version: 66.11
glider: 167
mission: 16
dive: 321
start: 8 17 113 11 49 56
data:
$ID,167
$MISSION,16
$DIVE,321
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,564.9259
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975596
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,3015
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-15.330984
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,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,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043557216
$SEABIRD_T_H,0.00062581268
$SEABIRD_T_I,2.3904395e-05
$SEABIRD_T_J,2.614597e-06
$SEABIRD_C_G,-10.14994
$SEABIRD_C_H,1.1477706
$SEABIRD_C_I,-0.0022030354
$SEABIRD_C_J,0.00024289287
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170813,114006,2016.705,12301.068,38,1.0,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-69.3
$GPS2,170813,114906,2016.695,12301.148,37,0.9,37,-2.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,94.7,137043,-18.3,-10.000,-23.91,2793
$D_GRID,5344
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.12,-184.9,111,2223,684,649,0.0,0.0,0,120,0.00,0.00,-91.50,0.000,16386,0.000,0.000,111,2224,2955,2932,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-1.12,-184.9,111,2224,2933,2978,3.0,-2.7,16,161,10.55,2.12,-15.65,0.000,18692,0.237,0.047,2638,3596,3726,3720,3732,0,0,0,0,0,0,25.34,26.08,26.49
$GC,396,-1.02,-184.9,2638,3597,3721,3734,84.2,-28.4,41,403,0.17,2.00,0.00,0.000,3078,0.198,0.016,2678,2164,3727,3720,3734,0,0,0,0,0,0,25.67,26.34,28.83
$GC,713,-0.96,-184.9,2678,2164,3722,3734,165.2,-22.9,57,718,0.00,2.12,0.00,0.000,260,0.000,0.033,2670,3595,3728,3722,3735,0,0,0,0,0,0,28.83,26.27,28.83
$GC,933,-0.90,-184.9,2670,3595,3722,3734,208.6,-20.6,67,942,0.20,1.95,0.00,0.000,3078,0.157,0.017,2724,2198,3728,3723,3734,0,0,0,0,0,0,25.91,26.45,28.83
$GC,1239,-0.87,-184.9,2724,2198,3724,3734,258.4,-14.7,83,1245,0.00,1.95,0.00,0.000,516,0.000,0.028,2724,826,3729,3724,3734,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1274,-0.84,-184.9,2724,825,3724,3734,262.2,-14.8,84,1280,0.00,1.98,0.00,0.000,1030,0.000,0.024,2717,2205,3729,3724,3734,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1589,-0.82,-184.9,2717,2205,3724,3734,310.1,-14.6,100,1596,0.12,2.05,0.00,0.000,2308,0.172,0.034,2752,3595,3729,3724,3734,0,0,0,0,0,0,26.20,26.32,28.83
$GC,1615,-0.79,-184.9,2750,3594,3724,3734,313.6,-14.3,101,1621,0.00,1.98,0.00,0.000,1030,0.000,0.017,2751,2189,3729,3724,3734,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1941,-0.78,-184.9,2750,2189,3724,3734,353.2,-11.7,117,1946,0.00,1.95,0.00,0.000,516,0.000,0.029,2752,825,3729,3724,3734,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1995,-0.77,-184.9,2750,825,3724,3734,358.6,-11.7,119,2001,0.00,1.98,0.00,0.000,1030,0.000,0.025,2742,2201,3729,3724,3734,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2311,-0.76,-184.9,2741,2201,3724,3731,398.3,-12.7,135,2316,0.00,2.00,0.00,0.000,516,0.000,0.028,2742,822,3727,3724,3731,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2336,-0.75,-184.9,2741,822,3724,3731,401.7,-13.1,136,2343,0.12,2.00,0.00,0.000,3078,0.162,0.025,2769,2198,3727,3724,3731,0,0,0,0,0,0,26.10,26.41,28.83
$GC,2662,-0.75,-184.9,2769,2198,3724,3728,440.3,-11.5,152,2668,0.00,2.00,0.00,0.000,516,0.000,0.028,2770,820,3726,3724,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2708,-0.75,-184.9,2769,820,3724,3727,445.5,-11.4,154,2714,0.00,2.00,0.00,0.000,1030,0.000,0.025,2766,2200,3725,3724,3727,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3033,-0.75,-184.9,2765,2200,3724,3722,479.8,-10.4,170,3038,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,823,3723,3724,3722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3058,-0.75,-184.9,2765,823,3724,3722,482.3,-10.3,171,3063,0.00,2.00,0.00,0.000,1030,0.000,0.026,2766,2206,3723,3725,3722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3383,-0.75,-184.9,2765,2206,3724,3718,514.8,-10.5,187,3388,0.00,2.03,0.00,0.000,516,0.000,0.028,2765,816,3720,3724,3717,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3427,-0.75,-184.9,1696,816,3718,3715,519.6,-10.7,189,3432,0.00,2.03,0.00,0.000,1030,0.000,0.026,2766,2205,3720,3724,3716,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3753,-0.75,-184.9,2766,2205,3724,3711,554.4,-10.8,205,3758,0.00,2.03,0.00,0.000,516,0.000,0.028,2766,816,3717,3724,3711,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3801,-0.75,-184.9,1728,816,3718,3708,559.2,-10.6,207,3806,0.00,2.03,0.00,0.000,1030,0.000,0.027,2765,2210,3717,3724,3710,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4121,-0.75,-184.9,2765,2209,3724,3705,591.8,-9.9,223,4127,0.00,2.03,0.00,0.000,516,0.000,0.028,2765,824,3714,3724,3705,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4196,-0.75,-184.9,2765,823,3724,3704,598.4,-9.8,226,4202,0.00,2.03,0.00,0.000,1030,0.000,0.027,2765,2208,3713,3724,3703,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4515,-0.75,-184.9,2765,2208,3724,3698,629.3,-9.7,237,4521,0.00,2.03,0.00,0.000,516,0.000,0.028,2765,822,3711,3724,3698,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4564,-0.75,-184.9,2765,822,3724,3697,633.0,-9.7,238,4570,0.00,2.03,0.00,0.000,1030,0.000,0.027,2764,2208,3710,3724,3696,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4889,-0.75,-184.9,2765,2207,3724,3691,664.1,-9.1,249,4895,0.00,2.10,0.00,0.000,260,0.000,0.041,2765,3599,3707,3724,3691,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4920,-0.75,-184.9,2766,3599,3724,3690,664.1,-9.1,249,4927,0.00,2.00,0.00,0.000,1030,0.000,0.019,2765,2183,3707,3724,3690,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5228,-0.75,-184.9,2765,2183,3722,3685,696.8,-9.6,260,5234,0.00,1.95,0.00,0.000,516,0.000,0.030,2765,839,3703,3722,3685,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5298,-0.75,-184.9,1704,838,3713,3683,703.5,-9.7,262,5304,0.00,2.03,0.00,0.000,1030,0.000,0.028,2766,2205,3702,3720,3685,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5631,-0.75,-184.9,2765,2205,3718,3682,734.4,-9.3,273,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2205,3700,3718,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5929,-0.75,-184.9,2765,2205,3716,3678,763.5,-10.0,283,5934,0.00,2.03,0.00,0.000,516,0.000,0.030,2765,833,3697,3716,3678,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5953,-0.75,-184.9,2765,833,3716,3678,763.5,-10.0,283,5959,0.00,2.05,0.00,0.000,1030,0.000,0.028,2764,2210,3696,3716,3677,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6268,-0.75,-184.9,2765,2210,3714,3675,800.2,-11.0,294,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2210,3694,3713,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6569,-0.75,-184.9,2765,2210,3711,3672,834.0,-11.4,304,6575,0.00,2.05,0.00,0.000,516,0.000,0.031,2765,827,3691,3711,3672,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6599,-0.75,-184.9,2765,827,3712,3672,834.0,-11.4,304,6605,0.00,2.03,0.00,0.000,1030,0.000,0.029,2765,2199,3691,3711,3672,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6905,-0.75,-184.9,2766,2199,3712,3669,869.7,-10.4,315,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2199,3690,3711,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7205,-0.75,-184.9,2765,2199,3708,3666,898.2,-9.3,325,7210,0.00,2.03,0.00,0.000,516,0.000,0.031,2765,835,3687,3708,3666,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7240,-0.75,-184.9,2765,835,3707,3666,901.7,-9.4,326,7246,0.00,2.03,0.00,0.000,1030,0.000,0.029,2765,2196,3686,3707,3666,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7579,-0.75,-184.9,2765,2196,3705,3665,932.2,-9.4,337,7585,0.00,2.15,0.00,0.000,260,0.000,0.043,2766,3602,3684,3705,3663,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7634,-0.76,-184.9,2765,3602,3705,3663,935.8,-9.4,338,7640,0.00,2.03,0.00,0.000,1030,0.000,0.023,2765,2220,3684,3705,3663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7953,-0.77,-184.9,2765,2218,3706,3660,967.1,-9.5,349,7959,0.00,2.08,0.00,0.000,516,0.000,0.032,2765,810,3682,3705,3660,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8014,-0.78,-184.9,2765,810,3704,3660,971.1,-9.7,350,8020,0.00,2.08,0.00,0.000,1030,0.000,0.030,2765,2205,3682,3704,3660,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,8195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8195,begin apogee
$GC,8204,-0.18,0.0,2765,2042,3703,3658,991.2,-9.6,357,8364,0.57,0.00,150.60,1.235,10246,0.119,0.000,2952,2040,2964,3030,2898,0,0,0,0,0,0,25.60,28.83,23.79
$STATE,8366,end apogee,CONTROL_FINISHED_OK
$STATE,8367,begin climb
$GC,8371,1.12,184.9,2952,2040,3029,2890,998.0,0.0,362,8545,1.17,2.40,160.20,1.200,11012,0.063,0.042,3367,3439,2204,2291,2117,0,0,0,0,0,0,24.98,24.44,23.48
$GC,8599,1.05,184.9,3367,3439,2290,2106,983.2,11.6,370,8605,0.00,2.15,0.00,0.000,1030,0.000,0.024,3376,2048,2197,2290,2105,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8933,1.00,184.9,3376,2047,2289,2098,938.9,13.1,381,8939,0.12,2.20,0.00,0.000,4356,0.173,0.040,3342,3458,2194,2290,2098,0,0,0,0,0,0,25.80,25.96,28.83
$GC,9008,0.94,184.9,3342,3458,2287,2097,929.7,13.1,383,9015,0.12,2.10,0.00,0.000,5126,0.187,0.025,3322,2044,2192,2287,2097,0,0,0,0,0,0,25.75,26.12,28.83
$GC,9338,0.91,184.9,3322,2043,2287,2095,893.5,10.9,394,9343,0.00,2.20,0.00,0.000,260,0.000,0.041,3322,3459,2191,2287,2095,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9392,0.87,184.9,3322,3458,2287,2095,889.0,11.1,395,9399,0.15,2.10,0.00,0.000,5126,0.169,0.025,3294,2039,2191,2287,2095,0,0,0,0,0,0,25.84,26.25,28.83
$GC,9713,0.85,184.9,3294,2039,2287,2092,854.1,10.3,406,9718,0.00,2.10,0.00,0.000,516,0.000,0.037,3304,648,2189,2287,2092,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9763,0.82,184.9,3303,648,2283,2092,849.8,10.4,407,9768,0.00,2.10,0.00,0.000,1030,0.000,0.031,3303,2049,2187,2283,2092,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10087,0.79,184.9,3302,2048,2283,2092,814.6,10.1,418,10093,0.12,2.17,0.00,0.000,4356,0.162,0.041,3266,3462,2187,2283,2092,0,0,0,0,0,0,26.10,26.14,28.83
$GC,10154,0.79,191.7,3266,3462,2283,2091,807.9,9.7,420,10159,0.00,2.10,0.00,0.000,1030,0.000,0.025,3273,2041,2187,2283,2091,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,17758,end climb,SURFACE_DEPTH_REACHED
$STATE,17759,begin surface coast
$FINISH,1.1,1.007259
$STATE,17781,end surface coast,CONTROL_FINISHED_OK
$STATE,17781,begin surface
$SM_CCo,17804,27.38,0.124,0,0,666,564.93
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.85
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.70
$XPDR_PINGS,6
$SC_FREEKB,7593920
$24V_AH,23.5,51.421
$10V_AH,10.1,32.140
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.400,171.150,579.875,27.375,0.000,0.000,0.000,297.425,1.500,0.000,38.104,2699.468,11869.269,772.209,2350.842,689.722,0.000,2231.763,0.000,2009.180,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.670,0.000,0.000,0.000
$MEM,328416
$DATA_FILE_SIZE,30038,803
$CAP_FILE_SIZE,210444,0
$CFSIZE,260034560,222261248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.019,294.7,1
$GPS,170813,164835,2016.743,12302.440,42,1.1,42,-2.9