version: 66.11
glider: 167
mission: 16
dive: 305
start: 8 14 113 1 33 36
data:
$ID,167
$MISSION,16
$DIVE,305
$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,330
$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,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,2
$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,9
$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,-975576
$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,3015
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,87
$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,0.0024999999
$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
$GPS1,140813,012406,2020.093,12247.598,32,1.1,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-70.8
$GPS2,140813,013306,2020.181,12247.731,38,0.9,38,-2.9
$SPEED_LIMITS,0.173,0.226
$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,179.3,336338,-18.3,-10.000,-23.91,2793
$D_GRID,3604
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.12,-184.9,113,2237,694,641,0.0,0.0,0,117,0.00,0.00,-88.00,0.000,16386,0.000,0.000,112,2237,2879,2860,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.12,-184.9,112,2237,2860,2900,3.2,-3.2,15,163,10.48,2.05,-17.38,0.000,18692,0.236,0.047,2639,3569,3726,3721,3731,0,0,0,0,0,0,25.34,26.07,26.45
$GC,260,-1.01,-184.9,1600,3568,3715,3730,46.0,-34.7,33,267,0.20,1.98,0.00,0.000,3078,0.194,0.015,2686,2163,3726,3721,3732,0,0,0,0,0,0,25.56,26.24,28.83
$GC,577,-0.94,-184.9,2686,2162,3722,3732,130.5,-24.7,50,582,0.00,2.10,0.00,0.000,260,0.000,0.032,2678,3573,3727,3722,3732,0,0,0,0,0,0,28.83,26.22,28.83
$GC,732,-0.88,-184.9,2678,3573,3722,3732,164.7,-23.5,57,738,0.17,1.90,0.00,0.000,3078,0.161,0.015,2724,2190,3727,3722,3732,0,0,0,0,0,0,25.89,26.42,28.83
$GC,1048,-0.85,-184.9,2724,2189,3724,3732,220.9,-16.5,73,1053,0.00,1.92,0.00,0.000,516,0.000,0.027,2724,834,3727,3724,3731,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1097,-0.82,-184.9,2724,834,3724,3732,228.3,-16.4,75,1103,0.12,1.90,0.00,0.000,3078,0.170,0.022,2748,2177,3728,3724,3732,0,0,0,0,0,0,26.03,26.39,28.83
$GC,1419,-0.80,-184.9,2748,2177,3725,3732,271.4,-12.8,91,1424,0.00,1.92,0.00,0.000,516,0.000,0.025,2748,834,3729,3726,3732,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1479,-0.78,-184.9,2748,833,3725,3732,277.5,-13.0,93,1486,0.00,1.95,0.00,0.000,1030,0.000,0.023,2741,2202,3729,3725,3734,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1784,-0.77,-184.9,2741,2202,3725,3732,316.6,-11.3,109,1790,0.00,2.05,0.00,0.000,260,0.000,0.035,2738,3595,3728,3725,3731,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1887,-0.75,-184.9,2737,3595,3725,3732,327.3,-12.3,113,1895,0.12,1.92,0.00,0.000,3078,0.154,0.015,2770,2183,3728,3725,3732,0,0,0,0,0,0,26.15,26.53,28.83
$GC,2190,-0.75,-184.9,2769,2182,3725,3732,365.4,-12.3,129,2195,0.00,1.90,0.00,0.000,516,0.000,0.028,2770,847,3728,3725,3731,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2278,-0.75,-184.9,1712,847,3719,3729,375.7,-12.2,133,2285,0.00,1.92,0.00,0.000,1030,0.000,0.023,2765,2195,3727,3725,3730,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2599,-0.75,-184.9,2765,2195,3725,3727,414.1,-11.8,149,2604,0.00,1.95,0.00,0.000,516,0.000,0.025,2765,838,3726,3725,3727,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2634,-0.75,-184.9,2765,838,3725,3727,417.1,-12.0,150,2640,0.00,1.98,0.00,0.000,1030,0.000,0.024,2765,2210,3726,3725,3727,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2950,-0.75,-184.9,2765,2209,3725,3723,456.6,-11.7,166,2955,0.00,2.05,0.00,0.000,260,0.000,0.037,2765,3593,3724,3725,3723,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2979,-0.75,-184.9,2765,3593,3725,3722,459.5,-11.7,167,2985,0.00,1.92,0.00,0.000,1030,0.000,0.017,2765,2200,3723,3725,3722,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3299,-0.75,-184.9,2765,2200,3725,3719,493.5,-10.2,183,3305,0.00,1.95,0.00,0.000,516,0.000,0.027,2765,834,3722,3725,3719,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3380,-0.75,-184.9,2765,833,3725,3718,500.3,-10.3,186,3386,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2202,3721,3725,3717,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3685,-0.75,-184.9,2765,2202,3725,3712,535.6,-11.1,202,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2202,3718,3725,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3988,-0.75,-184.9,2765,2202,3725,3708,568.9,-10.8,217,3993,0.00,1.98,0.00,0.000,516,0.000,0.027,2765,842,3717,3727,3707,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4048,-0.75,-184.9,2765,842,3725,3707,574.1,-10.8,219,4054,0.00,1.98,0.00,0.000,1030,0.000,0.024,2765,2211,3715,3724,3706,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4354,-0.75,-184.9,2765,2211,3725,3702,606.3,-9.8,234,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2211,3713,3725,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4653,-0.75,-184.9,2765,2211,3725,3698,635.8,-9.8,244,4659,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,838,3711,3725,3697,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4703,-0.75,-184.9,2765,838,3725,3697,639.3,-9.8,245,4709,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2197,3710,3725,3696,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5027,-0.75,-184.9,2765,2198,3725,3690,674.9,-10.9,256,5032,0.00,2.10,0.00,0.000,260,0.000,0.039,2765,3598,3707,3724,3690,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5077,-0.75,-184.9,2764,3598,3724,3690,679.3,-11.1,257,5082,0.00,1.95,0.00,0.000,1030,0.000,0.018,2765,2202,3707,3724,3690,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5400,-0.75,-184.9,2765,2203,3722,3684,716.7,-10.9,268,5405,0.00,1.98,0.00,0.000,516,0.000,0.029,2765,835,3703,3722,3685,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5435,-0.75,-184.9,2765,835,3722,3686,720.9,-11.0,269,5441,0.00,2.00,0.00,0.000,1030,0.000,0.027,2765,2198,3703,3722,3685,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5775,-0.75,-184.9,2765,2198,3719,3681,755.5,-10.4,280,5781,0.00,2.10,0.00,0.000,260,0.000,0.039,2765,3597,3700,3719,3682,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5811,-0.75,-184.9,2765,3597,3718,3682,759.7,-10.5,281,5816,0.00,1.98,0.00,0.000,1030,0.000,0.019,2765,2214,3699,3717,3682,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6149,-0.75,-184.9,2765,2214,3716,3677,793.9,-10.2,292,6154,0.00,2.03,0.00,0.000,516,0.000,0.029,2766,817,3696,3716,3677,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6193,-0.75,-184.9,2765,816,3715,3677,798.0,-10.3,293,6198,0.00,2.03,0.00,0.000,1030,0.000,0.027,2765,2202,3696,3715,3677,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6522,-0.75,-184.9,2765,2202,3714,3673,833.4,-10.9,304,6528,0.00,2.10,0.00,0.000,260,0.000,0.040,2765,3595,3693,3714,3673,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6582,-0.75,-184.9,2765,3595,3712,3674,838.0,-11.2,305,6589,0.00,2.00,0.00,0.000,1030,0.000,0.020,2765,2188,3692,3712,3673,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6888,-0.75,-184.9,2765,2188,3711,3670,876.7,-12.0,316,6893,0.00,1.98,0.00,0.000,516,0.000,0.031,2765,832,3690,3711,3670,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6932,-0.75,-184.9,2765,832,3711,3670,881.0,-12.2,317,6938,0.00,2.00,0.00,0.000,1030,0.000,0.027,2768,2199,3690,3711,3670,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7260,-0.75,-184.9,2765,2199,3709,3667,921.1,-11.8,328,7266,0.00,2.12,0.00,0.000,260,0.000,0.041,2765,3598,3688,3709,3667,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7285,-0.75,-184.9,2765,3599,3710,3667,921.1,-11.8,328,7291,0.00,2.00,0.00,0.000,1030,0.000,0.021,2766,2207,3687,3708,3666,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7603,-0.76,-184.9,2765,2207,3706,3664,956.5,-10.1,339,7610,0.00,2.03,0.00,0.000,516,0.000,0.031,2765,822,3685,3706,3664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7659,-0.77,-184.9,2765,822,3707,3664,960.3,-10.0,340,7665,0.00,2.03,0.00,0.000,1030,0.000,0.028,2766,2196,3685,3706,3664,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,7971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7974,begin apogee
$GC,7983,-0.18,0.0,2765,2050,3705,3661,992.3,-9.3,351,8146,0.57,0.00,150.40,1.224,10246,0.118,0.000,2952,2048,2962,3028,2896,0,0,0,0,0,0,25.63,28.83,23.85
$STATE,8148,end apogee,CONTROL_FINISHED_OK
$STATE,8148,begin climb
$GC,8151,1.12,184.9,2952,2048,3028,2891,998.4,0.0,356,8316,1.20,0.00,160.27,1.191,10758,0.066,0.000,3373,2048,2215,2299,2131,0,0,0,0,0,0,24.99,28.83,23.54
$GC,8605,1.06,184.9,3372,2048,2288,2101,951.3,12.8,372,8610,0.00,2.20,0.00,0.000,260,0.000,0.040,3371,3453,2194,2288,2101,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8671,1.01,184.9,3372,3453,2285,2101,942.2,13.4,374,8677,0.17,2.08,0.00,0.000,5126,0.171,0.023,3339,2063,2192,2285,2100,0,0,0,0,0,0,25.60,26.03,28.83
$GC,9007,0.96,184.9,3339,2063,2285,2097,903.8,11.6,385,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2063,2191,2285,2097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9307,0.92,184.9,3339,2064,2284,2095,870.0,11.1,395,9312,0.00,2.15,0.00,0.000,260,0.000,0.041,3339,3450,2190,2285,2095,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9386,0.88,184.9,3339,3450,2283,2095,862.3,11.6,397,9393,0.17,2.08,0.00,0.000,5126,0.171,0.024,3302,2043,2188,2282,2095,0,0,0,0,0,0,25.77,26.27,28.83
$GC,9712,0.95,226.3,3301,2043,2282,2093,832.5,8.5,408,9752,0.00,0.00,37.50,1.122,8198,0.000,0.000,3302,2043,2046,2140,1952,0,0,0,0,0,0,28.83,28.83,24.63
$GC,10041,0.93,226.3,3301,2043,2129,1929,799.4,10.4,419,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2043,2029,2129,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10338,0.91,226.3,3302,2043,2129,1926,764.8,11.8,429,10343,0.00,2.17,0.00,0.000,260,0.000,0.041,3302,3448,2027,2129,1926,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10358,0.89,226.3,3301,3447,2128,1926,764.8,11.8,429,10363,0.00,2.08,0.00,0.000,1030,0.000,0.025,3311,2047,2026,2126,1926,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10681,0.87,226.3,3310,2047,2125,1926,722.0,12.6,440,10686,0.00,2.10,0.00,0.000,516,0.000,0.037,3321,654,2025,2125,1926,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,17869,end climb,SURFACE_DEPTH_REACHED
$STATE,17869,begin surface coast
$FINISH,1.3,1.021208
$STATE,17896,end surface coast,CONTROL_FINISHED_OK
$STATE,17896,begin surface
$SM_CCo,17919,21.50,0.124,0,0,663,564.93
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.34
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.80
$XPDR_PINGS,7
$SC_FREEKB,7600064
$24V_AH,23.5,48.507
$10V_AH,10.2,30.368
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.425,155.950,573.375,21.500,0.000,0.000,0.000,297.500,1.750,0.000,40.116,2691.339,11999.661,771.593,2341.527,667.964,0.000,2202.618,0.000,1973.576,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.178,0.000,0.000,0.000
$MEM,342932
$DATA_FILE_SIZE,30080,818
$CAP_FILE_SIZE,206438,0
$CFSIZE,260034560,223784960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.105, 69.9,1
$GPS,140813,063406,2019.067,12248.754,43,1.0,43,-2.9