version: 66.13
glider: 227
mission: 9
dive: 72
start: 10 6 118 4 57 2
data:
$ID,227
$MISSION,9
$DIVE,72
$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,410
$T_MISSION,520
$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,110
$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,60
$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,30
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,3408
$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
$GPS1,061018,044401,7446.3022,-14534.2578,29,0.9,30,18.6,0.2,212.4,9,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.8
$GPS2,061018,045621,7446.3491,-14534.2051,4,0.6,6,18.6,0.2,290.5,12,5.3
$SPEED_LIMITS,0.139,0.176
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,185.1,63426,-20.6,-8.049,-24.58,2045
$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,-0.71,-107.1,151,2371,725,500,0.0,0.0,0,191,0.00,0.00,-174.38,0.002,16390,0.000,0.000,149,2362,3847,3780,3914,0,0,0,0,0,0,14.57,13.63,14.59
$GC,194,-0.71,-107.1,151,2373,3783,3915,2.4,-1.2,18,211,9.32,2.20,0.00,0.000,2596,0.412,0.031,2094,1588,3851,3789,3914,0,0,0,0,0,0,14.27,14.45,14.50
$GC,437,-0.71,-107.1,2094,1586,3802,3913,77.4,-29.5,66,442,0.00,1.75,0.00,0.000,1030,0.000,0.040,2088,2204,3856,3802,3911,0,0,0,0,0,0,14.62,14.56,14.62
$GC,627,-0.71,-107.1,2088,2206,3804,3914,118.2,-18.4,86,632,0.00,1.73,0.00,0.000,516,0.000,0.038,2093,1590,3858,3803,3914,0,0,0,0,0,0,14.74,14.60,14.76
$GC,822,-0.71,-107.1,2094,1591,3805,3914,151.6,-16.9,125,828,0.00,1.73,0.00,0.000,1030,0.000,0.038,2088,2200,3858,3804,3913,0,0,0,0,0,0,14.70,14.65,14.71
$GC,1007,-0.71,-107.1,2088,2202,3808,3913,182.3,-16.6,144,1013,0.00,1.75,0.00,0.000,516,0.000,0.039,2093,1591,3860,3807,3913,0,0,0,0,0,0,14.83,14.67,14.84
$GC,1108,-0.71,-107.1,2093,1591,3809,3913,198.8,-16.1,164,1114,0.00,1.73,0.00,0.000,1030,0.000,0.039,2088,2203,3860,3808,3912,0,0,0,0,0,0,14.73,14.68,14.74
$GC,1299,-0.71,-107.1,2088,2204,3810,3913,228.6,-15.2,184,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2202,3860,3809,3912,0,0,0,0,0,0,14.87,14.89,14.89
$GC,1479,-0.71,-107.1,2088,2203,3811,3913,253.8,-13.3,201,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2203,3861,3810,3912,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1779,-0.71,-107.1,2088,2203,3812,3912,289.1,-10.3,216,1785,0.00,1.70,0.00,0.000,516,0.000,0.039,2093,1591,3861,3811,3911,0,0,0,0,0,0,14.95,14.78,14.97
$GC,1830,-0.71,-107.1,2093,1591,3811,3912,294.3,-10.4,226,1835,0.00,1.73,0.00,0.000,1030,0.000,0.039,2087,2207,3861,3811,3912,0,0,0,0,0,0,14.84,14.78,14.85
$GC,2140,-0.71,-107.1,2088,2208,3813,3912,323.2,-9.2,243,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2208,3862,3812,3912,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2440,-0.71,-107.1,2088,2208,3814,3912,349.4,-8.5,258,2445,0.00,3.58,0.00,0.000,260,0.000,0.063,2075,3466,3863,3814,3912,0,0,0,0,0,0,15.00,14.81,15.02
$GC,2476,-0.71,-107.1,2072,3467,3815,3912,352.8,-9.7,265,2482,0.00,1.58,0.00,0.000,1030,0.000,0.028,2075,2817,3862,3814,3911,0,0,0,0,0,0,14.90,14.88,14.92
$GC,2781,-0.71,-107.1,2075,2817,3816,3910,379.9,-8.6,281,2786,0.00,3.40,0.00,0.000,516,0.000,0.037,2086,1602,3863,3816,3910,0,0,0,0,0,0,15.02,14.85,15.04
$GC,3011,-0.71,-107.1,2086,1601,3819,3911,398.9,-8.1,327,3016,0.00,1.67,0.00,0.000,1030,0.000,0.039,2080,2205,3864,3818,3910,0,0,0,0,0,0,14.91,14.85,14.92
$GC,3321,-0.71,-107.1,2080,2206,3819,3910,424.5,-8.2,344,3327,0.00,1.70,0.00,0.000,516,0.000,0.041,2085,1589,3864,3819,3910,0,0,0,0,0,0,15.03,14.87,15.06
$GC,3467,-0.71,-107.1,2085,1590,3820,3910,436.4,-8.2,373,3472,0.00,1.70,0.00,0.000,1030,0.000,0.039,2080,2205,3865,3820,3910,0,0,0,0,0,0,14.93,14.88,14.94
$GC,3782,-0.71,-107.1,2080,2206,3822,3910,462.2,-8.1,391,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2205,3866,3822,3910,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4082,-0.71,-107.1,2080,2205,3824,3911,486.3,-8.0,406,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2205,3866,3823,3909,0,0,0,0,0,0,15.05,15.07,15.07
$GC,4382,-0.71,-107.1,2080,2206,3825,3911,509.9,-7.8,421,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2205,3867,3824,3910,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4682,-0.71,-107.1,2079,2206,3825,3911,533.3,-7.8,436,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2205,3867,3825,3910,0,0,0,0,0,0,15.08,15.10,15.08
$GC,4982,-0.71,-107.1,2080,2205,3826,3910,556.3,-7.6,451,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2205,3867,3825,3910,0,0,0,0,0,0,15.09,15.11,15.10
$GC,5282,-0.71,-107.1,2080,2206,3827,3911,578.8,-7.5,466,5287,0.00,3.55,0.00,0.000,260,0.000,0.063,2063,3465,3868,3826,3910,0,0,0,0,0,0,15.09,14.90,15.11
$GC,5322,-0.71,-107.1,2064,3465,3826,3910,582.2,-8.6,474,5327,0.00,1.58,0.00,0.000,1030,0.000,0.027,2066,2809,3868,3826,3910,0,0,0,0,0,0,15.00,14.97,15.01
$GC,5643,-0.71,-107.1,2066,2806,3829,3911,607.5,-7.8,493,5648,0.00,3.35,0.00,0.000,516,0.000,0.037,2069,1596,3869,3829,3910,0,0,0,0,0,0,15.10,14.92,15.11
$GC,5873,-0.71,-107.1,2069,1595,3831,3911,625.4,-7.7,539,5878,0.00,1.67,0.00,0.000,1030,0.000,0.038,2064,2206,3870,3830,3910,0,0,0,0,0,0,15.00,14.95,15.00
$GC,6183,-0.71,-107.1,2064,2207,3833,3911,649.6,-7.9,556,6189,0.00,1.67,0.00,0.000,516,0.000,0.039,2065,1595,3871,3832,3910,0,0,0,0,0,0,15.10,14.95,15.12
$GC,6289,-0.71,-107.1,2065,1595,3832,3910,658.0,-8.0,577,6294,0.12,1.67,0.00,0.000,3078,0.281,0.039,2085,2205,3871,3833,3910,0,0,0,0,0,0,14.81,14.94,14.97
$GC,6605,-0.71,-107.1,2086,2206,3835,3911,680.3,-7.0,595,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2205,3872,3834,3910,0,0,0,0,0,0,15.11,15.13,15.13
$GC,6905,-0.71,-107.1,2086,2206,3836,3911,701.0,-6.9,610,6910,0.00,3.55,0.00,0.000,260,0.000,0.063,2072,3469,3872,3835,3910,0,0,0,0,0,0,15.11,14.92,15.13
$GC,6946,-0.71,-107.1,2071,3469,3836,3910,704.2,-8.0,618,6951,0.00,1.55,0.00,0.000,1030,0.000,0.025,2077,2816,3870,3831,3910,0,0,0,0,0,0,15.02,15.00,15.03
$GC,7266,-0.71,-107.1,2077,2816,3838,3911,727.6,-7.3,637,7271,0.00,3.38,0.00,0.000,516,0.000,0.037,2089,1591,3874,3838,3910,0,0,0,0,0,0,15.11,14.95,15.14
$GC,7497,-0.71,-107.1,2089,1591,3840,3911,744.1,-7.1,683,7501,0.00,1.67,0.00,0.000,1030,0.000,0.036,2083,2203,3874,3839,3910,0,0,0,0,0,0,15.01,14.96,15.02
$GC,7807,-0.71,-107.1,2083,2203,3841,3911,766.5,-7.3,700,7812,0.00,1.67,0.00,0.000,516,0.000,0.038,2088,1590,3875,3841,3910,0,0,0,0,0,0,15.11,14.95,15.14
$GC,7863,-0.71,-107.1,2090,1590,3841,3911,770.6,-7.3,711,7869,0.00,1.67,0.00,0.000,1030,0.000,0.038,2082,2200,3875,3841,3910,0,0,0,0,0,0,15.01,14.96,15.02
$GC,8168,-0.71,-107.1,2083,2201,3843,3912,793.0,-7.3,727,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2200,3876,3843,3910,0,0,0,0,0,0,15.12,15.14,15.14
$GC,8468,-0.71,-107.1,2081,2201,3844,3911,814.7,-7.2,742,8473,0.00,3.55,0.00,0.000,260,0.000,0.062,2066,3467,3876,3843,3910,0,0,0,0,0,0,15.13,14.93,15.14
$GC,8518,-0.71,-107.1,2066,3465,3844,3910,818.7,-8.3,752,8524,0.00,1.55,0.00,0.000,1030,0.000,0.027,2069,2816,3877,3844,3910,0,0,0,0,0,0,15.02,14.99,15.02
$GC,8829,-0.71,-107.1,2069,2817,3845,3911,842.3,-7.5,769,8834,0.00,3.38,0.00,0.000,516,0.000,0.037,2075,1594,3878,3846,3910,0,0,0,0,0,0,15.13,14.95,15.14
$GC,9059,-0.71,-107.1,2075,1593,3848,3911,859.3,-7.4,815,9064,0.00,1.67,0.00,0.000,1030,0.000,0.038,2069,2202,3878,3847,3910,0,0,0,0,0,0,15.02,14.96,15.03
$GC,9370,-0.71,-107.1,2070,2203,3849,3911,882.1,-7.3,832,9375,0.00,1.67,0.00,0.000,516,0.000,0.040,2074,1588,3879,3848,3911,0,0,0,0,0,0,15.13,14.96,15.15
$GC,9445,-0.71,-107.1,2073,1589,3850,3911,887.6,-7.2,847,9452,0.00,1.73,0.00,0.000,1030,0.000,0.039,2068,2198,3880,3849,3911,0,0,0,0,0,0,14.99,14.95,15.01
$GC,9750,-0.71,-107.1,2069,2198,3850,3912,909.5,-7.1,863,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2198,3880,3850,3911,0,0,0,0,0,0,15.13,15.16,15.15
$GC,10050,-0.71,-107.1,2068,2198,3851,3912,930.9,-7.1,878,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2198,3881,3851,3911,0,0,0,0,0,0,15.13,15.15,15.15
$GC,10350,-0.71,-107.1,2069,2198,3852,3912,951.8,-7.0,893,10356,0.00,3.55,0.00,0.000,260,0.000,0.063,2052,3463,3881,3852,3911,0,0,0,0,0,0,15.14,14.94,15.16
$GC,10391,-0.71,-107.1,2052,3463,3853,3912,955.0,-8.1,901,10396,0.15,1.55,0.00,0.000,3078,0.269,0.027,2088,2811,3879,3848,3911,0,0,0,0,0,0,14.83,15.02,15.00
$GC,10712,-0.71,-107.1,2088,2812,3854,3912,975.4,-6.3,920,10718,0.00,3.35,0.00,0.000,516,0.000,0.036,2102,1594,3882,3854,3911,0,0,0,0,0,0,15.14,14.97,15.16
$STATE,10954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10954,begin apogee
$GC,10962,-0.11,0.0,2095,2353,3855,3913,990.1,-5.9,966,11099,0.68,0.00,133.30,1.842,10246,0.219,0.000,2283,2352,3405,3461,3350,0,0,0,0,0,0,14.83,14.28,13.60
$STATE,11100,end apogee,CONTROL_FINISHED_OK
$STATE,11100,begin climb
$GC,11103,0.71,107.1,2283,2353,3460,3350,992.4,0.0,973,11232,0.85,1.85,116.47,2.026,10756,0.127,0.037,2559,1742,2966,3087,2846,0,0,0,0,0,0,14.23,14.02,13.33
$GC,11282,0.71,107.1,2559,1743,3087,2845,975.3,15.0,1007,11287,0.00,1.80,0.00,0.000,1030,0.000,0.041,2554,2350,2965,3086,2844,0,0,0,0,0,0,14.23,14.18,14.24
$GC,11593,0.71,107.1,2554,2352,3086,2876,927.1,15.6,1024,11603,0.00,3.70,3.40,0.711,8452,0.000,0.063,2538,3616,2966,3079,2853,0,0,0,0,0,0,14.60,14.44,13.96
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$STATE,19876,end climb,SURFACE_DEPTH_REACHED
$STATE,19876,begin surface coast
$FINISH,0.3,1.021569
$STATE,19888,end surface coast,CONTROL_FINISHED_OK
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$RAFOS_CLK,367
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$10V_AH,13.46,0.000
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$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.908,0.000,0.000,0.000
$MEM,334480
$DATA_FILE_SIZE,69770,2054
$CAP_FILE_SIZE,205077,0
$CFSIZE,1047117824,1029570560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
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