version: 66.13
glider: 199
mission: 7
dive: 24
start: 9 24 118 20 34 9
data:
$ID,199
$MISSION,7
$DIVE,24
$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,6
$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
$GPS1,240918,202302,7353.1846,-14720.7969,29,0.8,29,22.0,0.0,0.0,11,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-63.0
$GPS2,240918,203333,7353.2026,-14721.0557,5,0.8,9,22.0,0.0,0.0,10,9.5
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,165.9,29154,-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,7,begin dive
$GC,10,-0.84,-146.0,199,2652,517,471,0.0,0.0,0,133,0.00,0.00,-121.05,0.002,16386,0.000,0.000,198,2653,2327,2355,2299,0,0,0,0,0,0,14.17,28.83,14.18
$PING,11.2,12.9,9000.0,0.00,0.00
$GC,136,-0.84,-146.0,199,2654,2355,2302,4.3,-7.1,12,186,8.88,2.75,-33.35,0.004,18980,0.479,0.159,1780,1239,3765,3809,3721,0,0,1,0,0,0,13.85,13.33,14.10
$PING,23.2,25.8,9000.0,0.00,0.00
$PING,33.7,36.6,36.7,1.05,1.00
$PING,43.8,47.1,47.1,1.04,1.00
$PING,54.2,6.1,9000.0,-1.50,0.52
$PING,64.7,68.9,9000.0,1.04,0.12
$PING,75.4,79.6,9000.0,3.46,0.85
$GC,412,-0.84,-146.0,1780,1239,3809,3720,79.4,-20.2,66,417,0.00,2.78,0.00,0.000,1030,0.000,0.162,1771,2653,3767,3809,3725,0,0,0,0,0,0,14.23,14.11,14.26
$PING,107.9,113.3,113.2,1.03,1.00
$GC,604,-0.84,-146.0,1772,2653,3810,3725,117.2,-18.8,86,610,0.00,2.65,0.00,0.000,516,0.000,0.138,1771,1240,3767,3809,3725,0,0,0,0,0,0,14.40,14.14,14.41
$GC,670,-0.84,-146.0,1772,1240,3805,3725,129.9,-17.8,99,676,0.00,2.75,0.00,0.000,1030,0.000,0.163,1761,2651,3767,3809,3725,0,0,0,0,0,0,14.31,14.17,14.32
$PING,139.7,6.4,9000.0,-1.13,0.44
$GC,857,-0.84,-146.0,1761,2651,3810,3724,163.4,-17.9,118,858,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2651,3767,3809,3725,0,0,0,0,0,0,14.45,14.47,14.47
$PING,182.5,190.4,9000.0,1.21,0.24
$GC,1035,-0.84,-146.0,1761,2652,3812,3726,194.3,-16.8,136,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2651,3767,3809,3725,0,0,0,0,0,0,14.50,14.52,14.52
$GC,1215,-0.84,-146.0,1761,2651,3810,3725,222.8,-15.2,154,1220,0.00,2.22,0.00,0.000,260,0.000,0.203,1752,3772,3766,3808,3725,0,0,0,0,0,0,14.52,14.26,14.54
$GC,1285,-0.84,-146.0,1752,3773,3809,3726,233.9,-16.1,168,1291,0.15,2.10,0.00,0.000,3078,0.306,0.152,1781,2652,3768,3809,3728,0,0,0,0,0,0,14.23,14.31,14.40
$GC,1479,-0.84,-146.0,1781,2653,3810,3726,258.8,-12.6,184,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2652,3769,3814,3725,0,0,0,0,0,0,14.54,14.56,14.56
$GC,1776,-0.84,-146.0,1781,2653,3809,3725,294.1,-11.5,194,1781,0.00,2.25,0.00,0.000,260,0.000,0.207,1775,3772,3766,3809,3724,0,0,0,0,0,0,14.61,14.35,14.63
$GC,1888,-0.84,-146.0,1775,3773,3810,3727,307.9,-12.4,216,1893,0.00,2.10,0.00,0.000,1030,0.000,0.155,1775,2648,3766,3809,3724,0,0,0,0,0,0,14.51,14.40,14.53
$GC,2199,-0.84,-146.0,1775,2650,3809,3725,343.7,-11.4,228,2204,0.00,2.25,0.00,0.000,260,0.000,0.207,1766,3774,3766,3809,3724,0,0,0,0,0,0,14.64,14.39,14.66
$GC,2260,-0.84,-146.0,1766,3776,3809,3725,351.4,-13.0,240,2265,0.00,2.10,0.00,0.000,1030,0.000,0.155,1767,2650,3766,3809,3724,0,0,0,0,0,0,14.54,14.43,14.56
$GC,2592,-0.84,-146.0,1767,2652,3809,3725,390.0,-11.6,256,2597,0.00,2.22,0.00,0.000,260,0.000,0.206,1758,3771,3766,3809,3724,0,0,0,0,0,0,14.68,14.41,14.69
$GC,2632,-0.84,-146.0,1759,3770,3809,3725,395.1,-12.7,264,2637,0.12,2.10,0.00,0.000,3078,0.302,0.152,1782,2648,3766,3809,3724,0,0,0,0,0,0,14.39,14.45,14.54
$GC,2954,-0.84,-146.0,1783,2649,3809,3725,429.1,-10.4,278,2960,0.00,2.25,0.00,0.000,260,0.000,0.204,1776,3775,3766,3809,3724,0,0,0,0,0,0,14.69,14.43,14.71
$GC,3021,-0.84,-146.0,1776,3775,3809,3724,436.9,-11.5,291,3026,0.00,2.10,0.00,0.000,1030,0.000,0.152,1776,2646,3766,3808,3724,0,0,0,0,0,0,14.58,14.47,14.60
$GC,3346,-0.84,-146.0,1775,2647,3809,3725,471.8,-10.7,306,3351,0.00,2.22,0.00,0.000,260,0.000,0.201,1767,3770,3766,3809,3724,0,0,0,0,0,0,14.71,14.45,14.73
$GC,3411,-0.84,-146.0,1768,3771,3810,3725,479.4,-11.8,319,3416,0.00,2.08,0.00,0.000,1030,0.000,0.151,1768,2655,3766,3809,3724,0,0,0,0,0,0,14.60,14.50,14.62
$GC,3738,-0.84,-146.0,1768,2652,3809,3724,515.0,-10.9,334,3743,0.00,2.22,0.00,0.000,260,0.000,0.204,1759,3776,3766,3809,3724,0,0,0,0,0,0,14.72,14.47,14.73
$GC,3824,-0.84,-146.0,1760,3777,3808,3725,525.3,-12.1,351,3830,0.12,2.10,0.00,0.000,3078,0.299,0.151,1784,2640,3766,3809,3724,0,0,0,0,0,0,14.45,14.51,14.60
$GC,4128,-0.84,-146.0,1784,2641,3809,3731,556.0,-9.9,362,4133,0.00,2.22,0.00,0.000,260,0.000,0.202,1777,3771,3768,3808,3729,0,0,0,0,0,0,14.74,14.48,14.76
$GC,4193,-0.84,-146.0,1778,3770,3810,3724,563.0,-10.9,375,4198,0.00,2.08,0.00,0.000,1030,0.000,0.149,1777,2645,3766,3809,3723,0,0,0,0,0,0,14.62,14.52,14.64
$GC,4519,-0.84,-146.0,1777,2645,3810,3724,595.9,-10.0,390,4524,0.00,2.22,0.00,0.000,260,0.000,0.201,1769,3777,3766,3809,3723,0,0,0,0,0,0,14.74,14.49,14.76
$GC,4564,-0.84,-146.0,1769,3775,3810,3724,600.8,-11.0,399,4569,0.00,2.08,0.00,0.000,1030,0.000,0.151,1769,2650,3766,3808,3724,0,0,0,0,0,0,14.64,14.53,14.65
$GC,4880,-0.84,-146.0,1770,2651,3809,3725,633.0,-10.1,412,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,2650,3766,3809,3724,0,0,0,0,0,0,14.75,14.77,14.76
$GC,5180,-0.84,-146.0,1769,2651,3809,3725,663.3,-10.1,422,5185,0.00,2.20,0.00,0.000,260,0.000,0.202,1760,3776,3766,3808,3724,0,0,0,0,0,0,14.78,14.51,14.79
$GC,5285,-0.84,-146.0,1762,3776,3810,3724,675.0,-11.3,443,5290,0.00,2.08,0.00,0.000,1030,0.000,0.150,1761,2650,3766,3808,3724,0,0,0,0,0,0,14.65,14.55,14.67
$GC,5600,-0.84,-146.0,1761,2650,3810,3724,707.7,-10.3,456,5605,0.00,2.20,0.00,0.000,260,0.000,0.202,1752,3772,3766,3809,3724,0,0,0,0,0,0,14.78,14.51,14.79
$GC,5670,-0.84,-146.0,1752,3773,3809,3725,715.7,-11.6,470,5675,0.15,2.08,0.00,0.000,3078,0.292,0.149,1784,2643,3766,3809,3724,0,0,0,0,0,0,14.49,14.56,14.64
$PING,726.3,7.3,9000.0,-0.14,0.19
$GC,5992,-0.84,-146.0,1784,2642,3810,3724,745.5,-9.1,484,5997,0.00,2.22,0.00,0.000,260,0.000,0.202,1777,3776,3766,3809,3724,0,0,0,0,0,0,14.78,14.51,14.80
$GC,6048,-0.84,-146.0,1778,3776,3810,3724,751.2,-10.2,495,6054,0.00,2.08,0.00,0.000,1030,0.000,0.151,1777,2651,3767,3810,3724,0,0,0,0,0,0,14.66,14.55,14.68
$GC,6353,-0.84,-146.0,1778,2652,3809,3725,780.3,-9.6,506,6358,0.00,2.20,0.00,0.000,260,0.000,0.204,1769,3770,3766,3809,3724,0,0,0,0,0,0,14.78,14.52,14.80
$GC,6398,-0.84,-146.0,1769,3770,3810,3724,785.0,-10.6,515,6403,0.00,2.08,0.00,0.000,1030,0.000,0.149,1769,2643,3766,3808,3724,0,0,0,0,0,0,14.66,14.56,14.68
$GC,6714,-0.84,-146.0,1768,2643,3810,3724,816.3,-9.9,528,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,2643,3766,3809,3724,0,0,0,0,0,0,14.77,14.80,14.79
$GC,7013,-0.84,-146.0,1769,2644,3809,3725,846.1,-9.9,538,7018,0.00,2.22,0.00,0.000,260,0.000,0.203,1761,3776,3766,3808,3724,0,0,0,0,0,0,14.80,14.53,14.81
$GC,7104,-0.84,-146.0,1762,3777,3809,3725,856.0,-11.2,556,7108,0.00,2.08,0.00,0.000,1030,0.000,0.151,1761,2650,3766,3809,3724,0,0,0,0,0,0,14.67,14.57,14.69
$PING,862.3,7.5,9000.0,-0.29,0.96
$GC,7436,-0.84,-146.0,1761,2649,3810,3723,889.8,-10.2,572,7441,0.00,2.20,0.00,0.000,260,0.000,0.203,1753,3770,3766,3809,3724,0,0,0,0,0,0,14.79,14.53,14.81
$GC,7526,-0.84,-146.0,1753,3770,3810,3724,900.3,-11.7,590,7531,0.15,2.08,0.00,0.000,3078,0.291,0.150,1784,2641,3766,3808,3724,0,0,0,0,0,0,14.50,14.57,14.66
$GC,7859,-0.84,-146.0,1784,2641,3810,3725,930.7,-9.1,606,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2641,3766,3809,3724,0,0,0,0,0,0,14.78,14.81,14.80
$GC,8156,-0.84,-146.0,1785,2641,3810,3724,958.0,-9.1,616,8161,0.00,2.22,0.00,0.000,260,0.000,0.203,1778,3773,3766,3808,3724,0,0,0,0,0,0,14.80,14.54,14.82
$GC,8237,-0.84,-146.0,1778,3773,3809,3724,965.9,-10.0,632,8242,0.00,2.08,0.00,0.000,1030,0.000,0.151,1778,2648,3766,3808,3725,0,0,0,0,0,0,14.68,14.57,14.69
$STATE,8514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8514,begin apogee
$PING,993.0,21.1,9000.0,0.05,0.75
$GC,8520,-0.19,0.0,1778,2501,3809,3725,991.8,-9.1,643,8655,0.80,0.00,132.20,2.597,10246,0.266,0.000,1991,2500,3165,3231,3100,0,0,0,0,0,0,14.52,13.51,12.67
$STATE,8656,end apogee,CONTROL_FINISHED_OK
$STATE,8656,begin climb
$GC,8659,0.84,146.0,1992,2500,3229,3098,994.6,0.0,647,8804,1.17,2.92,134.88,2.516,10756,0.179,0.138,2332,1086,2565,2646,2484,0,0,0,0,0,0,13.50,13.26,12.48
$GC,8834,0.84,146.0,2333,1086,2647,2480,981.7,10.8,680,8839,0.00,2.88,0.00,0.000,1030,0.000,0.152,2332,2501,2562,2646,2479,0,0,1,0,0,0,13.59,13.47,13.62
$GC,9155,0.84,146.0,2332,2501,2647,2469,943.6,11.9,694,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2500,2557,2646,2468,0,0,0,0,0,0,14.21,14.23,14.23
$GC,9455,0.84,146.0,2333,2500,2647,2465,908.2,11.9,704,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2500,2555,2646,2465,0,0,0,0,0,0,14.37,14.39,14.39
$PING,897.6,7.2,9000.0,0.11,0.92
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