version: 66.13
glider: 199
mission: 7
dive: 9
start: 9 21 118 16 48 44
data:
$ID,199
$MISSION,7
$DIVE,9
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,2150
$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,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,210918,163725,7417.8662,-14637.7520,5,0.9,13,22.4,0.0,0.0,8,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-61.7
$GPS2,210918,164810,7417.8608,-14638.0039,5,0.9,17,22.4,0.0,231.1,8,8.2
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,NAV-SW
$TGT_LATLONG,7425.620,-14756.580
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,269.6,41627,-18.8,-10.000,-22.50,2245
$D_GRID,660
$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,-0.84,-146.0,196,2398,525,462,0.0,0.0,0,142,0.00,0.00,-131.32,0.002,16386,0.000,0.000,195,2397,2348,2390,2306,0,0,0,0,0,0,14.28,28.83,14.31
$PING,10.9,13.4,9000.0,0.00,0.00
$GC,145,-0.84,-146.0,197,2396,2393,2308,3.8,-6.0,13,197,9.23,2.92,-35.58,0.004,18724,0.475,0.244,1861,3773,3763,3809,3718,0,0,0,0,0,0,13.93,13.56,14.16
$PING,22.2,24.5,9000.0,0.00,0.00
$PING,33.2,35.5,35.5,0.99,1.00
$PING,43.5,46.8,46.7,1.04,1.00
$PING,54.5,59.3,59.2,1.12,1.00
$PING,64.5,6.1,9000.0,-1.90,0.51
$GC,422,-0.78,-146.0,1862,3774,3809,3721,73.2,-21.4,67,428,0.15,2.65,0.00,0.000,3206,0.308,0.161,1890,2394,3764,3809,3720,0,0,0,0,0,0,14.07,14.17,14.22
$PING,75.1,6.2,9000.0,-2.54,0.73
$PING,85.5,89.8,9000.0,3.97,0.74
$PING,96.3,102.9,9000.0,4.55,0.84
$GC,613,-0.82,-146.0,1891,2395,3810,3721,100.3,-13.4,87,618,0.00,2.90,0.00,0.000,388,0.000,0.226,1882,3772,3764,3809,3720,0,0,0,0,0,0,14.42,14.12,14.43
$PING,106.7,113.2,113.6,1.10,1.00
$PING,116.9,123.1,123.1,0.98,1.00
$GC,844,-0.87,-146.0,1882,3772,3810,3720,130.9,-12.6,133,849,0.00,2.65,0.00,0.000,1158,0.000,0.164,1882,2394,3764,3808,3720,0,0,0,0,0,0,14.38,14.23,14.36
$PING,138.1,145.2,145.1,1.02,1.00
$PING,148.2,155.0,155.2,1.02,1.00
$GC,1036,-0.95,-146.0,1882,2393,3810,3720,152.7,-11.1,153,1043,0.12,2.90,0.00,0.000,4484,0.151,0.226,1831,3776,3764,3808,3720,0,0,0,0,0,0,14.32,14.23,14.37
$GC,1208,-0.95,-146.0,1831,3776,3810,3720,177.3,-14.3,187,1213,0.00,2.62,0.00,0.000,1030,0.000,0.164,1831,2401,3764,3809,3720,0,0,0,0,0,0,14.39,14.29,14.41
$GC,1401,-0.95,-146.0,1830,2402,3809,3721,202.3,-12.5,207,1406,0.00,2.88,0.00,0.000,260,0.000,0.233,1829,3774,3764,3809,3720,0,0,0,0,0,0,14.55,14.26,14.57
$GC,1466,-0.95,-146.0,1829,3777,3809,3721,211.3,-13.4,220,1472,0.00,2.62,0.00,0.000,1030,0.000,0.164,1829,2400,3762,3804,3720,0,0,0,0,0,0,14.44,14.33,14.46
$GC,1653,-0.99,-146.0,1829,2400,3810,3719,234.0,-11.8,239,1658,0.00,2.85,0.00,0.000,388,0.000,0.232,1822,3771,3764,3809,3720,0,0,0,0,0,0,14.56,14.25,14.57
$GC,1728,-0.99,-146.0,1823,3771,3810,3721,243.7,-12.4,254,1734,0.00,2.62,0.00,0.000,1030,0.000,0.164,1823,2396,3764,3809,3720,0,0,0,0,0,0,14.43,14.33,14.44
$GC,1935,-1.04,-146.0,1823,2398,3809,3721,266.4,-10.6,265,1940,0.00,2.88,0.00,0.000,388,0.000,0.236,1813,3772,3764,3808,3720,0,0,0,0,0,0,14.59,14.31,14.61
$GC,1981,-1.04,-146.0,1813,3773,3809,3721,271.7,-11.5,274,1986,0.00,2.62,0.00,0.000,1030,0.000,0.168,1812,2402,3764,3809,3720,0,0,0,0,0,0,14.49,14.38,14.50
$GC,2298,-1.09,-146.0,1813,2403,3809,3721,303.9,-10.0,287,2303,0.00,2.85,0.00,0.000,420,0.000,0.231,1803,3776,3764,3810,3719,0,0,0,0,0,0,14.64,14.34,14.66
$GC,2458,-1.09,-146.0,1803,3776,3810,3719,321.8,-11.1,319,2464,0.00,2.62,0.00,0.000,1030,0.000,0.169,1803,2399,3764,3810,3719,0,0,0,0,0,0,14.52,14.42,14.54
$GC,2779,-1.14,-146.0,1803,2399,3810,3719,354.2,-9.9,333,2785,0.00,2.80,0.00,0.000,420,0.000,0.223,1792,3772,3764,3809,3719,0,0,0,0,0,0,14.68,14.38,14.70
$GC,2925,-1.14,-146.0,1793,3771,3810,3719,370.5,-11.4,362,2932,0.00,2.62,0.00,0.000,1030,0.000,0.171,1792,2396,3763,3808,3719,0,0,0,0,0,0,14.57,14.45,14.58
$GC,3231,-1.18,-146.0,1793,2396,3810,3719,401.6,-10.2,373,3237,0.00,2.83,0.00,0.000,388,0.000,0.230,1782,3772,3763,3808,3719,0,0,0,0,0,0,14.69,14.40,14.71
$GC,3387,-1.18,-146.0,1783,3773,3809,3719,419.2,-11.2,404,3392,0.00,2.60,0.00,0.000,1030,0.000,0.168,1782,2398,3763,3809,3718,0,0,0,0,0,0,14.59,14.48,14.60
$GC,3713,-1.18,-146.0,1783,2398,3810,3718,452.4,-10.1,419,3718,0.00,2.85,0.00,0.000,260,0.000,0.233,1773,3779,3763,3809,3718,0,0,0,0,0,0,14.72,14.42,14.74
$GC,3893,-1.18,-146.0,1773,3780,3808,3719,472.9,-11.4,455,3898,0.00,2.62,0.00,0.000,1030,0.000,0.164,1773,2391,3763,3809,3718,0,0,0,0,0,0,14.60,14.49,14.62
$GC,4225,-1.18,-146.0,1779,2391,3809,3718,507.3,-10.3,471,4230,0.00,2.85,0.00,0.000,260,0.000,0.233,1762,3776,3763,3809,3718,0,0,0,0,0,0,14.73,14.42,14.73
$GC,4376,-1.18,-146.0,1763,3777,3809,3719,524.9,-11.8,501,4382,0.00,2.60,0.00,0.000,1030,0.000,0.165,1762,2397,3763,3809,3718,0,0,0,0,0,0,14.61,14.50,14.63
$GC,4708,-1.18,-146.0,1763,2397,3809,3718,560.9,-10.8,517,4714,0.00,2.83,0.00,0.000,260,0.000,0.231,1752,3775,3763,3809,3718,0,0,0,0,0,0,14.73,14.45,14.77
$GC,4880,-1.18,-146.0,1752,3775,3810,3718,581.7,-12.2,551,4885,0.00,2.58,0.00,0.000,1030,0.000,0.165,1752,2405,3763,3809,3718,0,0,0,0,0,0,14.63,14.52,14.65
$GC,5190,-1.18,-146.0,1753,2406,3809,3720,616.5,-11.1,563,5195,0.00,2.80,0.00,0.000,260,0.000,0.228,1742,3775,3763,3808,3718,0,0,0,0,0,0,14.77,14.46,14.78
$GC,5326,-1.13,-146.0,1743,3774,3810,3718,633.5,-12.7,590,5332,0.17,2.60,0.00,0.000,3206,0.304,0.167,1778,2395,3763,3809,3718,0,0,0,0,0,0,14.45,14.53,14.62
$STATE,5610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5610,begin apogee
$GC,5615,-0.19,0.0,1779,2397,3809,3720,662.2,-9.8,602,5747,1.15,0.00,128.52,2.237,10246,0.279,0.000,2085,2395,3165,3236,3095,0,0,0,0,0,0,14.48,13.52,12.78
$STATE,5748,end apogee,CONTROL_FINISHED_OK
$STATE,5748,begin climb
$GC,5750,0.84,146.0,2086,2396,3233,3092,664.8,0.0,606,5891,1.08,3.10,129.75,2.157,10500,0.108,0.218,2422,3773,2565,2649,2481,0,0,1,0,0,0,13.55,13.31,12.66
$GC,6092,0.63,146.0,2423,3774,2649,2468,620.1,17.8,673,6098,0.35,2.67,0.00,0.000,5254,0.304,0.154,2356,2399,2557,2648,2466,0,0,0,0,0,0,13.84,13.95,14.04
$GC,6420,0.57,146.0,2356,2399,2650,2461,580.4,11.9,688,6421,0.00,0.00,0.00,0.000,134,0.000,0.000,2356,2400,2555,2649,2461,0,0,0,0,0,0,14.40,14.42,14.42
$GC,6719,0.51,146.0,2356,2400,2649,2460,544.7,11.9,698,6725,0.12,2.85,0.00,0.000,4484,0.314,0.220,2324,3777,2554,2649,2459,0,0,0,0,0,0,14.23,14.23,14.35
$GC,6780,0.43,146.0,2324,3779,2650,2460,537.0,12.5,710,6786,0.17,2.62,0.00,0.000,5254,0.280,0.161,2295,2398,2554,2649,2459,0,0,0,0,0,0,14.23,14.30,14.42
$GC,7113,0.45,163.1,2295,2399,2650,2458,505.8,9.2,726,7133,0.00,2.65,14.12,1.909,8740,0.000,0.152,2304,991,2496,2600,2393,0,0,0,0,0,0,14.59,14.17,13.57
$GC,7138,0.47,176.9,2304,990,2601,2393,503.3,9.4,731,7160,0.00,2.78,13.93,1.860,9254,0.000,0.175,2304,2405,2436,2540,2333,0,0,0,0,0,0,14.33,14.21,13.43
$GC,7475,0.47,176.9,2304,2404,2546,2325,469.2,10.2,748,7481,0.00,2.80,0.00,0.000,260,0.000,0.218,2304,3773,2435,2545,2326,0,0,0,0,0,0,14.50,14.22,14.51
$GC,7561,0.47,176.9,2304,3773,2545,2325,459.3,11.5,765,7568,0.00,2.60,0.00,0.000,1030,0.000,0.155,2312,2401,2436,2545,2328,0,0,0,0,0,0,14.39,14.30,14.42
$GC,7866,0.47,176.9,2313,2400,2545,2323,427.0,10.6,776,7871,0.00,2.80,0.00,0.000,260,0.000,0.223,2313,3768,2434,2545,2324,0,0,0,0,0,0,14.59,14.31,14.61
$GC,7906,0.47,176.9,2313,3768,2546,2323,422.2,12.4,784,7911,0.00,2.58,0.00,0.000,1030,0.000,0.156,2322,2399,2434,2544,2324,0,0,0,0,0,0,14.48,14.38,14.50
$GC,8227,0.47,176.9,2322,2400,2545,2324,387.1,10.9,798,8232,0.00,2.80,0.00,0.000,260,0.000,0.219,2322,3775,2434,2546,2323,0,0,0,0,0,0,14.64,14.36,14.66
$GC,8277,0.42,176.9,2322,3776,2545,2323,380.8,13.0,808,8283,0.17,2.60,0.00,0.000,5254,0.278,0.158,2292,2391,2433,2544,2323,0,0,0,0,0,0,14.36,14.42,14.52
$GC,8590,0.48,190.2,2292,2392,2545,2324,351.0,9.4,820,8607,0.00,2.83,11.82,1.737,8612,0.000,0.220,2292,3769,2385,2498,2273,0,0,1,0,0,0,14.68,14.29,13.71
$GC,8647,0.48,190.2,2292,3769,2499,2272,344.8,10.9,831,8653,0.00,2.58,0.00,0.000,1030,0.000,0.152,2300,2396,2385,2498,2272,0,0,0,0,0,0,14.44,14.35,14.47
$GC,8953,0.53,203.3,2301,2395,2499,2269,315.4,9.4,842,8967,0.00,0.00,12.55,1.693,8358,0.000,0.000,2301,2396,2333,2444,2222,0,0,0,0,0,0,14.62,14.34,13.67
$GC,9252,0.61,225.0,2301,2396,2449,2212,288.1,9.0,852,9278,0.12,2.83,19.42,1.714,10660,0.170,0.213,2348,3769,2243,2363,2123,0,0,0,0,0,0,14.40,14.15,13.61
$GC,9363,0.57,225.0,2348,3767,2364,2120,274.4,13.0,874,9368,0.00,2.62,0.00,0.000,1158,0.000,0.158,2358,2394,2241,2363,2120,0,0,0,0,0,0,14.35,14.26,14.38
$GC,9675,0.57,229.6,2358,2394,2364,2116,240.7,9.8,892,9686,0.00,2.67,4.80,1.297,8740,0.000,0.158,2366,1000,2228,2356,2100,0,0,0,0,0,0,14.57,14.28,13.69
$GC,9701,0.58,236.9,2368,1001,2350,2101,238.0,9.7,896,9714,0.15,2.70,7.80,1.486,13350,0.276,0.168,2335,2399,2198,2325,2071,0,0,0,0,0,0,14.24,14.27,13.65
$PING,218.8,22.6,9000.0,-1.65,0.97
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$STATE,12194,end climb,SURFACE_DEPTH_REACHED
$STATE,12194,begin surface coast
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$STATE,12205,end surface coast,CONTROL_FINISHED_OK
$STATE,12205,begin surface
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$RAFOS_CLK,43
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$10V_AH,12.75,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12224.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.630,0.000,0.000,0.000
$MEM,334600
$DATA_FILE_SIZE,43292,1206
$CAP_FILE_SIZE,162829,0
$CFSIZE,2097872896,2091941888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$INTR,0,10872.00,0x2355a8,1,24
$SOUNDSPEED,1450.0
$CURRENT,0.284,261.76,1
$GPS,210918,201537,7418.010,-14644.809,25,0.7,27,22.4,0.0,0.0,10,9.2