version: 66.13
glider: 198
mission: 13
dive: 21
start: 9 24 118 1 7 24
data:
$ID,198
$MISSION,13
$DIVE,21
$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,400
$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,0.1
$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,53670
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21
$TGT_DEFAULT_LON,-158.3
$TGT_AUTO_DEFAULT,0
$SM_CC,653.96979
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3980
$C_PITCH,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041975998
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,35
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,160
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3166
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10.5
$MINV_10V,10.5
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.32826
$PRESSURE_SLOPE,0.00010704
$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,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,32
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044050296
$SEABIRD_T_H,0.00064172043
$SEABIRD_T_I,2.6501684e-05
$SEABIRD_T_J,3.2658481e-06
$SEABIRD_C_G,-9.7956734
$SEABIRD_C_H,1.1257488
$SEABIRD_C_I,-0.0015621729
$SEABIRD_C_J,0.00020328934
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,240918,005702,7431.7095,-14619.0186,28,0.7,28,22.6,0.0,0.0,11,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-63.2
$GPS2,240918,010654,7431.6841,-14619.1660,7,0.8,7,22.6,0.0,0.0,12,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,26.4,48285,-18.3,-10.000,-21.02,2236
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.96,-146.0,230,2233,419,571,0.0,0.0,0,133,0.00,0.00,-122.55,0.004,16386,0.000,0.000,230,2233,2281,2287,2276,0,0,0,0,0,0,14.23,28.83,14.26
$GC,135,-0.96,-146.0,230,2233,2289,2278,5.3,-9.5,12,184,10.57,2.50,-32.95,0.006,18948,0.477,0.118,2168,848,3764,3757,3771,0,0,0,0,0,0,13.92,13.36,14.16
$PING,22.9,24.8,9000.0,0.00,0.00
$PING,44.3,47.8,9000.0,0.00,0.00
$PING,64.6,69.2,69.3,1.06,1.00
$GC,407,-0.96,-146.0,2168,848,3757,3772,71.3,-19.0,65,415,0.00,2.58,0.00,0.000,1030,0.000,0.115,2165,2257,3764,3757,3771,0,0,0,0,0,0,14.22,14.15,14.24
$GC,593,-0.96,-146.0,2165,2258,3758,3771,100.7,-15.0,84,599,0.00,2.47,0.00,0.000,516,0.000,0.094,2164,852,3763,3757,3770,0,0,0,0,0,0,14.40,14.21,14.42
$GC,697,-0.96,-146.0,2165,853,3758,3771,116.3,-14.7,105,705,0.00,2.50,0.00,0.000,1030,0.000,0.103,2164,2252,3764,3757,3771,0,0,0,0,0,0,14.27,14.22,14.33
$GC,883,-0.96,-146.0,2164,2252,3758,3771,141.6,-13.3,124,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2252,3763,3756,3771,0,0,0,0,0,0,14.47,14.50,14.50
$GC,1062,-0.96,-146.0,2164,2252,3757,3771,164.7,-12.7,142,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2252,3764,3757,3771,0,0,0,0,0,0,14.50,14.54,14.53
$GC,1242,-0.96,-146.0,2165,2252,3758,3771,187.1,-12.1,160,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2251,3764,3757,3771,0,0,0,0,0,0,14.53,14.57,14.56
$GC,1422,-0.96,-146.0,2164,2253,3759,3771,208.7,-11.9,178,1428,0.00,2.45,0.00,0.000,516,0.000,0.096,2164,848,3763,3756,3771,0,0,0,0,0,0,14.55,14.35,14.58
$GC,1477,-0.96,-146.0,2165,848,3759,3771,215.5,-12.2,189,1486,0.00,2.47,0.00,0.000,1030,0.000,0.099,2164,2255,3764,3757,3771,0,0,0,0,0,0,14.42,14.35,14.45
$GC,1663,-0.96,-146.0,2165,2255,3758,3771,236.9,-11.3,208,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2254,3764,3757,3771,0,0,0,0,0,0,14.57,14.60,14.59
$GC,1843,-0.96,-146.0,2164,2255,3757,3771,256.5,-10.8,222,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2255,3763,3757,3770,0,0,0,0,0,0,14.54,14.57,14.57
$GC,2142,-0.96,-146.0,2164,2255,3758,3772,286.7,-9.9,232,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2255,3763,3757,3770,0,0,0,0,0,0,14.62,14.66,14.65
$GC,2444,-0.96,-146.0,2165,2255,3758,3771,314.0,-9.0,242,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2255,3764,3757,3771,0,0,0,0,0,0,14.62,14.65,14.65
$GC,2742,-0.96,-146.0,2165,2255,3762,3771,340.6,-8.8,252,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2255,3763,3757,3770,0,0,0,0,0,0,14.68,14.71,14.71
$GC,3043,-0.96,-146.0,2164,2255,3758,3771,366.2,-8.4,262,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2255,3764,3757,3771,0,0,0,0,0,0,14.66,14.69,14.68
$GC,3342,-0.96,-146.0,2165,2255,3758,3768,391.3,-8.3,272,3349,0.00,2.58,0.00,0.000,260,0.000,0.146,2164,3660,3763,3756,3771,0,0,0,0,0,0,14.71,14.47,14.73
$GC,3407,-0.96,-146.0,2165,3660,3757,3771,396.9,-8.6,285,3414,0.00,2.33,0.00,0.000,1030,0.000,0.055,2164,2242,3763,3756,3771,0,0,0,0,0,0,14.58,14.54,14.60
$GC,3733,-0.96,-146.0,2165,2242,3757,3768,423.2,-8.0,300,3734,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2242,3763,3756,3770,0,0,0,0,0,0,14.71,14.74,14.74
$GC,4033,-0.96,-146.0,2164,2242,3757,3771,447.1,-8.0,310,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2242,3763,3756,3771,0,0,0,0,0,0,14.73,14.75,14.75
$GC,4333,-0.96,-146.0,2164,2243,3757,3771,471.2,-8.0,320,4334,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2240,3763,3756,3771,0,0,0,0,0,0,14.73,14.76,14.76
$GC,4633,-0.96,-146.0,2164,2242,3757,3771,494.7,-7.8,330,4634,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2242,3763,3756,3771,0,0,0,0,0,0,14.74,14.77,14.76
$GC,4933,-0.96,-146.0,2164,2242,3757,3771,517.9,-7.8,340,4939,0.00,2.38,0.00,0.000,548,0.000,0.091,2164,850,3763,3756,3771,0,0,0,0,0,0,14.76,14.54,14.78
$GC,4978,-0.96,-146.0,2164,851,3757,3771,521.6,-8.3,349,4985,0.00,2.40,0.00,0.000,1030,0.000,0.092,2164,2249,3763,3756,3771,0,0,0,0,0,0,14.61,14.54,14.64
$GC,5294,-0.96,-146.0,2164,2249,3756,3771,546.2,-7.8,362,5295,0.00,0.00,0.00,0.000,38,0.000,0.000,2169,2249,3766,3756,3777,0,0,0,0,0,0,14.76,14.79,14.78
$GC,5594,-0.96,-146.0,2165,2249,3757,3771,570.0,-8.0,372,5595,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2249,3763,3756,3771,0,0,0,0,0,0,14.76,14.79,14.79
$GC,5894,-0.96,-146.0,2164,2249,3758,3771,593.7,-7.8,382,5895,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2249,3763,3756,3770,0,0,0,0,0,0,14.77,14.81,14.80
$GC,6194,-0.96,-146.0,2165,2249,3758,3771,617.0,-7.8,392,6195,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2249,3764,3757,3771,0,0,0,0,0,0,14.77,14.81,14.80
$GC,6494,-0.96,-146.0,2164,2249,3757,3771,640.6,-7.9,402,6495,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2249,3763,3756,3771,0,0,0,0,0,0,14.78,14.81,14.81
$GC,6794,-0.96,-146.0,2164,2249,3758,3771,664.2,-7.8,412,6800,0.00,2.58,0.00,0.000,292,0.000,0.147,2163,3660,3764,3757,3771,0,0,0,0,0,0,14.78,14.57,14.81
$GC,6835,-0.96,-146.0,2164,3666,3758,3772,667.4,-8.1,420,6840,0.00,2.35,0.00,0.000,1030,0.000,0.085,2164,2242,3764,3757,3771,0,0,0,0,0,0,14.68,14.62,14.69
$GC,7154,-0.96,-146.0,2164,2242,3758,3771,692.1,-7.7,434,7155,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2242,3764,3757,3771,0,0,0,0,0,0,14.78,14.81,14.81
$GC,7454,-0.96,-146.0,2164,2242,3758,3771,714.9,-7.6,444,7455,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2242,3764,3757,3771,0,0,0,0,0,0,14.78,14.82,14.81
$GC,7754,-0.96,-146.0,2164,2242,3758,3771,737.6,-7.6,454,7755,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2242,3764,3757,3771,0,0,0,0,0,0,14.78,14.81,14.81
$GC,8054,-0.96,-146.0,2164,2242,3758,3771,760.3,-7.6,464,8055,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2241,3764,3757,3771,0,0,0,0,0,0,14.79,14.83,14.82
$GC,8354,-0.96,-146.0,2165,2242,3758,3771,782.5,-7.3,474,8355,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2242,3764,3758,3771,0,0,0,0,0,0,14.79,14.82,14.81
$GC,8654,-0.96,-146.0,2164,2242,3759,3771,804.4,-7.3,484,8655,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2242,3764,3757,3771,0,0,0,0,0,0,14.80,14.83,14.82
$GC,8954,-0.96,-146.0,2164,2242,3758,3771,826.4,-7.3,494,8955,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2241,3764,3757,3771,0,0,0,0,0,0,14.79,14.83,14.82
$GC,9254,-0.96,-146.0,2165,2241,3759,3772,848.5,-7.4,504,9255,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2241,3764,3758,3771,0,0,0,0,0,0,14.80,14.83,14.83
$GC,9554,-0.96,-146.0,2165,2241,3758,3771,870.6,-7.3,514,9555,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2241,3764,3758,3771,0,0,0,0,0,0,14.80,14.83,14.83
$GC,9854,-0.96,-146.0,2160,2241,3759,3771,892.7,-7.4,524,9855,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2241,3764,3758,3771,0,0,0,0,0,0,14.81,14.83,14.83
$GC,10154,-0.96,-146.0,2164,2241,3758,3771,914.6,-7.3,534,10155,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2241,3764,3757,3771,0,0,0,0,0,0,14.80,14.83,14.83
$GC,10455,-0.96,-146.0,2164,2241,3758,3771,936.6,-7.4,544,10456,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2240,3764,3758,3771,0,0,0,0,0,0,14.74,14.78,14.77
$GC,10754,-0.96,-146.0,2164,2241,3759,3771,958.9,-7.4,554,10755,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2240,3764,3758,3771,0,0,0,0,0,0,14.70,14.73,14.73
$GC,11054,-0.96,-146.0,2164,2241,3759,3771,981.3,-7.5,564,11055,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2240,3764,3757,3771,0,0,0,0,0,0,14.66,14.70,14.70
$STATE,11174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11174,begin apogee
$GC,11177,-0.25,0.0,2165,2404,3758,3771,990.2,-7.5,568,11316,0.62,0.00,136.32,2.399,10246,0.221,0.000,2343,2403,3165,3022,3308,0,0,0,0,0,0,14.42,13.50,12.69
$STATE,11317,end apogee,CONTROL_FINISHED_OK
$STATE,11317,begin climb
$GC,11318,0.96,146.0,2343,2403,3022,3308,994.1,0.0,572,11471,0.98,3.00,141.82,2.329,10500,0.145,0.183,2627,3796,2568,2370,2766,0,0,0,0,0,0,13.47,13.24,12.54
$GC,11619,0.96,146.0,2627,3796,2361,2766,975.8,10.0,631,11626,0.00,2.53,0.00,0.000,1030,0.000,0.081,2632,2398,2562,2359,2766,0,0,0,0,0,0,13.83,13.77,13.85
$GC,11931,0.98,146.0,2632,2402,2355,2766,948.2,8.9,643,11936,0.00,2.72,0.00,0.000,324,0.000,0.161,2632,3807,2563,2361,2765,0,0,0,0,0,0,14.17,13.97,14.21
$GC,12010,0.98,146.0,2629,3809,2355,2766,940.1,10.4,659,12016,0.00,2.47,0.00,0.000,1030,0.000,0.079,2642,2407,2559,2354,2765,0,0,0,0,0,0,14.10,14.05,14.13
$GC,12320,1.00,146.0,2643,2407,2354,2766,911.7,9.1,671,12326,0.00,2.67,0.00,0.000,324,0.000,0.159,2642,3808,2558,2352,2765,0,0,0,0,0,0,14.33,14.11,14.35
$GC,12395,1.00,146.0,2642,3808,2354,2766,903.9,10.7,686,12401,0.00,2.45,0.00,0.000,1030,0.000,0.071,2652,2398,2558,2352,2765,0,0,0,0,0,0,14.21,14.16,14.24
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$STATE,22413,end climb,SURFACE_DEPTH_REACHED
$STATE,22413,begin surface coast
$FINISH,0.1,1.021212
$STATE,22432,end surface coast,CONTROL_FINISHED_OK
$STATE,22433,begin surface
$SM_CCo,22505,0.00,0.000,0,0,496,655.20
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$RAFOS_CLK,655
$RAFOS_FIX,7433.909180,-14622.386719,240918,070703,0,1,0.20
$IRIDIUM_FIX,7427.23,-14625.27,230918,183838
$TT8_MAMPS,0.039697,0.730275
$HUMID,53.11
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,8.6,9.1
$SC_FREEKB,4005664
$24V_AH,12.54,10.983
$10V_AH,12.69,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.175,156.475,681.550,0.000,0.000,0.000,0.000,445.600,45.250,0.000,15.830,0.000,18252.572,964.476,3705.847,171.427,0.000,2659.097,0.000,2280.261,2213.000,321.191,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22469.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.046,0.000,0.000,0.000
$MEM,326136
$DATA_FILE_SIZE,56581,1598
$CAP_FILE_SIZE,211572,0
$CFSIZE,260157440,255758336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.4
$CURRENT,0.035,330.32,1
$GPS,240918,072332,7434.275,-14612.443,23,0.8,23,22.7,0.0,0.0,9,7.0