version: 66.13
glider: 227
mission: 9
dive: 39
start: 9 27 118 9 2 12
data:
$ID,227
$MISSION,9
$DIVE,39
$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,2320
$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,18
$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,4
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,4
$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
$GPS1,270918,085101,7442.4062,-14541.8271,22,0.7,23,18.6,1.0,115.1,11,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.3
$GPS2,270918,090133,7442.3975,-14541.7021,4,0.6,6,18.6,0.8,40.2,12,5.0
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,184.6,55212,-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,9,-0.81,-146.0,143,2221,707,494,0.0,0.0,0,133,0.00,0.00,-121.72,0.002,16386,0.000,0.000,141,2220,2888,2885,2891,0,0,0,0,0,0,14.66,28.83,14.68
$GC,136,-0.81,-146.0,142,2221,2888,2892,5.4,-7.9,12,171,9.23,5.03,-19.33,0.006,18692,0.421,0.082,2029,3893,3768,3706,3830,0,0,0,0,0,0,14.32,13.97,14.54
$PING,24.4,27.3,9000.0,0.00,0.00
$PING,36.5,36.9,9000.0,0.00,0.00
$PING,59.1,63.4,62.8,1.06,0.99
$PING,69.2,73.3,73.9,1.12,1.00
$GC,291,-0.81,-146.0,2029,3893,3747,3838,72.8,-34.8,42,297,0.00,2.90,0.00,0.000,1030,0.000,0.035,2039,2865,3792,3747,3837,0,0,0,0,0,0,14.64,14.58,14.64
$PING,80.9,85.3,85.2,1.01,1.00
$PING,115.5,121.5,121.5,1.04,1.00
$GC,482,-0.81,-146.0,2039,2850,3754,3838,117.6,-22.0,62,493,0.00,4.88,0.00,0.000,516,0.000,0.056,2060,1183,3796,3754,3838,0,0,0,0,0,0,14.76,14.57,14.78
$PING,157.4,166.5,166.3,1.06,1.00
$GC,719,-0.81,-146.0,2060,1184,3759,3838,162.9,-18.1,109,725,0.00,2.95,0.00,0.000,1030,0.000,0.047,2050,2203,3797,3758,3837,0,0,0,0,0,0,14.72,14.66,14.73
$PING,169.3,177.9,178.3,1.05,1.00
$GC,906,-0.81,-146.0,2050,2205,3762,3838,196.5,-17.9,128,911,0.00,3.00,0.00,0.000,516,0.000,0.060,2060,1179,3799,3761,3838,0,0,0,0,0,0,14.84,14.66,14.87
$GC,1006,-0.81,-146.0,2060,1179,3763,3838,214.0,-16.5,148,1011,0.00,2.95,0.00,0.000,1030,0.000,0.046,2050,2206,3800,3763,3838,0,0,0,0,0,0,14.76,14.69,14.77
$GC,1199,-0.81,-146.0,2050,2207,3766,3838,244.7,-15.9,168,1205,0.00,3.00,0.00,0.000,516,0.000,0.059,2060,1178,3801,3765,3838,0,0,0,0,0,0,14.88,14.71,14.90
$GC,1230,-0.81,-146.0,2060,1183,3766,3838,250.1,-15.1,174,1235,0.00,2.95,0.00,0.000,1030,0.000,0.045,2050,2205,3801,3765,3838,0,0,0,0,0,0,14.79,14.76,14.81
$GC,1543,-0.81,-146.0,2050,2207,3769,3839,290.2,-12.3,191,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2206,3803,3768,3838,0,0,0,0,0,0,14.94,14.96,14.96
$GC,1841,-0.81,-146.0,2050,2206,3770,3838,321.5,-10.2,206,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2206,3804,3770,3838,0,0,0,0,0,0,14.97,15.00,15.00
$PING,335.2,6.0,6.8,-0.96,0.99
$GC,2141,-0.81,-146.0,2050,2207,3773,3838,351.6,-10.2,221,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2206,3804,3770,3838,0,0,0,0,0,0,15.00,15.02,15.02
$GC,2441,-0.81,-146.0,2050,2207,3773,3838,381.5,-9.7,236,2446,0.00,2.97,0.00,0.000,516,0.000,0.061,2059,1180,3805,3772,3838,0,0,0,0,0,0,15.02,14.83,15.04
$GC,2476,-0.81,-146.0,2059,1181,3773,3837,384.8,-9.9,243,2483,0.00,2.92,0.00,0.000,1030,0.000,0.046,2049,2210,3804,3772,3837,0,0,0,0,0,0,14.91,14.85,14.92
$PING,412.0,6.2,9000.0,-0.76,0.90
$GC,2783,-0.81,-146.0,2049,2211,3774,3838,413.9,-9.6,259,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2210,3805,3773,3837,0,0,0,0,0,0,15.04,15.06,15.06
$PING,434.9,6.2,9000.0,0.00,0.82
$GC,3081,-0.81,-146.0,2049,2211,3775,3838,442.4,-9.4,274,3086,0.00,2.97,0.00,0.000,516,0.000,0.060,2059,1180,3805,3774,3837,0,0,0,0,0,0,15.06,14.87,15.07
$PING,445.3,6.3,9000.0,0.00,0.08
$GC,3113,-0.81,-146.0,2059,1179,3774,3839,445.3,-9.3,280,3118,0.00,2.90,0.00,0.000,1030,0.000,0.046,2049,2204,3806,3774,3838,0,0,0,0,0,0,14.95,14.88,14.96
$PING,455.8,6.3,9000.0,0.01,0.72
$PING,466.9,6.1,9000.0,-0.01,0.78
$GC,3425,-0.81,-146.0,2049,2205,3775,3838,474.2,-9.2,297,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2205,3806,3775,3838,0,0,0,0,0,0,15.06,15.08,15.07
$PING,478.0,6.3,9000.0,0.00,0.00
$GC,3723,-0.81,-146.0,2049,2206,3776,3834,501.7,-9.0,312,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2205,3806,3775,3838,0,0,0,0,0,0,15.08,15.10,15.10
$GC,4023,-0.81,-146.0,2049,2205,3777,3837,528.5,-8.9,327,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2205,3805,3773,3838,0,0,0,0,0,0,15.11,15.11,15.10
$GC,4323,-0.81,-146.0,2050,2206,3778,3838,555.0,-8.8,342,4328,0.00,2.97,0.00,0.000,516,0.000,0.060,2059,1179,3807,3777,3837,0,0,0,0,0,0,15.10,14.89,15.11
$GC,4348,-0.81,-146.0,2059,1179,3779,3838,557.3,-8.7,347,4354,0.00,2.90,0.00,0.000,1030,0.000,0.046,2048,2205,3807,3778,3837,0,0,0,0,0,0,14.98,14.92,15.00
$PING,584.6,6.3,9000.0,0.00,0.18
$GC,4667,-0.81,-146.0,2049,2206,3780,3838,584.6,-8.6,365,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2205,3808,3779,3837,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4965,-0.81,-146.0,2048,2205,3781,3838,609.9,-8.3,380,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2205,3809,3780,3838,0,0,0,0,0,0,15.11,15.13,15.13
$GC,5265,-0.81,-146.0,2049,2205,3782,3838,634.8,-8.3,395,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2205,3809,3781,3837,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5565,-0.81,-146.0,2048,2206,3783,3839,659.9,-8.4,410,5570,0.00,2.95,0.00,0.000,516,0.000,0.060,2058,1179,3809,3782,3837,0,0,0,0,0,0,15.11,14.93,15.14
$GC,5580,-0.81,-146.0,2059,1179,3782,3838,661.2,-8.5,413,5586,0.00,2.90,0.00,0.000,1030,0.000,0.046,2048,2206,3810,3782,3839,0,0,0,0,0,0,15.01,14.95,15.02
$GC,5885,-0.81,-146.0,2048,2207,3784,3839,686.6,-8.3,429,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2207,3810,3783,3838,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6185,-0.81,-146.0,2048,2207,3784,3838,711.3,-8.2,444,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2206,3811,3784,3838,0,0,0,0,0,0,15.12,15.14,15.14
$GC,6485,-0.81,-146.0,2048,2207,3785,3838,735.9,-8.2,459,6492,0.00,2.92,0.00,0.000,516,0.000,0.060,2058,1184,3811,3785,3838,0,0,0,0,0,0,15.12,14.92,15.14
$GC,6517,-0.81,-146.0,2058,1184,3792,3838,738.6,-8.7,465,6523,0.00,2.83,0.00,0.000,1030,0.000,0.047,2048,2208,3811,3785,3837,0,0,0,0,0,0,15.02,14.96,15.04
$GC,6828,-0.81,-146.0,2048,2208,3787,3838,763.9,-8.1,482,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2208,3812,3786,3838,0,0,0,0,0,0,15.13,15.15,15.15
$GC,7128,-0.81,-146.0,2048,2208,3788,3839,788.1,-8.0,497,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2208,3812,3787,3838,0,0,0,0,0,0,15.14,15.16,15.15
$GC,7428,-0.81,-146.0,2048,2208,3789,3837,812.2,-8.1,512,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2208,3812,3787,3837,0,0,0,0,0,0,15.14,15.16,15.15
$GC,7728,-0.81,-146.0,2048,2208,3790,3839,836.4,-8.0,527,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2208,3813,3788,3838,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8029,-0.81,-146.0,2048,2208,3789,3838,860.2,-8.0,542,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2208,3813,3789,3837,0,0,0,0,0,0,15.13,15.15,15.14
$GC,8328,-0.81,-146.0,2048,2209,3790,3838,884.0,-7.8,557,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2208,3813,3789,3838,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8628,-0.81,-146.0,2049,2208,3797,3839,907.8,-8.0,572,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2208,3813,3789,3838,0,0,0,0,0,0,15.15,15.16,15.16
$GC,8928,-0.81,-146.0,2048,2208,3790,3838,931.4,-7.8,587,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2208,3814,3790,3838,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9228,-0.81,-146.0,2048,2208,3791,3838,955.0,-7.9,602,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2207,3814,3790,3838,0,0,0,0,0,0,15.15,15.17,15.17
$GC,9528,-0.81,-146.0,2048,2208,3792,3838,978.8,-7.9,617,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2208,3814,3791,3838,0,0,0,0,0,0,15.15,15.17,15.17
$STATE,9685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9685,begin apogee
$GC,9691,-0.11,0.0,2045,2451,3791,3837,991.5,-7.9,625,9858,0.85,0.00,163.48,2.078,10246,0.235,0.000,2279,2450,3164,3252,3076,0,0,0,0,0,0,14.88,14.15,13.45
$STATE,9859,end apogee,CONTROL_FINISHED_OK
$STATE,9859,begin climb
$GC,9861,0.81,146.0,2280,2450,3249,3073,992.7,0.0,633,10020,1.02,0.00,152.95,2.075,10758,0.156,0.000,2576,2450,2569,2723,2415,0,0,0,0,0,0,14.09,13.93,13.26
$GC,10309,0.81,146.0,2576,2450,2714,2411,937.6,13.2,668,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2449,2562,2714,2410,0,0,0,0,0,0,14.57,14.57,14.59
$GC,10608,0.81,146.0,2577,2450,2715,2422,898.0,13.2,683,10629,0.00,4.40,0.00,0.000,260,0.000,0.087,2566,3930,2569,2714,2424,0,0,0,0,0,0,14.73,14.52,14.76
$GC,10659,0.81,146.0,2566,3931,2714,2425,890.6,14.3,690,10665,0.00,2.22,0.00,0.000,1030,0.000,0.036,2575,3096,2569,2714,2425,0,0,0,0,0,0,14.64,14.60,14.64
$GC,10967,0.81,146.0,2575,3096,2715,2433,849.6,13.4,706,10977,0.00,4.80,0.00,0.000,516,0.000,0.053,2596,1435,2573,2714,2433,0,0,0,0,0,0,14.78,14.61,14.80
$GC,11202,0.81,146.0,2599,1435,2714,2439,819.8,12.3,753,11208,0.00,2.95,0.00,0.000,1030,0.000,0.051,2589,2452,2576,2714,2439,0,0,0,0,0,0,14.71,14.65,14.73
$GC,11509,0.81,146.0,2587,2453,2714,2447,778.8,13.6,769,11519,0.00,4.40,3.08,0.702,8452,0.000,0.084,2575,3935,2565,2704,2426,0,0,0,0,0,0,14.85,14.66,14.17
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$STATE,18357,end climb,SURFACE_DEPTH_REACHED
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$FINISH,0.4,1.021539
$STATE,18368,end surface coast,CONTROL_FINISHED_OK
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$RAFOS_CLK,323
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$IRIDIUM_FIX,7445.57,-14540.02,270918,032623
$TT8_MAMPS,0.038948,0.646387
$HUMID,44.40
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$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,29.2,30.3
$ALTIM_BOTTOM_PING,335.2,6.8
$SC_FREEKB,3883936
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$10V_AH,13.00,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18404.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.683,0.000,0.000,0.000
$MEM,334528
$DATA_FILE_SIZE,53252,1558
$CAP_FILE_SIZE,191711,0
$CFSIZE,1047117824,1035993088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.5
$GPS,270918,141305,7441.003,-14543.747,42,1.0,43,18.6,0.5,273.5,8,5.8