version: 66.13
glider: 199
mission: 7
dive: 32
start: 9 26 118 15 36 41
data:
$ID,199
$MISSION,7
$DIVE,32
$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,0.0019
$HD_B,0.016000001
$HD_C,1.2e-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,12
$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,2943
$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
$GPS1,260918,152524,7339.4873,-14724.8926,38,0.8,40,21.9,0.4,244.6,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-59.4
$GPS2,260918,153603,7339.4580,-14724.8447,5,0.8,12,21.9,0.0,0.0,10,8.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,6.5,72373,-17.7,-10.000,-25.48,2242
$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,11.2,13.5,9000.0,0.00,0.00
$GC,135,-0.80,-146.0,196,2657,2394,2337,4.4,-6.8,12,179,8.85,2.78,-28.02,0.005,18980,0.475,0.180,1791,1237,3542,3588,3496,0,0,0,0,0,0,13.93,13.38,14.17
$PING,22.3,24.5,9000.0,0.00,0.00
$PING,33.4,36.1,36.0,1.02,1.00
$PING,55.6,59.4,59.4,1.05,1.00
$PING,66.5,70.6,70.6,1.04,1.00
$GC,404,-0.80,-146.0,1792,1237,3589,3499,75.3,-19.9,64,409,0.00,2.85,0.00,0.000,1030,0.000,0.184,1782,2652,3543,3587,3499,0,0,0,0,0,0,14.25,14.11,14.26
$PING,77.2,81.5,81.5,1.02,1.00
$PING,88.8,93.3,93.3,1.02,1.00
$PING,109.4,117.2,117.0,1.11,1.00
$GC,597,-0.80,-146.0,1782,2653,3589,3500,109.4,-16.9,84,598,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2652,3543,3588,3499,0,0,0,0,0,0,14.40,14.42,14.42
$PING,131.9,137.9,138.7,1.03,1.00
$GC,774,-0.80,-146.0,1782,2653,3588,3500,138.2,-15.8,102,775,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2652,3543,3588,3499,0,0,0,0,0,0,14.47,14.50,14.50
$GC,954,-0.80,-146.0,1783,2652,3588,3499,165.7,-15.1,120,959,0.00,2.28,0.00,0.000,260,0.000,0.218,1774,3770,3543,3587,3499,0,0,0,0,0,0,14.51,14.23,14.53
$GC,994,-0.80,-146.0,1774,3771,3588,3500,172.1,-15.9,128,999,0.00,2.15,0.00,0.000,1030,0.000,0.167,1774,2650,3543,3588,3499,0,0,0,0,0,0,14.38,14.26,14.40
$GC,1186,-0.80,-146.0,1775,2650,3589,3499,200.2,-14.2,148,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2650,3545,3592,3499,0,0,0,0,0,0,14.54,14.56,14.55
$GC,1368,-0.80,-146.0,1774,2650,3587,3499,225.0,-13.3,166,1373,0.00,2.30,0.00,0.000,260,0.000,0.221,1766,3774,3544,3588,3500,0,0,0,0,0,0,14.53,14.28,14.55
$GC,1408,-0.80,-146.0,1765,3775,3588,3500,230.5,-13.8,174,1413,0.15,2.17,0.00,0.000,3078,0.300,0.170,1795,2644,3543,3588,3499,0,0,0,0,0,0,14.26,14.31,14.39
$GC,1619,-0.80,-146.0,1795,2645,3588,3500,254.0,-10.6,194,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2644,3543,3588,3499,0,0,0,0,0,0,14.52,14.53,14.53
$GC,1919,-0.80,-146.0,1796,2645,3588,3500,284.5,-9.9,204,1924,0.00,2.33,0.00,0.000,260,0.000,0.221,1789,3771,3543,3587,3499,0,0,0,0,0,0,14.52,14.28,14.54
$GC,2046,-0.80,-146.0,1789,3772,3588,3500,298.2,-10.7,229,2052,0.00,2.17,0.00,0.000,1030,0.000,0.171,1789,2643,3545,3588,3503,0,0,0,0,0,0,14.42,14.31,14.44
$GC,2373,-0.80,-146.0,1789,2645,3588,3500,329.8,-9.4,244,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,2643,3543,3588,3499,0,0,0,0,0,0,14.53,14.55,14.55
$GC,2672,-0.80,-146.0,1789,2643,3589,3499,356.5,-8.8,254,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,2644,3543,3588,3499,0,0,0,0,0,0,14.54,14.57,14.57
$GC,2973,-0.80,-146.0,1789,2643,3589,3499,382.6,-8.7,264,2978,0.00,2.30,0.00,0.000,260,0.000,0.218,1780,3770,3543,3588,3499,0,0,0,0,0,0,14.54,14.28,14.57
$GC,3063,-0.80,-146.0,1780,3770,3589,3498,391.5,-10.0,282,3068,0.00,2.15,0.00,0.000,1030,0.000,0.168,1781,2650,3543,3588,3498,0,0,0,0,0,0,14.40,14.31,14.42
$GC,3393,-0.80,-146.0,1781,2651,3589,3498,421.5,-9.0,298,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2650,3543,3588,3498,0,0,0,0,0,0,14.55,14.59,14.57
$GC,3694,-0.80,-146.0,1781,2650,3589,3498,448.2,-8.8,308,3699,0.00,2.30,0.00,0.000,260,0.000,0.216,1772,3776,3543,3588,3499,0,0,0,0,0,0,14.59,14.31,14.60
$GC,3804,-0.80,-146.0,1772,3776,3589,3498,459.0,-9.7,330,3809,0.00,2.15,0.00,0.000,1030,0.000,0.164,1772,2647,3543,3588,3498,0,0,0,0,0,0,14.49,14.38,14.50
$GC,4114,-0.80,-146.0,1772,2649,3588,3500,486.7,-8.9,342,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,2647,3542,3587,3498,0,0,0,0,0,0,14.66,14.67,14.67
$GC,4415,-0.80,-146.0,1772,2647,3589,3498,513.0,-8.8,352,4420,0.12,2.28,0.00,0.000,2308,0.294,0.213,1795,3770,3543,3588,3498,0,0,0,0,0,0,14.38,14.40,14.49
$GC,4500,-0.80,-146.0,1796,3770,3588,3498,520.5,-8.7,369,4507,0.00,2.12,0.00,0.000,1030,0.000,0.164,1795,2646,3543,3588,3498,0,0,0,0,0,0,14.57,14.46,14.59
$GC,4805,-0.80,-146.0,1795,2647,3589,3499,545.2,-8.1,380,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2646,3543,3588,3498,0,0,0,0,0,0,14.71,14.73,14.73
$GC,5106,-0.80,-146.0,1795,2646,3589,3498,569.3,-8.0,390,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2646,3544,3590,3498,0,0,0,0,0,0,14.73,14.75,14.75
$GC,5405,-0.80,-146.0,1795,2647,3588,3499,593.4,-8.0,400,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2646,3542,3587,3498,0,0,0,0,0,0,14.76,14.77,14.77
$GC,5705,-0.80,-146.0,1795,2647,3589,3500,617.6,-8.0,410,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2646,3542,3587,3498,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6006,-0.80,-146.0,1795,2647,3589,3500,641.7,-8.0,420,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2646,3543,3588,3499,0,0,0,0,0,0,14.77,14.79,14.79
$GC,6306,-0.80,-146.0,1795,2647,3588,3500,665.7,-7.9,430,6306,0.00,0.00,0.00,0.000,38,0.000,0.000,1795,2646,3543,3588,3499,0,0,0,0,0,0,14.78,14.80,14.80
$GC,6606,-0.80,-146.0,1795,2647,3588,3500,689.3,-7.9,440,6606,0.00,0.00,0.00,0.000,38,0.000,0.000,1794,2646,3543,3588,3499,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6906,-0.80,-146.0,1795,2646,3595,3499,712.6,-7.7,450,6907,0.00,0.00,0.00,0.000,38,0.000,0.000,1795,2646,3543,3588,3499,0,0,0,0,0,0,14.79,14.81,14.81
$GC,7206,-0.80,-146.0,1794,2646,3589,3499,735.5,-7.6,460,7206,0.00,0.00,0.00,0.000,38,0.000,0.000,1794,2646,3543,3588,3499,0,0,0,0,0,0,14.80,14.82,14.82
$GC,7506,-0.80,-146.0,1795,2647,3588,3500,758.5,-7.7,470,7511,0.00,2.60,0.00,0.000,548,0.000,0.157,1794,1237,3543,3588,3499,0,0,0,0,0,0,14.80,14.56,14.82
$GC,7571,-0.80,-146.0,1795,1237,3588,3499,763.6,-7.8,483,7576,0.00,2.72,0.00,0.000,1062,0.000,0.181,1784,2651,3544,3588,3500,0,0,0,0,0,0,14.67,14.53,14.69
$PING,782.3,6.8,9000.0,-0.18,0.97
$GC,7897,-0.80,-146.0,1784,2653,3588,3501,789.4,-8.0,498,7898,0.00,0.00,0.00,0.000,38,0.000,0.000,1784,2651,3544,3588,3500,0,0,0,0,0,0,14.79,14.81,14.81
$PING,806.0,6.6,9000.0,-0.20,1.00
$GC,8197,-0.80,-146.0,1785,2652,3589,3499,813.1,-7.9,508,8197,0.00,0.00,0.00,0.000,38,0.000,0.000,1784,2651,3543,3588,3499,0,0,0,0,0,0,14.80,14.82,14.82
$PING,829.6,6.5,9000.0,-0.00,0.87
$GC,8497,-0.80,-146.0,1784,2652,3588,3499,836.6,-7.8,518,8498,0.00,0.00,0.00,0.000,38,0.000,0.000,1784,2651,3543,3588,3499,0,0,0,0,0,0,14.80,14.82,14.82
$PING,852.9,6.5,9000.0,-0.00,0.98
$GC,8797,-0.80,-146.0,1784,2652,3589,3500,859.9,-7.8,528,8802,0.00,2.65,0.00,0.000,548,0.000,0.156,1784,1231,3544,3588,3500,0,0,0,0,0,0,14.81,14.57,14.83
$GC,8857,-0.80,-146.0,1784,1232,3589,3501,864.7,-7.8,540,8862,0.00,2.75,0.00,0.000,1062,0.000,0.183,1774,2652,3543,3588,3499,0,0,0,0,0,0,14.68,14.54,14.70
$PING,874.4,6.5,9000.0,0.00,0.00
$GC,9188,-0.80,-146.0,1774,2653,3589,3501,891.6,-8.2,556,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2652,3543,3588,3499,0,0,0,0,0,0,14.81,14.83,14.83
$PING,899.1,6.5,9000.0,0.00,0.00
$PING,911.5,6.6,9000.0,0.00,0.79
$GC,9488,-0.80,-146.0,1774,2653,3588,3501,916.5,-8.3,566,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2652,3543,3587,3500,0,0,0,0,0,0,14.81,14.83,14.83
$PING,931.6,7.0,9000.0,0.01,0.93
$GC,9789,-0.80,-146.0,1774,2652,3589,3499,941.6,-8.4,576,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2652,3543,3588,3499,0,0,0,0,0,0,14.80,14.82,14.82
$GC,10088,-0.80,-146.0,1771,2653,3588,3501,966.6,-8.3,586,10093,0.00,2.65,0.00,0.000,516,0.000,0.156,1774,1231,3543,3588,3499,0,0,0,0,0,0,14.81,14.57,14.83
$GC,10163,-0.80,-146.0,1774,1231,3588,3500,973.0,-8.0,601,10170,0.15,2.75,0.00,0.000,3110,0.284,0.182,1795,2653,3543,3587,3500,0,0,0,0,0,0,14.55,14.54,14.68
$STATE,10388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10388,begin apogee
$PING,991.4,6.5,9000.0,-0.00,0.19
$GC,10394,-0.19,0.0,1796,2503,3589,3501,990.3,-7.5,611,10529,0.75,0.00,132.75,2.601,10246,0.260,0.000,1995,2502,2939,3015,2864,0,0,0,0,0,0,14.52,13.53,12.69
$STATE,10530,end apogee,CONTROL_FINISHED_OK
$STATE,10530,begin climb
$GC,10533,0.80,146.0,1996,2503,3018,2860,992.7,0.0,615,10672,1.15,0.00,135.60,2.523,10502,0.176,0.000,2313,2502,2346,2439,2254,0,0,0,0,0,0,13.52,13.27,12.46
$PING,958.9,6.6,9000.0,-0.01,0.84
$GC,10961,0.80,146.0,2313,2503,2436,2236,948.7,11.4,640,10966,0.00,2.67,0.00,0.000,260,0.000,0.209,2313,3772,2334,2435,2234,0,0,0,0,0,0,14.12,13.86,14.13
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$PING,905.5,7.1,9000.0,-0.01,0.94
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$CFSIZE,2097872896,2086928384
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$SOUNDSPEED,1452.8
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