version: 66.11
glider: 167
mission: 16
dive: 313
start: 8 15 113 18 16 4
data:
$ID,167
$MISSION,16
$DIVE,313
$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,0
$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,-975586
$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,61
$R_STBD_OVSHOOT,61
$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
$GPS1,150813,180706,2017.294,12251.308,30,1.1,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-69.8
$GPS2,150813,181535,2017.436,12251.414,37,1.0,37,-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,149.1,328494,-18.3,-10.000,-23.91,2793
$D_GRID,4153
$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,-184.9,126,2200,677,648,0.0,0.0,0,122,0.00,0.00,-92.97,0.000,16386,0.000,0.000,125,2201,3005,2984,3026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.12,-184.9,125,2201,2984,3026,3.2,-2.7,17,161,10.38,2.15,-14.35,0.000,18692,0.233,0.047,2643,3595,3726,3721,3732,0,0,0,0,0,0,25.32,26.06,26.46
$GC,393,-1.03,-184.9,2642,3596,3721,3734,81.7,-28.2,43,399,0.15,2.00,0.00,0.000,3078,0.190,0.015,2677,2159,3727,3721,3734,0,0,0,0,0,0,25.75,26.32,28.83
$GC,714,-0.97,-184.9,2677,2158,3723,3734,153.7,-19.8,59,720,0.00,2.12,0.00,0.000,260,0.000,0.031,2668,3595,3728,3723,3733,0,0,0,0,0,0,28.83,26.26,28.83
$GC,804,-0.91,-184.9,2669,3595,3723,3734,171.7,-21.2,63,810,0.20,1.92,0.00,0.000,3078,0.161,0.015,2722,2199,3728,3723,3734,0,0,0,0,0,0,25.86,26.43,28.83
$GC,1125,-0.87,-184.9,2723,2199,3725,3734,224.7,-16.5,79,1130,0.00,1.95,0.00,0.000,516,0.000,0.026,2722,826,3730,3726,3734,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1191,-0.84,-184.9,2722,826,3725,3734,235.3,-16.6,82,1197,0.00,1.95,0.00,0.000,1030,0.000,0.022,2715,2202,3729,3725,3734,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1517,-0.82,-184.9,2715,2202,3726,3734,283.9,-13.6,98,1522,0.12,2.05,0.00,0.000,2308,0.171,0.032,2743,3598,3729,3725,3734,0,0,0,0,0,0,26.20,26.33,28.83
$GC,1563,-0.79,-184.9,2743,3598,3726,3734,290.0,-13.6,100,1568,0.00,1.95,0.00,0.000,1030,0.000,0.015,2743,2185,3730,3726,3734,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1889,-0.78,-184.9,2743,2185,3726,3734,333.2,-13.3,116,1894,0.00,1.92,0.00,0.000,516,0.000,0.028,2743,833,3729,3725,3734,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1974,-0.77,-184.9,2743,833,3725,3734,344.9,-13.7,120,1980,0.12,1.95,0.00,0.000,3078,0.164,0.023,2770,2195,3729,3725,3734,0,0,0,0,0,0,26.09,26.41,28.83
$GC,2299,-0.77,-184.9,2770,2195,3726,3732,382.1,-10.8,136,2305,0.00,1.95,0.00,0.000,516,0.000,0.025,2769,840,3729,3726,3732,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2348,-0.77,-184.9,1728,840,3720,3730,386.9,-10.5,138,2353,0.00,1.95,0.00,0.000,1030,0.000,0.023,2766,2205,3729,3726,3732,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2667,-0.77,-184.9,2766,2205,3726,3730,420.9,-10.8,154,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2205,3728,3726,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2970,-0.77,-184.9,2765,2204,3726,3726,455.1,-11.2,169,2975,0.00,1.98,0.00,0.000,516,0.000,0.026,2766,839,3726,3726,3726,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3015,-0.77,-184.9,2765,839,3726,3726,460.4,-11.2,171,3021,0.00,1.98,0.00,0.000,1030,0.000,0.024,2766,2203,3725,3726,3725,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3340,-0.77,-184.9,2765,2203,3725,3721,495.8,-10.9,187,3345,0.00,1.98,0.00,0.000,516,0.000,0.027,2765,839,3723,3726,3720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3379,-0.77,-184.9,2765,839,3725,3720,498.6,-11.1,188,3385,0.00,1.98,0.00,0.000,1030,0.000,0.024,2766,2212,3723,3726,3720,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3685,-0.77,-184.9,2765,2211,3725,3715,534.7,-11.3,204,3690,0.00,2.00,0.00,0.000,516,0.000,0.027,2766,831,3720,3725,3715,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3749,-0.77,-184.9,2765,830,3725,3714,542.2,-11.5,207,3754,0.00,1.98,0.00,0.000,1030,0.000,0.024,2766,2199,3719,3725,3713,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4074,-0.77,-184.9,2765,2200,3725,3709,576.8,-10.3,223,4079,0.00,1.98,0.00,0.000,516,0.000,0.026,2767,835,3716,3725,3707,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4103,-0.77,-184.9,2766,836,3725,3708,579.3,-10.3,224,4108,0.00,1.98,0.00,0.000,1030,0.000,0.024,2766,2205,3717,3726,3708,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4422,-0.77,-184.9,2765,2205,3725,3703,613.8,-10.9,238,4428,0.00,2.00,0.00,0.000,516,0.000,0.028,2766,835,3714,3726,3703,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4471,-0.77,-184.9,2766,835,3725,3702,617.4,-10.7,239,4477,0.00,1.98,0.00,0.000,1030,0.000,0.024,2766,2200,3713,3725,3702,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4792,-0.77,-184.9,2765,2200,3725,3697,651.9,-10.7,250,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2200,3711,3725,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5091,-0.77,-184.9,2766,2199,3725,3692,686.2,-11.5,260,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2200,3708,3725,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5392,-0.77,-184.9,2765,2200,3724,3687,719.4,-10.9,270,5397,0.00,2.10,0.00,0.000,260,0.000,0.039,2765,3595,3705,3723,3688,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5416,-0.77,-184.9,2765,3595,3723,3687,719.4,-10.9,270,5422,0.00,1.95,0.00,0.000,1030,0.000,0.018,2766,2213,3704,3722,3687,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5734,-0.77,-184.9,2766,2213,3720,3684,753.7,-9.8,281,5739,0.00,2.00,0.00,0.000,516,0.000,0.028,2766,832,3701,3719,3684,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5770,-0.77,-184.9,2765,832,3720,3684,757.5,-9.7,282,5775,0.00,2.00,0.00,0.000,1030,0.000,0.025,2766,2199,3702,3720,3684,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6109,-0.77,-184.9,2766,2199,3717,3680,790.3,-9.6,293,6114,0.00,2.10,0.00,0.000,260,0.000,0.040,2766,3594,3698,3717,3680,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6217,-0.78,-184.9,2765,3594,3716,3679,799.5,-9.4,296,6222,0.00,1.98,0.00,0.000,1030,0.000,0.019,2766,2205,3697,3716,3679,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6545,-0.78,-184.9,2765,2205,3714,3676,829.0,-8.6,307,6550,0.00,2.03,0.00,0.000,516,0.000,0.030,2766,818,3695,3714,3676,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6611,-0.79,-184.9,2765,817,3713,3676,835.1,-8.8,309,6617,0.00,2.03,0.00,0.000,1030,0.000,0.027,2766,2196,3694,3713,3675,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6949,-0.79,-184.9,2765,2196,3711,3672,865.6,-9.4,320,6955,0.00,2.12,0.00,0.000,260,0.000,0.041,2766,3597,3692,3712,3672,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6994,-0.79,-184.9,2765,3597,3711,3672,869.1,-9.3,321,7000,0.00,2.00,0.00,0.000,1030,0.000,0.020,2766,2201,3691,3711,3672,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7323,-0.79,-184.9,2765,2201,3710,3669,902.6,-10.4,332,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2201,3689,3710,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7621,-0.80,-184.9,2765,2201,3708,3667,936.0,-11.0,342,7626,0.00,2.03,0.00,0.000,516,0.000,0.031,2766,819,3687,3709,3666,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7656,-0.81,-184.9,2765,819,3707,3666,939.7,-10.7,343,7662,0.00,2.05,0.00,0.000,1030,0.000,0.028,2765,2204,3687,3708,3666,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7995,-0.82,-184.9,2767,2204,3705,3663,975.0,-10.4,354,8000,0.00,2.12,0.00,0.000,260,0.000,0.041,2766,3597,3684,3705,3663,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8069,-0.84,-184.9,2765,3598,3705,3664,982.6,-10.8,356,8074,0.00,2.03,0.00,0.000,1030,0.000,0.021,2766,2198,3684,3705,3664,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,8150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8151,begin apogee
$GC,8159,-0.18,0.0,2765,2046,3704,3663,993.0,-11.1,359,8319,0.57,0.00,148.98,1.245,10246,0.120,0.000,2951,2044,2964,3029,2899,0,0,0,0,0,0,25.58,28.83,23.80
$STATE,8321,end apogee,CONTROL_FINISHED_OK
$STATE,8321,begin climb
$GC,8325,1.12,184.9,2951,2044,3029,2894,1001.5,0.0,364,8488,1.20,0.00,159.15,1.195,10246,0.067,0.000,3370,2044,2215,2299,2131,0,0,0,0,0,0,24.96,28.83,23.47
$GC,8784,1.06,184.9,3370,2044,2292,2104,957.2,12.8,380,8790,0.00,2.20,0.00,0.000,260,0.000,0.041,3370,3446,2197,2291,2103,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8879,1.01,184.9,3370,3447,2287,2104,943.0,14.6,383,8885,0.15,2.08,0.00,0.000,5126,0.174,0.024,3344,2057,2195,2288,2103,0,0,0,0,0,0,25.66,26.06,28.83
$GC,9216,0.97,184.9,3344,2057,2288,2100,901.5,12.1,394,9221,0.00,2.15,0.00,0.000,260,0.000,0.040,3344,3446,2194,2288,2100,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9251,0.92,184.9,3344,3446,2288,2100,896.8,12.4,395,9257,0.15,2.08,0.00,0.000,5126,0.180,0.024,3316,2050,2194,2288,2100,0,0,0,0,0,0,25.77,26.22,28.83
$GC,9590,0.89,184.9,3316,2050,2288,2098,860.1,10.6,406,9595,0.00,2.15,0.00,0.000,260,0.000,0.040,3316,3446,2193,2288,2098,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9674,0.85,184.9,3316,3446,2285,2098,852.5,10.9,408,9680,0.12,2.08,0.00,0.000,5126,0.176,0.025,3295,2040,2191,2285,2098,0,0,0,0,0,0,25.90,26.28,28.83
$GC,9993,0.90,213.7,3295,2040,2285,2096,820.4,8.9,419,10026,0.00,2.17,24.90,1.149,8708,0.000,0.037,3304,660,2091,2185,1998,0,0,0,0,0,0,28.83,25.83,24.81
$GC,10068,0.91,225.5,3304,660,2181,1996,813.8,9.6,421,10088,0.00,2.10,11.98,1.174,9222,0.000,0.028,3304,2046,2045,2138,1952,0,0,0,0,0,0,28.83,25.90,24.58
$GC,10386,0.88,225.5,3304,2047,2136,1942,780.0,10.0,432,10391,0.00,2.17,0.00,0.000,260,0.000,0.041,3304,3453,2039,2136,1942,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10410,0.86,225.5,3304,3453,2133,1941,780.0,10.0,432,10416,0.00,2.10,0.00,0.000,1030,0.000,0.024,3312,2041,2037,2133,1941,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,17992,end climb,SURFACE_DEPTH_REACHED
$STATE,17992,begin surface coast
$FINISH,1.2,1.009172
$STATE,18017,end surface coast,CONTROL_FINISHED_OK
$STATE,18017,begin surface
$SM_CCo,18041,31.85,0.124,0,0,663,564.93
$SM_GC,2.02,8.40,1.85,31.85,0.026,0.018,0.124,141,2194,663,-8.91,2.12,564.93,0,0,0,0,0,0,26.24,26.37,25.75
$IRIDIUM_FIX,2008.77,12251.71,150813,131355
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.93
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,29.30
$XPDR_PINGS,2
$SC_FREEKB,7596992
$24V_AH,23.5,49.955
$10V_AH,10.1,31.260
$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
$DEVICE_SECS,22.700,173.675,565.625,31.850,0.000,0.000,0.000,264.525,0.500,0.000,38.987,2617.740,12127.179,748.770,2402.156,675.649,0.000,2193.208,0.000,2067.261,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18035.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.691,0.000,0.000,0.000
$MEM,342948
$DATA_FILE_SIZE,30024,814
$CAP_FILE_SIZE,212478,0
$CFSIZE,260034560,223023104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150813,231836,2017.348,12251.732,33,0.8,33,-2.9