version: 66.13
glider: 227
mission: 9
dive: 19
start: 9 22 118 23 29 36
data:
$ID,227
$MISSION,9
$DIVE,19
$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,0.0037
$HD_B,0.013
$HD_C,3.1e-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,2270
$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,28
$R_STBD_OVSHOOT,17
$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
$GPS1,220918,231909,7427.2930,-14626.1133,49,1.0,53,18.4,0.1,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.0
$GPS2,220918,232858,7427.2788,-14626.1328,4,1.0,8,18.4,0.2,355.9,9,6.5
$SPEED_LIMITS,0.173,0.232
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,16.4,56870,-19.9,-10.000,-23.28,2245
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.78,-146.0,159,2203,706,451,0.0,0.0,0,83,0.00,0.00,-71.90,0.002,16386,0.000,0.000,163,2199,1850,1825,1875,0,0,0,0,0,0,14.70,28.83,14.76
$PING,11.6,9.7,9000.0,0.00,0.00
$PING,22.5,24.7,9000.0,0.00,0.00
$GC,86,-0.78,-146.0,158,2200,1828,1875,5.4,-7.4,7,141,9.00,5.05,-38.00,0.003,18980,0.427,0.088,2029,510,3766,3702,3830,0,0,0,0,0,0,14.38,13.83,14.60
$PING,33.0,9.6,9000.0,0.01,0.00
$PING,44.2,47.3,9000.0,1.07,0.38
$PING,55.2,58.8,9000.0,2.22,0.92
$PING,65.3,68.8,68.9,1.02,1.00
$GC,222,-0.78,-146.0,2031,511,3730,3844,65.3,-32.4,32,229,0.00,5.00,0.00,0.000,1030,0.000,0.060,2009,2203,3786,3730,3842,0,0,0,0,0,0,14.62,14.55,14.64
$PING,76.2,80.5,80.3,1.03,1.00
$PING,87.4,91.4,91.6,1.03,1.00
$PING,98.1,104.5,104.0,1.09,1.00
$PING,108.1,113.0,113.7,1.04,0.99
$GC,406,-0.78,-146.0,2010,2205,3742,3843,115.4,-24.5,51,417,0.00,5.05,0.00,0.000,516,0.000,0.079,2028,512,3792,3741,3843,0,0,0,0,0,0,14.79,14.58,14.81
$PING,119.2,124.6,124.2,0.95,1.00
$PING,129.3,134.9,135.0,1.03,1.00
$GC,469,-0.78,-146.0,2029,512,3742,3844,129.3,-21.3,63,479,0.00,4.95,0.00,0.000,1030,0.000,0.057,2008,2206,3792,3742,3843,0,0,0,0,0,0,14.66,14.63,14.69
$PING,140.1,146.3,146.3,1.04,1.00
$PING,151.4,158.2,158.2,1.05,1.00
$PING,162.7,170.2,170.1,1.05,1.00
$GC,658,-0.78,-146.0,2008,2207,3743,3844,171.7,-22.3,83,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2207,3793,3744,3843,0,0,0,0,0,0,14.84,14.86,14.85
$PING,184.8,193.1,193.1,1.05,1.00
$GC,840,-0.78,-146.0,2008,2208,3746,3844,210.4,-20.6,101,846,0.00,5.03,0.00,0.000,516,0.000,0.076,2027,513,3794,3745,3843,0,0,0,0,0,0,14.87,14.68,14.88
$GC,891,-0.78,-146.0,2027,513,3745,3844,221.4,-19.4,111,902,0.00,4.90,0.00,0.000,1030,0.000,0.053,2006,2207,3794,3746,3843,0,0,0,0,0,0,14.74,14.68,14.75
$GC,1093,-0.78,-146.0,2006,2208,3747,3843,259.1,-18.4,130,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2207,3795,3747,3843,0,0,0,0,0,0,14.90,14.92,14.92
$GC,1391,-0.78,-146.0,2006,2206,3749,3844,304.9,-13.9,145,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2207,3795,3748,3843,0,0,0,0,0,0,14.95,14.97,14.97
$GC,1691,-0.78,-146.0,2006,2208,3749,3847,346.0,-13.5,160,1702,0.00,4.97,0.00,0.000,516,0.000,0.076,2022,510,3796,3749,3844,0,0,0,0,0,0,14.98,14.78,15.00
$GC,1742,-0.78,-146.0,2022,511,3750,3844,352.8,-13.2,170,1753,0.00,4.88,0.00,0.000,1030,0.000,0.054,2005,2209,3796,3749,3843,0,0,0,0,0,0,14.85,14.78,14.86
$GC,2053,-0.78,-146.0,2001,2210,3750,3844,394.1,-13.2,187,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2210,3796,3749,3843,0,0,0,0,0,0,14.94,14.97,14.97
$GC,2352,-0.78,-146.0,2001,2210,3750,3843,433.5,-13.1,202,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2210,3796,3750,3843,0,0,0,0,0,0,14.95,14.96,14.97
$PING,435.9,6.1,9000.0,-0.66,0.97
$PING,446.2,6.1,9000.0,-0.73,1.00
$PING,456.3,6.1,9000.0,-0.00,0.75
$PING,468.8,6.1,9000.0,0.00,0.00
$GC,2654,-0.78,-146.0,2000,2210,3751,3843,471.4,-12.6,217,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2210,3796,3750,3843,0,0,0,0,0,0,14.94,14.97,14.97
$PING,478.9,6.1,9000.0,0.00,0.93
$GC,2952,-0.78,-146.0,2001,2210,3751,3844,508.6,-12.2,232,2963,0.00,5.00,0.00,0.000,516,0.000,0.078,2013,516,3796,3750,3843,0,0,0,0,0,0,14.95,14.75,14.97
$GC,3018,-0.78,-146.0,2014,516,3750,3844,516.8,-12.0,245,3024,0.00,4.88,0.00,0.000,1030,0.000,0.057,1993,2206,3794,3746,3843,0,0,0,0,0,0,14.85,14.78,14.86
$GC,3336,-0.78,-146.0,1993,2208,3751,3843,556.5,-12.6,263,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2207,3797,3751,3843,0,0,0,0,0,0,14.95,14.97,14.97
$GC,3636,-0.78,-146.0,1993,2208,3752,3844,594.2,-12.5,278,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2207,3797,3751,3843,0,0,0,0,0,0,14.94,14.97,14.96
$GC,3935,-0.78,-146.0,1991,2208,3752,3843,631.5,-12.4,293,3941,0.00,5.00,0.00,0.000,516,0.000,0.079,2006,517,3797,3752,3843,0,0,0,0,0,0,14.95,14.76,14.97
$GC,3982,-0.78,-146.0,2006,517,3752,3843,637.6,-12.7,302,3992,0.12,4.85,0.00,0.000,3078,0.288,0.055,2011,2202,3798,3753,3843,0,0,0,0,0,0,14.69,14.79,14.83
$PING,664.1,6.2,9000.0,0.00,0.59
$GC,4297,-0.78,-146.0,2012,2203,3753,3844,672.9,-11.1,320,4307,0.00,4.97,0.00,0.000,260,0.000,0.092,1990,3887,3798,3753,3843,0,0,0,0,0,0,15.01,14.80,15.02
$GC,4343,-0.78,-146.0,1990,3886,3753,3844,678.8,-13.0,329,4349,0.00,4.78,0.00,0.000,1030,0.000,0.047,2005,2201,3798,3753,3843,0,0,0,0,0,0,14.90,14.84,14.92
$GC,4661,-0.78,-146.0,2005,2186,3755,3844,715.0,-11.4,347,4670,0.00,4.88,0.00,0.000,516,0.000,0.079,2017,512,3798,3754,3843,0,0,0,0,0,0,15.03,14.82,15.05
$GC,4711,-0.78,-146.0,2017,513,3754,3844,721.2,-11.8,357,4717,0.00,4.82,0.00,0.000,1030,0.000,0.054,1997,2201,3798,3754,3843,0,0,0,0,0,0,14.92,14.85,14.94
$GC,5024,-0.78,-146.0,1995,2203,3755,3843,758.0,-11.9,374,5034,0.00,4.95,0.00,0.000,260,0.000,0.091,1975,3892,3798,3754,3843,0,0,0,0,0,0,15.04,14.84,15.07
$GC,5049,-0.78,-146.0,1975,3894,3755,3843,761.5,-14.0,379,5059,0.12,4.78,0.00,0.000,3078,0.295,0.046,2014,2182,3799,3755,3843,0,0,0,0,0,0,14.76,14.89,14.92
$GC,5365,-0.78,-146.0,2014,2182,3756,3843,796.3,-10.8,397,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2181,3799,3755,3843,0,0,0,0,0,0,15.05,15.07,15.07
$GC,5665,-0.78,-146.0,2014,2182,3757,3843,828.5,-10.7,412,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2181,3799,3756,3843,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5965,-0.78,-146.0,2014,2182,3757,3844,860.0,-10.4,427,5974,0.00,4.82,0.00,0.000,516,0.000,0.080,2030,525,3799,3756,3843,0,0,0,0,0,0,15.07,14.88,15.10
$GC,6014,-0.78,-146.0,2031,525,3757,3844,865.4,-10.4,437,6021,0.00,4.80,0.00,0.000,1030,0.000,0.055,2010,2208,3800,3756,3844,0,0,0,0,0,0,14.97,14.90,15.00
$GC,6327,-0.78,-146.0,2010,2209,3758,3843,898.1,-10.5,454,6336,0.00,4.93,0.00,0.000,260,0.000,0.091,1988,3894,3800,3757,3843,0,0,0,0,0,0,15.10,14.89,15.11
$GC,6362,-0.78,-146.0,1989,3895,3758,3844,902.3,-13.0,461,6369,0.00,4.72,0.00,0.000,1030,0.000,0.046,2003,2211,3800,3757,3843,0,0,0,0,0,0,14.99,14.93,15.01
$GC,6669,-0.78,-146.0,2002,2197,3759,3843,936.3,-11.0,477,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2197,3800,3758,3843,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6967,-0.78,-146.0,2003,2197,3759,3844,969.2,-11.0,492,6977,0.00,4.88,0.00,0.000,516,0.000,0.077,2018,515,3800,3758,3843,0,0,0,0,0,0,15.09,14.90,15.11
$GC,7028,-0.78,-146.0,2018,516,3759,3844,976.3,-11.5,504,7038,0.00,4.82,0.00,0.000,1030,0.000,0.056,1997,2209,3800,3758,3843,0,0,0,0,0,0,15.00,14.93,15.02
$STATE,7167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7167,begin apogee
$GC,7173,-0.11,0.0,1995,2457,3759,3843,991.8,-11.2,514,7322,0.85,0.00,145.85,2.644,10246,0.246,0.000,2228,2456,3165,3244,3087,0,0,0,0,0,0,14.84,14.01,13.11
$STATE,7323,end apogee,CONTROL_FINISHED_OK
$STATE,7323,begin climb
$GC,7325,0.78,146.0,2229,2457,3243,3083,995.9,0.0,521,7475,0.98,0.00,146.48,2.858,10246,0.155,0.000,2516,2457,2570,2721,2420,0,0,0,0,0,0,13.97,13.80,12.93
$GC,7768,0.78,146.0,2516,2457,2719,2434,958.0,10.4,544,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2456,2576,2718,2434,0,0,0,0,0,0,14.57,14.59,14.59
$GC,8068,0.78,146.0,2516,2456,2718,2444,927.0,10.2,559,8072,0.00,0.00,2.28,0.545,8198,0.000,0.000,2516,2456,2571,2712,2430,0,0,0,0,0,0,14.73,14.55,13.76
$GC,8368,0.78,146.0,2516,2457,2709,2445,896.6,10.1,574,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2456,2576,2708,2445,0,0,0,0,0,0,14.83,14.85,14.85
$GC,8668,0.78,146.0,2516,2457,2713,2448,866.6,9.9,589,8679,0.00,4.43,2.78,0.912,8452,0.000,0.096,2513,3934,2566,2701,2431,0,0,0,0,0,0,14.90,14.69,13.92
$GC,8700,0.78,146.0,2514,3934,2702,2435,863.1,11.8,595,8705,0.00,4.25,0.00,0.000,1030,0.000,0.048,2531,2443,2568,2702,2435,0,0,0,0,0,0,14.79,14.73,14.80
$GC,9010,0.78,146.0,2532,2428,2706,2450,829.6,10.7,612,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2428,2577,2705,2449,0,0,0,0,0,0,14.95,14.96,14.96
$GC,9310,0.78,146.0,2532,2428,2708,2453,797.5,10.7,627,9320,0.00,4.47,1.77,0.246,8452,0.000,0.093,2525,3932,2567,2698,2436,0,0,0,0,0,0,14.98,14.78,14.73
$GC,9350,0.78,146.0,2525,3931,2699,2440,792.5,13.3,635,9356,0.00,4.20,0.00,0.000,1030,0.000,0.047,2542,2446,2569,2698,2440,0,0,0,0,0,0,14.88,14.82,14.89
$GC,9673,0.78,146.0,2543,2431,2706,2452,756.1,11.3,654,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2431,2578,2705,2451,0,0,0,0,0,0,15.01,15.03,15.03
$GC,9971,0.78,146.0,2543,2431,2708,2461,722.8,11.1,669,9982,0.00,4.45,1.92,0.245,8452,0.000,0.091,2534,3933,2567,2697,2437,0,0,0,0,0,0,15.03,14.83,14.76
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