version: 66.13
glider: 227
mission: 9
dive: 27
start: 9 24 118 17 8 6
data:
$ID,227
$MISSION,9
$DIVE,27
$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,2285
$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,25
$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
$GPS1,240918,165709,7444.4409,-14543.6455,15,1.0,16,18.6,0.1,0.0,6,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.6
$GPS2,240918,170729,7444.4507,-14543.7490,5,1.1,7,18.6,0.1,0.0,5,9.4
$SPEED_LIMITS,0.173,0.232
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,20.1,19112,-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,-146.0,152,2215,715,486,0.0,0.0,0,102,0.00,0.00,-91.40,0.002,16386,0.000,0.000,152,2206,2191,2181,2201,0,0,0,0,0,0,14.68,28.83,14.71
$GC,105,-0.78,-146.0,152,2206,2185,2202,4.4,-5.4,9,158,8.82,5.05,-35.70,0.004,18980,0.407,0.088,2047,509,3767,3706,3828,0,0,0,0,0,0,14.38,13.81,14.59
$PING,34.3,36.7,9000.0,0.00,0.00
$PING,44.9,47.9,9000.0,0.00,0.00
$PING,55.2,58.7,58.8,1.06,1.00
$GC,223,-0.78,-146.0,2047,510,3730,3840,57.2,-39.3,31,230,0.00,5.00,0.00,0.000,1030,0.000,0.057,2028,2204,3786,3732,3840,0,0,0,0,0,0,14.64,14.56,14.64
$PING,65.4,69.0,69.1,1.02,1.00
$PING,75.6,79.2,79.2,1.00,1.00
$PING,87.6,91.8,91.7,1.03,1.00
$PING,97.8,102.3,102.3,1.04,1.00
$PING,110.1,117.8,117.4,1.16,1.00
$GC,415,-0.78,-146.0,2028,2205,3742,3839,112.4,-23.9,51,421,0.00,5.05,0.00,0.000,516,0.000,0.075,2046,512,3791,3742,3840,0,0,0,0,0,0,14.78,14.59,14.80
$PING,120.8,126.1,127.1,1.04,0.98
$PING,131.3,137.0,136.6,0.90,0.99
$GC,518,-0.78,-146.0,2047,512,3743,3841,134.2,-20.1,71,524,0.00,4.93,0.00,0.000,1030,0.000,0.056,2027,2201,3791,3743,3840,0,0,0,0,0,0,14.68,14.62,14.69
$PING,143.1,149.1,149.1,1.03,1.00
$PING,153.4,161.9,161.5,1.12,1.00
$PING,163.5,169.8,170.6,1.02,0.98
$GC,710,-0.78,-146.0,2027,2203,3745,3840,173.3,-19.8,91,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2202,3792,3744,3840,0,0,0,0,0,0,14.83,14.86,14.85
$PING,175.3,182.9,182.4,0.97,0.99
$GC,889,-0.78,-146.0,2027,2203,3745,3840,207.5,-18.4,109,901,0.00,5.00,0.00,0.000,516,0.000,0.077,2045,513,3792,3745,3840,0,0,0,0,0,0,14.87,14.67,14.88
$GC,972,-0.78,-146.0,2046,513,3744,3840,222.4,-18.0,125,982,0.00,4.90,0.00,0.000,1030,0.000,0.051,2026,2206,3792,3745,3840,0,0,0,0,0,0,14.75,14.69,14.76
$GC,1164,-0.78,-146.0,2025,2207,3745,3840,254.2,-16.3,144,1174,0.00,4.97,0.00,0.000,260,0.000,0.086,2004,3894,3793,3746,3840,0,0,0,0,0,0,14.89,14.70,14.91
$GC,1184,-0.78,-146.0,2004,3894,3746,3840,257.9,-16.2,148,1194,0.00,4.82,0.00,0.000,1030,0.000,0.044,2020,2193,3793,3746,3840,0,0,0,0,0,0,14.81,14.73,14.82
$GC,1507,-0.78,-146.0,2019,2184,3749,3840,300.4,-12.1,167,1513,0.00,4.90,0.00,0.000,516,0.000,0.076,2027,515,3794,3748,3840,0,0,0,0,0,0,14.92,14.76,14.94
$GC,1554,-0.78,-146.0,2027,515,3749,3840,306.7,-13.2,176,1563,0.00,4.85,0.00,0.000,1030,0.000,0.050,2007,2206,3794,3749,3839,0,0,0,0,0,0,14.85,14.78,14.86
$GC,1871,-0.78,-146.0,2007,2207,3750,3841,345.0,-12.2,194,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2206,3794,3749,3839,0,0,0,0,0,0,14.97,15.00,15.02
$PING,381.3,6.2,9000.0,-0.80,0.99
$GC,2169,-0.78,-146.0,2007,2206,3750,3840,380.2,-11.7,209,2180,0.00,4.95,0.00,0.000,516,0.000,0.076,2014,515,3795,3750,3840,0,0,0,0,0,0,15.01,14.81,15.02
$GC,2220,-0.78,-146.0,2014,516,3750,3840,386.7,-11.9,219,2227,0.15,4.82,0.00,0.000,3078,0.311,0.052,2025,2201,3795,3750,3840,0,0,0,0,0,0,14.71,14.82,14.85
$PING,403.1,6.2,-2.2,-0.81,0.99
$PING,413.6,6.2,9000.0,0.00,0.00
$GC,2532,-0.78,-146.0,2025,2203,3752,3840,419.9,-10.6,236,2542,0.00,4.95,0.00,0.000,260,0.000,0.087,2004,3893,3795,3751,3839,0,0,0,0,0,0,15.02,14.82,15.04
$PING,424.1,6.0,9000.0,-0.01,0.82
$GC,2562,-0.78,-146.0,2004,3893,3752,3840,423.6,-12.8,242,2569,0.00,4.75,0.00,0.000,1030,0.000,0.046,2021,2196,3795,3751,3840,0,0,0,0,0,0,14.92,14.85,14.93
$PING,435.8,6.1,9000.0,-0.01,0.41
$PING,446.3,6.1,9000.0,0.00,0.95
$PING,456.7,6.1,9000.0,0.00,0.98
$GC,2875,-0.78,-146.0,2021,2182,3753,3840,456.7,-10.4,259,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2181,3795,3752,3839,0,0,0,0,0,0,15.02,15.04,15.04
$PING,467.1,6.2,9000.0,0.00,1.00
$GC,3175,-0.78,-146.0,2021,2182,3747,3840,487.7,-10.3,274,3185,0.00,4.85,0.00,0.000,516,0.000,0.077,2036,513,3797,3752,3842,0,0,0,0,0,0,15.04,14.85,15.06
$GC,3231,-0.78,-146.0,2036,514,3753,3840,494.0,-11.2,285,3237,0.00,4.82,0.00,0.000,1030,0.000,0.051,2016,2207,3796,3753,3839,0,0,0,0,0,0,14.95,14.88,14.96
$GC,3536,-0.78,-146.0,2016,2209,3755,3840,526.2,-10.5,301,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2208,3797,3754,3840,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3836,-0.78,-146.0,2016,2209,3755,3840,557.8,-10.5,316,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2208,3796,3754,3839,0,0,0,0,0,0,15.07,15.10,15.10
$GC,4136,-0.78,-146.0,2016,2209,3757,3841,588.7,-10.3,331,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2208,3797,3755,3840,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4436,-0.78,-146.0,2016,2209,3756,3840,619.2,-10.1,346,4446,0.00,4.95,0.00,0.000,516,0.000,0.076,2034,509,3797,3755,3840,0,0,0,0,0,0,15.10,14.88,15.11
$GC,4496,-0.78,-146.0,2035,510,3756,3841,625.9,-10.9,358,4507,0.00,4.82,0.00,0.000,1030,0.000,0.052,2014,2207,3798,3756,3840,0,0,0,0,0,0,14.99,14.92,14.99
$GC,4819,-0.78,-146.0,2014,2208,3759,3840,658.7,-10.2,377,4829,0.00,4.88,0.00,0.000,260,0.000,0.086,1992,3885,3799,3758,3840,0,0,0,0,0,0,15.10,14.90,15.12
$GC,4849,-0.78,-146.0,1993,3886,3758,3840,662.4,-12.5,383,4855,0.00,4.75,0.00,0.000,1030,0.000,0.044,2008,2193,3798,3758,3839,0,0,0,0,0,0,14.99,14.94,15.01
$GC,5162,-0.78,-146.0,2008,2178,3760,3841,694.7,-10.1,400,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2177,3799,3759,3839,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5461,-0.78,-146.0,2009,2178,3760,3839,725.0,-10.0,415,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2177,3800,3760,3840,0,0,0,0,0,0,15.15,15.15,15.14
$GC,5761,-0.78,-146.0,2008,2178,3761,3840,755.0,-9.9,430,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2177,3799,3760,3839,0,0,0,0,0,0,15.12,15.15,15.14
$GC,6062,-0.78,-146.0,2008,2178,3761,3840,784.9,-9.8,445,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2177,3800,3761,3840,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6361,-0.78,-146.0,2008,2178,3762,3839,814.4,-9.9,460,6370,0.00,4.78,0.00,0.000,516,0.000,0.077,2013,510,3800,3761,3840,0,0,0,0,0,0,15.14,14.93,15.15
$GC,6410,-0.78,-146.0,2013,511,3762,3840,819.8,-11.2,470,6423,0.15,4.80,0.00,0.000,3078,0.298,0.053,2025,2204,3801,3762,3840,0,0,0,0,0,0,14.83,14.96,15.00
$GC,6722,-0.78,-146.0,2025,2204,3764,3840,848.5,-9.1,487,6729,0.00,4.93,0.00,0.000,260,0.000,0.088,2004,3895,3802,3763,3841,0,0,0,0,0,0,15.13,14.92,15.15
$GC,6769,-0.78,-146.0,2004,3896,3764,3840,853.7,-11.6,496,6778,0.00,4.75,0.00,0.000,1030,0.000,0.044,2019,2184,3801,3763,3840,0,0,0,0,0,0,15.02,14.95,15.04
$GC,7084,-0.78,-146.0,2019,2184,3766,3840,883.5,-9.3,514,7095,0.00,4.80,0.00,0.000,516,0.000,0.075,2034,525,3802,3765,3839,0,0,0,0,0,0,15.13,14.92,15.15
$GC,7135,-0.78,-146.0,2034,525,3767,3840,888.8,-10.3,524,7146,0.00,4.75,0.00,0.000,1030,0.000,0.050,2013,2205,3802,3765,3839,0,0,0,0,0,0,15.02,14.96,15.04
$GC,7448,-0.78,-146.0,2013,2206,3766,3841,918.5,-9.5,541,7458,0.00,4.88,0.00,0.000,260,0.000,0.086,1992,3886,3803,3766,3840,0,0,0,0,0,0,15.12,14.92,15.14
$GC,7493,-0.78,-146.0,1992,3887,3767,3840,923.9,-12.2,550,7503,0.00,4.68,0.00,0.000,1030,0.000,0.044,2005,2197,3802,3765,3840,0,0,0,0,0,0,15.02,14.97,15.04
$GC,7811,-0.78,-146.0,2005,2197,3769,3841,955.2,-9.7,568,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2196,3804,3768,3840,0,0,0,0,0,0,15.13,15.15,15.15
$GC,8109,-0.78,-146.0,2005,2197,3769,3841,983.6,-9.5,583,8115,0.00,4.82,0.00,0.000,516,0.000,0.073,2016,527,3804,3769,3840,0,0,0,0,0,0,15.14,14.93,15.15
$GC,8160,-0.78,-146.0,2016,528,3769,3841,989.1,-10.4,593,8171,0.15,4.72,0.00,0.000,3078,0.304,0.048,2027,2207,3804,3769,3840,0,0,0,0,0,0,14.85,14.96,15.00
$STATE,8188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8188,begin apogee
$GC,8194,-0.11,0.0,2025,2454,3770,3840,992.1,-9.8,596,8355,0.80,0.00,158.15,2.004,10246,0.246,0.000,2244,2453,3166,3250,3082,0,0,0,0,0,0,14.85,14.16,13.43
$STATE,8356,end apogee,CONTROL_FINISHED_OK
$STATE,8356,begin climb
$GC,8359,0.78,146.0,2245,2454,3247,3076,995.1,0.0,604,8513,1.00,0.00,147.02,2.178,10246,0.164,0.000,2533,2453,2563,2717,2410,0,0,0,0,0,0,14.10,13.91,13.24
$GC,8811,0.78,146.0,2533,2453,2715,2415,948.0,11.5,627,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2453,2565,2715,2416,0,0,0,0,0,0,14.59,14.61,14.60
$GC,9111,0.78,146.0,2533,2454,2716,2431,913.7,11.3,642,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2453,2575,2715,2436,0,0,0,0,0,0,14.74,14.76,14.76
$GC,9411,0.78,146.0,2534,2453,2715,2444,880.5,11.0,657,9416,0.00,4.40,0.00,0.000,260,0.000,0.090,2531,3933,2580,2717,2444,0,0,0,0,0,0,14.83,14.65,14.85
$GC,9451,0.78,146.0,2531,3933,2716,2448,875.3,12.9,665,9462,0.00,4.20,3.03,0.662,9222,0.000,0.044,2548,2444,2565,2705,2426,0,0,0,0,0,0,14.75,14.69,14.19
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$STATE,18095,end climb,SURFACE_DEPTH_REACHED
$STATE,18096,begin surface coast
$FINISH,-0.1,1.021546
$STATE,18105,end surface coast,CONTROL_FINISHED_OK
$STATE,18105,begin surface
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$RAFOS_CLK,323
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$IRIDIUM_FIX,7443.86,-14544.63,240918,114528
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$SC_FREEKB,3892832
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$10V_AH,13.26,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18135.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.281,0.000,0.000,0.000
$MEM,334440
$DATA_FILE_SIZE,46575,1356
$CAP_FILE_SIZE,189112,0
$CFSIZE,1047117824,1038303232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$GPS,240918,221209,7446.410,-14538.723,25,0.9,26,18.6,0.4,154.8,9,5.7