version: 66.13
glider: 227
mission: 9
dive: 15
start: 9 22 118 3 37 7
data:
$ID,227
$MISSION,9
$DIVE,15
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$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,320
$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,0.07
$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,72061
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0037
$HD_B,0.013
$HD_C,3.1e-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,631.70477
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,160
$PITCH_MAX,3830
$C_PITCH,2250
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,46
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,310
$ROLL_MAX,3940
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,3166
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024000001
$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,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.17668
$PRESSURE_SLOPE,0.00010809835
$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
$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,64
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044193882
$SEABIRD_T_H,0.00064798427
$SEABIRD_T_I,2.6719992e-05
$SEABIRD_T_J,3.3115991e-06
$SEABIRD_C_G,-9.8059483
$SEABIRD_C_H,1.1280893
$SEABIRD_C_I,-0.003824637
$SEABIRD_C_J,0.00035372932
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,220918,032739,7418.9204,-14638.7754,49,1.3,49,18.3,0.4,268.7,6,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.4
$GPS2,220918,033628,7418.9053,-14638.9141,5,1.5,7,18.3,0.4,233.8,5,8.7
$SPEED_LIMITS,0.171,0.232
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,13.5,73228,-19.7,-9.896,-23.13,2269
$D_GRID,950
$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,-0.78,-146.0,158,2094,668,412,0.0,0.0,0,82,0.00,0.00,-71.97,0.002,16386,0.000,0.000,157,2097,1823,1800,1846,0,0,0,0,0,0,14.72,28.83,14.74
$PING,31.2,9.2,9000.0,0.00,0.00
$GC,85,-0.78,-146.0,158,2098,1802,1847,6.3,-9.5,7,139,8.80,4.95,-36.62,0.005,18948,0.423,0.096,2009,434,3765,3702,3828,0,0,0,0,0,0,14.38,13.84,14.54
$PING,41.7,10.0,9000.0,0.00,0.00
$PING,53.6,10.3,9000.0,0.05,0.91
$PING,64.7,10.5,9000.0,0.02,1.00
$GC,249,-0.78,-146.0,2008,435,3704,3829,73.7,-24.0,38,256,0.00,4.90,0.00,0.000,1030,0.000,0.060,1988,2097,3766,3704,3828,0,0,0,0,0,0,14.66,14.59,14.68
$PING,76.8,10.8,9000.0,0.02,1.00
$PING,87.3,91.3,9000.0,3.49,0.72
$PING,98.3,102.6,9000.0,4.24,0.83
$PING,108.3,113.0,112.9,1.03,1.00
$PING,120.8,126.1,126.0,1.04,1.00
$GC,435,-0.78,-146.0,1988,2098,3708,3825,120.8,-25.0,57,441,0.00,5.07,0.00,0.000,260,0.000,0.090,1967,3796,3765,3707,3824,0,0,0,0,0,0,14.79,14.61,14.81
$PING,131.7,139.4,139.1,1.13,1.00
$GC,478,-0.78,-146.0,1967,3797,3708,3824,131.7,-26.3,65,484,0.00,4.85,0.00,0.000,1030,0.000,0.054,1982,2121,3765,3707,3823,0,0,0,0,0,0,14.71,14.64,14.73
$PING,142.5,149.9,150.4,1.10,1.00
$PING,154.6,161.0,161.1,0.94,1.00
$PING,166.8,175.0,174.5,1.03,1.00
$PING,178.8,186.1,186.5,1.04,1.00
$GC,670,-0.78,-146.0,1982,2106,3709,3822,178.8,-24.0,85,677,0.00,5.07,0.00,0.000,516,0.000,0.083,2000,407,3765,3709,3821,0,0,0,0,0,0,14.84,14.62,14.86
$PING,189.8,197.2,197.0,0.97,1.00
$GC,747,-0.78,-146.0,2000,407,3709,3822,195.6,-19.1,100,753,0.00,4.97,0.00,0.000,1030,0.000,0.058,1979,2107,3765,3709,3821,0,0,0,0,0,0,14.76,14.69,14.77
$GC,934,-0.78,-146.0,1979,2109,3710,3821,234.2,-20.7,119,945,0.00,5.00,0.00,0.000,260,0.000,0.089,1957,3795,3763,3705,3821,0,0,0,0,0,0,14.88,14.68,14.90
$GC,975,-0.78,-146.0,1957,3795,3710,3821,243.1,-21.2,127,986,0.12,4.90,0.00,0.000,3078,0.291,0.053,1992,2086,3765,3711,3819,0,0,0,0,0,0,14.62,14.72,14.76
$PING,265.0,6.0,9000.0,-2.26,0.97
$PING,275.0,6.0,9000.0,-2.36,0.99
$GC,1175,-0.78,-146.0,1992,2078,3713,3819,278.2,-16.6,140,1185,0.00,4.93,0.00,0.000,516,0.000,0.081,2011,418,3769,3720,3819,0,0,0,0,0,0,14.92,14.71,14.95
$GC,1215,-0.78,-146.0,2011,419,3713,3820,284.7,-15.1,148,1222,0.00,4.82,0.00,0.000,1030,0.000,0.054,1990,2107,3765,3712,3818,0,0,0,0,0,0,14.82,14.76,14.83
$PING,296.8,5.9,9000.0,-0.00,0.94
$PING,308.5,6.0,9000.0,-0.00,0.18
$PING,320.4,5.9,9000.0,-0.00,0.00
$PING,331.8,5.9,9000.0,-0.00,0.95
$GC,1538,-0.78,-146.0,1990,2109,3713,3819,331.8,-14.3,167,1547,0.00,4.97,0.00,0.000,260,0.000,0.090,1969,3792,3765,3712,3818,0,0,0,0,0,0,14.90,14.71,14.92
$PING,341.9,5.9,9000.0,0.00,0.00
$GC,1603,-0.78,-146.0,1969,3792,3713,3818,341.9,-15.6,180,1613,0.00,4.80,0.00,0.000,1030,0.000,0.048,1978,2096,3765,3713,3817,0,0,0,0,0,0,14.79,14.76,14.81
$PING,353.2,5.9,9000.0,0.00,0.00
$PING,365.0,5.9,9000.0,0.00,0.00
$PING,376.6,6.0,9000.0,0.00,0.75
$GC,1921,-0.78,-146.0,1976,2088,3714,3817,388.1,-14.3,198,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2087,3765,3714,3817,0,0,0,0,0,0,14.90,14.93,14.92
$GC,2218,-0.78,-146.0,1977,2088,3715,3818,430.4,-13.9,213,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2087,3765,3713,3817,0,0,0,0,0,0,14.92,14.94,14.94
$PING,465.9,6.1,9000.0,0.00,0.73
$GC,2518,-0.78,-146.0,1977,2089,3715,3817,471.3,-13.6,228,2529,0.00,5.05,0.00,0.000,260,0.000,0.093,1957,3788,3765,3714,3816,0,0,0,0,0,0,14.92,14.73,14.94
$GC,2554,-0.78,-146.0,1957,3788,3715,3817,476.6,-15.9,235,2561,0.15,4.82,0.00,0.000,3078,0.275,0.050,1994,2100,3765,3714,3816,0,0,0,0,0,0,14.66,14.76,14.81
$PING,488.0,6.0,9000.0,0.00,0.14
$PING,500.3,6.0,9000.0,-0.00,0.90
$PING,512.8,6.0,9000.0,0.00,0.00
$GC,2859,-0.78,-146.0,1994,2084,3715,3817,515.3,-12.5,251,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2083,3765,3715,3816,0,0,0,0,0,0,14.94,14.95,14.95
$PING,525.3,6.0,9000.0,0.00,0.00
$PING,537.8,6.0,9000.0,0.00,0.00
$PING,547.9,6.0,9000.0,0.00,0.00
$GC,3159,-0.78,-146.0,1994,2084,3716,3816,552.7,-12.4,266,3169,0.00,5.05,0.00,0.000,260,0.000,0.091,1974,3789,3765,3715,3815,0,0,0,0,0,0,14.94,14.75,14.96
$GC,3194,-0.78,-146.0,1975,3788,3716,3816,557.5,-14.3,273,3202,0.00,4.80,0.00,0.000,1030,0.000,0.050,1984,2088,3765,3715,3815,0,0,0,0,0,0,14.84,14.78,14.85
$PING,568.5,6.1,9000.0,0.00,0.99
$GC,3501,-0.78,-146.0,1984,2074,3717,3816,596.5,-12.8,289,3507,0.00,5.10,0.00,0.000,260,0.000,0.090,1964,3792,3765,3716,3815,0,0,0,0,0,0,14.95,14.76,14.97
$GC,3537,-0.78,-146.0,1964,3792,3716,3815,601.8,-14.5,296,3544,0.00,4.85,0.00,0.000,1030,0.000,0.050,1970,2095,3765,3716,3815,0,0,0,0,0,0,14.85,14.78,14.86
$GC,3845,-0.78,-146.0,1970,2079,3717,3815,643.2,-13.5,312,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,2079,3766,3717,3815,0,0,0,0,0,0,14.99,15.02,15.01
$PING,653.9,6.1,9000.0,0.00,0.18
$GC,4142,-0.78,-146.0,1971,2079,3718,3815,683.3,-13.3,327,4152,0.00,5.05,0.00,0.000,260,0.000,0.090,1950,3795,3765,3717,3814,0,0,0,0,0,0,15.03,14.82,15.05
$GC,4172,-0.78,-146.0,1950,3796,3718,3816,687.7,-16.4,333,4182,0.10,4.72,0.00,0.000,3078,0.269,0.049,1988,2087,3765,3717,3814,0,0,0,0,0,0,14.74,14.85,14.85
$GC,4489,-0.78,-146.0,1989,2082,3718,3815,726.7,-12.0,350,4498,0.00,5.03,0.00,0.000,260,0.000,0.091,1969,3794,3766,3718,3814,0,0,0,0,0,0,15.05,14.84,15.05
$GC,4519,-0.78,-146.0,1968,3794,3718,3815,730.8,-13.9,356,4531,0.00,4.78,0.00,0.000,1030,0.000,0.050,1979,2097,3766,3718,3814,0,0,0,0,0,0,14.94,14.88,14.96
$GC,4831,-0.78,-146.0,1979,2096,3719,3815,769.9,-12.5,373,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2096,3766,3718,3814,0,0,0,0,0,0,15.06,15.08,15.08
$GC,5129,-0.78,-146.0,1980,2096,3719,3815,807.1,-12.3,388,5135,0.00,4.93,0.00,0.000,260,0.000,0.090,1959,3790,3766,3718,3815,0,0,0,0,0,0,15.08,14.88,15.10
$GC,5155,-0.78,-146.0,1960,3791,3719,3815,810.7,-14.4,393,5162,0.00,4.75,0.00,0.000,1030,0.000,0.048,1970,2111,3766,3719,3814,0,0,0,0,0,0,14.97,14.90,14.99
$GC,5474,-0.78,-146.0,1971,2095,3719,3815,851.3,-12.7,411,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2095,3766,3719,3814,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5773,-0.78,-146.0,1971,2096,3720,3815,889.8,-12.9,426,5782,0.00,4.97,0.00,0.000,260,0.000,0.091,1951,3793,3766,3719,3814,0,0,0,0,0,0,15.09,14.90,15.11
$GC,5817,-0.78,-146.0,1951,3793,3719,3815,896.3,-14.7,435,5827,0.17,4.80,0.00,0.000,3078,0.276,0.050,1997,2082,3767,3719,3815,0,0,0,0,0,0,14.82,14.92,14.96
$GC,6132,-0.78,-146.0,1998,2079,3720,3815,933.1,-11.4,453,6139,0.00,5.03,0.00,0.000,260,0.000,0.091,1977,3790,3766,3719,3814,0,0,0,0,0,0,15.10,14.90,15.14
$GC,6169,-0.78,-146.0,1977,3791,3719,3815,937.7,-13.2,460,6176,0.00,4.75,0.00,0.000,1030,0.000,0.049,1989,2107,3766,3719,3814,0,0,0,0,0,0,15.00,14.93,15.01
$STATE,6272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6272,begin apogee
$GC,6278,-0.11,0.0,1988,2410,3720,3815,950.4,-12.0,466,6416,0.80,0.00,133.10,2.916,10246,0.242,0.000,2207,2409,3163,3237,3090,0,0,0,0,0,0,14.83,14.00,13.15
$STATE,6417,end apogee,CONTROL_FINISHED_OK
$STATE,6417,begin climb
$GC,6419,0.78,146.0,2207,2409,3238,3091,955.5,0.0,473,6572,0.98,4.88,141.00,2.834,10500,0.161,0.090,2484,3936,2568,2716,2420,0,0,0,0,0,0,13.96,13.81,12.96
$GC,6617,0.78,146.0,2484,3937,2716,2421,945.5,10.4,510,6624,0.00,4.60,0.00,0.000,1030,0.000,0.044,2502,2393,2567,2715,2420,0,0,0,0,0,0,14.14,14.08,14.15
$GC,6936,0.79,146.0,2502,2379,2708,2421,916.3,9.2,528,6937,0.00,0.00,0.00,0.000,70,0.000,0.000,2503,2379,2564,2708,2420,0,0,0,0,0,0,14.62,14.64,14.64
$GC,7234,0.81,146.0,2502,2379,2707,2421,888.8,9.2,543,7245,0.00,4.70,0.00,0.000,324,0.000,0.091,2492,3939,2563,2707,2420,0,0,0,0,0,0,14.76,14.57,14.78
$GC,7315,0.81,146.0,2493,3940,2707,2421,879.8,11.5,559,7321,0.00,4.43,0.00,0.000,1030,0.000,0.045,2510,2396,2563,2706,2420,0,0,0,0,0,0,14.69,14.62,14.70
$GC,7638,0.82,146.0,2511,2383,2706,2421,849.6,9.3,578,7644,0.00,4.65,0.00,0.000,324,0.000,0.090,2506,3935,2562,2705,2420,0,0,0,0,0,0,14.87,14.67,14.89
$GC,7664,0.82,146.0,2506,3936,2705,2421,846.6,11.1,583,7669,0.00,4.38,0.00,0.000,1030,0.000,0.045,2524,2399,2562,2705,2420,0,0,0,0,0,0,14.77,14.71,14.78
$GC,7981,0.82,146.0,2524,2385,2705,2421,815.7,9.7,601,7987,0.00,4.62,0.00,0.000,260,0.000,0.090,2513,3940,2562,2704,2420,0,0,0,0,0,0,14.94,14.72,14.95
$GC,8037,0.82,146.0,2512,3941,2705,2421,808.9,12.3,612,8044,0.00,4.38,0.00,0.000,1030,0.000,0.045,2532,2394,2562,2704,2420,0,0,0,0,0,0,14.84,14.78,14.85
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