version: 66.13
glider: 227
mission: 9
dive: 43
start: 9 28 118 7 29 16
data:
$ID,227
$MISSION,9
$DIVE,43
$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,380
$T_MISSION,440
$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,130
$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,600
$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,2320
$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,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,698
$R_STBD_OVSHOOT,23
$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,4
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,4
$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,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$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
$GPS1,280918,071810,7436.6465,-14544.7500,36,1.2,38,18.6,0.9,72.9,7,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.8
$GPS2,280918,072838,7436.6011,-14544.7256,3,1.3,5,18.6,0.7,359.8,7,7.5
$SPEED_LIMITS,0.150,0.195
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,188.2,44837,-20.2,-8.684,-24.03,2240
$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,-0.74,-126.5,152,2362,848,626,0.0,0.0,0,133,0.00,0.00,-121.70,0.002,16386,0.000,0.000,151,2361,3024,3007,3042,0,0,0,0,0,0,14.65,28.83,14.67
$GC,135,-0.74,-126.5,151,2362,3009,3043,4.7,-6.5,12,170,9.20,4.55,-16.83,0.006,18692,0.414,0.083,2054,3894,3688,3639,3738,0,0,0,0,0,0,14.31,13.74,14.54
$GC,280,-0.74,-126.5,2053,3895,3670,3740,65.9,-30.7,40,285,0.00,2.90,0.00,0.000,1030,0.000,0.036,2064,2870,3704,3669,3739,0,0,0,0,0,0,14.62,14.56,14.63
$GC,470,-0.74,-126.5,2064,2856,3676,3740,106.7,-17.4,60,481,0.00,4.90,0.00,0.000,516,0.000,0.054,2085,1180,3707,3675,3740,0,0,0,0,0,0,14.77,14.57,14.79
$GC,706,-0.74,-126.5,2085,1180,3677,3740,146.6,-17.2,107,712,0.00,2.95,0.00,0.000,1030,0.000,0.044,2074,2205,3708,3678,3739,0,0,0,0,0,0,14.71,14.64,14.71
$GC,891,-0.74,-126.5,2074,2206,3681,3740,178.6,-17.7,126,897,0.00,3.00,0.00,0.000,516,0.000,0.057,2085,1179,3709,3680,3739,0,0,0,0,0,0,14.84,14.67,14.86
$GC,1057,-0.74,-126.5,2085,1178,3681,3740,206.4,-16.0,159,1064,0.00,2.92,0.00,0.000,1030,0.000,0.044,2074,2198,3710,3681,3739,0,0,0,0,0,0,14.75,14.69,14.76
$GC,1242,-0.74,-126.5,2074,2200,3683,3740,235.3,-15.4,178,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2199,3710,3682,3739,0,0,0,0,0,0,14.89,14.91,14.91
$GC,1432,-0.74,-126.5,2074,2200,3683,3740,262.6,-14.0,193,1443,0.00,4.97,0.00,0.000,260,0.000,0.080,2053,3885,3711,3683,3740,0,0,0,0,0,0,14.92,14.71,14.95
$GC,1453,-0.74,-126.5,2052,3886,3684,3739,265.6,-15.4,197,1458,0.00,2.83,0.00,0.000,1030,0.000,0.034,2062,2842,3710,3682,3739,0,0,0,0,0,0,14.83,14.78,14.83
$GC,1774,-0.74,-126.5,2062,2842,3685,3740,304.4,-10.9,216,1784,0.00,4.78,0.00,0.000,516,0.000,0.053,2081,1181,3712,3685,3739,0,0,0,0,0,0,14.95,14.78,14.98
$GC,1937,-0.74,-126.5,2077,1182,3685,3738,319.4,-9.3,246,1943,0.00,2.92,0.00,0.000,1030,0.000,0.043,2070,2208,3712,3685,3739,0,0,0,0,0,0,14.83,14.78,14.85
$GC,2248,-0.74,-126.5,2070,2210,3688,3740,346.8,-8.7,263,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2207,3713,3687,3739,0,0,0,0,0,0,14.92,14.94,14.94
$GC,2548,-0.74,-126.5,2073,2208,3688,3738,372.6,-8.6,278,2554,0.00,2.97,0.00,0.000,516,0.000,0.058,2080,1184,3713,3687,3739,0,0,0,0,0,0,14.93,14.73,14.95
$GC,2570,-0.74,-126.5,2080,1185,3688,3740,374.3,-8.5,282,2576,0.00,2.90,0.00,0.000,1030,0.000,0.044,2070,2205,3713,3687,3739,0,0,0,0,0,0,14.83,14.78,14.85
$GC,2891,-0.74,-126.5,2070,2208,3690,3740,400.9,-8.2,301,2901,0.00,4.93,0.00,0.000,260,0.000,0.079,2048,3883,3714,3689,3739,0,0,0,0,0,0,14.92,14.73,14.95
$GC,2931,-0.74,-126.5,2048,3883,3689,3740,404.9,-10.4,309,2937,0.00,2.83,0.00,0.000,1030,0.000,0.033,2052,2831,3714,3689,3739,0,0,0,0,0,0,14.83,14.80,14.85
$GC,3252,-0.74,-126.5,2052,2830,3691,3740,434.3,-9.1,328,3261,0.00,4.75,0.00,0.000,516,0.000,0.051,2068,1180,3715,3691,3739,0,0,0,0,0,0,14.92,14.76,14.94
$GC,3487,-0.74,-126.5,2068,1180,3692,3740,455.0,-8.7,375,3493,0.00,2.90,0.00,0.000,1030,0.000,0.042,2057,2199,3715,3692,3739,0,0,0,0,0,0,14.82,14.77,14.83
$GC,3792,-0.74,-126.5,2057,2197,3693,3740,480.5,-8.2,391,3797,0.00,2.97,0.00,0.000,516,0.000,0.057,2067,1175,3716,3692,3740,0,0,0,0,0,0,14.92,14.75,14.94
$GC,3867,-0.74,-126.5,2068,1176,3694,3740,486.8,-8.3,406,3874,0.00,2.92,0.00,0.000,1030,0.000,0.043,2057,2200,3716,3693,3739,0,0,0,0,0,0,14.80,14.75,14.81
$GC,4172,-0.74,-126.5,2057,2201,3696,3740,511.0,-7.9,422,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2200,3717,3695,3739,0,0,0,0,0,0,14.96,14.97,14.97
$GC,4472,-0.74,-126.5,2057,2201,3697,3740,535.2,-8.0,437,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2200,3717,3696,3739,0,0,0,0,0,0,15.00,15.02,15.02
$GC,4772,-0.74,-126.5,2057,2200,3697,3740,559.1,-8.0,452,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2200,3718,3697,3739,0,0,0,0,0,0,15.02,15.04,15.02
$GC,5072,-0.74,-126.5,2056,2201,3698,3740,583.0,-7.9,467,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2200,3718,3698,3739,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5372,-0.74,-126.5,2057,2201,3699,3740,606.3,-7.7,482,5378,0.00,2.92,0.00,0.000,516,0.000,0.060,2065,1182,3718,3698,3739,0,0,0,0,0,0,15.05,14.86,15.07
$GC,5403,-0.74,-126.5,2066,1182,3699,3740,608.8,-8.0,488,5409,0.00,2.90,0.00,0.000,1030,0.000,0.044,2055,2208,3718,3698,3739,0,0,0,0,0,0,14.95,14.90,14.97
$GC,5714,-0.74,-126.5,2055,2208,3700,3739,633.2,-7.9,505,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2208,3719,3699,3739,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6014,-0.74,-126.5,2056,2208,3701,3740,656.5,-7.8,520,6019,0.00,2.95,0.00,0.000,516,0.000,0.057,2062,1181,3719,3700,3739,0,0,0,0,0,0,15.08,14.90,15.10
$GC,6034,-0.74,-126.5,2062,1182,3701,3740,658.2,-8.0,524,6040,0.00,2.90,0.00,0.000,1030,0.000,0.044,2052,2208,3719,3700,3739,0,0,0,0,0,0,14.98,14.92,14.99
$GC,6355,-0.74,-126.5,2051,2209,3702,3740,682.6,-7.6,543,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2209,3720,3702,3739,0,0,0,0,0,0,15.07,15.11,15.11
$GC,6655,-0.74,-126.5,2052,2209,3703,3740,705.0,-7.3,558,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2209,3720,3702,3739,0,0,0,0,0,0,15.10,15.12,15.11
$GC,6955,-0.74,-126.5,2052,2210,3704,3740,727.2,-7.5,573,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2208,3721,3703,3739,0,0,0,0,0,0,15.11,15.13,15.12
$GC,7255,-0.74,-126.5,2052,2207,3705,3740,749.3,-7.3,588,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2207,3721,3703,3739,0,0,0,0,0,0,15.11,15.14,15.13
$GC,7555,-0.74,-126.5,2052,2209,3707,3740,771.2,-7.3,603,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2209,3722,3704,3740,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7855,-0.74,-126.5,2052,2209,3705,3739,793.1,-7.2,618,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2209,3722,3705,3740,0,0,0,0,0,0,15.12,15.14,15.14
$GC,8155,-0.74,-126.5,2052,2209,3706,3740,814.9,-7.3,633,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2209,3722,3706,3739,0,0,0,0,0,0,15.14,15.18,15.14
$GC,8455,-0.74,-126.5,2052,2209,3707,3740,836.6,-7.1,648,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2208,3722,3706,3739,0,0,0,0,0,0,15.13,15.15,15.15
$GC,8755,-0.74,-126.5,2052,2209,3707,3740,858.2,-7.2,663,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2209,3723,3707,3740,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9055,-0.74,-126.5,2052,2209,3707,3740,880.1,-7.3,678,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2209,3723,3707,3739,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9355,-0.74,-126.5,2051,2209,3708,3740,901.7,-7.2,693,9360,0.00,2.95,0.00,0.000,516,0.000,0.060,2061,1180,3723,3707,3739,0,0,0,0,0,0,15.14,14.95,15.16
$GC,9375,-0.74,-126.5,2061,1180,3707,3740,903.2,-7.5,697,9380,0.00,2.88,0.00,0.000,1030,0.000,0.044,2050,2205,3723,3707,3740,0,0,0,0,0,0,15.04,14.97,15.05
$GC,9696,-0.74,-126.5,2050,2207,3708,3740,925.9,-7.1,716,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2206,3723,3707,3740,0,0,0,0,0,0,15.13,15.16,15.15
$GC,9996,-0.74,-126.5,2051,2207,3708,3741,947.0,-7.0,731,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2206,3723,3707,3740,0,0,0,0,0,0,15.14,15.16,15.15
$GC,10296,-0.74,-126.5,2051,2207,3709,3741,967.6,-7.0,746,10297,0.12,0.00,0.00,0.000,2054,0.301,0.000,2075,2206,3724,3708,3740,0,0,0,0,0,0,14.86,15.04,15.02
$GC,10596,-0.74,-126.5,2075,2207,3709,3741,986.6,-6.3,761,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2206,3724,3708,3740,0,0,0,0,0,0,15.15,15.17,15.16
$STATE,10653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10653,begin apogee
$GC,10659,-0.11,0.0,2075,2357,3711,3740,990.4,-6.3,764,10801,0.73,0.00,139.27,2.103,10246,0.228,0.000,2276,2356,3167,3247,3087,0,0,0,0,0,0,14.88,14.22,13.49
$STATE,10802,end apogee,CONTROL_FINISHED_OK
$STATE,10802,begin climb
$GC,10804,0.74,126.5,2277,2357,3243,3082,991.3,0.0,771,10940,0.93,0.00,132.95,2.117,10502,0.163,0.000,2548,2356,2649,2805,2494,0,0,0,0,0,0,14.15,13.95,13.27
$GC,11235,0.74,126.5,2548,2357,2796,2498,945.3,11.6,796,11245,0.00,4.72,0.00,0.000,260,0.000,0.083,2540,3922,2647,2795,2500,0,0,0,0,0,0,14.59,14.38,14.62
$GC,11321,0.74,126.5,2541,3922,2797,2506,934.6,12.4,813,11326,0.00,2.50,0.00,0.000,1030,0.000,0.033,2550,2998,2650,2796,2505,0,0,0,0,0,0,14.56,14.52,14.55
$GC,11636,0.74,126.5,2550,2997,2796,2521,896.7,12.1,831,11646,0.00,4.82,0.00,0.000,516,0.000,0.051,2571,1330,2661,2801,2522,0,0,0,0,0,0,14.77,14.60,14.80
$GC,11841,0.74,126.5,2571,1330,2797,2528,873.4,11.2,872,11851,0.00,2.95,3.97,0.815,9222,0.000,0.048,2566,2352,2645,2785,2505,0,0,0,0,0,0,14.73,14.66,14.17
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$STATE,20668,end climb,SURFACE_DEPTH_REACHED
$STATE,20668,begin surface coast
$FINISH,0.9,1.021563
$STATE,20678,end surface coast,CONTROL_FINISHED_OK
$STATE,20678,begin surface
$SM_CCo,20700,271.67,0.190,0,0,719,600.00
$SM_GC,1.57,9.27,3.08,271.67,0.105,0.031,0.190,158,2833,719,-6.71,32.65,600.00,0,0,0,0,0,0,14.47,14.57,14.40
$RAFOS_CLK,195
$MODEM,2,1538136644,74.08334,-144.88333,44.758,65084.8
$RAFOS_FIX,7437.232910,-14546.567383,280918,121244,1,2,0.09
$IRIDIUM_FIX,7437.52,-14540.35,280918,013115
$TT8_MAMPS,0.039697,0.563997
$HUMID,43.50
$INTERNAL_PRESSURE,9.10578
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.8
$SC_FREEKB,3880992
$24V_AH,13.27,24.951
$10V_AH,13.41,0.000
$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,22.450,246.400,629.350,271.675,0.000,0.000,0.000,420.000,0.250,0.000,15.423,0.000,15926.860,1245.664,3997.603,422.342,0.000,3084.029,0.000,2681.717,4430.000,2.528,0.000
$DEVICE_MAMPS,413.865,82.620,2116.755,190.485,0.000,0.000,0.000,208.845,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,33.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20718.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.975,0.000,0.000,0.000
$MEM,334572
$DATA_FILE_SIZE,66483,1879
$CAP_FILE_SIZE,202253,0
$CFSIZE,1047117824,1035206656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.4
$GPS,280918,131958,7435.556,-14544.388,30,0.8,31,18.6,0.7,137.1,11,3.0