version: 66.11
glider: 167
mission: 16
dive: 306
start: 8 14 113 6 43 29
data:
$ID,167
$MISSION,16
$DIVE,306
$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,-975577.25
$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,84
$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
$GPS1,140813,063406,2019.067,12248.754,43,1.0,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-71.8
$GPS2,140813,064259,2019.105,12248.804,43,1.0,43,-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,175.5,333629,-18.3,-10.000,-23.91,2793
$D_GRID,3880
$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,22,begin dive
$GC,26,-1.12,-184.9,116,2250,675,653,0.0,0.0,0,116,0.00,0.00,-86.72,0.000,16386,0.000,0.000,115,2243,2840,2816,2865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.12,-184.9,115,2243,2816,2865,3.1,-2.5,15,161,10.45,2.03,-18.73,0.000,18692,0.235,0.048,2641,3577,3726,3720,3732,0,0,0,0,0,0,25.36,26.06,26.46
$GC,248,-1.00,-184.9,1600,3576,3714,3733,41.7,-35.0,32,257,0.17,1.98,0.00,0.000,3078,0.201,0.015,2684,2159,3727,3720,3734,0,0,0,0,0,0,25.58,26.26,28.83
$GC,557,-0.94,-184.9,2683,2159,3722,3734,125.4,-23.3,49,563,0.00,2.12,0.00,0.000,260,0.000,0.042,2676,3580,3728,3722,3734,0,0,0,0,0,0,28.83,26.14,28.83
$GC,767,-0.88,-184.9,1616,3579,3716,3733,170.7,-21.6,59,773,0.20,1.92,0.00,0.000,3078,0.159,0.015,2729,2193,3728,3722,3734,0,0,0,0,0,0,25.86,26.44,28.83
$GC,1088,-0.85,-184.9,2729,2192,3724,3734,222.0,-15.2,75,1094,0.00,1.92,0.00,0.000,516,0.000,0.026,2729,835,3729,3724,3734,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1139,-0.82,-184.9,2729,835,3724,3734,229.5,-15.9,77,1144,0.00,1.92,0.00,0.000,1030,0.000,0.022,2722,2187,3729,3724,3734,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1459,-0.80,-184.9,2722,2187,3724,3734,280.2,-15.3,93,1461,0.12,0.00,0.00,0.000,2054,0.171,0.000,2753,2188,3729,3724,3735,0,0,0,0,0,0,26.25,28.83,28.83
$GC,1759,-0.78,-184.9,2754,2188,3725,3734,319.0,-12.2,108,1764,0.00,1.95,0.00,0.000,516,0.000,0.026,2754,832,3729,3725,3734,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1799,-0.77,-184.9,2753,832,3725,3734,322.1,-12.2,109,1806,0.00,1.95,0.00,0.000,1030,0.000,0.023,2750,2199,3730,3725,3735,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2105,-0.76,-184.9,2750,2200,3725,3732,360.3,-11.7,125,2110,0.00,1.95,0.00,0.000,516,0.000,0.025,2750,841,3729,3726,3732,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2130,-0.75,-184.9,2751,841,3725,3732,363.3,-11.6,126,2136,0.00,1.95,0.00,0.000,1030,0.000,0.024,2742,2202,3728,3725,3732,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2456,-0.74,-184.9,2742,2202,3725,3730,402.3,-11.8,142,2463,0.12,2.05,0.00,0.000,2308,0.164,0.034,2778,3589,3726,3724,3729,0,0,0,0,0,0,26.24,26.32,28.83
$GC,2496,-0.74,-184.9,2778,3589,3725,3730,405.3,-11.7,143,2503,0.00,1.92,0.00,0.000,1030,0.000,0.015,2778,2194,3726,3724,3729,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2802,-0.74,-184.9,2778,2193,3724,3726,442.6,-12.3,159,2807,0.00,1.95,0.00,0.000,516,0.000,0.027,2779,828,3725,3725,3726,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2876,-0.74,-184.9,2778,827,3725,3725,450.5,-12.2,162,2882,0.00,1.98,0.00,0.000,1030,0.000,0.024,2779,2199,3724,3724,3724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3192,-0.74,-184.9,2778,2199,3725,3720,484.8,-9.5,178,3197,0.00,1.98,0.00,0.000,516,0.000,0.025,2778,829,3722,3725,3720,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3237,-0.74,-184.9,2778,829,3725,3720,489.0,-9.3,180,3242,0.00,2.00,0.00,0.000,1030,0.000,0.024,2778,2214,3722,3725,3719,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3562,-0.74,-184.9,2778,2214,3724,3714,519.5,-9.8,196,3567,0.00,2.00,0.00,0.000,516,0.000,0.026,2778,829,3720,3725,3715,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3627,-0.74,-184.9,2778,829,3724,3714,526.2,-10.1,199,3633,0.00,1.98,0.00,0.000,1030,0.000,0.024,2778,2198,3718,3724,3713,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3952,-0.74,-184.9,2779,2198,3724,3709,561.5,-11.2,215,3958,0.00,1.98,0.00,0.000,516,0.000,0.026,2778,832,3716,3724,3709,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3982,-0.74,-184.9,2778,832,3724,3709,564.4,-11.1,216,3988,0.00,1.98,0.00,0.000,1030,0.000,0.024,2778,2201,3716,3725,3708,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4303,-0.75,-184.9,2778,2201,3724,3704,598.3,-9.6,232,4308,0.00,2.00,0.00,0.000,516,0.000,0.032,2778,829,3714,3724,3704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4353,-0.76,-184.9,2778,830,3724,3703,601.7,-9.8,234,4358,0.00,1.98,0.00,0.000,1030,0.000,0.024,2778,2199,3713,3724,3703,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4677,-0.78,-184.9,2778,2199,3724,3698,631.3,-8.9,245,4683,0.00,2.00,0.00,0.000,516,0.000,0.030,2778,828,3710,3724,3697,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4722,-0.79,-184.9,2778,828,3724,3696,634.9,-9.0,246,4728,0.00,2.00,0.00,0.000,1030,0.000,0.025,2778,2210,3710,3724,3696,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5053,-0.80,-184.9,2777,2210,3724,3691,666.7,-9.8,257,5058,0.00,2.00,0.00,0.000,516,0.000,0.027,2778,835,3707,3724,3691,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5089,-0.81,-184.9,2778,835,3724,3690,670.8,-9.9,258,5095,0.00,2.00,0.00,0.000,1030,0.000,0.026,2778,2198,3707,3724,3690,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5429,-0.83,-184.9,2778,2198,3722,3685,705.0,-10.1,269,5434,0.00,2.10,0.00,0.000,260,0.000,0.039,2778,3596,3703,3721,3685,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5464,-0.84,-184.9,2778,3597,3721,3685,709.0,-10.1,270,5470,0.10,1.98,0.00,0.000,5126,0.099,0.018,2729,2207,3703,3721,3685,0,0,0,0,0,0,26.36,26.52,28.83
$GC,5799,-0.84,-184.9,2729,2207,3718,3683,750.5,-12.7,281,5805,0.00,2.00,0.00,0.000,516,0.000,0.029,2730,823,3700,3719,3682,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5868,-0.84,-184.9,1696,823,3711,3680,759.2,-13.1,283,5874,0.00,2.03,0.00,0.000,1030,0.000,0.026,2726,2211,3699,3717,3682,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6203,-0.84,-184.9,2725,2211,3715,3678,804.9,-14.2,294,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2211,3696,3715,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6499,-0.84,-184.9,2725,2211,3713,3675,844.5,-12.8,304,6504,0.00,2.05,0.00,0.000,516,0.000,0.029,2725,824,3694,3713,3675,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6564,-0.84,-184.9,2725,824,3712,3675,852.8,-12.7,306,6570,0.00,2.03,0.00,0.000,1030,0.000,0.026,2723,2199,3693,3712,3675,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6903,-0.84,-184.9,2723,2199,3711,3671,891.2,-11.2,317,6908,0.00,2.12,0.00,0.000,260,0.000,0.041,2723,3601,3691,3711,3671,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6938,-0.84,-184.9,2723,3601,3710,3671,895.3,-10.9,318,6943,0.00,2.03,0.00,0.000,1030,0.000,0.020,2723,2181,3690,3710,3671,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7276,-0.84,-184.9,2723,2181,3708,3669,929.9,-10.3,329,7281,0.00,1.98,0.00,0.000,516,0.000,0.031,2723,826,3688,3708,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7350,-0.84,-184.9,2723,825,3707,3668,937.4,-10.7,331,7356,0.00,2.05,0.00,0.000,1030,0.000,0.028,2722,2208,3687,3707,3668,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7679,-0.84,-184.9,2722,2208,3706,3665,973.5,-11.1,342,7684,0.00,2.12,0.00,0.000,260,0.000,0.041,2722,3602,3685,3706,3665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7748,-0.84,-184.9,2722,3602,3705,3665,981.2,-11.3,344,7754,0.00,2.00,0.00,0.000,1030,0.000,0.021,2722,2211,3685,3705,3665,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,7835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7835,begin apogee
$GC,7844,-0.18,0.0,2722,2055,3705,3664,992.3,-11.5,347,8003,0.73,0.00,149.80,1.237,10246,0.126,0.000,2953,2052,2965,3030,2900,0,0,0,0,0,0,25.51,28.83,23.85
$STATE,8006,end apogee,CONTROL_FINISHED_OK
$STATE,8006,begin climb
$GC,8009,1.12,184.9,2953,2052,3028,2892,1000.2,0.0,352,8177,1.17,2.33,158.32,1.193,10500,0.064,0.039,3368,3452,2207,2293,2121,0,0,0,0,0,0,24.98,24.49,23.55
$GC,8398,1.06,184.9,3368,3452,2288,2101,963.5,14.0,365,8404,0.00,2.08,0.00,0.000,1030,0.000,0.024,3377,2066,2195,2288,2102,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8726,1.00,184.9,3376,2066,2288,2098,920.9,12.3,376,8732,0.12,2.15,0.00,0.000,4356,0.172,0.037,3342,3456,2193,2288,2098,0,0,0,0,0,0,25.89,26.05,28.83
$GC,8793,0.95,184.9,3342,3456,2288,2098,912.2,12.6,378,8798,0.00,2.10,0.00,0.000,1030,0.000,0.024,3350,2043,2193,2288,2098,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9131,0.90,184.9,3350,2043,2288,2095,872.9,11.7,389,9136,0.15,2.08,0.00,0.000,4612,0.171,0.034,3317,658,2192,2288,2096,0,0,0,0,0,0,25.91,26.17,28.83
$GC,9181,0.86,184.9,3316,659,2284,2095,868.5,11.6,390,9187,0.00,2.08,0.00,0.000,1030,0.000,0.028,3317,2048,2189,2284,2095,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9505,0.83,184.9,3316,2048,2284,2095,830.1,11.2,401,9511,0.12,2.17,0.00,0.000,4356,0.167,0.040,3280,3464,2189,2284,2095,0,0,0,0,0,0,26.06,26.16,28.83
$GC,9636,0.80,184.9,2272,3462,2204,2080,815.9,10.8,405,9641,0.00,2.08,0.00,0.000,1030,0.000,0.024,3288,2046,2189,2283,2095,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9971,0.84,208.0,3288,2046,2283,2092,784.7,9.2,416,10000,0.00,2.15,18.95,1.144,8708,0.000,0.037,3297,666,2113,2206,2021,0,0,0,0,0,0,28.83,25.98,24.96
$GC,10025,0.85,222.7,3297,666,2205,2018,781.3,9.5,417,10045,0.00,2.10,14.82,1.141,9222,0.000,0.028,3296,2059,2060,2153,1967,0,0,0,0,0,0,28.83,26.01,24.70
$GC,10371,0.83,222.7,3296,2059,2148,1952,740.8,11.3,429,10376,0.00,2.17,0.00,0.000,260,0.000,0.041,3297,3460,2049,2147,1952,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,17485,end climb,SURFACE_DEPTH_REACHED
$STATE,17485,begin surface coast
$FINISH,1.3,1.009716
$STATE,17509,end surface coast,CONTROL_FINISHED_OK
$STATE,17509,begin surface
$SM_CCo,17532,18.40,0.125,0,0,663,564.93
$SM_GC,2.03,8.48,0.17,18.40,0.021,0.060,0.125,136,2240,663,-8.92,-1.47,564.93,0,0,0,0,0,0,26.25,26.39,25.73
$IRIDIUM_FIX,2013.37,12244.67,140813,010136
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.29
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.70
$XPDR_PINGS,8
$SC_FREEKB,7599680
$24V_AH,23.5,48.684
$10V_AH,10.0,30.484
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.750,168.975,572.250,18.400,0.000,0.000,0.000,284.375,2.000,0.000,44.981,2762.316,11474.327,722.782,2451.778,662.850,0.000,2216.323,0.000,2097.624,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17524.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.100,0.000,0.000,0.000
$MEM,342980
$DATA_FILE_SIZE,30008,794
$CAP_FILE_SIZE,210851,0
$CFSIZE,260034560,223686656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.135,309.0,1
$GPS,140813,113724,2018.600,12247.996,39,1.4,39,-2.9