version: 66.13
glider: 199
mission: 7
dive: 33
start: 9 26 118 21 27 21
data:
$ID,199
$MISSION,7
$DIVE,33
$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,14
$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,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
$GPS1,260918,211137,7341.8550,-14721.2764,73,0.9,74,22.0,0.5,198.1,10,8.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-52.4
$GPS2,260918,212644,7341.7871,-14721.0322,6,1.0,22,22.0,0.3,252.7,9,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,4.0,67653,-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
$GC,9,-0.80,-146.0,173,2665,518,479,0.0,0.0,0,132,0.00,0.00,-121.50,0.002,16386,0.000,0.000,166,2664,2410,2434,2386,0,0,0,0,0,0,14.29,28.83,14.31
$PING,20.3,23.9,9000.0,0.00,0.00
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$PING,30.9,33.1,9000.0,0.00,0.00
$PING,41.7,44.4,44.1,0.96,1.00
$PING,52.5,55.9,55.9,1.06,1.00
$PING,63.5,67.1,67.2,1.04,1.00
$PING,74.2,78.6,78.5,1.04,1.00
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$PING,107.5,112.1,112.2,1.02,1.00
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$GC,1506,-0.80,-146.0,1785,2652,3586,3500,241.2,-11.8,194,1511,0.00,2.28,0.00,0.000,260,0.000,0.214,1777,3767,3542,3586,3499,0,0,0,0,0,0,14.57,14.31,14.58
$GC,1566,-0.80,-146.0,1777,3766,3587,3501,248.9,-12.9,206,1571,0.00,2.12,0.00,0.000,1030,0.000,0.162,1777,2650,3542,3586,3499,0,0,0,0,0,0,14.46,14.35,14.47
$GC,1757,-0.80,-146.0,1778,2651,3587,3501,269.8,-10.9,214,1763,0.00,2.65,0.00,0.000,516,0.000,0.155,1777,1234,3542,3586,3499,0,0,0,0,0,0,14.59,14.35,14.62
$GC,1798,-0.80,-146.0,1777,1235,3587,3501,274.4,-11.1,222,1803,0.15,2.78,0.00,0.000,3078,0.304,0.181,1797,2649,3542,3586,3498,0,0,0,0,0,0,14.31,14.35,14.48
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$GC,2419,-0.80,-146.0,1797,2649,3587,3500,333.5,-9.2,246,2423,0.00,2.25,0.00,0.000,260,0.000,0.217,1791,3775,3542,3586,3499,0,0,0,0,0,0,14.67,14.40,14.69
$GC,2509,-0.80,-146.0,1791,3776,3587,3500,342.6,-10.3,264,2514,0.00,2.12,0.00,0.000,1030,0.000,0.162,1791,2651,3542,3586,3499,0,0,0,0,0,0,14.56,14.45,14.58
$GC,2840,-0.80,-146.0,1791,2651,3587,3499,373.1,-9.1,280,2845,0.00,2.25,0.00,0.000,260,0.000,0.213,1782,3772,3542,3586,3498,0,0,0,0,0,0,14.69,14.43,14.71
$GC,2910,-0.80,-146.0,1782,3773,3587,3500,380.2,-10.2,294,2915,0.00,2.10,0.00,0.000,1030,0.000,0.159,1783,2652,3542,3586,3499,0,0,0,0,0,0,14.58,14.47,14.59
$GC,3230,-0.80,-146.0,1782,2652,3588,3498,409.9,-9.1,308,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,2651,3542,3586,3499,0,0,0,0,0,0,14.70,14.73,14.72
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$GC,4283,-0.80,-146.0,1775,2645,3588,3500,505.8,-9.2,368,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,2644,3542,3586,3499,0,0,0,0,0,0,14.73,14.75,14.74
$GC,4582,-0.80,-146.0,1774,2645,3587,3500,533.3,-9.1,378,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,2644,3542,3586,3499,0,0,0,0,0,0,14.75,14.77,14.77
$GC,4883,-0.80,-146.0,1775,2644,3587,3496,560.7,-9.1,388,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,2644,3541,3584,3499,0,0,0,0,0,0,14.75,14.77,14.78
$GC,5182,-0.80,-146.0,1775,2644,3587,3499,587.7,-8.9,398,5187,0.00,2.22,0.00,0.000,260,0.000,0.210,1766,3769,3542,3586,3498,0,0,0,0,0,0,14.77,14.50,14.79
$GC,5257,-0.80,-146.0,1766,3769,3587,3499,595.1,-9.9,413,5264,0.15,2.08,0.00,0.000,3078,0.288,0.157,1797,2648,3542,3586,3499,0,0,0,0,0,0,14.48,14.54,14.64
$GC,5576,-0.80,-146.0,1797,2649,3587,3499,620.6,-7.9,426,5577,0.00,0.00,0.00,0.000,38,0.000,0.000,1798,2648,3543,3587,3499,0,0,0,0,0,0,14.77,14.79,14.79
$GC,5874,-0.80,-146.0,1798,2649,3587,3500,643.9,-7.7,436,5875,0.00,0.00,0.00,0.000,38,0.000,0.000,1797,2648,3542,3586,3499,0,0,0,0,0,0,14.78,14.81,14.80
$GC,6174,-0.80,-146.0,1798,2649,3587,3500,667.0,-7.7,446,6175,0.00,0.00,0.00,0.000,38,0.000,0.000,1797,2648,3542,3586,3499,0,0,0,0,0,0,14.79,14.81,14.81
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$GC,7074,-0.80,-146.0,1798,2650,3587,3500,735.9,-7.6,476,7079,0.00,2.60,0.00,0.000,548,0.000,0.151,1797,1235,3543,3587,3499,0,0,0,0,0,0,14.81,14.56,14.82
$GC,7145,-0.80,-146.0,1797,1237,3587,3501,741.4,-7.7,490,7150,0.00,2.72,0.00,0.000,1062,0.000,0.175,1788,2656,3543,3587,3499,0,0,0,0,0,0,14.67,14.53,14.69
$GC,7466,-0.80,-146.0,1788,2656,3588,3500,767.0,-7.9,504,7467,0.00,0.00,0.00,0.000,38,0.000,0.000,1788,2656,3542,3586,3499,0,0,0,0,0,0,14.80,14.82,14.81
$GC,7766,-0.80,-146.0,1789,2657,3587,3501,790.9,-8.0,514,7767,0.00,0.00,0.00,0.000,38,0.000,0.000,1789,2656,3543,3587,3499,0,0,0,0,0,0,14.80,14.82,14.82
$GC,8066,-0.80,-146.0,1789,2657,3587,3501,814.8,-8.0,524,8071,0.00,2.62,0.00,0.000,548,0.000,0.149,1788,1237,3543,3587,3499,0,0,0,0,0,0,14.81,14.57,14.82
$GC,8116,-0.80,-146.0,1789,1237,3587,3500,818.9,-8.0,534,8121,0.00,2.70,0.00,0.000,1030,0.000,0.175,1779,2649,3543,3586,3500,0,0,0,0,0,0,14.68,14.54,14.70
$PING,824.7,6.6,9000.0,-0.12,0.88
$PING,837.1,6.6,9000.0,-0.15,1.00
$GC,8426,-0.80,-146.0,1779,2650,3587,3501,844.5,-8.3,546,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,2649,3543,3587,3500,0,0,0,0,0,0,14.81,14.82,14.81
$PING,862.0,6.5,9000.0,-0.00,0.90
$GC,8726,-0.80,-146.0,1779,2650,3587,3500,869.5,-8.3,556,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2649,3543,3587,3499,0,0,0,0,0,0,14.81,14.83,14.82
$GC,9026,-0.80,-146.0,1779,2649,3587,3501,894.2,-8.2,566,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2648,3543,3587,3500,0,0,0,0,0,0,14.81,14.83,14.83
$GC,9326,-0.80,-146.0,1779,2650,3587,3501,918.9,-8.3,576,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,2649,3543,3586,3500,0,0,0,0,0,0,14.76,14.78,14.77
$PING,936.3,6.6,9000.0,-0.00,0.05
$GC,9627,-0.80,-146.0,1779,2649,3588,3501,943.6,-8.2,586,9632,0.00,2.62,0.00,0.000,516,0.000,0.149,1778,1237,3543,3586,3500,0,0,0,0,0,0,14.71,14.49,14.73
$PING,946.5,6.6,9000.0,0.00,0.98
$GC,9692,-0.80,-146.0,1780,1237,3587,3499,949.0,-8.1,599,9697,0.12,2.72,0.00,0.000,3078,0.291,0.176,1793,2650,3543,3586,3500,0,0,0,0,0,0,14.43,14.46,14.58
$PING,957.9,6.5,9000.0,-0.00,0.82
$PING,969.2,6.5,9000.0,-0.00,0.76
$GC,10020,-0.80,-146.0,1794,2650,3588,3499,973.7,-7.5,614,10020,0.00,0.00,0.00,0.000,38,0.000,0.000,1793,2650,3542,3586,3499,0,0,0,0,0,0,14.66,14.69,14.69
$STATE,10256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10256,begin apogee
$GC,10262,-0.19,0.0,1794,2500,3588,3498,991.6,-7.4,622,10399,0.75,0.00,133.45,2.607,10246,0.273,0.000,1991,2500,2940,3017,2863,0,0,0,0,0,0,14.39,13.48,12.64
$STATE,10400,end apogee,CONTROL_FINISHED_OK
$STATE,10400,begin climb
$GC,10402,0.80,146.0,1991,2501,3018,2863,993.8,0.0,626,10550,1.15,2.85,135.98,2.532,10500,0.198,0.201,2305,3777,2344,2436,2253,0,0,1,0,0,0,13.46,13.13,12.38
$GC,10580,0.80,146.0,2305,3778,2436,2248,977.2,13.1,650,10585,0.00,2.60,0.00,0.000,1030,0.000,0.145,2313,2494,2341,2436,2246,0,0,1,0,0,0,13.49,13.35,13.50
$PING,961.0,6.5,9000.0,0.00,0.00
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