version: 66.13
glider: 227
mission: 9
dive: 18
start: 9 22 118 18 20 30
data:
$ID,227
$MISSION,9
$DIVE,18
$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,380
$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,2270
$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,2200
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,28
$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
$GPS1,220918,180940,7425.0044,-14629.7822,41,1.7,42,18.4,0.3,0.0,7,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.2
$GPS2,220918,181953,7425.0317,-14629.8203,5,1.8,8,18.4,0.2,0.0,7,9.4
$SPEED_LIMITS,0.173,0.232
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,15.6,61311,-19.9,-10.000,-23.28,2245
$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
$GC,9,-0.78,-146.0,153,2219,688,435,0.0,0.0,0,82,0.00,0.00,-71.65,0.002,16386,0.000,0.000,153,2228,1810,1791,1829,0,0,0,0,0,0,14.70,28.83,14.72
$PING,22.5,25.8,9000.0,0.00,0.00
$GC,85,-0.78,-146.0,153,2225,1793,1830,5.3,-7.2,7,145,9.00,5.15,-38.67,0.003,18980,0.426,0.091,2028,507,3765,3702,3829,0,0,0,0,0,0,14.37,13.83,14.60
$PING,36.1,9.6,9000.0,0.00,0.00
$PING,46.6,51.6,9000.0,0.96,0.30
$PING,56.6,59.8,9000.0,2.46,0.88
$GC,221,-0.78,-146.0,2030,507,3712,3830,65.1,-33.3,32,227,0.00,4.97,0.00,0.000,1030,0.000,0.060,2008,2186,3770,3712,3829,0,0,0,0,0,0,14.60,14.54,14.62
$PING,69.4,73.0,72.7,0.95,1.00
$PING,93.2,100.7,100.5,1.12,1.00
$PING,103.4,107.9,109.3,1.05,0.99
$PING,115.4,120.4,119.9,0.89,0.99
$GC,407,-0.78,-146.0,2009,2188,3729,3830,115.4,-24.2,51,417,0.00,5.00,0.00,0.000,516,0.000,0.080,2027,513,3778,3728,3829,0,0,0,0,0,0,14.76,14.57,14.78
$PING,126.3,132.1,132.1,1.06,1.00
$GC,453,-0.78,-146.0,2027,513,3728,3832,126.3,-21.7,60,460,0.00,4.95,0.00,0.000,1030,0.000,0.057,2007,2202,3780,3729,3831,0,0,0,0,0,0,14.69,14.62,14.70
$PING,138.0,145.8,145.7,1.13,1.00
$PING,149.6,157.0,157.4,1.07,1.00
$GC,639,-0.78,-146.0,2007,2203,3732,3831,167.7,-22.6,79,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2203,3781,3732,3831,0,0,0,0,0,0,14.83,14.85,14.85
$PING,172.1,179.5,179.4,0.99,1.00
$GC,819,-0.78,-146.0,2006,2204,3736,3831,207.0,-21.0,97,825,0.00,5.03,0.00,0.000,516,0.000,0.076,2026,512,3780,3730,3831,0,0,0,0,0,0,14.86,14.67,14.88
$GC,871,-0.78,-146.0,2026,513,3738,3832,218.1,-19.8,107,882,0.00,4.95,0.00,0.000,1030,0.000,0.056,2005,2208,3783,3736,3831,0,0,0,0,0,0,14.73,14.66,14.74
$GC,1063,-0.78,-146.0,2004,2210,3740,3832,254.1,-18.1,126,1072,0.00,5.00,0.00,0.000,260,0.000,0.090,1983,3894,3785,3739,3832,0,0,0,0,0,0,14.90,14.66,14.92
$GC,1097,-0.78,-146.0,1984,3895,3740,3832,261.1,-20.0,133,1105,0.00,4.85,0.00,0.000,1030,0.000,0.047,1997,2197,3785,3740,3831,0,0,0,0,0,0,14.80,14.73,14.81
$GC,1405,-0.78,-146.0,1997,2182,3744,3832,308.7,-14.8,149,1412,0.00,4.93,0.00,0.000,516,0.000,0.079,2010,513,3787,3743,3831,0,0,0,0,0,0,14.94,14.74,14.96
$GC,1482,-0.78,-146.0,2007,514,3743,3833,320.3,-13.5,164,1489,0.00,4.88,0.00,0.000,1030,0.000,0.054,1990,2205,3787,3743,3832,0,0,0,0,0,0,14.85,14.78,14.86
$GC,1790,-0.78,-146.0,1990,2205,3744,3828,363.3,-14.2,180,1800,0.00,4.95,0.00,0.000,260,0.000,0.091,1969,3886,3788,3744,3832,0,0,0,0,0,0,14.97,14.77,15.00
$GC,1820,-0.78,-146.0,1968,3886,3746,3832,368.5,-16.4,186,1831,0.15,4.80,0.00,0.000,3078,0.294,0.047,2010,2180,3788,3745,3832,0,0,0,0,0,0,14.67,14.80,14.78
$GC,2132,-0.78,-146.0,2012,2180,3747,3832,407.7,-12.2,203,2139,0.00,4.80,0.00,0.000,516,0.000,0.079,2029,526,3789,3746,3832,0,0,0,0,0,0,15.00,14.80,15.02
$GC,2179,-0.78,-146.0,2029,526,3747,3833,413.4,-11.7,212,2189,0.00,4.80,0.00,0.000,1030,0.000,0.054,2010,2203,3788,3746,3831,0,0,0,0,0,0,14.90,14.83,14.92
$PING,419.9,6.2,9000.0,-0.62,0.96
$PING,431.8,6.1,9000.0,-0.68,1.00
$PING,443.6,6.1,9000.0,-0.00,0.92
$GC,2495,-0.78,-146.0,2010,2204,3750,3832,450.7,-11.8,230,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2204,3789,3747,3832,0,0,0,0,0,0,15.02,15.04,15.04
$PING,455.4,6.1,9000.0,-0.00,1.00
$PING,467.1,6.1,9000.0,0.00,0.00
$PING,478.7,6.1,9000.0,0.00,0.00
$GC,2795,-0.78,-146.0,2009,2204,3749,3832,485.8,-11.7,245,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2204,3790,3748,3832,0,0,0,0,0,0,15.04,15.07,15.07
$PING,490.5,6.1,9000.0,0.00,0.00
$PING,502.2,6.1,9000.0,0.00,1.00
$PING,513.9,6.1,9000.0,0.00,0.95
$GC,3094,-0.78,-146.0,2010,2204,3749,3832,520.9,-11.7,260,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2203,3790,3749,3831,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3394,-0.78,-146.0,2009,2204,3749,3828,556.1,-11.7,275,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2203,3790,3749,3832,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3695,-0.78,-146.0,2010,2204,3750,3832,590.8,-11.5,290,3704,0.00,4.93,0.00,0.000,516,0.000,0.081,2026,523,3790,3749,3832,0,0,0,0,0,0,15.09,14.90,15.11
$GC,3735,-0.78,-146.0,2026,523,3750,3832,595.5,-11.3,298,3744,0.00,4.78,0.00,0.000,1030,0.000,0.057,2006,2201,3790,3749,3831,0,0,0,0,0,0,14.95,14.91,14.97
$GC,4057,-0.78,-146.0,2006,2202,3752,3833,632.2,-11.5,317,4063,0.00,4.97,0.00,0.000,260,0.000,0.093,1984,3895,3791,3750,3832,0,0,0,0,0,0,15.09,14.89,15.11
$GC,4108,-0.78,-146.0,1984,3896,3751,3832,639.2,-13.5,327,4119,0.12,4.75,0.00,0.000,3078,0.286,0.047,2015,2193,3790,3750,3831,0,0,0,0,0,0,14.81,14.92,14.96
$GC,4420,-0.78,-146.0,2014,2193,3752,3832,674.0,-11.1,344,4431,0.00,4.85,0.00,0.000,516,0.000,0.080,2034,523,3791,3751,3832,0,0,0,0,0,0,15.09,14.88,15.11
$GC,4476,-0.78,-146.0,2034,523,3751,3832,680.4,-10.4,355,4483,0.00,4.80,0.00,0.000,1030,0.000,0.054,2013,2209,3791,3751,3831,0,0,0,0,0,0,15.00,14.92,15.00
$GC,4783,-0.78,-146.0,2014,2210,3753,3832,714.1,-11.1,371,4794,0.00,4.90,0.00,0.000,260,0.000,0.091,1991,3890,3792,3752,3832,0,0,0,0,0,0,15.10,14.92,15.12
$GC,4829,-0.78,-146.0,1992,3891,3753,3833,720.1,-12.8,380,4839,0.00,4.72,0.00,0.000,1030,0.000,0.047,1998,2196,3791,3752,3830,0,0,0,0,0,0,15.00,14.94,15.01
$GC,5146,-0.78,-146.0,1998,2195,3753,3832,757.4,-11.8,398,5156,0.00,4.82,0.00,0.000,516,0.000,0.077,2014,531,3792,3753,3832,0,0,0,0,0,0,15.11,14.90,15.13
$GC,5196,-0.78,-146.0,2013,532,3753,3832,763.7,-11.8,408,5208,0.00,4.75,0.00,0.000,1030,0.000,0.053,1993,2203,3792,3753,3832,0,0,0,0,0,0,15.00,14.93,15.02
$GC,5508,-0.78,-146.0,1992,2204,3754,3832,801.0,-12.0,425,5514,0.00,4.95,0.00,0.000,260,0.000,0.091,1971,3894,3792,3753,3832,0,0,0,0,0,0,15.11,14.90,15.13
$GC,5530,-0.78,-146.0,1972,3894,3753,3832,804.1,-12.9,429,5536,0.17,4.72,0.00,0.000,3078,0.278,0.047,2016,2210,3792,3753,3832,0,0,0,0,0,0,14.83,14.95,14.98
$GC,5852,-0.78,-146.0,2016,2195,3754,3832,839.3,-10.7,448,5863,0.00,4.90,0.00,0.000,516,0.000,0.080,2035,509,3793,3754,3832,0,0,0,0,0,0,15.10,14.90,15.12
$GC,5893,-0.78,-146.0,2035,509,3754,3832,843.8,-10.5,456,5904,0.00,4.82,0.00,0.000,1030,0.000,0.055,2014,2205,3793,3754,3832,0,0,0,0,0,0,15.00,14.93,15.01
$GC,6214,-0.78,-146.0,2014,2206,3755,3832,877.6,-10.6,475,6224,0.00,4.95,0.00,0.000,260,0.000,0.090,1992,3893,3793,3754,3832,0,0,0,0,0,0,15.06,14.87,15.08
$GC,6259,-0.78,-146.0,1992,3892,3755,3832,883.1,-12.6,484,6269,0.00,4.78,0.00,0.000,1030,0.000,0.045,1999,2184,3793,3754,3832,0,0,0,0,0,0,14.96,14.90,14.97
$GC,6576,-0.78,-146.0,1999,2184,3756,3832,919.0,-11.3,502,6586,0.00,4.82,0.00,0.000,516,0.000,0.076,2006,526,3793,3755,3832,0,0,0,0,0,0,15.03,14.83,15.05
$GC,6621,-0.78,-146.0,2006,527,3755,3832,924.5,-11.8,511,6631,0.12,4.78,0.00,0.000,3078,0.293,0.053,2012,2201,3793,3755,3832,0,0,0,0,0,0,14.77,14.87,14.91
$GC,6938,-0.78,-146.0,2012,2203,3756,3832,958.0,-10.5,529,6944,0.00,4.97,0.00,0.000,260,0.000,0.090,1991,3892,3793,3755,3831,0,0,0,0,0,0,15.02,14.82,15.04
$GC,6974,-0.78,-146.0,1991,3892,3756,3832,962.5,-12.5,536,6981,0.00,4.75,0.00,0.000,1030,0.000,0.046,2008,2210,3793,3755,3832,0,0,0,0,0,0,14.92,14.85,14.92
$STATE,7237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7237,begin apogee
$GC,7243,-0.11,0.0,2006,2451,3757,3832,991.1,-10.6,550,7381,0.82,0.00,134.57,2.762,10246,0.239,0.000,2232,2450,3162,3242,3083,0,0,0,0,0,0,14.75,13.97,13.08
$STATE,7382,end apogee,CONTROL_FINISHED_OK
$STATE,7382,begin climb
$GC,7384,0.78,146.0,2233,2450,3242,3084,994.6,0.0,557,7540,0.95,4.75,144.45,2.864,10500,0.141,0.089,2503,3938,2567,2716,2419,0,0,0,0,0,0,13.95,13.78,12.91
$GC,7585,0.78,146.0,2505,3938,2717,2421,983.6,12.1,595,7599,0.00,4.47,0.00,0.000,1030,0.000,0.043,2523,2425,2567,2718,2417,0,0,0,0,0,0,14.09,14.04,14.11
$GC,7898,0.78,146.0,2523,2426,2717,2444,950.1,10.6,612,7901,0.00,0.00,2.53,0.741,8198,0.000,0.000,2523,2426,2570,2711,2429,0,0,0,0,0,0,14.55,14.40,13.62
$GC,8198,0.78,146.0,2523,2426,2708,2445,918.3,10.7,627,8208,0.00,4.55,0.00,0.000,260,0.000,0.089,2515,3932,2577,2708,2447,0,0,0,0,0,0,14.71,14.52,14.73
$GC,8248,0.78,146.0,2515,3933,2708,2451,911.7,13.3,637,8253,0.00,4.22,0.00,0.000,1030,0.000,0.046,2532,2463,2578,2707,2450,0,0,0,0,0,0,14.64,14.58,14.65
$GC,8561,0.78,146.0,2533,2449,2713,2454,877.5,10.8,654,8565,0.00,0.00,3.00,1.030,8198,0.000,0.000,2533,2448,2568,2702,2434,0,0,0,0,0,0,14.83,14.65,13.87
$GC,8859,0.78,146.0,2533,2449,2701,2443,845.3,10.7,669,8864,0.00,4.43,0.00,0.000,260,0.000,0.090,2521,3933,2572,2700,2444,0,0,0,0,0,0,14.90,14.70,14.92
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