version: 66.13
glider: 199
mission: 7
dive: 29
start: 9 25 118 23 18 30
data:
$ID,199
$MISSION,7
$DIVE,29
$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,13
$R_STBD_OVSHOOT,8
$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
$GPS1,250918,230703,7341.4639,-14724.8584,32,0.7,32,21.9,0.0,0.0,12,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-59.6
$GPS2,250918,231753,7341.4478,-14724.7617,5,0.8,9,21.9,0.0,0.0,10,9.8
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,165.8,7312,-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,11.0,13.6,9000.0,0.00,0.00
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$PING,21.9,24.5,9000.0,0.00,0.00
$PING,42.7,46.3,46.2,1.04,1.00
$PING,53.6,6.0,9000.0,-0.37,0.09
$PING,64.4,68.5,9000.0,1.02,0.12
$PING,75.4,80.0,9000.0,3.38,0.86
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$PING,86.5,92.0,91.9,1.06,1.00
$PING,107.0,112.3,112.5,1.02,1.00
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$GC,2229,-0.80,-146.0,1793,2645,3584,3498,314.6,-9.4,232,2234,0.00,2.30,0.00,0.000,260,0.000,0.221,1786,3774,3540,3584,3496,0,0,0,0,0,0,14.66,14.40,14.68
$GC,2356,-0.80,-146.0,1787,3775,3585,3498,327.3,-10.0,257,2362,0.00,2.15,0.00,0.000,1030,0.000,0.170,1786,2652,3540,3584,3496,0,0,0,0,0,0,14.56,14.44,14.58
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$GC,3389,-0.80,-146.0,1778,3773,3584,3498,421.0,-9.6,313,3395,0.00,2.15,0.00,0.000,1030,0.000,0.168,1778,2643,3540,3584,3497,0,0,0,0,0,0,14.49,14.38,14.50
$GC,3705,-0.80,-146.0,1778,2644,3584,3497,449.1,-8.9,326,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,2643,3540,3584,3497,0,0,0,0,0,0,14.59,14.61,14.61
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$GC,4666,-0.80,-146.0,1796,2643,3585,3497,533.9,-8.4,368,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2642,3540,3584,3497,0,0,0,0,0,0,14.57,14.59,14.59
$GC,4967,-0.80,-146.0,1795,2643,3585,3497,558.7,-8.2,378,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2643,3539,3584,3495,0,0,0,0,0,0,14.65,14.67,14.67
$GC,5266,-0.80,-146.0,1795,2643,3585,3496,583.1,-8.1,388,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2643,3540,3584,3497,0,0,0,0,0,0,14.69,14.71,14.71
$GC,5566,-0.80,-146.0,1795,2644,3585,3497,606.9,-7.9,398,5571,0.00,2.28,0.00,0.000,292,0.000,0.214,1788,3776,3540,3584,3497,0,0,0,0,0,0,14.71,14.45,14.73
$GC,5611,-0.80,-146.0,1788,3776,3585,3497,610.8,-8.8,407,5617,0.00,2.12,0.00,0.000,1030,0.000,0.163,1788,2648,3540,3584,3497,0,0,0,0,0,0,14.59,14.48,14.62
$GC,5927,-0.80,-146.0,1788,2650,3583,3498,636.7,-8.2,420,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2649,3540,3584,3497,0,0,0,0,0,0,14.73,14.76,14.75
$GC,6227,-0.80,-146.0,1788,2649,3585,3496,661.3,-8.2,430,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,2649,3540,3584,3497,0,0,0,0,0,0,14.75,14.79,14.76
$GC,6527,-0.80,-146.0,1788,2648,3585,3497,686.1,-8.3,440,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,2649,3538,3579,3497,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6827,-0.80,-146.0,1788,2650,3584,3498,710.3,-8.0,450,6828,0.00,0.00,0.00,0.000,38,0.000,0.000,1787,2649,3540,3584,3497,0,0,0,0,0,0,14.78,14.79,14.79
$PING,731.7,6.6,9000.0,-0.15,0.96
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$PING,743.5,6.6,9000.0,-0.17,1.00
$GC,7427,-0.80,-146.0,1788,2649,3585,3497,757.5,-7.8,470,7428,0.00,0.00,0.00,0.000,38,0.000,0.000,1788,2649,3540,3584,3497,0,0,0,0,0,0,14.78,14.81,14.81
$PING,779.0,7.1,9000.0,0.01,0.91
$GC,7727,-0.80,-146.0,1788,2649,3585,3497,781.4,-8.0,480,7728,0.00,0.00,0.00,0.000,38,0.000,0.000,1788,2649,3540,3584,3497,0,0,0,0,0,0,14.79,14.81,14.81
$PING,790.9,7.2,9000.0,0.01,0.95
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$GC,8988,-0.80,-146.0,1777,2653,3585,3498,883.6,-7.9,532,8988,0.00,0.00,0.00,0.000,38,0.000,0.000,1777,2652,3540,3584,3497,0,0,0,0,0,0,14.81,14.83,14.83
$GC,9288,-0.80,-146.0,1777,2652,3585,3497,907.4,-7.9,542,9293,0.00,2.65,0.00,0.000,548,0.000,0.156,1777,1230,3540,3584,3497,0,0,0,0,0,0,14.81,14.57,14.83
$GC,9363,-0.80,-146.0,1778,1230,3585,3497,913.4,-8.1,557,9369,0.15,2.75,0.00,0.000,3078,0.288,0.181,1798,2650,3540,3584,3497,0,0,0,0,0,0,14.51,14.54,14.67
$PING,921.1,6.6,9000.0,-0.00,0.99
$GC,9682,-0.80,-146.0,1799,2650,3585,3497,935.9,-7.1,570,9682,0.00,0.00,0.00,0.000,38,0.000,0.000,1799,2650,3540,3583,3497,0,0,0,0,0,0,14.80,14.82,14.82
$PING,942.2,6.6,9000.0,-0.00,0.99
$PING,952.9,6.6,9000.0,-0.00,0.03
$GC,9980,-0.80,-146.0,1799,2650,3585,3497,957.1,-7.1,580,9980,0.00,0.00,0.00,0.000,38,0.000,0.000,1798,2650,3540,3583,3497,0,0,0,0,0,0,14.81,14.83,14.83
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$STATE,10457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10457,begin apogee
$GC,10463,-0.19,0.0,1800,2500,3585,3497,990.7,-7.0,596,10598,0.73,0.00,132.32,2.629,10246,0.263,0.000,1993,2500,2944,3020,2868,0,0,0,0,0,0,14.54,13.52,12.67
$STATE,10599,end apogee,CONTROL_FINISHED_OK
$STATE,10599,begin climb
$GC,10602,0.80,146.0,1994,2500,3019,2865,992.6,0.0,600,10742,1.15,0.00,137.68,2.542,10246,0.177,0.000,2312,2500,2346,2437,2255,0,0,0,0,0,0,13.50,13.26,12.45
$GC,11030,0.80,146.0,2312,2501,2435,2236,947.3,11.6,615,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2500,2334,2434,2235,0,0,0,0,0,0,14.12,14.14,14.14
$GC,11329,0.80,146.0,2312,2501,2435,2232,912.4,11.6,625,11335,0.00,2.62,0.00,0.000,260,0.000,0.211,2312,3770,2331,2431,2232,0,0,0,0,0,0,14.33,14.06,14.35
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