version: 66.13
glider: 227
mission: 9
dive: 16
start: 9 22 118 8 30 46
data:
$ID,227
$MISSION,9
$DIVE,16
$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,22
$R_STBD_OVSHOOT,17
$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
$GPS1,220918,082009,7420.8984,-14636.4316,44,0.9,45,18.3,0.2,0.0,8,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.6
$GPS2,220918,083008,7420.9053,-14636.5840,4,0.9,7,18.3,0.3,319.0,8,7.4
$SPEED_LIMITS,0.171,0.232
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,14.3,69494,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.78,-146.0,159,2099,678,422,0.0,0.0,0,82,0.00,0.00,-70.88,0.002,16386,0.000,0.000,159,2094,1817,1790,1844,0,0,0,0,0,0,14.63,28.83,14.65
$PING,10.4,13.1,9000.0,0.00,0.00
$PING,23.1,13.5,9000.0,0.00,0.00
$GC,85,-0.78,-146.0,160,2095,1793,1845,5.8,-9.1,7,142,8.98,5.05,-37.15,0.003,18948,0.428,0.090,2010,413,3762,3700,3825,0,0,0,0,0,0,14.30,13.98,14.54
$PING,36.6,39.3,9000.0,1.01,0.78
$PING,47.3,10.3,9000.0,-0.04,0.00
$PING,57.6,60.9,9000.0,1.00,0.17
$PING,67.6,11.0,9000.0,0.06,0.00
$GC,228,-0.78,-146.0,2010,414,3701,3834,69.2,-31.1,34,235,0.00,5.00,0.00,0.000,1030,0.000,0.058,1988,2105,3763,3700,3827,0,0,0,0,0,0,14.57,14.50,14.59
$PING,79.2,83.4,9000.0,1.17,0.12
$GC,413,-0.78,-146.0,1990,2107,3704,3824,119.6,-25.1,53,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2106,3763,3704,3823,0,0,0,0,0,0,14.73,14.75,14.75
$PING,124.5,130.9,9000.0,1.81,0.81
$PING,136.6,142.8,143.1,1.04,1.00
$GC,595,-0.78,-146.0,1990,2106,3706,3823,162.3,-23.4,71,605,0.00,5.07,0.00,0.000,516,0.000,0.081,2010,413,3764,3706,3822,0,0,0,0,0,0,14.78,14.57,14.81
$GC,646,-0.78,-146.0,2010,413,3707,3823,174.9,-22.7,81,652,0.00,4.95,0.00,0.000,1030,0.000,0.057,1989,2103,3764,3706,3822,0,0,0,0,0,0,14.68,14.62,14.69
$PING,181.4,188.8,188.8,1.02,1.00
$GC,837,-0.78,-146.0,1990,2105,3708,3822,216.8,-22.0,101,838,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2105,3764,3707,3821,0,0,0,0,0,0,14.83,14.86,14.85
$GC,1027,-0.78,-146.0,1989,2105,3708,3821,253.8,-18.2,119,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2105,3764,3708,3821,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1327,-0.78,-146.0,1989,2105,3708,3820,302.1,-15.3,134,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2105,3763,3708,3819,0,0,0,0,0,0,14.94,14.96,14.95
$PING,305.1,6.0,9000.0,-0.95,0.77
$PING,316.8,6.1,9000.0,-1.40,0.99
$PING,328.3,6.0,9000.0,0.00,0.00
$PING,339.7,6.0,9000.0,-0.01,0.87
$GC,1629,-0.78,-146.0,1990,2105,3710,3820,345.3,-14.2,149,1635,0.00,5.03,0.00,0.000,260,0.000,0.095,1968,3798,3764,3709,3819,0,0,0,0,0,0,14.96,14.77,15.00
$GC,1676,-0.78,-146.0,1968,3798,3710,3820,353.1,-16.5,158,1685,0.00,4.88,0.00,0.000,1030,0.000,0.053,1984,2093,3764,3710,3818,0,0,0,0,0,0,14.87,14.80,14.88
$PING,361.1,6.1,9000.0,0.00,0.77
$PING,372.4,6.1,9000.0,0.00,0.87
$PING,383.7,6.0,9000.0,-0.00,0.78
$PING,395.0,6.0,9000.0,-0.00,0.98
$GC,1990,-0.78,-146.0,1984,2080,3712,3817,397.7,-13.9,176,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2080,3764,3712,3816,0,0,0,0,0,0,14.99,15.02,15.02
$PING,406.0,6.0,9000.0,0.00,0.00
$PING,417.0,6.1,9000.0,0.00,0.95
$PING,427.9,6.2,9000.0,0.01,0.98
$PING,438.7,6.2,9000.0,0.00,0.38
$GC,2293,-0.78,-146.0,1984,2080,3712,3817,438.7,-13.5,191,2303,0.00,5.05,0.00,0.000,260,0.000,0.091,1964,3795,3763,3711,3816,0,0,0,0,0,0,15.02,14.81,15.04
$GC,2328,-0.78,-146.0,1963,3796,3712,3817,444.3,-15.7,198,2335,0.00,4.82,0.00,0.000,1030,0.000,0.050,1977,2098,3764,3712,3816,0,0,0,0,0,0,14.91,14.85,14.92
$PING,450.8,6.1,9000.0,-0.00,0.99
$PING,461.9,6.2,9000.0,-0.00,0.00
$PING,472.7,6.1,9000.0,-0.00,0.08
$PING,483.7,6.1,9000.0,-0.00,0.53
$GC,2633,-0.78,-146.0,1977,2084,3713,3817,486.4,-13.7,214,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2083,3764,3712,3816,0,0,0,0,0,0,15.03,15.05,15.04
$PING,494.6,6.1,9000.0,0.00,0.00
$PING,505.5,6.1,9000.0,0.00,0.00
$GC,2936,-0.78,-146.0,1977,2084,3713,3816,527.4,-13.8,229,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2083,3764,3713,3816,0,0,0,0,0,0,15.04,15.07,15.06
$GC,3233,-0.78,-146.0,1977,2084,3714,3816,568.3,-13.6,244,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2083,3764,3713,3816,0,0,0,0,0,0,15.06,15.08,15.08
$GC,3533,-0.78,-146.0,1978,2084,3714,3816,609.0,-13.5,259,3543,0.00,5.03,0.00,0.000,260,0.000,0.092,1957,3794,3766,3718,3815,0,0,0,0,0,0,15.08,14.88,15.10
$GC,3583,-0.78,-146.0,1957,3794,3714,3816,616.5,-15.3,269,3590,0.15,4.80,0.00,0.000,3078,0.281,0.051,1997,2100,3764,3714,3815,0,0,0,0,0,0,14.80,14.90,14.95
$GC,3897,-0.78,-146.0,1997,2085,3716,3815,655.5,-12.2,286,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2084,3765,3715,3815,0,0,0,0,0,0,15.08,15.11,15.11
$PING,662.9,6.1,9000.0,0.00,0.00
$GC,4195,-0.78,-146.0,1997,2085,3716,3816,692.0,-12.0,301,4202,0.00,5.03,0.00,0.000,260,0.000,0.091,1977,3794,3765,3715,3815,0,0,0,0,0,0,15.09,14.89,15.11
$GC,4232,-0.78,-146.0,1976,3796,3716,3815,696.8,-13.8,308,4239,0.00,4.75,0.00,0.000,1030,0.000,0.051,1993,2094,3765,3716,3815,0,0,0,0,0,0,15.00,14.92,15.00
$GC,4540,-0.78,-146.0,1993,2080,3716,3815,733.6,-11.9,324,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2080,3765,3716,3814,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4838,-0.78,-146.0,1993,2080,3717,3815,769.3,-11.9,339,4847,0.00,5.03,0.00,0.000,260,0.000,0.091,1973,3796,3765,3717,3814,0,0,0,0,0,0,15.09,14.90,15.11
$GC,4897,-0.78,-146.0,1973,3797,3717,3815,777.3,-13.2,351,4907,0.00,4.80,0.00,0.000,1030,0.000,0.050,1987,2089,3765,3717,3814,0,0,0,0,0,0,15.00,14.94,15.02
$GC,5220,-0.78,-146.0,1990,2081,3718,3815,816.3,-12.1,370,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2081,3766,3718,3814,0,0,0,0,0,0,15.11,15.13,15.12
$GC,5518,-0.78,-146.0,1987,2081,3719,3815,852.4,-11.9,385,5524,0.00,5.03,0.00,0.000,260,0.000,0.090,1967,3795,3766,3718,3814,0,0,0,0,0,0,15.11,14.92,15.13
$GC,5569,-0.78,-146.0,1967,3796,3725,3814,859.4,-13.6,395,5580,0.00,4.78,0.00,0.000,1030,0.000,0.049,1979,2086,3766,3718,3814,0,0,0,0,0,0,15.00,14.95,15.02
$GC,5882,-0.78,-146.0,1978,2084,3719,3815,898.0,-12.2,412,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2083,3766,3718,3814,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6181,-0.78,-146.0,1978,2084,3720,3815,934.3,-12.0,427,6190,0.00,5.00,0.00,0.000,260,0.000,0.090,1958,3793,3766,3719,3813,0,0,0,0,0,0,15.11,14.92,15.14
$GC,6230,-0.78,-146.0,1958,3794,3720,3814,941.2,-14.0,437,6237,0.12,4.75,0.00,0.000,3078,0.290,0.049,1991,2109,3766,3718,3814,0,0,0,0,0,0,14.84,14.95,15.00
$STATE,6319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6320,begin apogee
$GC,6326,-0.11,0.0,1990,2404,3719,3814,952.0,-11.5,443,6464,0.80,0.00,129.35,2.874,10246,0.246,0.000,2208,2403,3163,3238,3089,0,0,0,0,0,0,14.85,14.04,13.15
$STATE,6465,end apogee,CONTROL_FINISHED_OK
$STATE,6465,begin climb
$GC,6467,0.78,146.0,2209,2404,3238,3089,956.2,0.0,450,6625,0.98,4.95,142.25,2.829,10500,0.168,0.088,2475,3938,2566,2715,2417,0,0,0,0,0,0,14.00,13.82,12.95
$GC,6660,0.78,146.0,2475,3938,2716,2418,945.9,10.5,486,6669,0.00,4.62,0.00,0.000,1030,0.000,0.044,2493,2376,2566,2715,2417,0,0,0,0,0,0,14.12,14.06,14.16
$GC,6982,0.79,146.0,2493,2376,2712,2420,916.5,9.1,505,6988,0.00,4.75,0.00,0.000,324,0.000,0.090,2487,3937,2567,2715,2420,0,0,0,0,0,0,14.62,14.42,14.64
$GC,7028,0.79,146.0,2487,3937,2716,2423,911.2,11.5,514,7034,0.00,4.43,0.00,0.000,1030,0.000,0.045,2505,2405,2568,2715,2422,0,0,0,0,0,0,14.57,14.49,14.54
$GC,7346,0.79,146.0,2505,2391,2715,2422,881.0,9.4,532,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2390,2568,2714,2422,0,0,0,0,0,0,14.78,14.81,14.81
$GC,7644,0.81,146.0,2506,2391,2714,2422,853.4,9.1,547,7654,0.00,4.62,0.00,0.000,324,0.000,0.090,2496,3939,2568,2714,2423,0,0,0,0,0,0,14.87,14.67,14.89
$GC,7699,0.81,146.0,2496,3940,2714,2422,847.3,11.8,558,7706,0.00,4.38,0.00,0.000,1030,0.000,0.045,2515,2399,2567,2713,2422,0,0,0,0,0,0,14.78,14.71,14.79
$GC,8004,0.81,146.0,2515,2385,2712,2423,818.1,9.4,574,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2385,2567,2712,2422,0,0,0,0,0,0,14.93,14.95,14.95
$GC,8304,0.82,146.0,2515,2386,2713,2423,790.0,9.3,589,8311,0.00,4.60,0.00,0.000,324,0.000,0.091,2504,3935,2567,2713,2422,0,0,0,0,0,0,14.97,14.77,15.00
$GC,8376,0.82,146.0,2505,3936,2713,2423,781.8,11.7,603,8381,0.00,4.35,0.00,0.000,1030,0.000,0.047,2523,2396,2567,2712,2422,0,0,0,0,0,0,14.88,14.81,14.89
$GC,8689,0.83,146.0,2523,2382,2712,2423,752.2,9.4,620,8699,0.00,4.57,0.00,0.000,324,0.000,0.089,2520,3938,2567,2712,2423,0,0,0,0,0,0,15.01,14.80,15.02
$GC,8719,0.83,146.0,2520,3938,2712,2424,748.6,12.2,626,8724,0.00,4.35,0.00,0.000,1030,0.000,0.045,2538,2395,2567,2712,2423,0,0,0,0,0,0,14.90,14.85,14.92
$GC,9030,0.83,146.0,2539,2381,2711,2424,717.2,10.0,643,9039,0.00,4.57,0.00,0.000,260,0.000,0.090,2531,3934,2566,2710,2422,0,0,0,0,0,0,15.03,14.83,15.05
$GC,9070,0.83,146.0,2531,3934,2710,2424,712.4,13.0,651,9075,0.15,4.32,0.00,0.000,5126,0.336,0.047,2520,2395,2566,2710,2423,0,0,0,0,0,0,14.73,14.90,14.90
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