version: 66.13
glider: 198
mission: 13
dive: 22
start: 9 24 118 7 33 24
data:
$ID,198
$MISSION,13
$DIVE,22
$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,50
$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
$GPS1,240918,072332,7434.2749,-14612.4434,23,0.8,23,22.7,0.0,0.0,9,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-64.5
$GPS2,240918,073249,7434.2915,-14612.3535,7,0.8,9,22.7,0.0,0.0,10,8.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,AB3
$TGT_LATLONG,7452.500,-14519.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,21.7,42449,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,9,-0.96,-146.0,228,2234,420,570,0.0,0.0,0,135,0.00,0.00,-123.55,0.004,16386,0.000,0.000,228,2234,2309,2312,2306,0,0,0,0,0,0,14.23,28.83,14.26
$PING,12.4,14.5,9000.0,0.00,0.00
$GC,136,-0.96,-146.0,228,2235,2313,2308,5.3,-9.6,12,183,10.52,2.47,-31.95,0.006,18948,0.473,0.121,2168,866,3763,3753,3774,0,0,0,0,0,0,13.89,13.36,14.12
$PING,23.1,25.8,9000.0,0.00,0.00
$PING,33.5,36.3,36.3,1.03,1.00
$PING,44.0,47.0,47.0,1.02,1.00
$GC,407,-0.96,-146.0,2169,867,3754,3775,70.4,-18.0,65,415,0.00,2.53,0.00,0.000,1030,0.000,0.113,2165,2249,3763,3753,3774,0,0,0,0,0,0,14.22,14.16,14.25
$GC,592,-0.96,-146.0,2165,2250,3754,3774,99.9,-14.9,84,598,0.00,2.45,0.00,0.000,516,0.000,0.093,2164,863,3763,3753,3774,0,0,0,0,0,0,14.40,14.19,14.42
$GC,727,-0.96,-146.0,2164,864,3754,3775,119.8,-14.4,111,734,0.00,2.53,0.00,0.000,1030,0.000,0.112,2163,2258,3764,3754,3774,0,0,0,0,0,0,14.29,14.23,14.32
$GC,912,-0.96,-146.0,2164,2259,3754,3774,144.8,-13.2,130,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2259,3764,3754,3774,0,0,0,0,0,0,14.47,14.51,14.50
$GC,1092,-0.96,-146.0,2163,2260,3754,3775,167.9,-12.4,148,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2259,3763,3753,3774,0,0,0,0,0,0,14.50,14.53,14.52
$GC,1272,-0.96,-146.0,2163,2260,3754,3775,190.3,-12.5,166,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2259,3764,3754,3774,0,0,0,0,0,0,14.53,14.56,14.55
$GC,1452,-0.96,-146.0,2163,2260,3754,3775,211.8,-11.7,184,1458,0.00,2.42,0.00,0.000,516,0.000,0.093,2163,871,3763,3753,3774,0,0,0,0,0,0,14.55,14.35,14.57
$GC,1497,-0.96,-146.0,2164,871,3754,3775,217.2,-11.9,193,1505,0.00,2.45,0.00,0.000,1030,0.000,0.106,2163,2248,3763,3753,3774,0,0,0,0,0,0,14.41,14.35,14.44
$GC,1685,-0.96,-146.0,2164,2252,3755,3775,239.1,-11.4,212,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2248,3763,3753,3774,0,0,0,0,0,0,14.50,14.54,14.54
$GC,1877,-0.96,-146.0,2163,2248,3754,3775,260.0,-10.8,225,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2248,3763,3753,3773,0,0,0,0,0,0,14.48,14.51,14.50
$GC,2176,-0.96,-146.0,2164,2248,3754,3775,290.8,-9.8,235,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2248,3763,3753,3774,0,0,0,0,0,0,14.52,14.54,14.54
$GC,2476,-0.96,-146.0,2163,2248,3750,3775,318.9,-9.3,245,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2247,3763,3753,3774,0,0,0,0,0,0,14.50,14.55,14.52
$GC,2776,-0.96,-146.0,2163,2248,3754,3775,345.7,-8.7,255,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2247,3763,3753,3774,0,0,0,0,0,0,14.52,14.55,14.55
$GC,3077,-0.96,-146.0,2164,2247,3754,3775,371.7,-8.5,265,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2247,3761,3753,3770,0,0,0,0,0,0,14.50,14.54,14.53
$GC,3376,-0.96,-146.0,2163,2248,3753,3775,397.2,-8.6,275,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2248,3763,3753,3774,0,0,0,0,0,0,14.53,14.56,14.56
$GC,3676,-0.96,-146.0,2162,2248,3754,3775,422.2,-8.2,285,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2248,3763,3753,3774,0,0,0,0,0,0,14.54,14.57,14.56
$GC,3976,-0.96,-146.0,2163,2248,3755,3775,446.8,-8.2,295,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2248,3761,3753,3770,0,0,0,0,0,0,14.59,14.62,14.62
$GC,4276,-0.96,-146.0,2163,2248,3754,3775,471.7,-8.3,305,4285,0.00,2.60,0.00,0.000,260,0.000,0.143,2163,3661,3763,3753,3773,0,0,0,0,0,0,14.64,14.40,14.66
$GC,4319,-0.96,-146.0,2163,3662,3754,3775,475.4,-8.7,313,4326,0.00,2.33,0.00,0.000,1030,0.000,0.056,2163,2255,3763,3753,3774,0,0,0,0,0,0,14.51,14.47,14.53
$GC,4640,-0.96,-146.0,2163,2256,3754,3775,501.4,-8.1,327,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2255,3763,3753,3774,0,0,0,0,0,0,14.66,14.69,14.69
$GC,4940,-0.96,-146.0,2163,2256,3754,3775,525.6,-8.0,337,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2255,3763,3753,3774,0,0,0,0,0,0,14.68,14.72,14.71
$GC,5240,-0.96,-146.0,2163,2256,3752,3774,549.4,-7.9,347,5241,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2256,3763,3753,3774,0,0,0,0,0,0,14.71,14.74,14.73
$GC,5540,-0.96,-146.0,2163,2256,3754,3775,572.9,-7.8,357,5541,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2256,3763,3753,3774,0,0,0,0,0,0,14.73,14.76,14.75
$GC,5840,-0.96,-146.0,2164,2256,3754,3774,596.5,-7.9,367,5841,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3753,3775,0,0,0,0,0,0,14.74,14.77,14.76
$GC,6141,-0.96,-146.0,2164,2256,3753,3775,620.1,-7.8,377,6141,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3753,3775,0,0,0,0,0,0,14.75,14.78,14.77
$GC,6441,-0.96,-146.0,2163,2256,3754,3775,643.1,-7.7,387,6441,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3754,3774,0,0,0,0,0,0,14.76,14.78,14.78
$GC,6740,-0.96,-146.0,2163,2256,3755,3775,666.1,-7.7,397,6741,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3754,3774,0,0,0,0,0,0,14.76,14.79,14.79
$GC,7040,-0.96,-146.0,2163,2256,3755,3775,689.6,-7.9,407,7041,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3754,3774,0,0,0,0,0,0,14.77,14.80,14.80
$GC,7341,-0.96,-146.0,2163,2256,3755,3775,713.2,-7.9,417,7341,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3754,3774,0,0,0,0,0,0,14.78,14.81,14.80
$GC,7640,-0.96,-146.0,2163,2256,3756,3775,736.8,-7.8,427,7641,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3754,3774,0,0,0,0,0,0,14.78,14.81,14.81
$GC,7940,-0.96,-146.0,2163,2256,3755,3775,759.9,-7.7,437,7941,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3754,3775,0,0,0,0,0,0,14.78,14.81,14.81
$GC,8241,-0.96,-146.0,2163,2253,3756,3775,783.0,-7.6,447,8241,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3765,3755,3775,0,0,0,0,0,0,14.78,14.82,14.81
$GC,8540,-0.96,-146.0,2163,2257,3756,3775,806.2,-7.7,457,8541,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3765,3755,3775,0,0,0,0,0,0,14.79,14.82,14.81
$GC,8840,-0.96,-146.0,2163,2256,3756,3775,829.2,-7.6,467,8841,0.00,0.00,0.00,0.000,38,0.000,0.000,2165,2255,3764,3755,3774,0,0,0,0,0,0,14.79,14.83,14.82
$GC,9140,-0.96,-146.0,2163,2256,3756,3775,852.0,-7.5,477,9141,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2256,3764,3755,3774,0,0,0,0,0,0,14.80,14.83,14.82
$GC,9440,-0.96,-146.0,2163,2256,3756,3775,874.0,-7.4,487,9441,0.00,0.00,0.00,0.000,38,0.000,0.000,2164,2255,3764,3755,3774,0,0,0,0,0,0,14.80,14.83,14.82
$GC,9740,-0.96,-146.0,2163,2256,3756,3775,896.0,-7.3,497,9741,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2259,3764,3755,3774,0,0,0,0,0,0,14.80,14.83,14.82
$GC,10040,-0.96,-146.0,2163,2256,3756,3775,917.7,-7.2,507,10041,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3755,3774,0,0,0,0,0,0,14.80,14.83,14.83
$GC,10340,-0.96,-146.0,2163,2256,3756,3775,939.3,-7.2,517,10341,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3755,3774,0,0,0,0,0,0,14.80,14.83,14.83
$GC,10640,-0.96,-146.0,2163,2256,3756,3775,961.0,-7.3,527,10641,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3764,3755,3774,0,0,0,0,0,0,14.80,14.83,14.83
$GC,10940,-0.96,-146.0,2163,2256,3757,3775,982.7,-7.3,537,10941,0.00,0.00,0.00,0.000,38,0.000,0.000,2163,2255,3765,3755,3775,0,0,0,0,0,0,14.80,14.83,14.83
$STATE,11059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11059,begin apogee
$GC,11062,-0.25,0.0,2163,2415,3756,3775,991.3,-7.2,541,11199,0.62,0.00,134.82,2.401,10246,0.221,0.000,2342,2415,3166,3025,3307,0,0,0,0,0,0,14.54,13.54,12.74
$STATE,11200,end apogee,CONTROL_FINISHED_OK
$STATE,11201,begin climb
$GC,11201,0.96,146.0,2343,2415,3023,3308,995.1,0.0,545,11353,0.95,2.70,141.38,2.327,10756,0.143,0.097,2633,987,2567,2370,2765,0,0,0,0,0,0,13.51,13.31,12.57
$GC,11457,0.99,146.0,2634,987,2359,2766,982.4,8.1,595,11464,0.00,2.62,0.00,0.000,1094,0.000,0.103,2634,2393,2561,2357,2765,0,0,0,0,0,0,13.78,13.72,13.85
$GC,11778,1.02,146.0,2634,2393,2354,2766,954.7,8.6,609,11784,0.00,2.67,0.00,0.000,324,0.000,0.155,2634,3803,2559,2353,2765,0,0,0,0,0,0,14.26,14.03,14.28
$GC,11862,1.02,146.0,2634,3803,2355,2766,946.3,10.2,626,11871,0.00,2.42,0.00,0.000,1030,0.000,0.067,2641,2402,2559,2353,2765,0,0,0,0,0,0,14.17,14.12,14.19
$GC,12168,1.04,146.0,2641,2402,2352,2766,918.7,9.1,637,12174,0.00,2.70,0.00,0.000,324,0.000,0.161,2641,3819,2558,2351,2765,0,0,0,0,0,0,14.42,14.20,14.47
$GC,12262,1.04,146.0,2642,3820,2352,2766,908.7,10.7,656,12269,0.00,2.45,0.00,0.000,1030,0.000,0.068,2649,2396,2558,2351,2765,0,0,0,0,0,0,14.31,14.26,14.34
$GC,12588,1.04,146.0,2649,2396,2351,2766,877.8,9.5,671,12594,0.00,2.62,0.00,0.000,260,0.000,0.155,2651,3800,2557,2350,2765,0,0,0,0,0,0,14.53,14.29,14.55
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$STATE,22284,end climb,SURFACE_DEPTH_REACHED
$STATE,22284,begin surface coast
$FINISH,-0.2,1.004588
$STATE,22306,end surface coast,CONTROL_FINISHED_OK
$STATE,22306,begin surface
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$RAFOS_CLK,345
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$IRIDIUM_FIX,7432.97,-14611.88,240918,005937
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$SC_FREEKB,4004896
$24V_AH,12.57,11.527
$10V_AH,12.90,0.000
$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
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22346.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.079,0.000,0.000,0.000
$MEM,326028
$DATA_FILE_SIZE,53279,1572
$CAP_FILE_SIZE,210598,0
$CFSIZE,260157440,255606784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.2
$CURRENT,0.041,359.43,1
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