version: 66.13
glider: 227
mission: 9
dive: 20
start: 9 23 118 4 40 43
data:
$ID,227
$MISSION,9
$DIVE,20
$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,23
$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
$GPS1,230918,043001,7429.5342,-14621.9922,28,0.8,29,18.4,0.5,333.2,10,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.2
$GPS2,230918,044004,7429.5645,-14622.0723,3,0.8,5,18.4,0.2,289.2,12,6.0
$SPEED_LIMITS,0.173,0.232
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,17.2,52280,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,9,-0.78,-146.0,153,2189,704,454,0.0,0.0,0,92,0.00,0.00,-81.78,0.002,16386,0.000,0.000,153,2194,2054,2029,2079,0,0,0,0,0,0,14.61,28.83,14.64
$PING,21.3,17.5,9000.0,0.00,0.00
$GC,95,-0.78,-146.0,153,2198,2034,2080,6.3,-9.5,8,148,8.85,5.03,-32.72,0.005,18948,0.415,0.086,2029,512,3765,3701,3830,0,0,0,0,0,0,13.48,14.01,14.33
$PING,34.9,9.6,9000.0,0.00,0.00
$PING,58.4,62.2,9000.0,1.32,0.76
$PING,80.0,83.8,9000.0,1.66,0.96
$GC,308,-0.78,-146.0,2029,512,3715,3832,88.0,-22.5,49,315,0.00,5.00,0.00,0.000,1030,0.000,0.059,2009,2202,3772,3714,3831,0,0,0,0,0,0,14.62,14.54,14.63
$PING,91.4,96.6,96.3,1.04,1.00
$PING,103.3,108.6,108.8,1.06,1.00
$PING,115.4,120.5,120.6,1.00,1.00
$PING,127.4,133.0,132.9,1.01,1.00
$GC,493,-0.78,-146.0,2009,2204,3719,3832,132.1,-23.5,68,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2203,3775,3719,3831,0,0,0,0,0,0,14.78,14.81,14.80
$PING,139.1,145.2,145.2,1.04,1.00
$PING,172.5,180.4,180.4,1.05,1.00
$GC,676,-0.78,-146.0,2009,2204,3720,3831,172.5,-21.8,86,682,0.00,5.05,0.00,0.000,516,0.000,0.080,2027,513,3774,3719,3830,0,0,0,0,0,0,14.81,14.60,14.83
$GC,738,-0.78,-146.0,2028,514,3720,3832,186.3,-19.9,98,744,0.00,4.93,0.00,0.000,1030,0.000,0.057,2007,2200,3775,3720,3830,0,0,0,0,0,0,14.73,14.66,14.74
$GC,932,-0.78,-146.0,2008,2202,3721,3830,225.0,-20.1,118,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2201,3776,3721,3831,0,0,0,0,0,0,14.84,14.87,14.87
$GC,1119,-0.78,-146.0,2008,2202,3723,3831,261.1,-18.2,134,1126,0.00,5.03,0.00,0.000,516,0.000,0.078,2023,508,3776,3722,3831,0,0,0,0,0,0,14.90,14.70,14.92
$GC,1171,-0.78,-146.0,2023,508,3723,3831,270.1,-16.6,144,1182,0.00,4.90,0.00,0.000,1030,0.000,0.055,2002,2206,3777,3723,3831,0,0,0,0,0,0,14.80,14.73,14.81
$GC,1483,-0.78,-146.0,2002,2203,3724,3831,316.8,-14.2,161,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2202,3776,3722,3830,0,0,0,0,0,0,14.94,14.97,14.96
$GC,1782,-0.78,-146.0,2002,2203,3724,3830,357.2,-13.0,176,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2202,3777,3724,3830,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2081,-0.78,-146.0,2002,2203,3725,3831,395.8,-12.6,191,2091,0.00,4.97,0.00,0.000,516,0.000,0.080,2011,512,3777,3724,3830,0,0,0,0,0,0,15.00,14.80,15.02
$GC,2151,-0.78,-146.0,2011,512,3725,3831,405.2,-13.3,205,2163,0.00,4.85,0.00,0.000,1030,0.000,0.057,1988,2199,3777,3724,3830,0,0,0,0,0,0,14.90,14.83,14.91
$PING,440.5,6.2,9000.0,-0.53,0.92
$GC,2463,-0.78,-146.0,1990,2199,3732,3831,445.7,-13.1,222,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2199,3777,3725,3830,0,0,0,0,0,0,15.02,15.04,15.04
$PING,450.9,6.1,9000.0,-0.64,1.00
$PING,461.3,6.1,9000.0,-0.00,0.72
$GC,2763,-0.78,-146.0,1991,2199,3727,3831,484.6,-12.9,237,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2198,3778,3726,3830,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3062,-0.78,-146.0,1990,2202,3728,3831,523.5,-12.9,252,3071,0.00,4.95,0.00,0.000,516,0.000,0.083,1992,513,3779,3727,3831,0,0,0,0,0,0,15.04,14.85,15.06
$GC,3111,-0.78,-146.0,1992,513,3727,3831,530.5,-13.9,262,3118,0.17,4.82,0.00,0.000,3078,0.279,0.055,2011,2203,3778,3726,3830,0,0,0,0,0,0,14.78,14.88,14.92
$GC,3425,-0.78,-146.0,2011,2205,3728,3831,567.0,-11.5,279,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2204,3779,3728,3830,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3723,-0.78,-146.0,2011,2205,3729,3831,601.0,-11.3,294,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2204,3779,3728,3830,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4023,-0.78,-146.0,2012,2205,3729,3831,634.8,-11.3,309,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2204,3779,3729,3830,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4323,-0.78,-146.0,2012,2205,3730,3831,668.5,-11.2,324,4333,0.00,4.95,0.00,0.000,516,0.000,0.077,2023,506,3779,3729,3830,0,0,0,0,0,0,15.10,14.90,15.12
$GC,4363,-0.78,-146.0,2023,506,3725,3830,673.3,-11.9,332,4373,0.00,4.82,0.00,0.000,1030,0.000,0.054,2003,2203,3780,3730,3830,0,0,0,0,0,0,14.98,14.92,15.00
$GC,4685,-0.78,-146.0,2002,2204,3731,3831,710.3,-11.6,351,4695,0.00,4.93,0.00,0.000,260,0.000,0.091,1980,3892,3780,3730,3830,0,0,0,0,0,0,15.10,14.89,15.12
$GC,4720,-0.78,-146.0,1980,3892,3736,3831,715.1,-13.8,358,4727,0.00,4.78,0.00,0.000,1030,0.000,0.047,1990,2194,3780,3730,3830,0,0,0,0,0,0,15.00,14.94,15.01
$GC,5025,-0.78,-146.0,1990,2181,3732,3831,752.1,-11.9,374,5031,0.00,4.85,0.00,0.000,516,0.000,0.076,2002,509,3781,3732,3830,0,0,0,0,0,0,15.11,14.90,15.13
$GC,5086,-0.78,-146.0,2002,510,3732,3831,759.9,-12.6,386,5093,0.15,4.80,0.00,0.000,3078,0.278,0.054,2015,2200,3780,3731,3830,0,0,0,0,0,0,14.83,14.93,14.98
$GC,5408,-0.78,-146.0,2015,2202,3733,3830,794.5,-10.6,405,5419,0.00,4.95,0.00,0.000,260,0.000,0.090,1994,3893,3781,3732,3830,0,0,0,0,0,0,15.11,14.91,15.14
$GC,5440,-0.78,-146.0,1994,3892,3734,3830,798.3,-12.8,411,5451,0.00,4.75,0.00,0.000,1030,0.000,0.047,2013,2185,3781,3733,3830,0,0,0,0,0,0,15.01,14.95,15.02
$GC,5751,-0.78,-146.0,2014,2185,3734,3830,831.6,-10.5,428,5761,0.00,4.80,0.00,0.000,516,0.000,0.075,2029,523,3782,3734,3830,0,0,0,0,0,0,15.14,14.89,15.14
$GC,5801,-0.78,-146.0,2029,523,3734,3830,837.2,-10.9,438,5808,0.00,4.78,0.00,0.000,1030,0.000,0.053,2009,2207,3781,3734,3829,0,0,0,0,0,0,15.01,14.94,15.02
$GC,6113,-0.78,-146.0,2009,2208,3735,3830,870.1,-10.5,455,6123,0.00,4.88,0.00,0.000,260,0.000,0.087,1987,3886,3782,3735,3830,0,0,0,0,0,0,15.12,14.91,15.14
$GC,6139,-0.78,-146.0,1987,3887,3735,3830,873.1,-12.4,460,6144,0.00,4.70,0.00,0.000,1030,0.000,0.045,1995,2210,3782,3735,3830,0,0,0,0,0,0,15.02,14.95,15.02
$GC,6456,-0.78,-146.0,1995,2195,3737,3830,908.4,-11.0,478,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2195,3783,3736,3830,0,0,0,0,0,0,15.12,15.15,15.14
$GC,6755,-0.78,-146.0,1995,2196,3737,3830,941.7,-11.0,493,6766,0.00,4.90,0.00,0.000,516,0.000,0.077,2006,506,3783,3736,3830,0,0,0,0,0,0,15.13,14.92,15.15
$GC,6807,-0.78,-146.0,2007,507,3737,3831,947.8,-12.0,503,6817,0.08,4.78,0.00,0.000,3078,0.266,0.052,2007,2199,3783,3736,3830,0,0,0,0,0,0,14.85,14.95,14.94
$GC,7119,-0.78,-146.0,2007,2200,3738,3831,980.1,-10.3,520,7128,0.00,4.93,0.00,0.000,260,0.000,0.089,1986,3893,3784,3737,3831,0,0,0,0,0,0,15.12,14.92,15.14
$GC,7148,-0.78,-146.0,1987,3893,3738,3830,983.9,-12.8,526,7155,0.00,4.75,0.00,0.000,1030,0.000,0.044,2003,2194,3783,3737,3829,0,0,0,0,0,0,15.02,14.97,15.04
$STATE,7218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7219,begin apogee
$GC,7225,-0.11,0.0,2001,2457,3738,3830,991.8,-10.9,531,7362,0.82,0.00,132.65,2.642,10246,0.242,0.000,2229,2457,3162,3241,3084,0,0,0,0,0,0,14.85,14.05,13.18
$STATE,7363,end apogee,CONTROL_FINISHED_OK
$STATE,7363,begin climb
$GC,7365,0.78,146.0,2229,2458,3242,3084,995.4,0.0,538,7523,0.95,4.70,144.62,2.860,10500,0.157,0.087,2506,3934,2566,2717,2415,0,0,0,0,0,0,14.03,13.82,12.94
$GC,7548,0.78,146.0,2506,3934,2718,2416,982.5,12.6,572,7553,0.00,4.45,0.00,0.000,1030,0.000,0.044,2524,2449,2565,2716,2415,0,0,0,0,0,0,14.08,14.02,14.09
$GC,7859,0.78,146.0,2524,2433,2717,2440,947.3,11.2,589,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2432,2578,2717,2439,0,0,0,0,0,0,14.60,14.63,14.62
$GC,8159,0.78,146.0,2525,2433,2718,2456,913.9,11.0,604,8169,0.00,4.55,4.35,1.458,8452,0.000,0.091,2521,3935,2566,2705,2428,0,0,0,0,0,0,14.75,14.52,13.81
$GC,8209,0.78,146.0,2522,3936,2706,2432,907.5,13.4,614,8215,0.00,4.30,0.00,0.000,1030,0.000,0.046,2539,2443,2568,2705,2431,0,0,0,0,0,0,14.65,14.59,14.66
$GC,8522,0.78,146.0,2540,2429,2708,2448,870.8,11.6,631,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2428,2577,2707,2447,0,0,0,0,0,0,14.84,14.86,14.86
$GC,8821,0.78,146.0,2540,2429,2709,2451,836.6,11.3,646,8826,0.00,4.47,0.00,0.000,260,0.000,0.090,2536,3931,2579,2708,2451,0,0,0,0,0,0,14.90,14.71,14.91
$GC,8876,0.78,146.0,2536,3932,2708,2455,828.9,14.1,657,8888,0.15,4.22,2.58,0.790,13318,0.310,0.046,2523,2427,2566,2698,2434,0,0,0,0,0,0,14.64,14.76,13.94
$GC,9204,0.78,146.0,2523,2428,2701,2451,794.4,10.3,677,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2427,2572,2701,2444,0,0,0,0,0,0,14.95,14.97,14.96
$GC,9504,0.78,146.0,2523,2428,2704,2450,764.0,10.0,692,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2427,2576,2703,2449,0,0,0,0,0,0,14.98,15.01,15.00
$GC,9803,0.78,146.0,2523,2428,2705,2451,733.9,9.9,707,9812,0.00,4.32,0.00,0.000,260,0.000,0.091,2508,3932,2578,2705,2452,0,0,0,0,0,0,15.02,14.82,15.04
$GC,9837,0.78,146.0,2508,3933,2705,2454,730.0,12.2,713,9843,0.00,4.15,0.00,0.000,1030,0.000,0.047,2525,2464,2579,2704,2454,0,0,0,0,0,0,14.92,14.86,14.93
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