version: 66.13
glider: 227
mission: 9
dive: 33
start: 9 26 118 0 52 16
data:
$ID,227
$MISSION,9
$DIVE,33
$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,0.0040000002
$HD_B,0.015
$HD_C,3.2e-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,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,2285
$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,27
$R_STBD_OVSHOOT,15
$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
$GPS1,260918,004031,7451.8765,-14522.3066,26,0.7,27,18.7,1.0,37.6,12,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.8
$GPS2,260918,005131,7451.8535,-14522.2041,4,0.6,6,18.7,0.4,137.8,12,4.8
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,186.1,75200,-21.2,-10.000,-24.74,2246
$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,10,-0.81,-146.0,148,2202,749,527,0.0,0.0,0,122,0.00,0.00,-111.03,0.002,16386,0.000,0.000,148,2206,2650,2644,2657,0,0,0,0,0,0,14.67,28.83,14.69
$GC,125,-0.81,-146.0,148,2206,2647,2657,6.2,-9.8,11,164,9.00,4.93,-22.80,0.006,18692,0.422,0.086,1992,3901,3767,3704,3831,0,0,0,0,0,0,14.34,14.02,14.51
$PING,34.0,37.0,9000.0,0.00,0.00
$PING,44.5,47.4,9000.0,0.00,0.00
$PING,54.9,57.9,57.9,1.00,1.00
$GC,229,-0.81,-146.0,1992,3902,3747,3843,57.0,-40.4,30,236,0.00,4.93,0.00,0.000,1030,0.000,0.047,2012,2204,3795,3749,3842,0,0,0,0,0,0,14.62,14.56,14.64
$PING,66.0,70.3,70.1,1.07,1.00
$PING,76.5,80.4,80.7,1.04,1.00
$PING,88.4,93.4,93.1,1.03,1.00
$PING,98.6,103.2,103.5,1.03,1.00
$PING,110.4,117.0,116.6,1.07,1.00
$GC,415,-0.81,-146.0,2012,2189,3756,3843,110.4,-23.6,49,421,0.00,2.97,0.00,0.000,516,0.000,0.067,2025,1180,3799,3756,3842,0,0,0,0,0,0,14.76,14.59,14.78
$PING,120.7,126.5,126.9,1.05,1.00
$PING,131.0,136.9,136.8,0.97,1.00
$GC,531,-0.81,-146.0,2026,1180,3756,3843,135.2,-20.7,72,538,0.00,3.00,0.00,0.000,1030,0.000,0.050,2013,2213,3799,3756,3842,0,0,0,0,0,0,14.70,14.64,14.71
$PING,142.5,148.4,148.5,1.01,1.00
$PING,174.1,182.0,181.9,1.05,1.00
$GC,719,-0.81,-146.0,2014,2214,3757,3843,172.8,-19.9,91,725,0.00,3.03,0.00,0.000,516,0.000,0.064,2025,1184,3799,3757,3842,0,0,0,0,0,0,14.83,14.64,14.84
$PING,184.6,192.7,192.9,1.05,1.00
$GC,806,-0.81,-146.0,2025,1184,3757,3843,190.4,-19.2,108,812,0.00,2.95,0.00,0.000,1030,0.000,0.049,2012,2204,3799,3757,3842,0,0,0,0,0,0,14.74,14.69,14.76
$GC,992,-0.81,-146.0,2014,2205,3759,3843,225.7,-19.0,127,998,0.00,3.00,0.00,0.000,516,0.000,0.063,2025,1182,3800,3759,3842,0,0,0,0,0,0,14.87,14.66,14.89
$GC,1073,-0.81,-146.0,2025,1182,3760,3843,240.0,-16.5,143,1078,0.00,2.95,0.00,0.000,1030,0.000,0.049,2013,2207,3800,3759,3842,0,0,0,0,0,0,14.74,14.69,14.76
$GC,1263,-0.81,-146.0,2013,2208,3761,3843,270.2,-15.5,157,1269,0.00,3.00,0.00,0.000,516,0.000,0.063,2025,1184,3801,3761,3842,0,0,0,0,0,0,14.92,14.71,14.94
$GC,1354,-0.81,-146.0,2021,1183,3761,3843,282.9,-13.4,175,1359,0.00,2.95,0.00,0.000,1030,0.000,0.050,2012,2206,3801,3760,3842,0,0,0,0,0,0,14.81,14.75,14.82
$GC,1667,-0.81,-146.0,2012,2206,3763,3843,320.7,-11.5,192,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2206,3802,3762,3842,0,0,0,0,0,0,14.96,14.98,14.98
$GC,1965,-0.81,-146.0,2013,2207,3763,3842,354.9,-11.5,207,1970,0.00,3.00,0.00,0.000,516,0.000,0.064,2024,1178,3802,3762,3842,0,0,0,0,0,0,15.00,14.81,15.02
$GC,2020,-0.81,-146.0,2024,1177,3763,3843,361.6,-12.6,218,2027,0.00,2.95,0.00,0.000,1030,0.000,0.050,2012,2210,3802,3762,3842,0,0,0,0,0,0,14.89,14.83,14.90
$GC,2327,-0.81,-146.0,2012,2211,3764,3846,395.6,-11.1,234,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2210,3802,3763,3842,0,0,0,0,0,0,15.02,15.06,15.03
$PING,408.7,6.2,9000.0,-0.79,0.99
$PING,419.5,6.2,1.9,-0.81,1.00
$GC,2625,-0.81,-146.0,2012,2211,3764,3842,428.0,-10.6,249,2631,0.00,2.97,0.00,0.000,516,0.000,0.063,2024,1185,3803,3764,3842,0,0,0,0,0,0,15.03,14.85,15.05
$PING,429.7,6.2,9000.0,-0.00,0.00
$GC,2661,-0.81,-146.0,2024,1185,3763,3843,431.9,-10.9,256,2668,0.00,2.90,0.00,0.000,1030,0.000,0.048,2012,2202,3805,3768,3842,0,0,0,0,0,0,14.92,14.87,14.94
$PING,440.9,6.1,9000.0,-0.00,0.25
$PING,451.4,6.1,9000.0,-0.00,0.89
$PING,461.9,6.2,9000.0,0.00,0.25
$GC,2968,-0.81,-146.0,2012,2203,3766,3843,464.0,-10.5,272,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2203,3802,3763,3842,0,0,0,0,0,0,15.04,15.07,15.06
$GC,3266,-0.81,-146.0,2012,2203,3766,3843,495.1,-10.4,287,3272,0.00,2.95,0.00,0.000,516,0.000,0.064,2024,1185,3803,3765,3842,0,0,0,0,0,0,15.06,14.88,15.08
$GC,3302,-0.81,-146.0,2024,1184,3767,3843,498.9,-10.7,294,3308,0.00,2.90,0.00,0.000,1030,0.000,0.050,2011,2204,3803,3765,3842,0,0,0,0,0,0,14.95,14.89,14.97
$GC,3609,-0.81,-146.0,2012,2205,3766,3843,530.5,-10.3,310,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2204,3804,3766,3842,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3907,-0.81,-146.0,2010,2205,3767,3843,561.4,-10.2,325,3913,0.00,2.95,0.00,0.000,516,0.000,0.064,2023,1186,3804,3766,3842,0,0,0,0,0,0,15.08,14.90,15.10
$GC,3958,-0.81,-146.0,2024,1187,3767,3843,566.9,-10.5,335,3963,0.00,2.90,0.00,0.000,1030,0.000,0.050,2011,2204,3804,3766,3842,0,0,0,0,0,0,14.97,14.91,14.99
$PING,576.1,6.3,9000.0,0.00,0.98
$GC,4270,-0.81,-146.0,2012,2206,3770,3843,598.4,-10.0,352,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2205,3805,3769,3842,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4569,-0.81,-146.0,2011,2206,3772,3843,628.1,-9.8,367,4574,0.00,2.95,0.00,0.000,516,0.000,0.064,2023,1184,3806,3771,3842,0,0,0,0,0,0,15.10,14.90,15.12
$GC,4595,-0.81,-146.0,2023,1184,3772,3848,630.6,-10.2,372,4600,0.00,2.90,0.00,0.000,1030,0.000,0.049,2011,2207,3806,3771,3842,0,0,0,0,0,0,14.97,14.93,15.00
$GC,4910,-0.81,-146.0,2010,2208,3773,3843,661.4,-9.7,390,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2208,3807,3773,3842,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5210,-0.81,-146.0,2011,2208,3775,3843,690.5,-9.6,405,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2208,3808,3774,3842,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5510,-0.81,-146.0,2011,2208,3775,3843,719.8,-9.7,420,5515,0.00,2.97,0.00,0.000,516,0.000,0.064,2023,1177,3808,3775,3842,0,0,0,0,0,0,15.12,14.93,15.14
$GC,5575,-0.81,-146.0,2023,1178,3781,3843,726.3,-9.8,433,5581,0.00,2.92,0.00,0.000,1030,0.000,0.049,2011,2206,3808,3775,3842,0,0,0,0,0,0,15.01,14.95,15.02
$GC,5894,-0.81,-146.0,2010,2207,3777,3843,756.8,-9.5,451,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2206,3809,3776,3842,0,0,0,0,0,0,15.11,15.13,15.13
$GC,6192,-0.81,-146.0,2011,2207,3778,3843,785.4,-9.5,466,6197,0.00,2.95,0.00,0.000,516,0.000,0.063,2022,1182,3809,3777,3842,0,0,0,0,0,0,15.13,14.94,15.14
$GC,6207,-0.81,-146.0,2022,1182,3779,3843,786.9,-9.4,469,6214,0.00,2.88,0.00,0.000,1030,0.000,0.048,2010,2200,3809,3777,3842,0,0,0,0,0,0,15.02,14.99,15.03
$GC,6512,-0.81,-146.0,2010,2202,3779,3842,815.5,-9.3,485,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2201,3810,3778,3842,0,0,0,0,0,0,15.12,15.14,15.14
$GC,6812,-0.81,-146.0,2007,2201,3780,3843,843.2,-9.1,500,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2201,3810,3779,3842,0,0,0,0,0,0,15.13,15.15,15.15
$GC,7112,-0.81,-146.0,2010,2201,3781,3843,870.5,-9.1,515,7117,0.00,2.92,0.00,0.000,516,0.000,0.066,2021,1185,3813,3780,3847,0,0,0,0,0,0,15.14,14.95,15.15
$GC,7152,-0.81,-146.0,2020,1184,3781,3843,874.3,-9.3,523,7157,0.00,2.88,0.00,0.000,1030,0.000,0.050,2009,2202,3811,3781,3841,0,0,0,0,0,0,15.03,14.97,15.04
$GC,7474,-0.81,-146.0,2009,2203,3781,3843,903.6,-9.1,542,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2203,3812,3782,3842,0,0,0,0,0,0,15.14,15.15,15.15
$GC,7773,-0.81,-146.0,2008,2203,3783,3842,930.6,-9.0,557,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2203,3810,3779,3842,0,0,0,0,0,0,15.14,15.15,15.16
$GC,8073,-0.81,-146.0,2008,2203,3783,3842,957.7,-9.1,572,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2203,3812,3783,3842,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8373,-0.81,-146.0,2009,2203,3784,3843,985.0,-9.0,587,8378,0.00,2.95,0.00,0.000,516,0.000,0.067,2025,1183,3812,3783,3842,0,0,0,0,0,0,15.14,14.93,15.16
$GC,8418,-0.81,-146.0,2019,1183,3784,3843,989.1,-9.3,596,8423,0.00,2.88,0.00,0.000,1030,0.000,0.050,2007,2199,3812,3783,3842,0,0,0,0,0,0,15.04,14.97,15.05
$STATE,8426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8426,begin apogee
$GC,8432,-0.11,0.0,2004,2451,3784,3843,990.0,-9.4,598,8600,0.90,0.00,165.32,1.962,10246,0.260,0.000,2246,2451,3167,3252,3082,0,0,0,0,0,0,14.85,14.16,13.43
$STATE,8601,end apogee,CONTROL_FINISHED_OK
$STATE,8601,begin climb
$GC,8603,0.81,146.0,2246,2451,3249,3076,992.6,0.0,606,8768,1.00,4.68,152.55,2.091,10500,0.172,0.090,2534,3929,2563,2716,2411,0,0,0,0,0,0,14.09,13.89,13.27
$GC,8784,0.81,146.0,2534,3929,2714,2412,975.8,12.4,638,8789,0.00,2.35,0.00,0.000,1030,0.000,0.042,2542,3101,2562,2713,2411,0,0,0,0,0,0,14.10,14.06,14.12
$GC,9096,0.81,146.0,2542,3101,2713,2414,937.9,12.1,655,9105,0.00,4.90,0.00,0.000,516,0.000,0.057,2564,1437,2562,2711,2413,0,0,0,0,0,0,14.61,14.43,14.63
$GC,9331,0.81,146.0,2564,1437,2713,2421,910.5,11.3,702,9337,0.00,2.97,0.00,0.000,1030,0.000,0.057,2563,2451,2566,2713,2420,0,0,0,0,0,0,14.62,14.56,14.64
$GC,9639,0.81,146.0,2564,2451,2713,2430,871.7,12.8,718,9644,0.00,4.43,0.00,0.000,260,0.000,0.090,2562,3930,2571,2713,2429,0,0,0,0,0,0,14.82,14.60,14.83
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$STATE,17962,end climb,SURFACE_DEPTH_REACHED
$STATE,17962,begin surface coast
$FINISH,1.0,1.021506
$STATE,17972,end surface coast,CONTROL_FINISHED_OK
$STATE,17972,begin surface
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$RAFOS_CLK,275
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$IRIDIUM_FIX,7450.74,-14537.54,250918,191755
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$HUMID,47.59
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$XPDR_PINGS,0
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$ALTIM_BOTTOM_PING,419.5,1.9
$SC_FREEKB,3888256
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$10V_AH,13.04,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.925,218.525,938.125,0.000,0.000,0.000,0.000,462.150,45.500,0.000,15.469,0.000,13488.062,1114.990,3667.200,447.590,0.000,2878.507,0.000,2302.572,2221.906,322.355,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18011.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.189,0.000,0.000,0.000
$MEM,334064
$DATA_FILE_SIZE,56601,1613
$CAP_FILE_SIZE,202524,0
$CFSIZE,1047117824,1037041664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10896.79,0x214724,1,24
$SOUNDSPEED,1454.0
$GPS,260918,055408,7450.398,-14526.630,23,0.9,23,18.7,0.2,0.0,9,4.6