version: 66.13
glider: 228
mission: 14
dive: 4
start: 9 21 118 3 18 50
data:
$ID,228
$MISSION,14
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72009
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0022
$HD_B,0.0185
$HD_C,1.91e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,653.96979
$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,200
$PITCH_MAX,3810
$C_PITCH,2420
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,46
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3950
$ROLL_DEG,80
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3166
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-148.83669
$PRESSURE_SLOPE,0.0001081732
$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,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.8
$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,0.0044279573
$SEABIRD_T_H,0.000658612
$SEABIRD_T_I,2.7901522e-05
$SEABIRD_T_J,3.4987197e-06
$SEABIRD_C_G,-9.9235325
$SEABIRD_C_H,1.1433685
$SEABIRD_C_I,-0.0023654797
$SEABIRD_C_J,0.00025343007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,210918,031433,7415.4585,-14626.1475,1,0.8,2,18.4,0.9,292.3,12,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.0
$GPS2,210918,031800,7415.4551,-14626.1934,4,0.8,5,18.4,0.1,0.0,12,6.0
$SPEED_LIMITS,0.173,0.224
$TGT_NAME,NAV-SW
$TGT_LATLONG,7425.620,-14756.580
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,319.3,48724,-15.9,-10.000,-24.03,2984
$D_GRID,660
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,11,-0.93,-194.6,202,2511,475,512,0.0,0.0,0,104,0.00,0.00,-90.95,0.003,16386,0.000,0.000,202,2511,2070,2181,1959,0,0,0,0,0,0,14.72,28.83,14.75
$PING,10.7,5.9,9000.0,0.00,0.00
$PING,21.3,5.9,9000.0,0.00,0.00
$PING,33.3,5.8,9000.0,-0.00,0.39
$GC,107,-0.93,-194.6,202,2511,2181,1965,6.7,-10.8,9,165,10.00,4.97,-33.05,0.005,18948,0.472,0.083,2132,800,3961,3935,3988,0,0,0,0,0,0,14.30,13.69,14.58
$PING,44.4,6.7,9000.0,0.04,0.68
$GC,190,-0.93,-194.6,2132,800,3934,3991,44.4,-42.4,22,198,0.00,4.93,0.00,0.000,1030,0.000,0.069,2114,2493,3962,3934,3991,0,0,0,0,0,0,14.59,14.51,14.62
$PING,56.4,59.7,9000.0,2.36,0.78
$PING,68.6,8.3,9000.0,0.06,0.00
$PING,78.6,7.3,9000.0,-2.42,0.81
$GC,376,-0.93,-194.6,2113,2492,3933,3991,85.4,-17.0,41,387,0.00,4.88,0.00,0.000,516,0.000,0.076,2117,820,3962,3933,3991,0,0,0,0,0,0,14.74,14.52,14.76
$PING,88.8,93.0,9000.0,4.20,0.74
$GC,396,-0.93,-194.6,2117,820,3933,3991,88.8,-17.1,44,403,0.00,4.88,0.00,0.000,1030,0.000,0.064,2098,2507,3962,3933,3991,0,0,0,0,0,0,14.62,14.53,14.63
$PING,99.8,9.9,9000.0,0.00,0.00
$PING,111.2,10.2,9000.0,-3.67,0.74
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$PING,122.0,9.9,9000.0,0.00,0.02
$PING,132.3,10.7,9000.0,0.03,0.49
$PING,142.6,7.5,9000.0,-0.12,0.53
$GC,773,-0.93,-194.6,2098,2506,3933,3990,146.9,-14.5,82,779,0.00,4.30,0.00,0.000,260,0.000,0.098,2080,3950,3961,3932,3991,0,0,0,0,0,0,14.79,14.54,14.81
$GC,787,-0.93,-194.6,2080,3950,3932,3992,149.2,-14.7,84,794,0.15,4.00,0.00,0.000,3078,0.272,0.050,2112,2508,3962,3932,3992,0,0,0,0,0,0,14.47,14.59,14.64
$PING,152.9,10.7,9000.0,-0.00,0.00
$PING,163.4,10.7,9000.0,0.15,0.74
$PING,174.6,9.4,9000.0,-0.06,0.78
$GC,984,-0.93,-194.6,2112,2508,3932,3992,174.6,-12.4,104,990,0.00,4.32,0.00,0.000,260,0.000,0.102,2101,3946,3961,3932,3991,0,0,0,0,0,0,14.81,14.57,14.83
$PING,184.7,192.8,9000.0,8.39,0.72
$GC,1223,-0.93,-194.6,2095,3945,3930,3993,199.2,-9.8,150,1229,0.00,4.07,0.00,0.000,1062,0.000,0.049,2096,2495,3961,3930,3993,0,0,0,0,0,0,14.66,14.60,14.68
$PING,205.4,9.0,9000.0,-1.34,0.04
$PING,216.4,8.9,9000.0,-6.19,0.88
$GC,1419,-0.93,-194.6,2096,2495,3930,3993,222.5,-12.3,170,1431,0.00,4.85,0.00,0.000,516,0.000,0.075,2096,806,3961,3930,3993,0,0,0,0,0,0,14.84,14.62,14.86
$PING,226.4,8.9,9000.0,0.00,0.00
$GC,1455,-0.93,-194.6,2096,806,3930,3989,227.1,-13.2,176,1467,0.10,4.85,0.00,0.000,3078,0.239,0.066,2114,2500,3961,3930,3993,0,0,0,0,0,0,14.54,14.62,14.64
$PING,236.5,8.9,9000.0,0.00,0.00
$PING,247.3,8.9,9000.0,0.00,0.00
$GC,1649,-0.93,-194.6,2114,2500,3930,3992,246.3,-9.7,196,1657,0.00,0.00,0.00,0.000,38,0.000,0.000,2114,2500,3961,3930,3992,0,0,0,0,0,0,14.85,14.88,14.87
$PING,257.6,8.8,9000.0,-0.01,0.73
$GC,1846,-0.93,-194.6,2113,2500,3930,3993,264.6,-8.8,208,1857,0.00,4.90,0.00,0.000,804,0.000,0.076,2114,810,3961,3930,3993,0,0,0,0,0,0,14.88,14.64,14.90
$PING,267.6,6.5,9000.0,-0.12,0.80
$GC,1885,-0.93,-194.6,2114,810,3930,3992,268.0,-7.9,215,1895,0.00,4.82,0.00,0.000,1062,0.000,0.063,2109,2501,3961,3929,3993,0,0,0,0,0,0,14.74,14.66,14.76
$PING,278.0,6.7,9000.0,-0.10,0.68
$PING,288.7,6.7,9000.0,0.01,0.76
$GC,2193,-0.93,-194.6,2109,2502,3930,3992,291.8,-7.6,231,2200,0.00,4.30,0.00,0.000,292,0.000,0.099,2092,3947,3961,3930,3992,0,0,0,0,0,0,14.90,14.63,14.92
$GC,2207,-0.93,-194.6,2092,3947,3929,3992,293.1,-7.8,233,2214,0.00,4.05,0.00,0.000,1062,0.000,0.048,2093,2498,3961,3929,3993,0,0,0,0,0,0,14.76,14.69,14.77
$PING,298.9,6.5,9000.0,-0.01,0.72
$PING,309.9,6.5,9000.0,-0.01,0.64
$GC,2519,-0.93,-194.6,2093,2498,3930,3993,317.7,-7.8,250,2524,0.00,4.32,0.00,0.000,292,0.000,0.096,2081,3951,3960,3929,3992,0,0,0,0,0,0,14.85,14.64,14.88
$PING,320.0,6.5,9000.0,0.00,0.00
$PING,330.0,7.1,9000.0,0.03,0.74
$GC,2749,-0.93,-194.6,2081,3953,3930,3993,334.0,-9.0,296,2755,0.15,4.07,0.00,0.000,3110,0.164,0.045,2122,2487,3959,3928,3991,0,0,0,0,0,0,14.60,14.69,14.71
$PING,340.4,6.4,9000.0,-0.00,0.01
$PING,352.1,6.4,9000.0,-0.03,0.73
$GC,3061,-0.93,-194.6,2122,2487,3932,3993,359.2,-8.9,313,3066,0.00,4.35,0.00,0.000,292,0.000,0.097,2122,3946,3960,3928,3992,0,0,0,0,0,0,14.83,14.62,14.85
$PING,362.6,7.1,9000.0,0.03,0.71
$GC,3146,-0.93,-194.6,2122,3946,3928,3993,367.1,-8.2,330,3151,0.00,4.03,0.00,0.000,1062,0.000,0.043,2122,2495,3960,3928,3993,0,0,0,0,0,0,14.72,14.66,14.73
$PING,373.3,6.4,9000.0,0.00,0.00
$PING,384.0,7.1,9000.0,0.00,0.00
$PING,395.0,7.1,9000.0,0.03,0.72
$GC,3464,-0.93,-194.6,2122,2495,3928,3993,395.0,-9.3,348,3474,0.00,4.78,0.00,0.000,548,0.000,0.065,2123,812,3960,3928,3992,0,0,0,0,0,0,14.81,14.62,14.82
$PING,405.0,6.4,9000.0,-0.03,0.75
$PING,415.3,6.4,9000.0,-0.03,0.74
$GC,3699,-0.93,-194.6,2123,814,3930,3994,416.7,-9.5,395,3705,0.00,4.82,0.00,0.000,1062,0.000,0.060,2122,2504,3960,3928,3992,0,0,0,0,0,0,14.69,14.62,14.71
$PING,425.6,7.8,9000.0,0.07,0.75
$PING,436.6,6.9,9000.0,0.02,0.11
$GC,4005,-0.93,-194.6,2122,2505,3928,3993,443.9,-9.2,411,4011,0.00,4.30,0.00,0.000,292,0.000,0.101,2123,3944,3960,3928,3992,0,0,0,0,0,0,14.79,14.58,14.81
$PING,446.7,7.0,9000.0,-0.04,0.66
$PING,457.0,6.9,9000.0,0.00,0.12
$GC,4161,-0.93,-194.6,2122,3946,3928,3995,458.4,-9.2,442,4168,0.00,4.03,0.00,0.000,1062,0.000,0.044,2123,2501,3960,3928,3992,0,0,0,0,0,0,14.69,14.64,14.70
$PING,468.5,7.6,9000.0,0.03,0.68
$PING,479.3,6.8,9000.0,-0.00,0.01
$GC,4468,-0.93,-194.6,2123,2499,3928,3993,484.7,-9.0,458,4469,0.00,0.00,0.00,0.000,38,0.000,0.000,2128,2498,3960,3928,3992,0,0,0,0,0,0,14.78,14.80,14.80
$PING,490.1,8.4,9000.0,0.04,0.27
$PING,501.0,9.9,9000.0,0.14,1.00
$PING,511.8,6.7,9000.0,-0.08,0.29
$GC,4769,-0.93,-194.6,2123,2499,3929,3993,511.8,-9.0,473,4775,0.00,4.82,0.00,0.000,548,0.000,0.067,2123,811,3959,3927,3992,0,0,0,0,0,0,14.82,14.63,14.84
$GC,4780,-0.93,-194.6,2123,811,3928,3989,513.0,-9.0,475,4786,0.00,4.82,0.00,0.000,1062,0.000,0.058,2125,2507,3960,3928,3992,0,0,0,0,0,0,14.71,14.63,14.73
$PING,522.2,10.1,9000.0,0.01,0.00
$PING,532.6,6.9,9000.0,0.01,0.00
$GC,5092,-0.93,-194.6,2124,2508,3929,3993,539.6,-8.7,492,5098,0.00,4.28,0.00,0.000,292,0.000,0.099,2123,3947,3960,3928,3992,0,0,0,0,0,0,14.85,14.62,14.88
$GC,5103,-0.93,-194.6,2123,3947,3928,3993,540.6,-8.8,494,5108,0.00,4.05,0.00,0.000,1062,0.000,0.044,2123,2494,3960,3928,3992,0,0,0,0,0,0,14.74,14.69,14.76
$PING,543.0,6.9,9000.0,-0.16,0.75
$PING,554.7,6.9,9000.0,0.00,0.00
$PING,565.5,6.9,9000.0,0.00,0.00
$GC,5414,-0.93,-194.6,2123,2491,3928,3993,567.3,-9.1,511,5419,0.00,4.35,0.00,0.000,292,0.000,0.101,2123,3945,3960,3928,3992,0,0,0,0,0,0,14.88,14.64,14.90
$PING,575.7,7.1,9000.0,0.01,0.74
$PING,585.8,7.1,9000.0,0.01,0.65
$GC,5644,-0.93,-194.6,2123,3946,3929,3994,588.0,-8.7,557,5650,0.00,4.03,0.00,0.000,1062,0.000,0.044,2123,2492,3960,3928,3993,0,0,0,0,0,0,14.78,14.71,14.79
$PING,597.1,7.1,9000.0,-0.00,0.57
$PING,607.8,7.1,9000.0,0.00,0.00
$GC,5957,-0.93,-194.6,2124,2492,3929,3990,615.0,-8.9,574,5963,0.00,4.32,0.00,0.000,292,0.000,0.101,2123,3941,3960,3927,3993,0,0,0,0,0,0,14.90,14.66,14.92
$PING,617.9,7.7,9000.0,0.03,0.72
$GC,6048,-0.93,-194.6,2124,3942,3929,3994,622.8,-8.3,592,6054,0.00,4.00,0.00,0.000,1062,0.000,0.045,2123,2496,3963,3933,3993,0,0,0,0,0,0,14.78,14.73,14.81
$PING,628.6,7.7,9000.0,0.03,0.76
$PING,639.3,7.7,9000.0,-0.00,0.23
$PING,650.2,7.7,9000.0,-0.00,0.96
$GC,6361,-0.93,-194.6,2123,2496,3929,3993,650.2,-9.1,609,6367,0.00,4.75,0.00,0.000,548,0.000,0.065,2124,815,3960,3928,3993,0,0,0,0,0,0,14.91,14.71,14.92
$GC,6372,-0.93,-194.6,2125,820,3929,3994,651.4,-9.0,611,6378,0.00,4.78,0.00,0.000,1062,0.000,0.057,2124,2506,3960,3928,3993,0,0,0,0,0,0,14.79,14.71,14.81
$PING,660.6,7.8,9000.0,0.00,0.59
$STATE,6481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6481,begin apogee
$PING,661.9,7.7,9000.0,0.01,0.66
$GC,6487,-0.11,0.0,2126,2393,3929,3994,660.6,-8.4,618,6672,0.77,0.00,181.85,2.165,10246,0.117,0.000,2386,2392,3163,3178,3149,0,0,0,0,0,0,14.69,13.87,13.16
$STATE,6673,end apogee,CONTROL_FINISHED_OK
$STATE,6673,begin climb
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$PING,651.3,6.8,9000.0,0.09,0.97
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