version: 66.11
glider: 167
mission: 16
dive: 310
start: 8 15 113 2 47 37
data:
$ID,167
$MISSION,16
$DIVE,310
$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,-975582.25
$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,67
$R_STBD_OVSHOOT,68
$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
$GPS1,150813,023836,2018.877,12249.948,29,0.9,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.5
$GPS2,150813,024706,2019.007,12250.010,42,0.9,42,-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,185.7,332290,-18.3,-10.000,-23.91,2793
$D_GRID,3913
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.12,-184.9,128,2212,669,661,0.0,0.0,0,121,0.00,0.00,-90.97,0.000,16386,0.000,0.000,129,2212,2966,2942,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-1.12,-184.9,127,2212,2943,2991,3.3,-3.6,16,161,10.43,2.15,-15.10,0.000,18948,0.235,0.039,2649,789,3725,3720,3731,0,0,0,0,0,0,25.34,26.12,26.48
$GC,183,-0.99,-184.9,2649,789,3720,3733,20.0,-32.9,24,191,0.20,2.03,0.00,0.000,3078,0.201,0.022,2689,2198,3726,3720,3733,0,0,0,0,0,0,25.52,26.15,28.83
$GC,501,-0.92,-184.9,2688,2198,3721,3733,108.1,-23.5,45,507,0.10,2.05,0.00,0.000,2308,0.204,0.030,2702,3596,3727,3721,3733,0,0,0,0,0,0,26.14,26.22,28.83
$GC,615,-0.86,-184.9,2702,3597,3721,3733,131.1,-20.9,50,622,0.12,1.98,0.00,0.000,3078,0.171,0.015,2732,2167,3727,3721,3733,0,0,0,0,0,0,25.98,26.40,28.83
$GC,937,-0.83,-184.9,2732,2166,3723,3733,189.0,-16.4,66,942,0.00,1.90,0.00,0.000,516,0.000,0.026,2733,832,3728,3723,3733,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1022,-0.79,-184.9,2732,832,3723,3734,203.0,-16.3,70,1028,0.12,1.95,0.00,0.000,3078,0.171,0.022,2756,2200,3728,3723,3733,0,0,0,0,0,0,26.03,26.39,28.83
$GC,1349,-0.77,-184.9,2756,2201,3724,3733,246.6,-13.5,86,1354,0.00,1.98,0.00,0.000,516,0.000,0.025,2756,824,3728,3724,3733,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1374,-0.76,-184.9,2756,825,3724,3733,250.3,-13.8,87,1380,0.00,1.98,0.00,0.000,1030,0.000,0.023,2750,2202,3728,3724,3733,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1699,-0.74,-184.9,2750,2202,3724,3733,294.3,-13.3,103,1705,0.00,1.98,0.00,0.000,516,0.000,0.026,2750,827,3728,3724,3733,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1765,-0.73,-184.9,2750,826,3724,3733,302.9,-13.2,106,1772,0.15,1.98,0.00,0.000,3078,0.156,0.022,2782,2210,3728,3724,3733,0,0,0,0,0,0,26.06,26.43,28.83
$GC,2092,-0.73,-184.9,2782,2210,3724,3733,340.6,-11.8,122,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2209,3729,3725,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2395,-0.73,-184.9,2782,2210,3724,3731,376.0,-11.5,137,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2210,3728,3724,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2696,-0.73,-184.9,2782,2210,3724,3730,406.8,-9.6,152,2701,0.00,2.00,0.00,0.000,516,0.000,0.027,2782,824,3726,3724,3729,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2750,-0.73,-184.9,2782,824,3723,3729,411.5,-9.6,154,2755,0.00,1.98,0.00,0.000,1030,0.000,0.024,2779,2201,3726,3724,3729,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3065,-0.73,-184.9,2778,2202,3724,3725,444.9,-11.4,170,3071,0.00,1.98,0.00,0.000,516,0.000,0.026,2778,831,3724,3724,3724,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3120,-0.73,-184.9,2779,830,3725,3724,450.5,-12.1,172,3125,0.00,1.98,0.00,0.000,1030,0.000,0.024,2779,2212,3724,3724,3724,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3435,-0.73,-184.9,2778,2212,3724,3720,490.7,-11.8,188,3440,0.00,2.00,0.00,0.000,516,0.000,0.027,2778,829,3722,3725,3720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3490,-0.73,-184.9,2778,829,3724,3719,495.9,-11.6,190,3495,0.00,1.98,0.00,0.000,1030,0.000,0.024,2779,2204,3721,3724,3719,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3805,-0.73,-184.9,2778,2204,3724,3714,523.4,-7.4,206,3810,0.00,2.00,0.00,0.000,516,0.000,0.027,2779,824,3718,3723,3714,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3839,-0.73,-184.9,2778,824,3724,3713,525.3,-7.5,207,3845,0.00,1.98,0.00,0.000,1030,0.000,0.024,2779,2201,3718,3724,3713,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4156,-0.73,-184.9,2778,2201,3724,3709,553.9,-9.4,223,4161,0.00,2.00,0.00,0.000,516,0.000,0.026,2779,826,3716,3724,3709,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4224,-0.73,-184.9,1728,826,3718,3705,560.5,-10.2,226,4230,0.00,1.98,0.00,0.000,1030,0.000,0.024,2779,2201,3715,3724,3707,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4544,-0.73,-184.9,2778,2201,3724,3703,594.3,-10.4,242,4550,0.00,1.98,0.00,0.000,516,0.000,0.027,2779,839,3713,3724,3702,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4590,-0.73,-184.9,2778,839,3724,3702,599.2,-10.4,244,4595,0.00,1.98,0.00,0.000,1030,0.000,0.024,2779,2199,3713,3724,3703,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4919,-0.74,-184.9,2779,2200,3724,3696,632.8,-10.2,255,4924,0.00,1.98,0.00,0.000,516,0.000,0.027,2778,839,3709,3724,3695,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4968,-0.75,-184.9,2778,839,3724,3695,636.7,-10.2,256,4973,0.00,1.98,0.00,0.000,1030,0.000,0.024,2779,2205,3708,3723,3694,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5291,-0.76,-184.9,2778,2205,3724,3690,669.9,-10.1,267,5297,0.00,2.10,0.00,0.000,260,0.000,0.038,2779,3600,3706,3724,3689,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5312,-0.78,-184.9,2778,3599,3724,3689,669.9,-10.1,267,5317,0.00,1.98,0.00,0.000,1030,0.000,0.018,2779,2196,3706,3724,3689,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5635,-0.79,-184.9,2778,2197,3722,3684,703.9,-9.6,278,5642,0.00,1.98,0.00,0.000,516,0.000,0.029,2779,833,3703,3722,3684,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5721,-0.80,-184.9,2778,833,3720,3684,710.6,-9.5,280,5727,0.00,2.00,0.00,0.000,1030,0.000,0.026,2778,2206,3702,3720,3684,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6041,-0.82,-184.9,2778,2206,3718,3681,741.2,-9.4,291,6047,0.00,2.10,0.00,0.000,260,0.000,0.040,2779,3596,3699,3718,3681,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6061,-0.83,-184.9,2778,3596,3717,3681,741.2,-9.4,291,6067,0.00,1.98,0.00,0.000,1030,0.000,0.019,2778,2212,3699,3717,3681,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6385,-0.85,-184.9,2778,2211,3716,3677,774.1,-9.5,302,6392,0.12,2.03,0.00,0.000,4612,0.086,0.028,2712,822,3696,3715,3677,0,0,0,0,0,0,26.51,26.31,28.83
$GC,6438,-0.85,-184.9,2713,822,3714,3677,778.8,-10.1,303,6444,0.12,2.03,0.00,0.000,3078,0.169,0.026,2741,2207,3695,3713,3677,0,0,0,0,0,0,25.98,26.34,28.83
$GC,6762,-0.85,-184.9,2741,2206,3712,3674,815.5,-11.0,314,6767,0.00,2.10,0.00,0.000,260,0.000,0.040,2738,3596,3693,3712,3674,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6835,-0.85,-184.9,2738,3596,3712,3674,823.4,-11.4,316,6841,0.00,2.00,0.00,0.000,1030,0.000,0.019,2738,2189,3692,3711,3674,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7164,-0.85,-184.9,2737,2189,3711,3670,863.3,-12.2,327,7169,0.00,1.98,0.00,0.000,516,0.000,0.031,2738,834,3690,3711,3670,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7268,-0.85,-184.9,2738,833,3709,3670,875.5,-12.3,330,7273,0.00,2.03,0.00,0.000,1030,0.000,0.027,2738,2206,3689,3709,3670,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7596,-0.85,-184.9,2737,2206,3707,3667,914.6,-11.2,341,7602,0.00,2.03,0.00,0.000,516,0.000,0.030,2738,832,3687,3707,3667,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7636,-0.85,-184.9,2738,832,3707,3667,919.1,-11.2,342,7641,0.00,2.03,0.00,0.000,1030,0.000,0.027,2737,2213,3686,3706,3666,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7968,-0.85,-184.9,2737,2213,3705,3663,956.0,-11.1,353,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2213,3684,3705,3663,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8262,begin apogee
$GC,8271,-0.18,0.0,2737,2055,3704,3661,990.3,-11.6,363,8430,0.65,0.00,149.25,1.235,10246,0.124,0.000,2946,2051,2964,3029,2899,0,0,0,0,0,0,25.53,28.83,23.92
$STATE,8433,end apogee,CONTROL_FINISHED_OK
$STATE,8433,begin climb
$GC,8437,1.12,184.9,2946,2051,3028,2893,997.9,0.0,368,8604,1.20,2.22,157.45,1.192,10756,0.068,0.034,3374,678,2208,2293,2124,0,0,0,0,0,0,24.99,24.49,23.55
$GC,8649,1.05,185.9,3374,678,2283,2116,986.5,10.0,375,8654,0.00,2.15,0.00,0.000,1030,0.000,0.029,3375,2049,2199,2282,2116,0,0,0,0,0,0,28.83,25.12,28.83
$GC,8971,1.00,185.9,3376,2049,2282,2106,944.8,12.2,386,8977,0.12,2.17,0.00,0.000,4356,0.170,0.039,3340,3457,2194,2282,2106,0,0,0,0,0,0,25.77,25.94,28.83
$GC,9098,0.95,185.9,3341,3456,2281,2103,929.5,11.8,390,9104,0.00,2.08,0.00,0.000,1030,0.000,0.024,3348,2062,2192,2281,2103,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9437,0.90,185.9,3348,2062,2281,2100,891.8,11.5,401,9443,0.12,2.10,0.00,0.000,4612,0.178,0.034,3322,662,2190,2281,2100,0,0,0,0,0,0,25.96,26.15,28.83
$GC,9468,0.86,185.9,3321,662,2281,2100,891.8,11.5,401,9476,0.00,2.10,0.00,0.000,1030,0.000,0.029,3321,2062,2190,2281,2100,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9776,0.82,185.9,3321,2062,2281,2098,852.7,11.7,412,9782,0.12,2.15,0.00,0.000,4356,0.168,0.048,3284,3456,2189,2281,2098,0,0,0,0,0,0,26.04,26.08,28.83
$GC,9816,0.79,185.9,2272,3454,2201,2083,848.3,11.7,413,9821,0.00,2.08,0.00,0.000,1030,0.000,0.024,3292,2050,2189,2281,2098,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10150,0.76,185.9,3292,2050,2281,2096,813.8,10.1,424,10152,0.12,0.00,0.00,0.000,4102,0.161,0.000,3261,2050,2188,2281,2095,0,0,0,0,0,0,26.17,28.83,28.83
$GC,10450,0.88,238.9,3261,2049,2281,2095,789.4,8.0,434,10506,0.12,2.30,48.17,1.100,10500,0.079,0.040,3331,3446,1987,2082,1893,0,0,0,0,0,0,26.48,25.44,24.51
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$STATE,17802,end climb,SURFACE_DEPTH_REACHED
$STATE,17802,begin surface coast
$FINISH,1.2,1.005068
$STATE,17828,end surface coast,CONTROL_FINISHED_OK
$STATE,17828,begin surface
$SM_CCo,17850,26.45,0.124,0,0,664,564.93
$SM_GC,2.21,8.40,0.20,26.45,0.025,0.043,0.124,140,2205,664,-8.93,-1.78,564.93,0,0,0,0,0,0,26.15,26.48,25.75
$IRIDIUM_FIX,2008.77,12246.60,140813,212122
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.80
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.80
$XPDR_PINGS,8
$SC_FREEKB,7598144
$24V_AH,23.5,49.413
$10V_AH,10.1,30.932
$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,23.875,173.675,574.500,26.450,0.000,0.000,0.000,263.525,2.000,0.000,43.268,2716.094,11878.864,734.091,2367.751,683.589,0.000,2187.538,0.000,2031.714,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,48.195,1234.710,123.930,0.000,0.000,0.000,121.635,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17844.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.875,0.000,0.000,0.000
$MEM,342980
$DATA_FILE_SIZE,30081,801
$CAP_FILE_SIZE,213297,0
$CFSIZE,260034560,223305728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.130, 68.4,1
$GPS,150813,074700,2018.095,12251.276,39,0.9,39,-2.9