version: 66.11
glider: 167
mission: 16
dive: 449
start: 9 11 113 7 51 5
data:
$ID,167
$MISSION,16
$DIVE,449
$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,320
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,0
$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,1
$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,-975778.94
$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,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2125
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,49
$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,0.0015
$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
$GPS1,110913,073906,1934.915,12332.029,35,0.9,35,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-73.7
$GPS2,110913,075036,1935.011,12332.005,37,0.9,37,-2.7
$SPEED_LIMITS,0.179,0.233
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,153.0,223958,-18.3,-10.312,-23.85,2851
$D_GRID,5092
$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,-1.05,-194.6,142,2105,694,650,0.0,0.0,0,117,0.00,0.00,-87.57,0.000,16386,0.000,0.000,142,2106,2885,2859,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.05,-194.6,142,2106,2859,2912,3.6,-4.0,16,162,11.60,2.08,-16.50,0.000,18948,0.258,0.044,2673,724,3763,3757,3770,0,0,0,0,0,0,25.00,26.00,26.48
$GC,203,-1.05,-194.6,2673,725,3757,3771,25.1,-24.4,29,210,0.00,2.10,0.00,0.000,1030,0.000,0.029,2665,2129,3764,3758,3771,0,0,0,0,0,0,28.83,26.06,28.83
$GC,519,-1.05,-194.6,2665,2129,3757,3770,95.1,-20.8,51,524,0.00,2.10,0.00,0.000,516,0.000,0.034,2665,724,3764,3757,3771,0,0,0,0,0,0,28.83,26.16,28.83
$GC,544,-1.05,-194.6,2664,724,3757,3771,100.3,-20.8,52,549,0.00,2.08,0.00,0.000,1030,0.000,0.028,2656,2138,3764,3757,3771,0,0,0,0,0,0,28.83,26.21,28.83
$GC,869,-1.05,-194.6,2655,2137,3758,3771,163.2,-17.0,68,874,0.00,2.05,0.00,0.000,260,0.000,0.036,2645,3529,3764,3758,3771,0,0,0,0,0,0,28.83,26.20,28.83
$GC,907,-1.05,-194.6,2645,3529,3757,3771,167.4,-16.7,69,915,0.12,2.03,0.00,0.000,3078,0.178,0.018,2674,2099,3764,3758,3771,0,0,0,0,0,0,25.94,26.38,28.83
$GC,1214,-1.05,-194.6,2674,2099,3758,3771,218.2,-15.5,85,1219,0.00,1.98,0.00,0.000,516,0.000,0.032,2674,740,3764,3758,3771,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1262,-1.05,-194.6,1632,740,3752,3770,225.2,-15.6,87,1267,0.00,2.03,0.00,0.000,1030,0.000,0.028,2670,2127,3765,3758,3772,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1581,-1.05,-194.6,2668,2129,3760,3772,285.6,-24.3,103,1587,0.00,2.03,0.00,0.000,260,0.000,0.028,2658,3540,3765,3759,3772,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1620,-1.05,-194.6,2658,3541,3760,3771,293.3,-28.7,104,1627,0.00,2.00,0.00,0.000,1030,0.000,0.018,2658,2135,3765,3760,3771,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1927,-1.05,-194.6,2653,2126,3759,3771,378.1,-24.3,120,1932,0.00,2.10,0.00,0.000,260,0.000,0.033,2643,3537,3765,3760,3771,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2163,-1.05,-194.6,2641,3539,3760,3769,427.3,-21.8,131,2169,0.15,2.03,0.00,0.000,3078,0.167,0.019,2679,2117,3764,3760,3769,0,0,0,0,0,0,25.94,26.41,28.83
$GC,2478,-1.05,-194.6,2679,2117,3760,3768,478.8,-15.7,147,2484,0.00,2.12,0.00,0.000,260,0.000,0.034,2671,3536,3763,3759,3767,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2650,-1.05,-194.6,1640,3535,3754,3764,506.0,-16.3,155,2655,0.00,2.03,0.00,0.000,1030,0.000,0.019,2670,2120,3761,3759,3764,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2970,-1.05,-194.6,2671,2119,3760,3759,559.5,-16.3,171,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2119,3759,3759,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3294,-1.05,-194.6,2671,2119,3759,3754,612.1,-17.2,186,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2119,3756,3759,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3590,-1.05,-194.6,2671,2119,3759,3749,662.4,-16.5,196,3595,0.00,2.15,0.00,0.000,260,0.000,0.038,2669,3523,3753,3759,3748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3741,-1.05,-194.6,2669,3523,3759,3746,682.1,-15.7,200,3748,0.00,2.03,0.00,0.000,1030,0.000,0.019,2670,2113,3752,3759,3746,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4047,-1.05,-194.6,2669,2112,3759,3739,731.8,-14.4,211,4053,0.00,2.15,0.00,0.000,260,0.000,0.038,2669,3525,3749,3759,3739,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4169,-1.05,-194.6,2669,3524,3759,3740,745.2,-14.0,214,4176,0.00,2.03,0.00,0.000,1030,0.000,0.020,2669,2116,3748,3759,3737,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4473,-1.05,-194.6,2669,2115,3759,3732,786.2,-11.8,225,4479,0.00,2.15,0.00,0.000,260,0.000,0.040,2669,3522,3745,3759,3731,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4538,-1.05,-194.6,2669,3522,3758,3730,794.0,-11.8,227,4544,0.00,2.03,0.00,0.000,1030,0.000,0.021,2669,2123,3744,3758,3730,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4876,-1.05,-194.6,2669,2123,3757,3726,833.8,-12.4,238,4881,0.00,2.15,0.00,0.000,260,0.000,0.041,2669,3528,3741,3756,3726,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4998,-1.05,-194.6,2669,3527,3755,3726,846.4,-12.8,241,5005,0.00,2.03,0.00,0.000,1030,0.000,0.021,2669,2126,3740,3755,3726,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5301,-1.05,-194.6,2669,2125,3753,3721,889.6,-13.3,252,5306,0.00,2.15,0.00,0.000,260,0.000,0.041,2669,3525,3737,3753,3721,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5371,-1.05,-194.6,2669,3525,3752,3721,898.6,-13.5,254,5376,0.00,2.03,0.00,0.000,1030,0.000,0.021,2669,2122,3736,3752,3721,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5703,-1.05,-194.6,2669,2122,3751,3718,946.4,-14.7,265,5709,0.00,2.17,0.00,0.000,260,0.000,0.042,2669,3521,3734,3751,3717,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5895,-1.05,-194.6,2669,3521,3747,3717,975.4,-15.2,271,5901,0.00,2.03,0.00,0.000,1030,0.000,0.023,2669,2127,3732,3747,3717,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,6012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6012,begin apogee
$GC,6021,-0.21,0.0,2669,2126,3747,3714,993.9,-15.0,275,6196,0.88,0.00,164.65,1.198,10246,0.133,0.000,2944,2125,2957,3024,2890,0,0,0,0,0,0,25.45,28.83,23.47
$STATE,6199,end apogee,CONTROL_FINISHED_OK
$STATE,6199,begin climb
$GC,6202,1.05,194.6,2944,2125,3024,2885,1004.5,0.0,281,6382,1.15,2.25,170.62,1.174,10500,0.060,0.044,3358,3492,2167,2255,2080,0,0,0,0,0,0,25.13,24.86,23.51
$GC,6473,1.05,194.6,3357,3491,2247,2052,985.4,13.0,290,6478,0.00,2.10,0.00,0.000,1030,0.000,0.024,3367,2102,2148,2246,2051,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6802,1.05,194.6,3366,2102,2247,2044,939.6,13.8,301,6807,0.00,2.12,0.00,0.000,516,0.000,0.041,3377,705,2145,2246,2044,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6911,1.05,194.6,3377,705,2241,2045,925.3,14.2,304,6916,0.00,2.10,0.00,0.000,1030,0.000,0.034,3376,2095,2142,2241,2044,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7234,1.05,194.6,3377,2095,2241,2042,877.7,14.5,315,7239,0.00,2.17,0.00,0.000,260,0.000,0.044,3377,3508,2141,2241,2042,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7318,1.05,194.6,3377,3507,2237,2042,867.5,14.7,317,7323,0.00,2.10,0.00,0.000,1030,0.000,0.025,3387,2088,2139,2237,2042,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7633,1.05,194.6,3387,2088,2236,2040,820.3,13.6,328,7639,0.00,2.10,0.00,0.000,516,0.000,0.040,3397,698,2138,2237,2040,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7732,1.05,194.6,3397,698,2234,2040,807.0,13.7,331,7738,0.15,2.12,0.00,0.000,5126,0.164,0.034,3360,2107,2137,2234,2040,0,0,0,0,0,0,25.82,26.23,28.83
$GC,8066,1.05,194.6,3360,2107,2234,2039,768.3,11.1,342,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2107,2136,2234,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8363,1.05,194.6,3360,2107,2234,2039,735.6,11.0,352,8368,0.00,2.15,0.00,0.000,516,0.000,0.038,3368,701,2136,2233,2039,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8398,1.05,194.6,3368,701,2234,2038,731.6,11.0,353,8404,0.00,2.12,0.00,0.000,1030,0.000,0.033,3369,2104,2137,2235,2039,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8736,1.05,194.6,3369,2104,2233,2037,695.7,10.5,364,8741,0.00,2.15,0.00,0.000,516,0.000,0.038,3377,698,2135,2234,2037,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8785,1.05,194.6,3377,698,2233,2037,691.8,10.5,365,8790,0.00,2.12,0.00,0.000,1030,0.000,0.033,3377,2110,2135,2234,2037,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9105,1.05,194.6,3377,2110,2230,2037,656.0,10.9,376,9110,0.00,2.15,0.00,0.000,516,0.000,0.039,3387,705,2133,2230,2037,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9164,1.05,194.6,3386,705,2230,2037,652.0,11.1,377,9171,0.00,2.12,0.00,0.000,1030,0.000,0.034,3387,2110,2133,2230,2037,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9471,1.05,194.6,3386,2110,2230,2036,611.6,12.6,388,9476,0.00,2.15,0.00,0.000,516,0.000,0.038,3396,707,2133,2230,2037,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9521,1.05,194.6,3396,706,2230,2036,606.9,12.8,389,9527,0.15,2.10,0.00,0.000,5126,0.163,0.034,3359,2103,2132,2229,2036,0,0,0,0,0,0,25.77,26.20,28.83
$GC,9832,1.05,194.6,3359,2102,2230,2035,571.1,10.5,404,9837,0.00,2.15,0.00,0.000,516,0.000,0.039,3368,702,2132,2229,2036,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9866,1.05,194.6,3367,703,2229,2036,568.6,10.3,405,9871,0.00,2.10,0.00,0.000,1030,0.000,0.033,3367,2100,2133,2230,2036,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10180,1.15,255.3,3367,2100,2229,2035,539.9,8.1,421,10243,0.00,2.22,57.83,0.906,8452,0.000,0.042,3367,3502,1921,2017,1826,0,0,0,0,0,0,28.83,25.41,23.99
$GC,10263,1.19,285.9,3367,3502,2000,1807,532.2,9.2,425,10306,0.00,2.12,34.60,0.838,9222,0.000,0.026,3376,2102,1797,1891,1704,0,0,0,0,0,0,28.83,25.63,24.01
$GC,10626,1.19,285.9,3376,2102,1875,1679,493.0,11.7,443,10631,0.00,2.15,0.00,0.000,516,0.000,0.041,3387,699,1776,1874,1679,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10690,1.19,285.9,3387,699,1873,1679,484.6,12.7,446,10696,0.00,2.15,0.00,0.000,1030,0.000,0.033,3387,2097,1776,1873,1680,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,15114,end climb,SURFACE_DEPTH_REACHED
$STATE,15114,begin surface coast
$FINISH,1.2,1.009577
$STATE,15138,end surface coast,CONTROL_FINISHED_OK
$STATE,15138,begin surface
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$IRIDIUM_FIX,1925.22,12331.25,110913,070740
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.16
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.10
$XPDR_PINGS,2
$SC_FREEKB,7576992
$24V_AH,23.5,73.299
$10V_AH,10.1,45.134
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.100,147.575,557.300,38.725,0.000,0.000,0.000,377.200,0.500,0.000,39.084,2292.978,9924.159,703.404,2348.253,613.982,0.000,2182.047,0.000,1907.962,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.222,0.000,0.000,0.000
$MEM,327848
$DATA_FILE_SIZE,26754,705
$CAP_FILE_SIZE,179798,0
$CFSIZE,260034560,210878464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110913,120554,1934.010,12332.407,41,1.1,41,-2.7