version: 67.00
glider: 229
mission: 2
dive: 17
start: 9 22 118 7 15 11
data:
$ID,229
$MISSION,2
$DIVE,17
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$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,320
$T_MISSION,360
$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,0.30000001
$D_OFFGRID,1020
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72243
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$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
$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,150
$PITCH_MAX,3840
$C_PITCH,1925
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,48
$PITCH_TIMEOUT,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,1.5
$PITCH_W_DBAND,0.5
$ROLL_MIN,340
$ROLL_MAX,3945
$ROLL_DEG,80
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$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,0.003
$UNCOM_BLEED,20
$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
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.4
$FG_AHR_10V,0.9610002
$FG_AHR_24V,3.9041638
$PHONE_SUPPLY,2
$PRESSURE_YINT,-162.53629
$PRESSURE_SLOPE,0.00010777653
$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,1.9639999e-06
$INT_PRESSURE_YINT,-2.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,104
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0044283443
$SEABIRD_T_H,0.00066085911
$SEABIRD_T_I,2.7456792e-05
$SEABIRD_T_J,3.4295531e-06
$SEABIRD_C_G,-9.9373035
$SEABIRD_C_H,1.1186405
$SEABIRD_C_I,-0.003041792
$SEABIRD_C_J,0.00029373623
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,220918,070501,7420.995,-14654.031,79,0.8,80,18.2
$_CALLS,1
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-72.6
$GPS2,220918,071437,7421.014,-14654.137,2,0.6,5,18.2
$SPEED_LIMITS,0.171,0.274
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,352.8,74255,-16.0,-9.896,-19.84
$D_GRID,950
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
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$PING,11.6,14.7,9000.0,0.00,0.00
$PING,22.6,26.4,9000.0,0.00,0.00
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$PING,33.8,37.7,37.8,1.04,1.00
$GC,167.45,1028,-170.32,-0.84,0.00,3863.7,3878.0,3849.4,1673.4,445.6,47.67,-42.74,28,175.04,0.00,0.00,5.24,0.000,0.000,0.037,3863.50,3877.81,3849.19,1653.19,2158.69,0,0,0,30.00,30.00,15.61
$PING,57.2,61.4,61.4,1.01,1.00
$PING,103.4,7.6,9000.0,-0.53,0.49
$GC,361.37,0,-170.32,-0.84,0.00,3863.2,3881.9,3844.5,1653.3,2159.9,103.39,-24.79,48,362.70,0.00,0.00,0.00,0.000,0.000,0.000,3862.94,3881.44,3844.44,1652.50,2159.62,0,0,0,30.00,30.00,30.00
$GC,538.23,0,-170.32,-0.84,0.00,3863.0,3882.2,3843.8,1652.6,2159.9,143.84,-22.33,66,539.57,0.00,0.00,0.00,0.000,0.000,0.000,3863.34,3883.00,3843.69,1653.00,2159.38,0,0,0,30.00,30.00,30.00
$GC,718.21,0,-170.32,-0.84,0.00,3862.4,3881.4,3843.4,1652.8,2159.1,181.65,-20.48,84,719.54,0.00,0.00,0.00,0.000,0.000,0.000,3863.25,3882.38,3844.12,1652.94,2159.56,0,0,0,30.00,30.00,30.00
$PING,199.8,9.1,9000.0,-0.31,0.54
$GC,898.20,0,-170.32,-0.84,0.00,3863.0,3882.4,3843.7,1652.7,2159.1,217.60,-19.88,102,899.53,0.00,0.00,0.00,0.000,0.000,0.000,3863.41,3883.06,3843.75,1652.38,2159.56,0,0,0,30.00,30.00,30.00
$PING,232.4,16.8,9000.0,0.06,0.63
$PING,243.0,8.7,9000.0,0.05,0.06
$GC,1078.22,0,-170.32,-0.84,0.00,3863.7,3882.5,3844.9,1652.9,2159.7,249.67,-16.96,120,1079.55,0.00,0.00,0.00,0.000,0.000,0.000,3863.16,3882.06,3844.25,1652.50,2159.62,0,0,0,30.00,30.00,30.00
$PING,254.6,32.2,9000.0,0.72,0.44
$PING,267.2,9.0,9000.0,-0.01,0.00
$PING,279.3,8.7,9000.0,-0.96,0.77
$GC,1271.52,260,-170.32,-0.84,80.00,3865.1,3884.4,3845.8,1653.0,2159.5,279.33,-15.15,130,1278.97,0.00,0.00,5.47,0.000,0.000,0.065,3864.22,3884.06,3844.38,1631.00,3852.50,0,0,0,30.00,30.00,15.81
$GC,1378.38,1028,-170.32,-0.84,0.00,3863.6,3884.2,3843.0,1630.6,3853.0,294.21,-12.73,152,1384.97,0.00,0.00,5.15,0.000,0.000,0.034,3862.38,3881.62,3843.12,1649.81,2135.00,0,0,0,30.00,30.00,15.83
$GC,1684.06,0,-170.32,-0.84,0.00,3862.8,3883.0,3842.5,1649.7,2134.0,335.27,-13.29,168,1685.39,0.00,0.00,0.00,0.000,0.000,0.000,3863.25,3884.31,3842.19,1650.00,2133.56,0,0,0,30.00,30.00,30.00
$GC,1987.82,0,-170.32,-0.84,0.00,3863.7,3885.2,3842.1,1649.9,2133.9,374.85,-13.01,183,1989.15,0.00,0.00,0.00,0.000,0.000,0.000,3863.22,3884.31,3842.12,1650.06,2134.25,0,0,0,30.00,30.00,30.00
$PING,385.5,32.8,9000.0,0.21,0.99
$GC,2284.06,0,-170.32,-0.84,0.00,3863.5,3884.0,3843.1,1650.1,2133.7,413.69,-12.75,198,2285.40,0.00,0.00,0.00,0.000,0.000,0.000,3862.66,3883.81,3841.50,1649.75,2133.38,0,0,0,30.00,30.00,30.00
$GC,2583.96,0,-170.32,-0.84,0.00,3863.2,3884.1,3842.2,1650.1,2133.6,451.07,-12.38,213,2585.29,0.00,0.00,0.00,0.000,0.000,0.000,3862.59,3884.00,3841.19,1649.81,2134.06,0,0,0,30.00,30.00,30.00
$PING,453.5,7.5,9000.0,0.01,0.01
$PING,487.6,8.0,9000.0,-0.26,0.88
$GC,2884.23,260,-170.32,-0.84,80.00,3863.3,3884.6,3842.0,1649.9,2134.2,486.97,-11.76,228,2893.43,0.00,0.00,5.57,0.000,0.000,0.063,3864.72,3884.62,3844.81,1630.19,3852.81,0,0,0,30.00,30.00,15.85
$GC,2960.06,1028,-170.32,-0.84,0.00,3863.2,3884.4,3842.1,1629.6,3853.3,495.76,-10.78,243,2966.59,0.00,0.00,5.14,0.000,0.000,0.034,3864.59,3885.25,3843.94,1645.88,2133.56,0,0,0,30.00,30.00,15.90
$PING,498.5,7.5,9000.0,0.00,0.08
$PING,510.3,7.5,9000.0,-0.02,0.67
$GC,3265.79,0,-170.32,-0.84,0.00,3863.5,3885.0,3842.1,1645.8,2132.6,531.85,-11.89,259,3267.13,0.00,0.00,0.00,0.000,0.000,0.000,3863.00,3884.94,3841.06,1645.56,2132.56,0,0,0,30.00,30.00,30.00
$GC,3565.65,0,-170.32,-0.84,0.00,3863.0,3884.5,3841.4,1645.6,2132.7,567.22,-11.81,274,3566.99,0.00,0.00,0.00,0.000,0.000,0.000,3863.09,3885.50,3840.69,1645.75,2132.31,0,0,0,30.00,30.00,30.00
$GC,3865.83,0,-170.32,-0.84,0.00,3863.8,3885.8,3841.8,1645.9,2132.1,602.79,-11.79,289,3867.16,0.00,0.00,0.00,0.000,0.000,0.000,3863.84,3885.56,3842.12,1645.56,2132.56,0,0,0,30.00,30.00,30.00
$GC,4165.83,0,-170.32,-0.84,0.00,3864.2,3886.2,3842.1,1645.6,2132.8,638.24,-11.70,304,4167.16,0.00,0.00,0.00,0.000,0.000,0.000,3863.50,3885.62,3841.38,1645.88,2132.81,0,0,0,30.00,30.00,30.00
$GC,4465.68,260,-170.32,-0.84,80.00,3864.2,3886.8,3841.7,1646.4,2132.3,673.17,-11.71,319,4472.93,0.00,0.00,5.55,0.000,0.000,0.062,3863.94,3885.88,3842.00,1625.38,3851.69,0,0,0,30.00,30.00,15.85
$GC,4535.27,1028,-170.32,-0.84,0.00,3863.9,3886.0,3841.8,1625.3,3851.8,681.19,-10.86,333,4542.55,0.00,0.00,5.12,0.000,0.000,0.033,3864.03,3885.12,3842.94,1640.75,2133.44,0,0,0,30.00,30.00,15.87
$GC,4855.81,0,-170.32,-0.84,0.00,3864.2,3886.1,3842.3,1641.0,2132.9,719.17,-12.04,352,4857.14,0.00,0.00,0.00,0.000,0.000,0.000,3864.44,3886.88,3842.00,1640.50,2133.44,0,0,0,30.00,30.00,30.00
$GC,5155.75,0,-170.32,-0.84,0.00,3864.6,3887.7,3841.5,1641.0,2134.4,754.80,-12.02,367,5157.08,0.00,0.00,0.00,0.000,0.000,0.000,3864.78,3887.56,3842.00,1641.19,2133.12,0,0,0,30.00,30.00,30.00
$GC,5455.82,0,-170.32,-0.84,0.00,3864.3,3887.2,3841.5,1640.5,2133.1,790.31,-11.93,382,5457.16,0.00,0.00,0.00,0.000,0.000,0.000,3864.34,3886.50,3842.19,1641.12,2133.00,0,0,0,30.00,30.00,30.00
$PING,804.4,7.8,9000.0,0.00,0.99
$PING,816.1,7.8,9000.0,0.00,1.00
$GC,5755.86,0,-170.32,-0.84,0.00,3864.8,3887.8,3841.9,1641.4,2133.2,825.38,-11.66,397,5757.20,0.00,0.00,0.00,0.000,0.000,0.000,3864.50,3886.69,3842.31,1640.94,2133.38,0,0,0,30.00,30.00,30.00
$PING,827.8,7.8,9000.0,0.00,0.74
$PING,839.4,7.8,9000.0,0.00,0.34
$PING,851.1,7.8,9000.0,-0.00,0.77
$GC,6055.84,260,-170.32,-0.84,80.00,3865.0,3888.6,3841.4,1640.8,2132.8,860.32,-11.62,412,6062.99,0.00,0.00,5.52,0.000,0.000,0.061,3865.84,3888.31,3843.38,1621.56,3853.12,0,0,0,30.00,30.00,15.97
$PING,861.6,7.8,9000.0,0.00,0.00
$GC,6125.15,1029,-170.32,-0.84,0.00,3865.8,3888.4,3843.2,1620.9,3852.6,868.36,-10.48,426,6132.65,0.00,0.08,5.09,0.000,0.207,0.034,3865.97,3888.12,3843.81,1656.94,2130.62,0,0,0,30.00,15.86,15.95
$PING,872.8,8.0,9000.0,0.01,0.81
$PING,883.8,8.0,9000.0,0.01,0.76
$PING,894.7,8.0,9000.0,-0.00,0.74
$GC,6445.84,0,-170.32,-0.84,0.00,3865.1,3888.2,3842.0,1658.0,2131.4,903.64,-11.05,445,6447.18,0.00,0.00,0.00,0.000,0.000,0.000,3864.56,3887.75,3841.38,1657.25,2131.56,0,0,0,30.00,30.00,30.00
$PING,905.7,8.0,9000.0,-0.00,0.24
$PING,916.6,7.8,9000.0,-0.01,0.61
$PING,927.7,8.0,9000.0,-0.00,0.00
$GC,6746.00,0,-170.32,-0.84,0.00,3864.9,3888.5,3841.3,1657.9,2131.3,936.32,-10.74,460,6747.33,0.00,0.00,0.00,0.000,0.000,0.000,3865.12,3888.94,3841.31,1657.38,2130.94,0,0,0,30.00,30.00,30.00
$PING,938.7,8.0,9000.0,0.01,0.83
$PING,949.6,8.0,9000.0,0.00,0.00
$STATE,6885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6885,begin apogee
$PING,952.7,18.3,9000.0,0.54,0.45
$GC,6887.13,3,0.00,-0.10,0.00,3865.5,3889.2,3841.9,1657.8,2228.0,951.74,-11.03,467,7043.22,153.57,1.50,0.15,2.482,0.170,0.136,3164.84,3252.50,3077.19,1890.25,2172.44,0,0,0,12.78,15.94,14.93
$STATE,7043,end apogee,CONTROL_FINISHED_OK
$STATE,7043,begin climb
$GC,7044.10,3,170.32,0.84,0.00,3161.7,3249.3,3074.1,1889.4,2172.1,956.10,0.00,474,7204.22,156.82,1.47,0.00,2.381,0.105,0.000,2473.28,2575.31,2371.25,2200.19,2172.25,0,0,0,12.25,15.02,30.00
$PING,942.4,7.7,9000.0,0.86,0.56
$PING,931.0,7.7,9000.0,0.48,0.73
$GC,7506.44,582,170.32,0.85,-80.00,2455.6,2549.9,2361.4,2200.8,2173.6,927.35,9.35,519,7513.66,0.00,0.00,5.55,0.000,0.000,0.069,2456.75,2551.12,2362.38,2221.69,496.94,0,0,0,30.00,30.00,15.43
$PING,920.8,7.7,9000.0,0.00,0.00
$PING,910.4,7.7,9000.0,0.00,0.00
$PING,900.0,7.7,9000.0,0.00,0.00
$GC,7739.65,1030,170.32,0.85,0.00,2452.3,2541.0,2363.6,2222.1,497.1,899.96,11.77,565,7747.58,0.00,0.00,5.16,0.000,0.000,0.034,2455.66,2544.94,2366.38,2202.25,2214.50,0,0,0,30.00,30.00,15.58
$PING,889.3,7.7,9000.0,-0.00,0.73
$PING,877.9,7.7,9000.0,-0.00,0.79
$PING,867.8,7.7,9000.0,0.00,0.00
$GC,8062.28,582,170.32,0.86,-80.00,2451.8,2540.9,2362.8,2202.6,2214.6,868.54,9.33,585,8070.66,0.00,0.00,5.62,0.000,0.000,0.068,2455.25,2544.50,2366.00,2221.12,495.88,0,0,0,30.00,30.00,14.15
$PING,857.3,7.7,9000.0,0.00,0.37
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$STATE,17223,end climb,SURFACE_DEPTH_REACHED
$STATE,17223,begin surface coast
$FINISH,-0.0,1.021166
$STATE,17243,end surface coast,CONTROL_FINISHED_OK
$STATE,17243,begin surface
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$SC_FREEKB,3900224
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$HUMID,53.83
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$24V_AH,14.15,8.457
$10V_AH,14.85,0.000
$FG_AHR_24Vo,4.139
$FG_AHR_10Vo,1.039
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,2482.056,409.424,136.200,221.879,420.000,15.000,19.920,2.310,5.000,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17273.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.212,0.000,0.000,0.000
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$DATA_FILE_SIZE,64339,1595
$CAP_FILE_SIZE,397833,0
$SDSIZE,3918848,3905952
$ERRORS,0,0,0,0,0,0,0,5
$SOUNDSPEED,1465.0
$CURRENT,0.141,143.4,1
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