version: 66.13
glider: 199
mission: 7
dive: 30
start: 9 26 118 5 8 54
data:
$ID,199
$MISSION,7
$DIVE,30
$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,18
$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
$GPS1,260918,045332,7338.9932,-14724.6240,36,0.8,36,21.9,0.0,0.0,10,9.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-56.7
$GPS2,260918,050815,7338.9580,-14724.3809,5,0.8,9,21.9,0.0,0.0,9,9.2
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,AB1
$TGT_LATLONG,7337.500,-14725.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,177.1,2719,-23.1,-10.000,-30.00,1536
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.96,-99.9,193,2654,517,476,0.0,0.0,0,133,0.00,0.00,-120.97,0.002,16386,0.000,0.000,192,2651,2358,2389,2328,0,0,0,0,0,0,14.28,28.83,14.31
$PING,11.8,13.6,9000.0,0.00,0.00
$GC,136,-1.00,-140.3,192,2652,2390,2330,4.5,-7.3,12,177,8.48,2.33,-27.23,0.005,18724,0.476,0.234,1722,3777,3516,3561,3472,0,0,0,0,0,0,13.95,13.60,14.20
$PING,23.0,25.7,9000.0,0.00,0.00
$PING,34.4,36.8,37.0,1.02,1.00
$PING,44.6,48.2,47.9,1.04,1.00
$PING,56.0,60.5,60.6,1.11,1.00
$PING,76.9,81.3,81.5,1.02,1.00
$GC,403,-1.00,-140.3,1723,3777,3562,3474,88.1,-25.1,64,408,0.00,2.17,0.00,0.000,1030,0.000,0.166,1722,2654,3518,3561,3475,0,0,0,0,0,0,14.28,14.17,14.29
$GC,595,-1.00,-140.3,1721,2656,3562,3475,127.0,-19.4,84,600,0.00,2.30,0.00,0.000,260,0.000,0.213,1714,3773,3517,3561,3474,0,0,0,0,0,0,14.45,14.18,14.46
$GC,826,-1.00,-140.3,1714,3774,3562,3475,174.5,-20.1,130,831,0.00,2.15,0.00,0.000,1030,0.000,0.167,1714,2651,3517,3560,3474,0,0,0,0,0,0,14.38,14.28,14.40
$GC,1018,-1.00,-140.3,1714,2652,3562,3475,207.4,-17.1,150,1023,0.00,2.30,0.00,0.000,260,0.000,0.215,1706,3777,3517,3561,3474,0,0,0,0,0,0,14.52,14.29,14.54
$GC,1248,-1.00,-140.3,1706,3781,3562,3475,247.6,-15.5,196,1253,0.15,2.17,0.00,0.000,3078,0.339,0.168,1732,2650,3517,3561,3474,0,0,0,0,0,0,14.23,14.33,14.42
$GC,1449,-1.00,-140.3,1733,2650,3562,3474,273.6,-12.6,205,1455,0.00,2.28,0.00,0.000,260,0.000,0.220,1729,3770,3517,3561,3474,0,0,0,0,0,0,14.59,14.31,14.61
$GC,1680,-1.00,-140.3,1730,3770,3562,3474,304.2,-12.4,251,1685,0.00,2.15,0.00,0.000,1030,0.000,0.170,1729,2647,3517,3561,3474,0,0,0,0,0,0,14.50,14.38,14.52
$GC,1990,-1.00,-140.3,1730,2647,3561,3474,340.1,-11.3,263,1995,0.00,2.28,0.00,0.000,260,0.000,0.218,1721,3770,3517,3561,3474,0,0,0,0,0,0,14.65,14.38,14.66
$GC,2130,-1.00,-140.3,1721,3771,3562,3475,357.5,-11.8,291,2135,0.00,2.15,0.00,0.000,1030,0.000,0.168,1721,2643,3517,3561,3474,0,0,0,0,0,0,14.54,14.45,14.56
$GC,2441,-1.00,-140.3,1721,2644,3562,3475,392.0,-11.0,303,2446,0.00,2.28,0.00,0.000,260,0.000,0.217,1713,3771,3517,3561,3474,0,0,0,0,0,0,14.64,14.40,14.68
$GC,2596,-1.00,-140.3,1712,3773,3562,3474,411.2,-12.6,334,2601,0.00,2.12,0.00,0.000,1030,0.000,0.168,1713,2651,3517,3561,3474,0,0,0,0,0,0,14.56,14.45,14.58
$GC,2923,-1.00,-140.3,1714,2652,3562,3475,447.9,-11.3,349,2929,0.00,2.25,0.00,0.000,260,0.000,0.216,1705,3770,3517,3561,3474,0,0,0,0,0,0,14.69,14.43,14.71
$GC,3009,-1.00,-140.3,1706,3769,3562,3475,458.8,-12.6,366,3016,0.15,2.12,0.00,0.000,3078,0.338,0.164,1733,2643,3517,3561,3474,0,0,0,0,0,0,14.35,14.45,14.54
$GC,3315,-1.00,-140.3,1733,2645,3562,3475,491.0,-10.5,377,3321,0.00,2.28,0.00,0.000,260,0.000,0.218,1729,3770,3517,3561,3474,0,0,0,0,0,0,14.70,14.45,14.72
$GC,3407,-1.00,-140.3,1730,3770,3559,3474,501.6,-11.9,395,3412,0.00,2.12,0.00,0.000,1030,0.000,0.164,1729,2647,3517,3561,3474,0,0,0,0,0,0,14.59,14.48,14.61
$GC,3737,-1.00,-140.3,1729,2649,3562,3475,536.8,-10.6,411,3742,0.00,2.25,0.00,0.000,260,0.000,0.214,1720,3770,3517,3561,3474,0,0,0,0,0,0,14.73,14.46,14.74
$GC,3882,-1.00,-140.3,1721,3770,3562,3474,553.8,-11.8,440,3888,0.00,2.12,0.00,0.000,1030,0.000,0.164,1720,2642,3517,3561,3474,0,0,0,0,0,0,14.61,14.50,14.63
$GC,4188,-1.00,-140.3,1721,2642,3562,3474,586.5,-10.6,451,4193,0.00,2.25,0.00,0.000,260,0.000,0.214,1714,3770,3517,3561,3474,0,0,0,0,0,0,14.73,14.47,14.75
$GC,4378,-1.00,-140.3,1715,3770,3562,3474,608.9,-11.8,489,4384,0.00,2.10,0.00,0.000,1030,0.000,0.163,1715,2650,3517,3561,3474,0,0,0,0,0,0,14.63,14.52,14.65
$GC,4700,-1.00,-140.3,1715,2652,3562,3475,643.3,-10.6,503,4705,0.00,2.22,0.00,0.000,260,0.000,0.213,1707,3770,3517,3561,3474,0,0,0,0,0,0,14.75,14.49,14.76
$GC,4845,-1.00,-140.3,1707,3771,3562,3475,660.3,-11.7,532,4852,0.12,2.10,0.00,0.000,3078,0.314,0.164,1730,2650,3517,3561,3474,0,0,0,0,0,0,14.46,14.52,14.62
$GC,5150,-1.00,-140.3,1731,2650,3562,3474,690.1,-9.5,543,5155,0.00,2.22,0.00,0.000,260,0.000,0.213,1723,3770,3517,3561,3474,0,0,0,0,0,0,14.76,14.49,14.78
$GC,5235,-1.00,-140.3,1723,3771,3561,3475,699.0,-10.9,560,5242,0.00,2.10,0.00,0.000,1030,0.000,0.164,1724,2650,3517,3561,3474,0,0,0,0,0,0,14.64,14.53,14.66
$GC,5540,-1.00,-140.3,1724,2651,3562,3475,728.9,-9.8,571,5545,0.00,2.22,0.00,0.000,260,0.000,0.213,1715,3767,3517,3561,3474,0,0,0,0,0,0,14.77,14.50,14.79
$GC,5736,-1.00,-140.3,1715,3771,3562,3475,750.4,-11.0,610,5741,0.00,2.10,0.00,0.000,1030,0.000,0.163,1715,2647,3517,3561,3474,0,0,0,0,0,0,14.65,14.54,14.66
$PING,751.5,7.3,9000.0,-0.09,0.91
$PING,764.2,7.3,9000.0,-0.11,1.00
$PING,776.3,7.3,9000.0,0.00,0.00
$GC,6053,-1.00,-140.3,1716,2648,3562,3474,782.3,-10.0,623,6058,0.00,2.25,0.00,0.000,260,0.000,0.215,1707,3774,3520,3567,3474,0,0,0,0,0,0,14.78,14.50,14.79
$PING,786.7,7.3,9000.0,-0.00,0.71
$GC,6178,-1.00,-140.3,1707,3774,3562,3474,796.2,-11.1,648,6183,0.12,2.10,0.00,0.000,3078,0.309,0.163,1731,2650,3517,3561,3474,0,0,0,0,0,0,14.47,14.54,14.64
$GC,6505,-1.00,-140.3,1730,2652,3562,3475,827.0,-9.3,663,6510,0.00,2.25,0.00,0.000,260,0.000,0.214,1724,3777,3517,3561,3474,0,0,0,0,0,0,14.78,14.50,14.79
$GC,6645,-1.00,-140.3,1724,3778,3562,3474,841.7,-10.4,691,6652,0.00,2.12,0.00,0.000,1030,0.000,0.164,1723,2647,3517,3561,3474,0,0,0,0,0,0,14.66,14.54,14.67
$GC,6957,-1.00,-140.3,1724,2647,3563,3470,871.3,-9.5,703,6962,0.00,2.25,0.00,0.000,260,0.000,0.214,1715,3774,3517,3561,3474,0,0,0,0,0,0,14.78,14.51,14.80
$GC,7037,-1.00,-140.3,1716,3774,3564,3474,879.7,-10.5,719,7042,0.00,2.10,0.00,0.000,1030,0.000,0.164,1715,2650,3517,3561,3473,0,0,0,0,0,0,14.66,14.54,14.68
$PING,909.8,6.9,9000.0,-0.00,1.00
$GC,7348,-1.00,-140.3,1715,2651,3562,3475,909.8,-9.7,731,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2650,3517,3561,3474,0,0,0,0,0,0,14.77,14.78,14.78
$GC,7647,-1.00,-140.3,1715,2651,3562,3479,939.1,-9.8,741,7653,0.00,2.22,0.00,0.000,260,0.000,0.213,1707,3773,3517,3561,3474,0,0,0,0,0,0,14.78,14.52,14.81
$GC,7879,-1.00,-140.3,1707,3774,3562,3475,964.3,-11.0,787,7884,0.12,2.10,0.00,0.000,3078,0.307,0.164,1731,2650,3517,3561,3474,0,0,0,0,0,0,14.49,14.54,14.65
$STATE,8187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8187,begin apogee
$PING,993.6,6.4,9000.0,-0.00,0.98
$GC,8193,-0.19,0.0,1731,2502,3562,3474,992.5,-9.0,799,8323,1.00,0.00,127.45,2.609,10246,0.286,0.000,1991,2502,2943,3023,2864,0,0,0,0,0,0,14.50,13.53,12.69
$STATE,8324,end apogee,CONTROL_FINISHED_OK
$STATE,8324,begin climb
$GC,8327,1.00,140.3,1991,2502,3020,2861,994.5,0.0,803,8469,1.35,2.92,130.90,2.521,10756,0.180,0.154,2381,1088,2365,2456,2275,0,0,0,0,0,0,13.50,13.24,12.47
$GC,8489,1.00,140.3,2381,1088,2457,2271,976.6,13.7,828,8496,0.00,2.95,0.00,0.000,1030,0.000,0.166,2381,2499,2363,2456,2270,0,0,1,0,0,0,13.53,13.40,13.55
$PING,966.7,6.5,9000.0,-0.01,0.97
$GC,8794,1.00,140.3,2381,2501,2456,2259,929.9,15.3,839,8799,0.00,2.65,0.00,0.000,260,0.000,0.209,2381,3773,2357,2456,2258,0,0,0,0,0,0,14.17,13.92,14.19
$GC,8855,1.00,140.3,2382,3773,2456,2257,919.4,17.7,851,8860,0.00,2.53,0.00,0.000,1030,0.000,0.156,2390,2488,2358,2459,2257,0,0,0,0,0,0,14.10,14.00,14.13
$PING,904.7,6.8,9000.0,-0.00,0.98
$PING,890.4,6.7,9000.0,-0.00,0.69
$PING,876.2,6.7,9000.0,0.01,0.91
$GC,9185,1.00,140.3,2390,2487,2456,2255,866.7,15.8,867,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2488,2355,2456,2254,0,0,0,0,0,0,14.40,14.42,14.41
$PING,862.0,6.6,9000.0,0.00,1.00
$PING,847.8,6.6,9000.0,0.00,0.22
$PING,833.6,6.6,9000.0,0.00,0.00
$PING,819.5,6.6,9000.0,0.00,0.00
$GC,9486,1.00,140.3,2390,2489,2457,2253,819.5,15.7,877,9492,0.00,2.62,0.00,0.000,260,0.000,0.207,2390,3774,2354,2456,2253,0,0,0,0,0,0,14.51,14.23,14.50
$PING,809.4,6.7,9000.0,0.00,0.00
$GC,9557,1.00,140.3,2391,3774,2457,2253,806.7,18.4,891,9562,0.00,2.45,0.00,0.000,1030,0.000,0.158,2399,2495,2354,2456,2253,0,0,0,0,0,0,14.39,14.30,14.42
$PING,798.4,6.6,9000.0,0.00,0.30
$PING,783.9,6.7,9000.0,-0.00,0.01
$PING,769.5,6.7,9000.0,-0.00,0.80
$PING,755.2,6.6,9000.0,0.00,0.65
$GC,9880,1.00,140.3,2400,2496,2456,2253,755.2,15.9,905,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2495,2354,2456,2252,0,0,0,0,0,0,14.57,14.59,14.59
$PING,740.9,6.7,9000.0,-0.00,0.34
$PING,726.6,7.1,9000.0,-0.01,0.86
$PING,712.4,6.7,9000.0,0.00,0.01
$GC,10178,1.00,140.3,2402,2495,2464,2250,707.7,15.8,915,10183,0.00,2.58,0.00,0.000,260,0.000,0.209,2400,3771,2353,2455,2251,0,0,0,0,0,0,14.63,14.36,14.65
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$STATE,16183,end climb,SURFACE_DEPTH_REACHED
$STATE,16183,begin surface coast
$FINISH,0.6,1.021044
$STATE,16194,end surface coast,CONTROL_FINISHED_OK
$STATE,16194,begin surface
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$10V_AH,12.84,0.000
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$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16229.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.319,0.000,0.000,0.000
$MEM,334568
$DATA_FILE_SIZE,49936,1452
$CAP_FILE_SIZE,187632,0
$CFSIZE,2097872896,2087354368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$SOUNDSPEED,1453.3
$CURRENT,0.033,153.68,1
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