version: 66.13
glider: 202
mission: 2
dive: 9
start: 3 18 117 2 32 45
data:
$ID,202
$MISSION,2
$DIVE,9
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,20
$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,200
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51899
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3892
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,303
$ROLL_MAX,3831
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,91
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3154
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-61.796719
$PRESSURE_SLOPE,0.0001168043
$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,0
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004404821
$SEABIRD_T_H,0.00064488029
$SEABIRD_T_I,2.8507879e-05
$SEABIRD_T_J,3.3644449e-06
$SEABIRD_C_G,-9.8029137
$SEABIRD_C_H,1.1050078
$SEABIRD_C_I,-0.0015785076
$SEABIRD_C_J,0.00020331096
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,0.0
$GPS1,180317,022104,2907.7644,-7606.0830,35,1.2,35,-9.0,0.0,0.0,8,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.3
$GPS2,180317,023227,2907.7773,-7605.9541,10,1.5,33,-9.0,0.2,62.6,7,5.2
$SPEED_LIMITS,0.217,0.352
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,299.4,15626,-16.2,-12.500,-19.57,2967
$D_GRID,5037
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.72,-243.3,179,2487,1233,1389,0.0,0.0,0,81,0.00,0.00,-66.03,0.000,16386,0.000,0.000,177,2487,3279,3325,3233,0,0,0,0,0,0,26.66,28.83,26.66
$GC,83,-0.72,-243.3,179,2487,3325,3234,3.4,-6.6,11,114,10.00,2.17,-12.70,0.000,18724,0.228,1.264,2772,3819,3964,4034,3895,0,0,0,0,0,0,26.21,25.43,26.44
$GC,338,-0.72,-243.3,2773,3814,4034,3895,43.8,-16.7,61,347,0.00,1.90,0.00,0.000,1030,0.000,0.027,2772,2519,3964,4034,3894,0,0,0,0,0,0,26.63,26.60,26.63
$GC,530,-0.72,-243.3,2773,2520,4034,3895,69.4,-12.7,85,538,0.00,1.98,0.00,0.000,260,0.000,0.047,2764,3823,3964,4034,3895,0,0,0,0,0,0,26.95,26.65,26.95
$GC,647,-0.72,-243.3,2763,3819,4036,3895,84.7,-12.3,108,655,0.00,1.92,0.00,0.000,1062,0.000,0.027,2764,2488,3964,4034,3895,0,0,0,0,0,0,26.79,26.76,26.80
$GC,952,-0.72,-243.3,2765,2489,4034,3895,123.1,-12.5,139,959,0.00,2.03,0.00,0.000,292,0.000,0.046,2755,3830,3965,4036,3894,0,0,0,0,0,0,27.08,26.77,27.08
$GC,987,-0.72,-243.3,2755,3830,4034,3895,127.8,-13.0,146,996,0.08,1.92,0.00,0.000,3078,0.127,0.026,2792,2492,3964,4034,3895,0,0,0,0,0,0,26.71,26.86,26.84
$GC,1293,-0.72,-243.3,2794,2493,4036,3895,160.7,-10.5,177,1300,0.00,2.00,0.00,0.000,292,0.000,0.047,2784,3823,3964,4034,3894,0,0,0,0,0,0,27.15,26.84,27.15
$GC,1379,-0.72,-243.3,2782,3824,4036,3896,170.2,-11.4,194,1387,0.00,1.85,0.00,0.000,1062,0.000,0.027,2784,2502,3964,4034,3894,0,0,0,0,0,0,26.96,26.92,26.98
$GC,1684,-0.72,-243.3,2784,2503,4034,3895,204.4,-11.1,223,1691,0.00,1.98,0.00,0.000,292,0.000,0.045,2775,3823,3964,4034,3895,0,0,0,0,0,0,27.19,26.89,27.19
$GC,1729,-0.72,-243.3,2774,3823,4036,3895,209.7,-11.5,232,1736,0.00,1.85,0.00,0.000,1062,0.000,0.027,2774,2501,3964,4034,3895,0,0,0,0,0,0,27.01,26.96,27.02
$GC,2045,-0.72,-243.3,2773,2501,4035,3896,249.0,-12.4,245,2053,0.00,1.98,0.00,0.000,292,0.000,0.046,2766,3822,3965,4035,3895,0,0,0,0,0,0,27.22,26.91,27.22
$GC,2096,-0.72,-243.3,2767,3820,4034,3895,255.4,-13.1,255,2103,0.00,1.90,0.00,0.000,1030,0.000,0.027,2766,2502,3964,4034,3894,0,0,0,0,0,0,27.01,26.99,27.03
$GC,2407,-0.72,-243.3,2767,2503,4034,3895,294.0,-12.1,267,2414,0.00,1.98,0.00,0.000,292,0.000,0.045,2758,3824,3964,4034,3894,0,0,0,0,0,0,27.24,26.93,27.24
$GC,2442,-0.72,-243.3,2758,3823,4036,3895,298.6,-13.2,274,2449,0.00,1.90,0.00,0.000,1030,0.000,0.027,2757,2502,3964,4035,3894,0,0,0,0,0,0,27.03,27.01,27.04
$GC,2768,-0.72,-243.3,2757,2502,4036,3895,340.1,-12.8,289,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2502,3964,4034,3894,0,0,0,0,0,0,27.26,27.26,27.25
$GC,3068,-0.72,-243.3,2757,2502,4036,3895,379.2,-13.2,299,3075,0.00,2.03,0.00,0.000,260,0.000,0.046,2749,3822,3965,4036,3895,0,0,0,0,0,0,27.27,26.96,27.27
$GC,3158,-0.72,-243.3,2744,3823,4035,3896,391.2,-13.2,317,3167,0.10,1.88,0.00,0.000,3078,0.133,0.027,2785,2483,3964,4034,3895,0,0,0,0,0,0,26.89,27.03,27.01
$GC,3490,-0.72,-243.3,2785,2483,4034,3895,423.0,-8.8,333,3498,0.00,2.00,0.00,0.000,292,0.000,0.046,2775,3819,3964,4034,3894,0,0,0,0,0,0,27.27,26.97,27.27
$GC,3567,-0.72,-243.3,2775,3820,4036,3895,429.8,-9.0,348,3574,0.00,1.90,0.00,0.000,1062,0.000,0.028,2776,2503,3964,4034,3895,0,0,0,0,0,0,27.07,27.06,27.08
$GC,3882,-0.72,-243.3,2775,2505,4036,3895,456.5,-8.4,361,3890,0.00,2.03,0.00,0.000,292,0.000,0.046,2767,3851,3964,4034,3894,0,0,0,0,0,0,27.29,26.98,27.29
$GC,3939,-0.72,-243.3,2768,3852,4034,3895,461.5,-8.9,372,3947,0.00,1.90,0.00,0.000,1062,0.000,0.027,2767,2486,3964,4034,3895,0,0,0,0,0,0,27.09,27.04,27.10
$GC,4244,-0.72,-243.3,2768,2487,4034,3895,489.0,-9.2,383,4251,0.00,2.00,0.00,0.000,292,0.000,0.047,2762,3821,3964,4034,3894,0,0,0,0,0,0,27.29,26.98,27.29
$GC,4324,-0.72,-243.3,2758,3821,4036,3895,497.3,-10.4,399,4331,0.00,1.90,0.00,0.000,1062,0.000,0.028,2759,2502,3965,4036,3894,0,0,0,0,0,0,27.09,27.05,27.09
$GC,4635,-0.72,-243.3,2760,2502,4034,3895,529.8,-10.6,411,4642,0.00,2.00,0.00,0.000,292,0.000,0.047,2750,3829,3964,4035,3894,0,0,0,0,0,0,27.29,26.98,27.29
$GC,4690,-0.72,-243.3,2751,3830,4034,3894,536.1,-11.6,422,4699,0.10,1.92,0.00,0.000,3110,0.115,0.027,2787,2487,3964,4034,3894,0,0,0,0,0,0,26.92,27.05,27.01
$GC,4996,-0.72,-243.3,2786,2485,4035,3895,563.1,-9.1,433,5003,0.00,2.08,0.00,0.000,292,0.000,0.047,2776,3822,3961,4029,3894,0,0,0,0,0,0,27.29,26.98,27.29
$GC,5052,-0.72,-243.3,2779,3823,4033,3894,568.6,-10.2,444,5060,0.00,1.90,0.00,0.000,1062,0.000,0.028,2778,2502,3964,4034,3894,0,0,0,0,0,0,27.08,27.06,27.08
$GC,5357,-0.72,-243.3,2774,2503,4033,3896,598.9,-9.9,455,5364,0.00,2.03,0.00,0.000,292,0.000,0.047,2770,3845,3962,4031,3894,0,0,0,0,0,0,27.29,26.98,27.29
$GC,5452,-0.72,-243.3,2772,3846,4031,3895,608.6,-10.4,474,5459,0.00,1.95,0.00,0.000,1062,0.000,0.028,2770,2495,3962,4031,3894,0,0,0,0,0,0,27.08,27.06,27.10
$GC,5778,-0.72,-243.3,2770,2495,4032,3896,641.5,-10.2,489,5786,0.00,2.05,0.00,0.000,292,0.000,0.047,2762,3821,3962,4030,3894,0,0,0,0,0,0,27.30,26.99,27.30
$GC,5854,-0.72,-243.3,2763,3822,4029,3895,649.7,-10.6,504,5861,0.00,1.90,0.00,0.000,1062,0.000,0.028,2762,2505,3961,4029,3894,0,0,0,0,0,0,27.09,27.06,27.10
$GC,6170,-0.72,-243.3,2761,2505,4029,3895,682.3,-10.2,517,6177,0.00,2.03,0.00,0.000,292,0.000,0.047,2754,3813,3960,4027,3894,0,0,0,0,0,0,27.30,26.99,27.30
$GC,6251,-0.72,-243.3,2755,3814,4027,3895,691.1,-11.6,533,6259,0.08,1.90,0.00,0.000,3110,0.122,0.028,2782,2492,3960,4027,3894,0,0,0,0,0,0,26.94,27.06,27.01
$GC,6563,-0.72,-243.3,2783,2493,4026,3894,719.1,-9.0,545,6570,0.00,2.00,0.00,0.000,292,0.000,0.047,2775,3817,3960,4026,3894,0,0,0,0,0,0,27.30,26.99,27.30
$GC,6649,-0.72,-243.3,2775,3818,4026,3895,727.3,-9.6,562,6657,0.00,1.90,0.00,0.000,1062,0.000,0.028,2775,2505,3960,4026,3894,0,0,0,0,0,0,27.08,27.08,27.10
$STATE,6923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6923,begin apogee
$GC,6926,-0.20,0.0,2774,2705,4026,3895,752.6,-9.1,572,7083,0.50,0.00,152.25,1.344,10246,0.096,0.000,2957,2704,3154,3180,3128,0,0,0,0,0,0,26.94,25.06,24.30
$STATE,7085,end apogee,CONTROL_FINISHED_OK
$STATE,7085,begin loiter
$GC,7374,-0.17,96.6,2957,2705,3184,3129,769.7,-3.3,587,7452,0.00,0.00,74.93,1.335,8230,0.000,0.000,2957,2704,2760,2779,2742,0,0,0,0,0,0,26.69,25.11,24.37
$GC,7734,-0.17,96.6,2957,2705,2780,2742,759.3,4.2,599,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2704,2760,2780,2741,0,0,0,0,0,0,26.67,26.67,26.67
$GC,8034,-0.17,96.6,2956,2704,2780,2741,746.8,4.0,609,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2704,2755,2773,2737,0,0,0,0,0,0,26.91,26.91,26.91
$GC,8334,-0.17,96.6,2957,2704,2784,2742,737.0,2.8,619,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2704,2759,2776,2742,0,0,0,0,0,0,27.02,27.02,27.02
$GC,8634,-0.17,96.6,2956,2704,2776,2742,730.6,2.1,629,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2704,2757,2774,2741,0,0,0,0,0,0,27.09,27.09,27.09
$GC,8934,-0.17,96.6,2956,2704,2774,2742,722.7,3.0,639,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2704,2757,2773,2742,0,0,0,0,0,0,27.14,27.15,27.14
$GC,9234,-0.17,96.6,2957,2704,2772,2742,712.1,3.8,649,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2704,2757,2772,2742,0,0,0,0,0,0,27.17,27.17,27.17
$GC,9534,-0.17,96.6,2961,2705,2770,2742,701.4,3.4,659,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2704,2755,2770,2741,0,0,0,0,0,0,27.20,27.20,27.20
$GC,9834,-0.17,96.6,2957,2705,2769,2742,692.7,2.6,669,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2704,2756,2770,2742,0,0,0,0,0,0,27.22,27.22,27.22
$GC,10134,-0.17,96.6,2957,2704,2769,2742,684.4,2.9,679,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2704,2755,2769,2741,0,0,0,0,0,0,27.24,27.24,27.23
$GC,10434,-0.17,96.6,2958,2704,2768,2742,675.1,3.2,689,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2704,2754,2768,2741,0,0,0,0,0,0,27.25,27.24,27.25
$STATE,10673,end loiter,LOITER_COMPLETE
$STATE,10673,begin climb
$GC,10674,0.72,243.3,2956,2704,2770,2742,667.3,0.0,697,10799,0.80,1.83,112.55,1.281,10500,0.067,0.050,3267,3821,2162,2165,2160,0,0,0,0,0,0,26.95,25.10,24.34
$GC,11023,0.72,243.3,3268,3822,2160,2161,628.3,13.6,766,11030,0.00,1.62,0.00,0.000,1030,0.000,0.029,3270,2698,2160,2160,2161,0,0,0,0,0,0,26.38,26.34,26.39
$GC,11338,0.73,259.9,3267,2697,2158,2161,590.5,11.9,779,11360,0.00,1.80,13.73,1.156,8484,0.000,0.049,3270,3809,2094,2093,2095,0,0,0,0,0,0,26.86,26.20,25.40
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$STATE,15721,end climb,SURFACE_DEPTH_REACHED
$STATE,15721,begin surface coast
$FINISH,0.7,1.025326
$STATE,15731,end surface coast,CONTROL_FINISHED_OK
$STATE,15731,begin surface
$SM_CCo,15812,0.00,0.000,0,0,498,651.52
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$IRIDIUM_FIX,2855.60,-7608.00,180317,022259
$TT8_MAMPS,0.050183,0.292859
$HUMID,34.72
$INTERNAL_PRESSURE,9.53355
$TCM_TEMP,23.60
$XPDR_PINGS,1
$SC_FREEKB,7896736
$PM_FREEKB,62055808
$24V_AH,24.30,2.143
$10V_AH,10.32,1.631
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.375,97.700,662.175,0.000,0.000,0.000,0.000,483.175,0.250,0.000,34.018,0.000,12687.903,808.079,2916.104,77.847,0.000,2365.883,0.000,1681.527,0.000,0.551,0.000
$DEVICE_MAMPS,227.970,1263.780,2037.960,0.000,0.000,0.000,0.000,110.925,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.210,11.940,0.000,0.000
$MEM,152876
$DATA_FILE_SIZE,39992,1175
$CAP_FILE_SIZE,144572,1
$CFSIZE,1024409600,1018691584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14554.07,0x233da2,1,24
$CURRENT,0.218,118.35,1
$GPS,180317,065726,2908.375,-7605.671,39,1.4,43,-9.0,0.3,70.5,8,4.6