version: 66.13
glider: 199
mission: 7
dive: 27
start: 9 25 118 12 31 46
data:
$ID,199
$MISSION,7
$DIVE,27
$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,14
$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
$GPS1,250918,121903,7346.2754,-14724.1543,33,0.7,33,22.0,0.0,0.0,11,7.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-62.0
$GPS2,250918,123106,7346.2695,-14724.1309,5,0.8,12,22.0,0.0,0.0,11,8.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,164.9,16247,-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
$STATE,6,begin dive
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$PING,12.1,14.3,9000.0,0.00,0.00
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$PING,23.6,26.6,9000.0,0.00,0.00
$PING,34.8,37.9,38.1,1.04,1.00
$PING,45.7,49.2,49.1,1.02,1.00
$PING,55.7,6.1,9000.0,-1.49,0.49
$PING,66.2,6.1,9000.0,-2.08,0.74
$PING,76.7,81.1,9000.0,3.57,0.75
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$PING,87.8,92.4,9000.0,3.96,0.83
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$PING,121.1,127.1,127.0,1.04,1.00
$PING,142.1,6.4,9000.0,-1.35,0.35
$GC,826,-0.84,-146.0,1775,1234,3741,3658,153.4,-16.0,130,831,0.00,2.80,0.00,0.000,1030,0.000,0.178,1763,2651,3699,3740,3658,0,0,0,0,0,0,14.33,14.20,14.35
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$GC,1640,-0.84,-146.0,1782,2651,3741,3659,268.4,-11.5,210,1645,0.00,2.67,0.00,0.000,516,0.000,0.155,1782,1237,3699,3741,3658,0,0,0,0,0,0,14.59,14.35,14.61
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$GC,2034,-0.84,-146.0,1774,2653,3741,3659,312.9,-11.2,238,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,2651,3699,3740,3658,0,0,0,0,0,0,14.63,14.65,14.65
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$GC,2632,-0.84,-146.0,1774,2652,3741,3655,378.8,-10.6,258,2637,0.00,2.22,0.00,0.000,260,0.000,0.217,1765,3769,3699,3741,3658,0,0,0,0,0,0,14.68,14.42,14.70
$GC,2702,-0.84,-146.0,1766,3770,3741,3659,387.0,-11.7,272,2707,0.00,2.12,0.00,0.000,1030,0.000,0.165,1765,2648,3699,3740,3658,0,0,0,0,0,0,14.57,14.46,14.59
$GC,3022,-0.84,-146.0,1766,2648,3741,3657,421.5,-10.7,286,3027,0.00,2.25,0.00,0.000,260,0.000,0.216,1757,3769,3699,3740,3658,0,0,0,0,0,0,14.71,14.42,14.73
$GC,3097,-0.84,-146.0,1757,3769,3741,3658,430.4,-12.0,301,3104,0.12,2.10,0.00,0.000,3078,0.295,0.164,1782,2652,3699,3741,3658,0,0,0,0,0,0,14.42,14.48,14.58
$GC,3417,-0.84,-146.0,1782,2653,3740,3659,461.6,-9.7,314,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2652,3699,3740,3658,0,0,0,0,0,0,14.70,14.72,14.72
$GC,3714,-0.84,-146.0,1782,2653,3741,3658,490.5,-9.6,324,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2652,3699,3740,3658,0,0,0,0,0,0,14.73,14.76,14.76
$GC,4015,-0.84,-146.0,1782,2653,3741,3664,519.2,-9.6,334,4020,0.00,2.25,0.00,0.000,260,0.000,0.213,1775,3776,3699,3740,3658,0,0,0,0,0,0,14.73,14.48,14.76
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$GC,4405,-0.84,-146.0,1775,2643,3741,3658,558.9,-10.1,362,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,2643,3699,3740,3658,0,0,0,0,0,0,14.76,14.78,14.78
$GC,4706,-0.84,-146.0,1776,2643,3741,3658,589.2,-10.1,372,4711,0.00,2.25,0.00,0.000,260,0.000,0.212,1767,3771,3699,3741,3658,0,0,0,0,0,0,14.77,14.50,14.78
$GC,4771,-0.84,-146.0,1768,3772,3741,3657,596.4,-11.2,385,4776,0.00,2.10,0.00,0.000,1030,0.000,0.161,1767,2649,3699,3740,3658,0,0,0,0,0,0,14.65,14.54,14.66
$GC,5097,-0.84,-146.0,1767,2650,3741,3659,630.1,-10.3,400,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2649,3699,3740,3658,0,0,0,0,0,0,14.77,14.79,14.79
$GC,5397,-0.84,-146.0,1768,2649,3741,3657,660.9,-10.2,410,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,2649,3699,3740,3658,0,0,0,0,0,0,14.77,14.79,14.79
$GC,5697,-0.84,-146.0,1767,2649,3741,3658,691.2,-10.1,420,5702,0.00,2.22,0.00,0.000,260,0.000,0.213,1759,3770,3699,3740,3658,0,0,0,0,0,0,14.79,14.52,14.81
$GC,5787,-0.84,-146.0,1759,3771,3741,3659,701.2,-11.2,438,5792,0.12,2.10,0.00,0.000,3078,0.296,0.161,1783,2642,3698,3740,3657,0,0,0,0,0,0,14.50,14.56,14.65
$GC,6120,-0.84,-146.0,1784,2644,3741,3659,731.8,-9.1,454,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2642,3699,3741,3657,0,0,0,0,0,0,14.78,14.80,14.80
$PING,742.5,6.7,9000.0,-0.10,0.27
$GC,6418,-0.84,-146.0,1784,2643,3741,3659,758.7,-8.9,464,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,2642,3699,3741,3658,0,0,0,0,0,0,14.80,14.81,14.81
$PING,764.1,7.3,9000.0,0.00,0.59
$PING,775.0,7.3,9000.0,0.02,0.89
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$PING,797.6,7.3,9000.0,0.00,0.87
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$PING,842.7,7.5,9000.0,0.00,0.96
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$PING,852.9,7.6,9000.0,0.00,0.99
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$PING,886.7,7.3,9000.0,-0.01,0.91
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$GC,8371,-0.84,-146.0,1769,2651,3742,3658,943.2,-9.3,554,8376,0.00,2.22,0.00,0.000,260,0.000,0.214,1761,3770,3699,3741,3657,0,0,0,0,0,0,14.79,14.54,14.81
$GC,8441,-0.84,-146.0,1762,3771,3742,3658,950.4,-10.1,568,8446,0.00,2.10,0.00,0.000,1030,0.000,0.163,1761,2642,3699,3741,3658,0,0,0,0,0,0,14.68,14.57,14.69
$GC,8761,-0.84,-146.0,1761,2643,3741,3659,981.1,-9.5,582,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2643,3699,3741,3657,0,0,0,0,0,0,14.81,14.82,14.82
$STATE,8879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8879,begin apogee
$GC,8885,-0.19,0.0,1761,2495,3742,3658,992.5,-9.6,586,9020,0.88,0.00,132.98,2.645,10246,0.265,0.000,1992,2496,3099,3163,3035,0,0,0,0,0,0,14.52,13.51,12.65
$STATE,9021,end apogee,CONTROL_FINISHED_OK
$STATE,9021,begin climb
$GC,9024,0.84,146.0,1992,2496,3158,3034,995.4,0.0,590,9164,1.20,0.00,136.32,2.572,10758,0.172,0.000,2325,2495,2503,2590,2417,0,0,0,0,0,0,13.50,13.26,12.45
$GC,9452,0.84,146.0,2325,2495,2586,2396,951.3,11.9,615,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2495,2491,2586,2396,0,0,0,0,0,0,14.12,14.15,14.14
$GC,9751,0.84,146.0,2325,2496,2587,2392,915.7,12.0,625,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2495,2489,2586,2392,0,0,0,0,0,0,14.33,14.35,14.35
$GC,10051,0.84,146.0,2325,2495,2587,2390,879.9,11.9,635,10056,0.00,2.60,0.00,0.000,260,0.000,0.207,2325,3772,2488,2586,2390,0,0,0,0,0,0,14.45,14.19,14.47
$GC,10131,0.84,146.0,2325,3772,2587,2391,868.9,14.0,651,10137,0.00,2.42,0.00,0.000,1030,0.000,0.156,2334,2497,2487,2586,2389,0,0,0,0,0,0,14.35,14.26,14.38
$PING,853.0,7.7,9000.0,-0.01,0.89
$PING,831.3,8.0,9000.0,-0.01,0.98
$GC,10445,0.84,146.0,2334,2498,2587,2390,831.3,12.1,663,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2497,2487,2586,2388,0,0,0,0,0,0,14.54,14.57,14.57
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