version: 66.11
glider: 167
mission: 16
dive: 333
start: 8 20 113 1 58 35
data:
$ID,167
$MISSION,16
$DIVE,333
$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,-975611
$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,61
$R_STBD_OVSHOOT,58
$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
$GPS1,200813,014936,2014.653,12316.460,31,1.0,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-68.6
$GPS2,200813,015805,2014.552,12316.480,32,1.2,32,-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,80.1,110371,-18.3,-10.000,-23.91,2793
$D_GRID,5157
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.12,-184.9,113,2222,696,640,0.0,0.0,0,116,0.00,0.00,-87.05,0.000,16386,0.000,0.000,112,2223,2846,2825,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.12,-184.9,112,2223,2825,2868,3.3,-4.3,15,163,10.52,2.15,-16.77,0.000,19204,0.233,0.040,2647,794,3726,3721,3732,0,0,0,0,0,0,25.22,26.08,26.46
$GC,279,-1.02,-184.9,2647,793,3722,3733,50.4,-30.6,33,287,0.17,2.05,0.00,0.000,3078,0.190,0.024,2681,2204,3727,3722,3733,0,0,0,0,0,0,25.60,26.15,28.83
$GC,586,-0.96,-184.9,2681,2203,3723,3733,129.7,-22.3,49,591,0.00,2.08,0.00,0.000,260,0.000,0.035,2672,3604,3728,3723,3733,0,0,0,0,0,0,28.83,26.19,28.83
$GC,620,-0.90,-184.9,2672,3603,3723,3733,135.2,-21.8,50,626,0.17,2.03,0.00,0.000,3078,0.165,0.016,2717,2171,3728,3723,3733,0,0,0,0,0,0,25.82,26.36,28.83
$GC,936,-0.87,-184.9,2717,2170,3725,3733,190.0,-14.9,66,942,0.00,1.95,0.00,0.000,516,0.000,0.028,2718,809,3729,3725,3733,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1031,-0.83,-184.9,2717,809,3725,3734,203.0,-15.4,70,1037,0.12,2.00,0.00,0.000,3078,0.168,0.024,2741,2202,3729,3725,3734,0,0,0,0,0,0,26.01,26.34,28.83
$GC,1348,-0.81,-184.9,2741,2202,3728,3733,246.5,-12.9,86,1353,0.00,2.00,0.00,0.000,516,0.000,0.027,2741,820,3730,3726,3734,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1382,-0.80,-184.9,2741,820,3726,3733,249.9,-13.0,87,1387,0.00,1.98,0.00,0.000,1030,0.000,0.024,2738,2198,3730,3726,3734,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1697,-0.78,-184.9,2737,2198,3728,3733,292.0,-13.2,103,1704,0.00,2.08,0.00,0.000,260,0.000,0.035,2727,3605,3729,3726,3733,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1728,-0.76,-184.9,2727,3605,3728,3733,295.8,-13.5,104,1734,0.15,1.98,0.00,0.000,3078,0.148,0.016,2768,2187,3730,3726,3735,0,0,0,0,0,0,26.07,26.49,28.83
$GC,2049,-0.76,-184.9,2768,2186,3726,3733,337.4,-13.0,120,2054,0.00,2.12,0.00,0.000,260,0.000,0.034,2765,3605,3729,3726,3733,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2147,-0.76,-184.9,2765,3605,3726,3733,348.3,-12.9,124,2154,0.00,1.95,0.00,0.000,1030,0.000,0.016,2765,2201,3729,3726,3732,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2453,-0.76,-184.9,2765,2201,3725,3731,387.3,-11.9,140,2459,0.00,1.95,0.00,0.000,516,0.000,0.028,2765,834,3728,3726,3731,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2547,-0.76,-184.9,2765,833,3726,3730,397.3,-11.8,144,2553,0.00,1.98,0.00,0.000,1030,0.000,0.026,2765,2202,3728,3726,3730,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2863,-0.76,-184.9,2765,2202,3726,3727,436.0,-11.8,160,2868,0.00,2.00,0.00,0.000,516,0.000,0.028,2764,825,3726,3726,3727,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2928,-0.76,-184.9,2765,825,3726,3726,443.8,-12.0,163,2934,0.00,2.00,0.00,0.000,1030,0.000,0.025,2765,2211,3725,3726,3725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3253,-0.76,-184.9,2765,2211,3726,3721,479.1,-10.6,179,3259,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,833,3723,3726,3720,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3299,-0.76,-184.9,2765,833,3726,3720,484.0,-10.6,181,3305,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2199,3722,3726,3719,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3624,-0.76,-184.9,2765,2199,3726,3716,516.6,-10.4,197,3629,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,823,3721,3726,3716,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3673,-0.76,-184.9,2765,823,3726,3714,521.4,-10.6,199,3679,0.00,2.00,0.00,0.000,1030,0.000,0.026,2765,2204,3720,3726,3715,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3993,-0.76,-184.9,2765,2204,3726,3710,556.0,-10.7,215,3998,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,830,3718,3726,3710,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4047,-0.76,-184.9,2765,830,3726,3709,560.8,-10.8,217,4053,0.00,2.00,0.00,0.000,1030,0.000,0.026,2765,2205,3717,3726,3708,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4363,-0.76,-184.9,2765,2205,3726,3703,593.8,-10.2,233,4368,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,835,3715,3726,3704,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4422,-0.76,-184.9,2765,835,3726,3703,598.4,-10.0,235,4429,0.00,2.00,0.00,0.000,1030,0.000,0.027,2765,2207,3714,3726,3703,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4728,-0.76,-184.9,2765,2207,3726,3697,631.0,-10.2,246,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2207,3711,3726,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5028,-0.76,-184.9,2765,2207,3727,3692,662.1,-10.5,256,5033,0.00,2.03,0.00,0.000,516,0.000,0.029,2765,826,3709,3726,3692,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5113,-0.76,-184.9,2765,826,3725,3691,669.1,-10.6,258,5118,0.00,2.03,0.00,0.000,1030,0.000,0.027,2765,2211,3707,3725,3690,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5429,-0.76,-184.9,2765,2211,3724,3685,703.7,-10.1,269,5434,0.00,2.03,0.00,0.000,516,0.000,0.029,2765,831,3705,3724,3686,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5463,-0.76,-184.9,2765,831,3723,3685,707.5,-10.2,270,5469,0.00,2.03,0.00,0.000,1030,0.000,0.028,2765,2203,3704,3723,3685,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5803,-0.77,-184.9,2765,2203,3720,3683,738.7,-8.9,281,5808,0.00,2.03,0.00,0.000,516,0.000,0.030,2765,830,3701,3720,3683,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5832,-0.78,-184.9,2765,829,3719,3683,738.7,-8.9,281,5840,0.00,2.03,0.00,0.000,1030,0.000,0.028,2765,2208,3700,3719,3682,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6142,-0.79,-184.9,2765,2207,3718,3678,769.9,-9.3,292,6147,0.00,2.12,0.00,0.000,260,0.000,0.041,2765,3605,3698,3718,3679,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6166,-0.80,-184.9,2765,3605,3717,3678,769.9,-9.3,292,6172,0.00,2.00,0.00,0.000,1030,0.000,0.021,2765,2218,3697,3717,3678,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6485,-0.82,-184.9,2765,2215,3716,3676,803.7,-9.9,303,6491,0.00,2.05,0.00,0.000,516,0.000,0.031,2765,812,3696,3716,3676,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6540,-0.83,-184.9,2765,812,3715,3675,807.6,-9.9,304,6546,0.00,2.05,0.00,0.000,1030,0.000,0.028,2765,2203,3694,3714,3675,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6860,-0.84,-184.9,2765,2202,3713,3672,841.1,-10.3,315,6865,0.00,2.12,0.00,0.000,260,0.000,0.042,2765,3596,3692,3713,3672,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6884,-0.85,-184.9,2765,3596,3713,3672,841.1,-10.3,315,6890,0.00,2.03,0.00,0.000,1030,0.000,0.022,2767,2192,3692,3713,3672,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7204,-0.86,-184.9,2765,2191,3712,3671,875.6,-9.8,326,7209,0.00,2.03,0.00,0.000,516,0.000,0.031,2765,806,3690,3712,3669,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7259,-0.87,-184.9,2765,806,3711,3669,879.5,-9.9,327,7264,0.00,2.08,0.00,0.000,1030,0.000,0.029,2765,2208,3690,3711,3669,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7577,-0.88,-184.9,2765,2208,3709,3667,911.7,-9.5,338,7583,0.10,2.12,0.00,0.000,4356,0.099,0.041,2713,3596,3688,3709,3667,0,0,0,0,0,0,26.55,26.08,28.83
$GC,7643,-0.88,-184.9,2712,3596,3708,3667,919.8,-10.7,340,7649,0.00,2.05,0.00,0.000,1030,0.000,0.022,2713,2181,3687,3708,3667,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7982,-0.87,-184.9,2712,2181,3706,3664,961.2,-12.3,351,7987,0.00,2.00,0.00,0.000,516,0.000,0.032,2713,819,3685,3706,3664,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8002,-0.86,-184.9,2712,819,3706,3664,961.2,-12.3,351,8007,0.00,2.05,0.00,0.000,1030,0.000,0.030,2712,2199,3685,3706,3664,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,8228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8228,begin apogee
$GC,8237,-0.18,0.0,2711,2042,3705,3662,993.0,-12.4,359,8407,0.75,0.00,159.98,1.221,10246,0.130,0.000,2948,2040,2962,3028,2897,0,0,0,0,0,0,25.39,28.83,23.68
$STATE,8410,end apogee,CONTROL_FINISHED_OK
$STATE,8410,begin climb
$GC,8413,1.12,184.9,2947,2040,3025,2887,1000.8,0.0,364,8583,1.20,2.38,161.15,1.200,10500,0.065,0.042,3368,3447,2207,2292,2122,0,0,0,0,0,0,24.92,24.35,23.34
$GC,8675,1.05,184.9,3368,3447,2286,2098,985.1,11.5,372,8683,0.00,2.12,0.00,0.000,1030,0.000,0.024,3377,2061,2191,2286,2097,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8982,0.99,184.9,3376,2062,2286,2090,941.0,13.1,383,8987,0.12,2.17,0.00,0.000,4356,0.171,0.039,3342,3454,2188,2285,2091,0,0,0,0,0,0,25.79,25.96,28.83
$GC,9026,0.94,184.9,3342,3454,2283,2090,935.8,13.2,384,9033,0.12,2.10,0.00,0.000,5126,0.184,0.025,3322,2043,2187,2283,2091,0,0,0,0,0,0,25.72,26.09,28.83
$GC,9358,0.91,184.9,3322,2043,2282,2089,897.6,11.4,395,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2043,2185,2282,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9653,0.87,184.9,3323,2043,2283,2087,864.1,11.0,405,9658,0.00,2.10,0.00,0.000,516,0.000,0.037,3331,656,2184,2282,2087,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9677,0.84,184.9,3331,655,2278,2087,864.1,11.0,405,9683,0.17,2.10,0.00,0.000,5126,0.154,0.031,3285,2049,2182,2278,2087,0,0,0,0,0,0,25.82,26.22,28.83
$GC,9996,0.85,196.8,3285,2049,2278,2086,830.3,9.6,416,10007,0.00,2.22,2.30,0.398,8452,0.000,0.043,3285,3460,2168,2259,2078,0,0,0,0,0,0,28.83,26.17,23.86
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$STATE,17995,end climb,SURFACE_DEPTH_REACHED
$STATE,17995,begin surface coast
$FINISH,1.3,1.021371
$STATE,18031,end surface coast,CONTROL_FINISHED_OK
$STATE,18031,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,54.72
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.70
$XPDR_PINGS,7
$SC_FREEKB,7589312
$24V_AH,23.3,53.685
$10V_AH,10.3,33.462
$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
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$MEM,327912
$DATA_FILE_SIZE,30089,816
$CAP_FILE_SIZE,215556,0
$CFSIZE,260034560,221093888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.065,103.1,1
$GPS,200813,070124,2014.855,12318.449,44,1.7,44,-2.9