version: 66.13
glider: 199
mission: 7
dive: 25
start: 9 25 118 1 50 28
data:
$ID,199
$MISSION,7
$DIVE,25
$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,0.00281838
$HD_B,0.0125893
$HD_C,5.7000002e-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,3100
$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
$GPS1,250918,014002,7350.7949,-14721.5215,34,0.7,34,22.0,0.0,0.0,11,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-63.3
$GPS2,250918,014953,7350.8169,-14721.6035,5,0.7,8,22.0,0.0,0.0,12,9.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,167.6,24726,-18.7,-10.000,-23.11,2234
$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,-146.0,193,2659,517,470,0.0,0.0,0,133,0.00,0.00,-121.15,0.002,16386,0.000,0.000,193,2660,2353,2380,2326,0,0,0,0,0,0,14.26,28.83,14.27
$PING,12.2,14.8,9000.0,0.00,0.00
$GC,136,-0.84,-146.0,194,2661,2380,2330,4.9,-8.7,12,182,8.77,2.75,-30.35,0.005,18948,0.474,0.164,1782,1231,3697,3740,3655,0,0,0,0,0,0,13.93,13.59,14.17
$PING,22.7,25.2,9000.0,0.00,0.00
$PING,33.0,35.6,35.6,1.00,1.00
$PING,44.0,47.2,47.2,1.04,1.00
$PING,64.5,6.1,9000.0,-1.07,0.65
$PING,74.6,79.1,9000.0,0.60,0.06
$GC,407,-0.84,-146.0,1783,1231,3741,3657,78.7,-20.6,65,414,0.00,2.80,0.00,0.000,1030,0.000,0.170,1781,2656,3699,3740,3658,0,0,1,0,0,0,14.26,14.13,14.28
$PING,98.0,103.5,9000.0,2.58,0.77
$GC,594,-0.84,-146.0,1774,2657,3740,3659,114.7,-17.9,84,599,0.00,2.70,0.00,0.000,516,0.000,0.145,1774,1237,3699,3740,3658,0,0,0,0,0,0,14.42,14.19,14.44
$PING,119.6,125.0,125.2,1.02,1.00
$GC,649,-0.84,-146.0,1774,1238,3741,3659,124.8,-17.5,95,655,0.00,2.78,0.00,0.000,1030,0.000,0.170,1763,2654,3699,3740,3658,0,0,1,0,0,0,14.32,14.19,14.34
$PING,141.8,6.4,9000.0,-2.24,0.60
$GC,836,-0.84,-146.0,1763,2655,3741,3659,157.1,-17.1,114,837,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,2654,3699,3740,3658,0,0,0,0,0,0,14.47,14.49,14.48
$PING,162.3,170.0,9000.0,0.96,0.06
$GC,1014,-0.84,-146.0,1763,2654,3741,3659,187.5,-16.4,132,1019,0.00,2.22,0.00,0.000,260,0.000,0.207,1755,3769,3698,3740,3657,0,0,0,0,0,0,14.51,14.23,14.53
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$GC,1275,-0.84,-146.0,1784,2647,3741,3659,227.6,-13.5,166,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2646,3699,3740,3658,0,0,0,0,0,0,14.54,14.57,14.56
$GC,1455,-0.84,-146.0,1784,2647,3741,3658,250.9,-12.4,184,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,2646,3699,3740,3658,0,0,0,0,0,0,14.56,14.58,14.57
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$GC,1855,-0.84,-146.0,1778,3773,3741,3658,296.9,-12.4,214,1860,0.00,2.12,0.00,0.000,1030,0.000,0.158,1777,2644,3699,3740,3658,0,0,0,0,0,0,14.51,14.40,14.52
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$GC,2476,-0.84,-146.0,1778,2645,3741,3659,362.9,-10.3,238,2481,0.00,2.25,0.00,0.000,260,0.000,0.209,1769,3769,3699,3740,3658,0,0,0,0,0,0,14.68,14.42,14.70
$GC,2601,-0.84,-146.0,1770,3769,3741,3658,377.3,-12.0,263,2606,0.00,2.10,0.00,0.000,1030,0.000,0.158,1769,2645,3698,3740,3657,0,0,0,0,0,0,14.57,14.46,14.59
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$GC,3012,-0.84,-146.0,1762,3774,3741,3665,421.8,-11.9,295,3019,0.00,2.10,0.00,0.000,1030,0.000,0.157,1761,2649,3699,3740,3658,0,0,0,0,0,0,14.57,14.47,14.59
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$GC,3618,-0.84,-146.0,1760,2649,3741,3657,487.1,-10.7,316,3623,0.00,2.22,0.00,0.000,260,0.000,0.207,1752,3776,3699,3740,3658,0,0,0,0,0,0,14.70,14.46,14.72
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$GC,4341,-0.84,-146.0,1784,2647,3741,3657,559.5,-9.6,360,4346,0.00,2.22,0.00,0.000,260,0.000,0.207,1777,3770,3699,3740,3658,0,0,0,0,0,0,14.76,14.49,14.78
$GC,4453,-0.84,-146.0,1778,3770,3744,3658,571.2,-10.7,382,4457,0.00,2.08,0.00,0.000,1030,0.000,0.155,1777,2648,3699,3740,3658,0,0,0,0,0,0,14.64,14.53,14.66
$GC,4763,-0.84,-146.0,1778,2649,3740,3659,601.8,-9.8,394,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,2648,3698,3739,3658,0,0,0,0,0,0,14.76,14.78,14.78
$GC,5063,-0.84,-146.0,1778,2649,3736,3659,631.0,-9.7,404,5068,0.00,2.22,0.00,0.000,260,0.000,0.206,1769,3775,3699,3740,3658,0,0,0,0,0,0,14.78,14.51,14.80
$GC,5180,-0.84,-146.0,1769,3774,3741,3657,643.4,-10.9,427,5186,0.00,2.10,0.00,0.000,1030,0.000,0.155,1769,2643,3699,3741,3657,0,0,0,0,0,0,14.65,14.54,14.67
$GC,5483,-0.84,-146.0,1769,2643,3741,3659,674.3,-10.1,438,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,2642,3698,3740,3657,0,0,0,0,0,0,14.77,14.80,14.79
$GC,5783,-0.84,-146.0,1769,2642,3741,3658,704.2,-9.9,448,5788,0.00,2.22,0.00,0.000,260,0.000,0.205,1760,3770,3699,3740,3658,0,0,0,0,0,0,14.78,14.52,14.81
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$GC,6208,-0.84,-146.0,1785,2648,3741,3658,744.8,-9.1,482,6213,0.00,2.22,0.00,0.000,260,0.000,0.206,1779,3772,3699,3740,3658,0,0,0,0,0,0,14.78,14.52,14.79
$GC,6263,-0.84,-146.0,1779,3773,3741,3659,750.6,-10.1,493,6271,0.00,2.08,0.00,0.000,1030,0.000,0.155,1778,2648,3699,3740,3658,0,0,0,0,0,0,14.66,14.56,14.68
$GC,6569,-0.84,-146.0,1779,2648,3741,3658,779.3,-9.3,504,6574,0.00,2.22,0.00,0.000,260,0.000,0.206,1770,3776,3699,3740,3658,0,0,0,0,0,0,14.77,14.52,14.79
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$GC,7397,-0.84,-146.0,1754,3773,3741,3659,862.5,-11.2,569,7404,0.15,2.08,0.00,0.000,3078,0.290,0.155,1785,2650,3699,3740,3658,0,0,0,0,0,0,14.50,14.56,14.65
$PING,883.0,7.4,9000.0,-0.11,0.22
$GC,7714,-0.84,-146.0,1786,2650,3742,3658,891.1,-8.9,582,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,2650,3699,3740,3658,0,0,0,0,0,0,14.79,14.81,14.81
$GC,8016,-0.84,-146.0,1785,2650,3741,3657,917.6,-8.9,592,8020,0.00,2.22,0.00,0.000,260,0.000,0.207,1778,3777,3699,3740,3658,0,0,0,0,0,0,14.71,14.47,14.73
$GC,8121,-0.84,-146.0,1779,3777,3741,3658,928.1,-10.1,613,8126,0.00,2.10,0.00,0.000,1030,0.000,0.156,1778,2650,3698,3740,3656,0,0,0,0,0,0,14.59,14.49,14.61
$GC,8437,-0.84,-146.0,1775,2650,3741,3658,957.3,-9.3,626,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,2650,3699,3740,3658,0,0,0,0,0,0,14.66,14.68,14.68
$GC,8736,-0.84,-146.0,1777,2651,3741,3659,985.1,-9.2,636,8741,0.00,2.22,0.00,0.000,260,0.000,0.206,1770,3769,3698,3739,3658,0,0,0,0,0,0,14.65,14.40,14.67
$STATE,8785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8785,begin apogee
$GC,8793,-0.19,0.0,1771,2493,3741,3658,990.1,-10.1,646,8928,0.85,0.00,132.70,2.604,10246,0.262,0.000,1992,2493,3101,3165,3038,0,0,0,0,0,0,14.37,13.45,12.62
$STATE,8929,end apogee,CONTROL_FINISHED_OK
$STATE,8929,begin climb
$GC,8932,0.84,146.0,1992,2493,3162,3036,993.6,0.0,650,9077,1.17,2.92,135.52,2.525,10756,0.177,0.140,2330,1090,2499,2586,2413,0,0,0,0,0,0,13.45,13.20,12.43
$GC,9107,0.84,146.0,2332,1091,2587,2409,980.3,11.3,684,9113,0.00,2.90,0.00,0.000,1030,0.000,0.155,2332,2501,2496,2586,2407,0,0,1,0,0,0,13.53,13.40,13.55
$GC,9418,0.84,146.0,2332,2501,2587,2396,943.9,11.7,696,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2500,2491,2586,2396,0,0,0,0,0,0,14.10,14.12,14.12
$GC,9718,0.84,146.0,2332,2503,2582,2394,908.4,11.9,706,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2501,2489,2586,2392,0,0,0,0,0,0,14.26,14.28,14.28
$GC,10019,0.84,146.0,2332,2501,2587,2391,872.7,11.9,716,10024,0.00,2.55,0.00,0.000,260,0.000,0.199,2331,3768,2488,2586,2391,0,0,0,0,0,0,14.36,14.13,14.38
$GC,10069,0.84,146.0,2332,3769,2587,2392,865.7,14.0,726,10074,0.00,2.42,0.00,0.000,1030,0.000,0.148,2340,2491,2488,2586,2391,0,0,0,0,0,0,14.29,14.19,14.31
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