version: 66.13
glider: 227
mission: 9
dive: 17
start: 9 22 118 13 25 35
data:
$ID,227
$MISSION,9
$DIVE,17
$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,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
$GPS1,220918,131455,7423.0830,-14633.2695,30,0.8,31,18.4,0.3,296.6,11,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.7
$GPS2,220918,132455,7423.0859,-14633.4482,3,0.8,3,18.4,0.2,232.8,11,8.3
$SPEED_LIMITS,0.171,0.232
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,15.1,65282,-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,-146.0,154,2098,684,426,0.0,0.0,0,83,0.00,0.00,-72.20,0.002,16386,0.000,0.000,153,2087,1816,1797,1836,0,0,0,0,0,0,14.70,28.83,14.72
$PING,12.1,8.8,9000.0,0.00,0.00
$PING,25.5,5.6,9000.0,0.00,0.00
$GC,86,-0.78,-146.0,154,2089,1800,1837,5.4,-7.6,7,135,9.07,0.00,-37.90,0.003,18726,0.435,0.000,1992,2085,3765,3699,3831,0,0,0,0,0,0,14.35,13.85,14.57
$PING,36.5,9.7,9000.0,0.03,0.03
$PING,51.3,54.5,9000.0,1.96,0.87
$PING,61.5,65.3,9000.0,2.28,0.95
$PING,74.3,78.6,78.6,1.05,1.00
$PING,84.3,88.4,88.5,1.01,1.00
$PING,96.4,101.2,101.0,1.02,1.00
$GC,310,-0.78,-146.0,1992,2085,3714,3831,99.1,-28.8,31,321,0.00,5.03,0.00,0.000,516,0.000,0.085,2012,412,3771,3712,3830,0,0,0,0,0,0,14.77,14.53,14.79
$PING,107.5,113.0,113.0,1.06,1.00
$GC,376,-0.78,-146.0,2012,412,3714,3831,115.5,-21.6,44,383,0.00,4.95,0.00,0.000,1030,0.000,0.057,1991,2099,3772,3714,3831,0,0,0,0,0,0,14.66,14.59,14.67
$PING,118.6,123.9,124.0,1.02,1.00
$PING,130.2,136.8,136.6,1.05,1.00
$PING,142.2,148.4,148.7,1.04,1.00
$PING,154.2,161.2,161.0,1.01,1.00
$GC,561,-0.78,-146.0,1992,2100,3717,3831,158.9,-23.8,63,573,0.00,5.00,0.00,0.000,260,0.000,0.087,1970,3790,3773,3717,3830,0,0,0,0,0,0,14.83,14.63,14.85
$PING,165.4,173.0,173.0,1.06,1.00
$GC,589,-0.78,-146.0,1970,3791,3717,3831,165.4,-25.3,68,595,0.00,4.88,0.00,0.000,1030,0.000,0.049,1987,2097,3773,3717,3830,0,0,0,0,0,0,14.73,14.66,14.74
$PING,176.1,186.1,185.8,1.14,1.00
$PING,187.5,197.9,198.2,1.13,1.00
$GC,775,-0.78,-146.0,1986,2082,3718,3829,207.5,-22.3,87,781,0.00,4.88,0.00,0.000,516,0.000,0.083,2006,411,3774,3718,3830,0,0,0,0,0,0,14.85,14.64,14.88
$GC,812,-0.78,-146.0,2006,410,3718,3830,216.2,-22.0,94,818,0.00,4.95,0.00,0.000,1030,0.000,0.055,1986,2108,3774,3718,3831,0,0,0,0,0,0,14.75,14.68,14.76
$GC,1007,-0.78,-146.0,1985,2110,3718,3830,255.5,-19.4,113,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2109,3774,3718,3831,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1307,-0.78,-146.0,1985,2109,3719,3830,304.4,-15.0,128,1317,0.00,4.97,0.00,0.000,260,0.000,0.090,1964,3797,3774,3719,3829,0,0,0,0,0,0,14.95,14.73,14.96
$GC,1362,-0.78,-146.0,1964,3797,3719,3830,313.7,-17.0,139,1369,0.00,4.88,0.00,0.000,1030,0.000,0.053,1976,2097,3773,3718,3829,0,0,0,0,0,0,14.83,14.77,14.85
$PING,320.9,6.1,9000.0,-1.32,0.98
$PING,332.9,6.1,9000.0,-1.37,0.99
$PING,344.7,6.1,9000.0,0.00,0.00
$GC,1667,-0.78,-146.0,1976,2082,3720,3829,359.6,-14.9,155,1677,0.00,4.97,0.00,0.000,516,0.000,0.086,1989,406,3773,3719,3828,0,0,0,0,0,0,14.99,14.76,15.01
$GC,1727,-0.78,-146.0,1988,406,3720,3829,368.6,-14.3,167,1738,0.12,4.90,0.00,0.000,3078,0.287,0.057,1994,2104,3774,3719,3829,0,0,0,0,0,0,14.71,14.81,14.85
$PING,379.5,6.1,9000.0,0.00,0.70
$PING,390.5,6.1,9000.0,0.00,0.71
$PING,401.4,6.1,9000.0,0.00,0.00
$PING,412.2,6.1,9000.0,0.00,0.00
$GC,2049,-0.78,-146.0,1994,2104,3720,3829,412.2,-13.5,186,2058,0.00,4.93,0.00,0.000,260,0.000,0.088,1974,3784,3774,3720,3828,0,0,0,0,0,0,15.00,14.79,15.01
$GC,2129,-0.78,-146.0,1974,3785,3721,3829,424.1,-14.7,202,2138,0.00,4.80,0.00,0.000,1030,0.000,0.050,1987,2092,3774,3721,3827,0,0,0,0,0,0,14.90,14.84,14.92
$PING,435.2,6.1,9000.0,-0.00,0.91
$PING,445.9,6.1,9000.0,-0.00,0.90
$PING,456.6,6.1,9000.0,0.00,0.00
$PING,467.2,6.1,9000.0,0.00,0.00
$GC,2449,-0.78,-146.0,1987,2084,3722,3827,467.2,-13.2,221,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2083,3774,3722,3826,0,0,0,0,0,0,15.02,15.04,15.04
$PING,477.6,6.1,9000.0,0.00,0.00
$PING,488.0,6.1,9000.0,0.00,0.00
$PING,498.3,6.1,9000.0,0.00,0.00
$GC,2749,-0.78,-146.0,1987,2084,3722,3827,506.0,-12.8,236,2759,0.00,5.00,0.00,0.000,260,0.000,0.090,1967,3788,3774,3722,3826,0,0,0,0,0,0,15.04,14.84,15.06
$GC,2794,-0.78,-146.0,1967,3785,3722,3826,512.5,-14.5,245,2801,0.00,4.78,0.00,0.000,1030,0.000,0.049,1973,2103,3774,3722,3826,0,0,0,0,0,0,14.95,14.88,14.96
$GC,3113,-0.78,-146.0,1974,2088,3723,3826,555.8,-13.7,263,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,2087,3773,3722,3825,0,0,0,0,0,0,15.06,15.08,15.08
$GC,3412,-0.78,-146.0,1974,2088,3724,3826,596.2,-13.4,278,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2087,3774,3723,3825,0,0,0,0,0,0,15.07,15.09,15.08
$GC,3711,-0.78,-146.0,1974,2088,3725,3826,636.0,-13.2,293,3718,0.00,5.03,0.00,0.000,260,0.000,0.091,1954,3793,3774,3724,3825,0,0,0,0,0,0,15.09,14.88,15.11
$GC,3748,-0.78,-146.0,1954,3793,3724,3825,641.3,-15.1,300,3755,0.15,4.80,0.00,0.000,3078,0.298,0.049,1994,2100,3774,3723,3825,0,0,0,0,0,0,14.80,14.92,14.95
$GC,4055,-0.78,-146.0,1994,2080,3725,3825,678.4,-11.9,316,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2080,3774,3725,3824,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4353,-0.78,-146.0,1994,2080,3721,3825,713.8,-11.8,331,4363,0.00,5.00,0.00,0.000,260,0.000,0.090,1974,3789,3774,3725,3824,0,0,0,0,0,0,15.10,14.90,15.12
$GC,4408,-0.78,-146.0,1974,3790,3726,3825,721.1,-13.3,342,4414,0.00,4.80,0.00,0.000,1030,0.000,0.048,1984,2089,3774,3725,3824,0,0,0,0,0,0,15.00,14.92,15.01
$GC,4715,-0.78,-146.0,1985,2074,3727,3825,759.1,-12.5,358,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2074,3775,3727,3824,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5014,-0.78,-146.0,1985,2074,3728,3825,796.7,-12.6,373,5020,0.00,5.03,0.00,0.000,260,0.000,0.088,1964,3790,3775,3727,3824,0,0,0,0,0,0,15.10,14.91,15.11
$GC,5070,-0.78,-146.0,1965,3792,3728,3824,804.8,-14.0,384,5077,0.12,4.78,0.00,0.000,3078,0.295,0.047,1995,2095,3775,3727,3823,0,0,0,0,0,0,14.83,14.92,14.98
$GC,5378,-0.78,-146.0,1995,2080,3728,3824,841.4,-11.9,400,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2079,3776,3728,3824,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5676,-0.78,-146.0,1996,2080,3729,3825,876.7,-11.7,415,5686,0.00,4.97,0.00,0.000,260,0.000,0.087,1976,3790,3776,3728,3824,0,0,0,0,0,0,15.16,14.92,15.15
$GC,5726,-0.78,-146.0,1975,3791,3729,3824,883.3,-13.2,425,5733,0.00,4.78,0.00,0.000,1030,0.000,0.048,1988,2094,3776,3729,3824,0,0,0,0,0,0,15.00,14.94,15.02
$GC,6038,-0.78,-146.0,1988,2080,3729,3825,921.0,-12.0,442,6048,0.00,4.97,0.00,0.000,260,0.000,0.089,1968,3787,3777,3729,3825,0,0,0,0,0,0,15.14,14.92,15.15
$GC,6073,-0.78,-146.0,1968,3787,3729,3824,925.7,-13.7,449,6080,0.00,4.75,0.00,0.000,1030,0.000,0.047,1971,2099,3776,3729,3824,0,0,0,0,0,0,15.01,14.95,15.03
$STATE,6275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6275,begin apogee
$GC,6282,-0.11,0.0,1970,2400,3730,3820,952.2,-12.8,460,6420,0.88,0.00,130.40,2.814,10246,0.251,0.000,2207,2401,3165,3238,3092,0,0,0,0,0,0,14.85,13.90,13.16
$STATE,6421,end apogee,CONTROL_FINISHED_OK
$STATE,6421,begin climb
$GC,6423,0.78,146.0,2208,2401,3239,3093,957.1,0.0,467,6578,0.98,4.93,141.40,2.827,10500,0.158,0.088,2477,3933,2566,2716,2416,0,0,0,0,0,0,14.01,13.81,12.95
$GC,6599,0.80,146.0,2477,3933,2716,2417,948.8,8.7,500,6608,0.00,4.62,0.00,0.000,1094,0.000,0.043,2494,2376,2566,2716,2416,0,0,0,0,0,0,14.07,14.01,14.08
$GC,6916,0.82,146.0,2494,2377,2716,2437,920.0,9.1,518,6922,0.00,4.75,0.00,0.000,324,0.000,0.090,2489,3934,2577,2716,2438,0,0,0,0,0,0,14.61,14.41,14.63
$GC,6947,0.82,146.0,2489,3935,2717,2441,916.2,11.7,524,6958,0.00,4.40,0.00,0.000,1030,0.000,0.044,2507,2399,2578,2716,2440,0,0,0,0,0,0,14.53,14.47,14.54
$GC,7257,0.82,146.0,2507,2398,2716,2440,885.9,9.6,541,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2398,2578,2716,2441,0,0,0,0,0,0,14.77,14.79,14.79
$GC,7557,0.82,146.0,2507,2399,2717,2441,857.3,9.6,556,7567,0.00,4.60,0.00,0.000,260,0.000,0.090,2499,3938,2578,2716,2441,0,0,0,0,0,0,14.87,14.66,14.88
$GC,7612,0.82,146.0,2497,3938,2716,2443,850.9,12.1,567,7619,0.00,4.35,0.00,0.000,1030,0.000,0.045,2517,2410,2579,2716,2442,0,0,0,0,0,0,14.76,14.71,14.78
$GC,7918,0.82,146.0,2516,2396,2716,2442,820.8,9.7,583,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2392,2578,2715,2442,0,0,0,0,0,0,14.91,14.93,14.92
$GC,8217,0.82,146.0,2518,2396,2716,2442,792.0,9.6,598,8223,0.00,4.57,0.00,0.000,260,0.000,0.090,2505,3940,2578,2715,2442,0,0,0,0,0,0,14.97,14.76,14.99
$GC,8279,0.82,146.0,2509,3941,2717,2443,784.7,12.2,610,8285,0.00,4.38,0.00,0.000,1030,0.000,0.046,2527,2394,2579,2716,2442,0,0,0,0,0,0,14.87,14.81,14.88
$GC,8603,0.82,146.0,2528,2380,2720,2442,752.4,9.9,629,8613,0.00,4.60,0.00,0.000,260,0.000,0.090,2517,3937,2578,2715,2442,0,0,0,0,0,0,15.00,14.81,15.02
$GC,8648,0.82,146.0,2517,3938,2716,2443,746.7,12.6,638,8655,0.00,4.35,0.00,0.000,1030,0.000,0.045,2535,2395,2578,2716,2441,0,0,0,0,0,0,14.90,14.85,14.92
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