810,3722,657.3,-9.6,430,5134,0.00,2.20,0.00,0.000,260,0.000,0.197,1776,3770,3766,3809,3723,0,0,0,0,0,0,14.77,14.51,14.79
$GC,5194,-0.84,-146.0,1777,3770,3810,3722,664.1,-10.5,443,5199,0.00,2.05,0.00,0.000,1030,0.000,0.145,1776,2648,3765,3809,3722,0,0,0,0,0,0,14.65,14.55,14.66
$GC,5520,-0.84,-146.0,1776,2648,3809,3722,696.3,-9.9,458,5525,0.00,2.17,0.00,0.000,260,0.000,0.197,1767,3768,3765,3809,3722,0,0,0,0,0,0,14.78,14.52,14.79
$GC,5590,-0.84,-146.0,1767,3769,3809,3722,703.9,-11.1,472,5595,0.00,2.05,0.00,0.000,1030,0.000,0.144,1767,2647,3765,3809,3722,0,0,0,0,0,0,14.66,14.56,14.67
$GC,5910,-0.84,-146.0,1768,2647,3809,3722,736.9,-10.2,486,5915,0.00,2.20,0.00,0.000,260,0.000,0.198,1759,3773,3765,3809,3722,0,0,0,0,0,0,14.78,14.52,14.80
$GC,5966,-0.84,-146.0,1759,3775,3810,3724,743.1,-11.5,497,5973,0.12,2.08,0.00,0.000,3078,0.298,0.144,1784,2650,3765,3809,3722,0,0,0,0,0,0,14.49,14.55,14.64
$PING,749.6,6.9,9000.0,-0.14,0.95
$GC,6272,-0.84,-146.0,1784,2651,3809,3724,772.2,-9.4,508,6277,0.00,2.17,0.00,0.000,260,0.000,0.197,1773,3770,3766,3809,3723,0,0,0,0,0,0,14.77,14.52,14.78
$GC,6327,-0.84,-146.0,1777,3771,3809,3724,777.9,-10.4,519,6333,0.00,2.05,0.00,0.000,1030,0.000,0.144,1777,2645,3766,3809,3723,0,0,0,0,0,0,14.66,14.57,14.68
$GC,6633,-0.84,-146.0,1777,2646,3809,3724,807.4,-9.6,530,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,2645,3765,3809,3722,0,0,0,0,0,0,14.78,14.79,14.79
$GC,6932,-0.84,-146.0,1778,2645,3810,3723,836.5,-9.7,540,6937,0.00,2.20,0.00,0.000,260,0.000,0.199,1769,3768,3765,3809,3722,0,0,0,0,0,0,14.79,14.53,14.81
$GC,7054,-0.84,-146.0,1769,3769,3809,3724,849.3,-10.9,564,7059,0.00,2.05,0.00,0.000,1030,0.000,0.145,1769,2643,3766,3809,3723,0,0,0,0,0,0,14.67,14.57,14.69
$GC,7384,-0.84,-146.0,1775,2643,3810,3722,882.8,-10.1,580,7389,0.00,2.20,0.00,0.000,260,0.000,0.197,1760,3769,3765,3809,3722,0,0,0,0,0,0,14.74,14.50,14.76
$GC,7464,-0.84,-146.0,1761,3768,3809,3724,891.6,-11.1,596,7469,0.12,2.05,0.00,0.000,3078,0.296,0.145,1786,2651,3765,3809,3722,0,0,0,0,0,0,14.46,14.52,14.60
$GC,7776,-0.84,-146.0,1786,2652,3809,3724,920.7,-9.3,608,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,2651,3766,3809,3723,0,0,0,0,0,0,14.69,14.70,14.70
$GC,8074,-0.84,-146.0,1786,2652,3810,3723,948.2,-9.1,618,8079,0.00,2.20,0.00,0.000,260,0.000,0.198,1779,3768,3767,3812,3722,0,0,0,0,0,0,14.66,14.42,14.68
$GC,8179,-0.84,-146.0,1779,3770,3809,3724,958.7,-10.4,639,8184,0.00,2.08,0.00,0.000,1030,0.000,0.145,1779,2640,3766,3809,3723,0,0,0,0,0,0,14.54,14.45,14.56
$GC,8495,-0.84,-146.0,1780,2642,3810,3722,988.2,-9.3,652,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2642,3765,3809,3722,0,0,0,0,0,0,14.63,14.65,14.65
$STATE,8522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8522,begin apogee
$GC,8528,-0.19,0.0,1780,2507,3810,3722,991.0,-9.2,653,8666,0.82,0.00,134.27,2.642,10246,0.269,0.000,1995,2507,3164,3230,3099,0,0,0,0,0,0,14.36,13.44,12.59
$STATE,8667,end apogee,CONTROL_FINISHED_OK
$STATE,8667,begin climb
$GC,8670,0.84,146.0,1995,2508,3230,3100,994.1,0.0,657,8816,1.17,2.88,136.82,2.562,10756,0.174,0.132,2335,1082,2566,2646,2486,0,0,0,0,0,0,13.43,13.12,12.41
$GC,8861,0.84,146.0,2335,1082,2647,2479,979.9,11.0,694,8867,0.00,2.88,0.00,0.000,1030,0.000,0.148,2335,2500,2562,2646,2478,0,0,1,0,0,0,13.59,13.46,13.61
$GC,9187,0.84,146.0,2336,2499,2647,2468,941.5,11.8,709,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2500,2557,2646,2468,0,0,0,0,0,0,14.14,14.15,14.15
$GC,9488,0.84,146.0,2335,2499,2647,2466,906.2,11.7,719,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2499,2556,2646,2466,0,0,0,0,0,0,14.27,14.29,14.28
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$CFSIZE,2097872896,2089222144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
$SOUNDSPEED,1452.8
$CURRENT,0.025,109.79,1
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