version: 66.13
glider: 227
mission: 9
dive: 36
start: 9 26 118 16 46 25
data:
$ID,227
$MISSION,9
$DIVE,36
$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,0.0040000002
$HD_B,0.015
$HD_C,3.2e-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,698
$R_STBD_OVSHOOT,21
$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
$GPS1,260918,163501,7447.2900,-14533.8350,26,0.8,27,18.6,0.6,244.6,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.5
$GPS2,260918,164546,7447.2451,-14533.6865,4,0.6,6,18.6,0.7,120.5,12,4.5
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,184.7,65052,-21.2,-10.000,-24.74,2246
$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,10,-0.81,-146.0,155,2465,759,539,0.0,0.0,0,122,0.00,0.00,-111.05,0.002,16386,0.000,0.000,153,2466,2673,2677,2669,0,0,0,0,0,0,14.57,28.83,14.60
$PING,21.2,25.4,9000.0,0.00,0.00
$GC,125,-0.81,-146.0,153,2467,2672,2673,4.6,-5.2,11,167,8.98,4.22,-24.90,0.005,18724,0.417,0.088,1997,3886,3769,3707,3831,0,0,0,0,0,0,14.29,13.94,14.52
$PING,43.5,47.7,9000.0,0.00,0.00
$PING,54.4,57.2,57.6,0.96,1.00
$GC,233,-0.81,-146.0,1997,3887,3747,3845,56.3,-40.2,31,238,0.00,2.90,0.00,0.000,1030,0.000,0.036,2008,2868,3795,3747,3844,0,0,0,0,0,0,14.54,14.48,14.55
$PING,67.4,70.4,70.1,0.95,1.00
$PING,78.0,82.1,81.9,1.05,1.00
$GC,423,-0.81,-146.0,2009,2851,3755,3844,110.9,-23.0,51,429,0.00,4.85,0.00,0.000,516,0.000,0.057,2029,1185,3799,3754,3844,0,0,0,0,0,0,14.72,14.56,14.75
$PING,122.6,128.5,128.6,1.05,1.00
$PING,144.0,151.6,151.4,1.05,1.00
$PING,154.4,161.3,161.7,1.04,1.00
$GC,654,-0.81,-146.0,2030,1184,3756,3844,158.3,-19.4,97,660,0.00,2.95,0.00,0.000,1030,0.000,0.047,2018,2202,3798,3753,3844,0,0,0,0,0,0,14.69,14.62,14.70
$GC,848,-0.81,-146.0,2017,2203,3757,3844,195.9,-19.7,117,854,0.00,3.00,0.00,0.000,516,0.000,0.060,2029,1179,3800,3757,3844,0,0,0,0,0,0,14.82,14.65,14.84
$GC,956,-0.81,-146.0,2030,1180,3758,3844,216.0,-17.9,138,962,0.00,2.95,0.00,0.000,1030,0.000,0.045,2018,2206,3800,3757,3844,0,0,0,0,0,0,14.75,14.69,14.76
$GC,1141,-0.81,-146.0,2018,2207,3760,3843,247.9,-16.3,157,1147,0.00,3.00,0.00,0.000,516,0.000,0.059,2029,1180,3801,3759,3844,0,0,0,0,0,0,14.87,14.69,14.89
$GC,1187,-0.81,-146.0,2030,1180,3760,3845,255.3,-14.9,166,1192,0.00,2.92,0.00,0.000,1030,0.000,0.044,2018,2201,3801,3759,3843,0,0,0,0,0,0,14.78,14.72,14.79
$GC,1504,-0.81,-146.0,2018,2202,3761,3845,296.6,-12.4,184,1509,0.00,2.97,0.00,0.000,516,0.000,0.060,2029,1178,3802,3760,3844,0,0,0,0,0,0,14.92,14.75,14.95
$GC,1599,-0.81,-146.0,2029,1178,3761,3844,308.2,-11.7,203,1606,0.00,2.92,0.00,0.000,1030,0.000,0.046,2018,2203,3804,3760,3849,0,0,0,0,0,0,14.83,14.78,14.85
$GC,1905,-0.81,-146.0,2018,2203,3764,3844,343.1,-11.1,219,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2203,3803,3762,3844,0,0,0,0,0,0,14.98,15.00,15.00
$PING,360.7,6.3,9000.0,-0.71,0.99
$PING,371.4,6.3,9000.0,-0.73,1.00
$GC,2205,-0.81,-146.0,2018,2203,3763,3844,375.7,-10.7,234,2210,0.00,2.97,0.00,0.000,516,0.000,0.060,2029,1178,3803,3762,3844,0,0,0,0,0,0,15.01,14.82,15.02
$GC,2250,-0.81,-146.0,2031,1178,3762,3844,380.9,-11.8,243,2255,0.00,2.92,0.00,0.000,1030,0.000,0.046,2018,2202,3802,3762,3843,0,0,0,0,0,0,14.90,14.83,14.91
$PING,381.7,6.2,9000.0,-0.00,0.92
$PING,392.9,6.2,9000.0,-0.00,0.73
$PING,403.3,6.2,9000.0,-0.00,0.73
$PING,413.9,6.1,9000.0,-0.00,1.00
$GC,2566,-0.81,-146.0,2018,2203,3764,3844,413.9,-10.6,261,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2203,3802,3761,3844,0,0,0,0,0,0,15.01,15.03,15.02
$PING,424.4,6.1,9000.0,-0.00,0.75
$PING,434.9,6.1,9000.0,0.00,0.00
$PING,445.4,6.1,9000.0,-0.00,0.24
$GC,2866,-0.81,-146.0,2018,2203,3765,3842,445.4,-10.5,276,2871,0.00,2.90,0.00,0.000,516,0.000,0.060,2029,1185,3804,3764,3844,0,0,0,0,0,0,15.02,14.85,15.04
$GC,2906,-0.81,-146.0,2029,1185,3765,3844,449.7,-10.7,284,2912,0.00,2.90,0.00,0.000,1030,0.000,0.047,2018,2205,3804,3764,3844,0,0,0,0,0,0,14.93,14.87,14.94
$PING,456.0,6.1,9000.0,-0.00,0.26
$PING,466.3,6.3,9000.0,0.01,0.82
$PING,476.6,6.3,9000.0,0.01,0.77
$GC,3227,-0.81,-146.0,2017,2207,3765,3844,482.7,-10.2,303,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2206,3804,3765,3844,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3527,-0.81,-146.0,2018,2207,3766,3845,512.9,-10.1,318,3532,0.00,2.95,0.00,0.000,516,0.000,0.060,2029,1184,3804,3766,3843,0,0,0,0,0,0,15.06,14.88,15.08
$GC,3557,-0.81,-146.0,2029,1185,3761,3844,516.0,-10.5,324,3562,0.00,2.90,0.00,0.000,1030,0.000,0.046,2018,2209,3805,3766,3844,0,0,0,0,0,0,14.95,14.90,14.97
$GC,3869,-0.81,-146.0,2018,2210,3768,3844,546.9,-10.0,341,3875,0.00,2.95,0.00,0.000,516,0.000,0.059,2029,1184,3806,3768,3844,0,0,0,0,0,0,15.07,14.90,15.09
$GC,3905,-0.81,-146.0,2029,1184,3768,3845,550.8,-10.4,348,3912,0.00,2.90,0.00,0.000,1030,0.000,0.045,2021,2209,3805,3767,3844,0,0,0,0,0,0,14.97,14.91,14.98
$PING,559.3,6.3,9000.0,0.00,0.00
$GC,4211,-0.81,-146.0,2018,2210,3771,3843,581.0,-9.8,364,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2209,3807,3770,3844,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4511,-0.81,-146.0,2018,2209,3773,3844,609.8,-9.5,379,4516,0.00,2.95,0.00,0.000,516,0.000,0.059,2029,1183,3808,3773,3844,0,0,0,0,0,0,15.09,14.91,15.11
$GC,4546,-0.81,-146.0,2029,1183,3773,3845,613.2,-9.7,386,4553,0.00,2.88,0.00,0.000,1030,0.000,0.044,2017,2204,3808,3773,3844,0,0,0,0,0,0,14.99,14.93,15.00
$GC,4851,-0.81,-146.0,2016,2204,3774,3840,641.7,-9.3,402,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2204,3809,3774,3844,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5151,-0.81,-146.0,2018,2205,3776,3845,669.4,-9.2,417,5157,0.00,2.92,0.00,0.000,516,0.000,0.060,2028,1185,3809,3775,3844,0,0,0,0,0,0,15.10,14.92,15.12
$GC,5167,-0.81,-146.0,2029,1185,3775,3845,671.0,-9.4,420,5174,0.00,2.88,0.00,0.000,1030,0.000,0.046,2017,2203,3809,3775,3844,0,0,0,0,0,0,15.00,14.94,15.02
$GC,5472,-0.81,-146.0,2017,2204,3777,3844,698.9,-9.1,436,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2203,3810,3777,3844,0,0,0,0,0,0,15.11,15.13,15.13
$GC,5772,-0.81,-146.0,2017,2204,3786,3844,726.1,-9.1,451,5777,0.00,2.92,0.00,0.000,516,0.000,0.060,2034,1184,3810,3777,3844,0,0,0,0,0,0,15.11,14.93,15.14
$GC,5818,-0.81,-146.0,2029,1184,3778,3845,730.4,-9.3,460,5823,0.00,2.88,0.00,0.000,1030,0.000,0.047,2017,2204,3811,3778,3844,0,0,0,0,0,0,15.01,14.95,15.02
$GC,6136,-0.81,-146.0,2018,2205,3780,3844,759.0,-9.1,478,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2204,3811,3779,3844,0,0,0,0,0,0,15.11,15.13,15.13
$GC,6433,-0.81,-146.0,2017,2205,3781,3845,786.0,-9.0,493,6439,0.00,2.92,0.00,0.000,516,0.000,0.059,2029,1183,3812,3781,3844,0,0,0,0,0,0,15.12,14.94,15.14
$GC,6479,-0.81,-146.0,2028,1183,3781,3845,790.3,-9.2,502,6485,0.00,2.85,0.00,0.000,1030,0.000,0.047,2017,2202,3812,3781,3844,0,0,0,0,0,0,14.95,14.87,14.97
$GC,6797,-0.81,-146.0,2016,2203,3782,3844,818.7,-8.9,520,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2203,3813,3782,3844,0,0,0,0,0,0,15.12,15.14,15.14
$GC,7095,-0.81,-146.0,2017,2203,3783,3843,845.5,-8.9,535,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2203,3813,3782,3844,0,0,0,0,0,0,15.13,15.15,15.15
$GC,7395,-0.81,-146.0,2016,2203,3784,3845,872.1,-8.8,550,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2203,3813,3784,3843,0,0,0,0,0,0,15.14,15.16,15.15
$GC,7695,-0.81,-146.0,2017,2203,3785,3845,898.3,-8.8,565,7702,0.00,2.92,0.00,0.000,516,0.000,0.060,2028,1182,3814,3784,3844,0,0,0,0,0,0,15.14,14.95,15.16
$GC,7747,-0.81,-146.0,2028,1181,3784,3845,902.9,-9.1,575,7752,0.00,2.88,0.00,0.000,1030,0.000,0.046,2017,2203,3814,3784,3844,0,0,0,0,0,0,15.03,14.97,15.05
$GC,8059,-0.81,-146.0,2017,2203,3786,3844,930.1,-8.8,592,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2203,3814,3785,3843,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8357,-0.81,-146.0,2017,2203,3790,3845,956.2,-8.7,607,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2203,3814,3786,3843,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8657,-0.81,-146.0,2017,2203,3787,3845,981.9,-8.5,622,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2203,3815,3787,3844,0,0,0,0,0,0,15.14,15.17,15.16
$STATE,8756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8756,begin apogee
$GC,8762,-0.11,0.0,2013,2454,3787,3845,990.3,-8.4,627,8939,0.85,0.00,173.18,1.940,10246,0.258,0.000,2242,2454,3162,3248,3076,0,0,0,0,0,0,14.86,14.14,13.42
$STATE,8940,end apogee,CONTROL_FINISHED_OK
$STATE,8940,begin climb
$GC,8943,0.81,146.0,2243,2455,3247,3075,992.9,0.0,636,9101,1.02,0.00,154.98,2.066,10502,0.177,0.000,2534,2454,2569,2722,2416,0,0,0,0,0,0,14.07,13.92,13.25
$GC,9398,0.81,146.0,2539,2454,2716,2424,944.9,11.4,668,9404,0.00,4.47,0.00,0.000,260,0.000,0.087,2537,3928,2569,2715,2424,0,0,0,0,0,0,14.55,14.37,14.59
$GC,9424,0.81,146.0,2537,3929,2715,2428,941.5,12.5,673,9430,0.00,2.25,0.00,0.000,1030,0.000,0.035,2546,3097,2571,2715,2428,0,0,0,0,0,0,14.51,14.47,14.52
$GC,9742,0.81,146.0,2546,3098,2716,2453,904.1,11.8,691,9757,0.00,4.82,4.38,0.825,8708,0.000,0.053,2566,1434,2565,2704,2427,0,0,0,0,0,0,14.76,14.57,14.13
$GC,9983,0.81,146.0,2566,1434,2705,2430,876.4,11.3,739,9988,0.00,2.95,0.00,0.000,1030,0.000,0.053,2567,2448,2566,2704,2429,0,0,0,0,0,0,14.71,14.64,14.72
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$STATE,18488,end climb,SURFACE_DEPTH_REACHED
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$STATE,18499,end surface coast,CONTROL_FINISHED_OK
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$SC_FREEKB,3886048
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$10V_AH,13.07,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,18539.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.142,0.000,0.000,0.000
$MEM,334568
$DATA_FILE_SIZE,59907,1655
$CAP_FILE_SIZE,204320,0
$CFSIZE,1047117824,1036500992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$GPS,260918,215701,7445.648,-14537.229,20,0.7,21,18.6,1.2,334.1,11,2.8