version: 66.11
glider: 167
mission: 16
dive: 454
start: 9 12 113 9 18 22
data:
$ID,167
$MISSION,16
$DIVE,454
$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,250
$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,-975785.31
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$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,52
$R_STBD_OVSHOOT,48
$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
$GPS1,120913,090824,1935.032,12329.728,43,1.0,43,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-73.6
$GPS2,120913,091753,1935.079,12329.734,41,0.9,41,-2.7
$SPEED_LIMITS,0.179,0.258
$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,152.1,226078,-15.9,-10.312,-21.80,3549
$D_GRID,5085
$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,-1.03,-243.3,133,2094,655,534,0.0,0.0,0,117,0.00,0.00,-87.55,0.000,16386,0.000,0.000,133,2095,2809,2784,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.03,-243.3,133,2094,2784,2834,3.3,-3.7,16,167,11.43,2.05,-22.08,0.000,18948,0.252,0.044,2683,714,3963,3963,3963,0,0,0,0,0,0,25.02,26.01,26.49
$GC,204,-0.88,-243.3,2682,715,3963,3965,25.1,-25.6,29,212,0.22,2.10,0.00,0.000,3078,0.167,0.030,2734,2122,3963,3962,3964,0,0,0,0,0,0,25.48,26.06,28.83
$GC,522,-0.79,-243.3,2734,2122,3964,3964,91.7,-19.8,51,528,0.12,2.12,0.00,0.000,2308,0.174,0.037,2764,3535,3964,3965,3964,0,0,0,0,0,0,26.04,26.11,28.83
$GC,630,-0.74,-243.3,2763,3536,3963,3964,109.1,-15.9,56,636,0.00,2.05,0.00,0.000,1030,0.000,0.019,2764,2112,3963,3963,3964,0,0,0,0,0,0,28.83,26.31,28.83
$GC,956,-0.70,-243.3,2763,2112,3963,3964,156.2,-14.4,72,962,0.10,2.03,0.00,0.000,2564,0.164,0.032,2789,726,3963,3962,3964,0,0,0,0,0,0,26.30,26.23,28.83
$GC,1011,-0.68,-243.3,2789,726,3963,3964,162.6,-14.5,74,1016,0.00,2.08,0.00,0.000,1030,0.000,0.030,2784,2128,3963,3964,3963,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1326,-0.70,-243.3,2783,2128,3963,3963,203.8,-11.6,90,1331,0.00,2.08,0.00,0.000,516,0.000,0.033,2783,723,3963,3962,3964,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1351,-0.74,-243.3,2783,724,3963,3964,206.7,-11.6,91,1356,0.00,2.08,0.00,0.000,1030,0.000,0.028,2779,2134,3963,3963,3964,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1676,-0.77,-243.3,2779,2134,3962,3964,243.6,-11.3,107,1682,0.00,2.08,0.00,0.000,516,0.000,0.033,2779,728,3963,3963,3963,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1766,-0.80,-243.3,1696,727,3961,3963,253.5,-11.6,111,1771,0.00,2.05,0.00,0.000,1030,0.000,0.029,2779,2128,3963,3963,3964,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2087,-0.85,-243.3,2779,2128,3963,3963,287.4,-9.5,127,2092,0.00,2.08,0.00,0.000,260,0.000,0.039,2779,3528,3963,3963,3963,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2147,-0.89,-243.3,2778,3528,3963,3962,291.2,-8.8,129,2154,0.12,2.00,0.00,0.000,5126,0.080,0.018,2709,2119,3962,3963,3962,0,0,0,0,0,0,26.33,26.41,28.83
$GC,2452,-0.86,-243.3,2709,2119,3963,3960,323.0,-10.8,145,2454,0.12,0.00,0.00,0.000,2054,0.153,0.000,2742,2119,3962,3963,3961,0,0,0,0,0,0,26.27,28.83,28.83
$GC,2752,-0.88,-243.3,2742,2119,3963,3959,360.5,-13.5,160,2757,0.00,2.03,0.00,0.000,516,0.000,0.034,2742,729,3960,3963,3958,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2817,-0.88,-243.3,2743,730,3962,3958,369.6,-13.7,163,2823,0.00,2.08,0.00,0.000,1030,0.000,0.029,2739,2135,3960,3963,3957,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3143,-0.88,-243.3,2739,2135,3962,3955,407.6,-9.8,179,3148,0.00,2.08,0.00,0.000,516,0.000,0.032,2739,730,3958,3962,3955,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3168,-0.88,-243.3,2739,730,3963,3955,410.0,-9.5,180,3173,0.00,2.08,0.00,0.000,1030,0.000,0.030,2739,2134,3958,3963,3954,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3493,-0.90,-243.3,2738,2134,3963,3951,438.4,-9.3,196,3498,0.00,2.10,0.00,0.000,260,0.000,0.040,2738,3539,3957,3963,3951,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3533,-0.92,-243.3,2738,3539,3963,3950,440.9,-9.6,197,3540,0.00,2.03,0.00,0.000,1030,0.000,0.019,2737,2120,3956,3963,3950,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3838,-0.95,-243.3,2737,2120,3963,3947,479.1,-12.7,213,3844,0.00,2.03,0.00,0.000,516,0.000,0.035,2738,738,3955,3963,3947,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3887,-0.98,-243.3,1680,737,3961,3945,484.9,-12.8,215,3892,0.00,2.05,0.00,0.000,1030,0.000,0.030,2738,2131,3954,3962,3946,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4208,-1.02,-243.3,2737,2131,3962,3942,519.3,-9.5,231,4214,0.12,2.10,0.00,0.000,4356,0.080,0.038,2656,3529,3952,3963,3941,0,0,0,0,0,0,26.52,26.21,28.83
$GC,4243,-1.04,-243.3,2655,3529,3962,3941,522.0,-9.7,232,4249,0.12,2.03,0.00,0.000,3078,0.160,0.020,2687,2116,3951,3962,3941,0,0,0,0,0,0,26.03,26.41,28.83
$GC,4559,-0.99,-243.3,2686,2116,3962,3937,560.3,-12.0,248,4564,0.00,2.03,0.00,0.000,516,0.000,0.034,2687,734,3949,3962,3936,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4650,-0.95,-243.3,2687,732,3963,3936,570.8,-12.2,252,4656,0.10,2.05,0.00,0.000,3078,0.168,0.030,2708,2122,3948,3962,3934,0,0,0,0,0,0,26.05,26.29,28.83
$GC,4971,-0.93,-243.3,2708,2122,3962,3930,609.5,-11.9,267,4977,0.00,2.12,0.00,0.000,260,0.000,0.041,2709,3528,3946,3962,3931,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5002,-0.91,-243.3,2708,3528,3962,3930,609.5,-11.9,267,5008,0.00,2.03,0.00,0.000,1030,0.000,0.020,2708,2116,3946,3962,3930,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5310,-0.88,-243.3,2708,2116,3960,3927,649.9,-11.8,278,5315,0.00,2.15,0.00,0.000,260,0.000,0.040,2708,3528,3943,3960,3927,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5406,-0.87,-243.3,2708,3528,3958,3927,661.1,-11.4,281,5412,0.12,2.03,0.00,0.000,3078,0.150,0.021,2743,2124,3942,3958,3927,0,0,0,0,0,0,26.06,26.40,28.83
$GC,5745,-0.92,-243.3,2742,2124,3958,3922,692.2,-9.0,292,5750,0.00,2.05,0.00,0.000,516,0.000,0.037,2743,742,3940,3958,3922,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5800,-0.97,-243.3,2742,741,3957,3923,695.7,-9.0,293,5805,0.00,2.05,0.00,0.000,1030,0.000,0.031,2740,2126,3939,3957,3922,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6118,-1.02,-243.3,2739,2126,3954,3920,726.8,-9.2,304,6124,0.12,2.12,0.00,0.000,4356,0.081,0.041,2662,3526,3937,3954,3920,0,0,0,0,0,0,26.51,26.15,28.83
$GC,6170,-1.05,-243.3,2662,3526,3952,3920,731.2,-9.7,305,6175,0.00,2.03,0.00,0.000,1030,0.000,0.021,2662,2127,3936,3952,3920,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6493,-1.00,-243.3,2662,2127,3951,3918,772.3,-12.0,316,6499,0.12,2.08,0.00,0.000,2564,0.159,0.034,2701,739,3934,3950,3918,0,0,0,0,0,0,26.17,26.21,28.83
$GC,6549,-0.95,-243.3,2701,739,3950,3918,776.7,-11.8,317,6554,0.00,2.08,0.00,0.000,1030,0.000,0.031,2699,2128,3934,3950,3918,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6867,-0.93,-243.3,2699,2128,3948,3914,810.5,-9.9,328,6872,0.00,2.12,0.00,0.000,260,0.000,0.043,2699,3526,3931,3949,3914,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6938,-0.91,-243.3,2699,3526,3947,3914,817.3,-10.1,330,6943,0.00,2.05,0.00,0.000,1030,0.000,0.022,2697,2117,3930,3947,3914,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7271,-0.89,-243.3,2698,2116,3945,3911,852.8,-11.0,341,7277,0.12,2.05,0.00,0.000,2564,0.159,0.034,2737,739,3928,3946,3911,0,0,0,0,0,0,26.17,26.18,28.83
$GC,7293,-0.87,-243.3,2737,738,3945,3911,852.8,-11.0,341,7298,0.00,2.10,0.00,0.000,1030,0.000,0.034,2737,2137,3928,3945,3911,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7616,-0.88,-243.3,2736,2137,3943,3908,889.9,-11.2,352,7621,0.00,2.12,0.00,0.000,260,0.000,0.044,2738,3526,3924,3943,3906,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7635,-0.89,-243.3,2737,3526,3943,3907,889.9,-11.2,352,7640,0.00,2.05,0.00,0.000,1030,0.000,0.024,2738,2122,3925,3943,3907,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7959,-0.90,-243.3,2737,2122,3941,3906,929.6,-11.6,363,7964,0.00,2.08,0.00,0.000,516,0.000,0.037,2738,730,3924,3941,3907,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8008,-0.92,-243.3,2737,730,3941,3906,934.1,-11.6,364,8013,0.00,2.10,0.00,0.000,1030,0.000,0.033,2737,2126,3923,3941,3906,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8332,-0.97,-243.3,2737,2126,3939,3903,966.1,-8.9,375,8337,0.00,2.15,0.00,0.000,260,0.000,0.044,2737,3525,3921,3939,3903,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8346,-1.03,-243.3,2738,3525,3939,3903,966.1,-8.9,375,8352,0.15,2.05,0.00,0.000,5126,0.075,0.024,2666,2126,3921,3939,3903,0,0,0,0,0,0,26.22,26.32,28.83
$STATE,8548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8548,begin apogee
$GC,8557,-0.21,0.0,2665,2126,3938,3902,992.4,-12.1,382,8790,0.88,0.00,222.80,1.167,10246,0.127,0.000,2943,2126,2956,3028,2885,0,0,0,0,0,0,25.41,28.83,23.38
$STATE,8792,end apogee,CONTROL_FINISHED_OK
$STATE,8792,begin climb
$GC,8797,1.03,243.3,2943,2126,3024,2876,1003.1,0.0,390,9025,1.12,2.35,218.62,1.155,10500,0.054,0.043,3350,3500,1969,2060,1878,0,0,0,0,0,0,25.05,24.79,23.46
$GC,9068,0.90,243.3,3351,3500,2045,1848,977.2,14.2,399,9074,0.20,2.15,0.00,0.000,5126,0.158,0.026,3310,2112,1946,2045,1848,0,0,0,0,0,0,25.15,25.46,28.83
$GC,9404,0.84,243.3,3310,2112,2045,1839,933.6,12.3,410,9410,0.00,2.15,0.00,0.000,516,0.000,0.041,3319,703,1942,2045,1839,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9555,0.77,243.3,3319,703,2042,1839,917.9,12.5,414,9563,0.17,2.12,0.00,0.000,5126,0.145,0.034,3272,2107,1940,2042,1838,0,0,0,0,0,0,25.82,26.13,28.83
$GC,9864,0.78,262.5,3273,2107,2042,1836,884.5,9.8,425,9891,0.00,2.25,16.67,1.061,8452,0.000,0.045,3272,3504,1886,1985,1787,0,0,0,0,1,0,28.83,25.88,24.06
$GC,9960,0.75,262.5,3272,3503,1983,1779,874.2,10.5,428,9965,0.00,2.12,0.00,0.000,1030,0.000,0.027,3278,2095,1881,1983,1779,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,17833,end climb,SURFACE_DEPTH_REACHED
$STATE,17833,begin surface coast
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$STATE,17855,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.0,45.738
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$FG_AHR_10Vo,0.000
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$MEM,327832
$DATA_FILE_SIZE,33438,810
$CAP_FILE_SIZE,223873,0
$CFSIZE,260034560,210341888
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