version: 66.11
glider: 167
mission: 16
dive: 314
start: 8 15 113 23 31 4
data:
$ID,167
$MISSION,16
$DIVE,314
$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,-975587.25
$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,73
$R_STBD_OVSHOOT,57
$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
$GPS1,150813,231836,2017.348,12251.732,33,0.8,33,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-71.6
$GPS2,150813,233036,2017.494,12251.850,40,0.9,40,-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,149.2,328157,-18.3,-10.000,-23.91,2793
$D_GRID,4242
$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,-184.9,115,2185,672,655,0.0,0.0,0,122,0.00,0.00,-92.78,0.000,16386,0.000,0.000,115,2185,3007,2982,3033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.12,-184.9,115,2186,2984,3033,3.5,-4.5,17,161,10.40,2.20,-13.68,0.000,18692,0.234,0.047,2638,3603,3726,3720,3732,0,0,0,0,0,0,25.32,26.06,26.47
$GC,394,-1.02,-184.9,2638,3603,3720,3733,84.3,-31.8,41,401,0.17,2.00,0.00,0.000,3078,0.189,0.015,2680,2173,3726,3720,3733,0,0,0,0,0,0,25.70,26.32,28.83
$GC,700,-0.95,-184.9,2679,2173,3721,3733,159.6,-21.0,57,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2173,3727,3721,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-0.90,-184.9,2679,2173,3722,3733,215.6,-17.4,72,1005,0.15,0.00,0.00,0.000,2054,0.172,0.000,2720,2173,3727,3722,3733,0,0,0,0,0,0,26.10,28.83,28.83
$GC,1300,-0.88,-184.9,2720,2173,3724,3733,261.2,-15.6,87,1306,0.00,1.92,0.00,0.000,516,0.000,0.026,2720,819,3728,3723,3734,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1360,-0.85,-184.9,2720,819,3724,3733,268.8,-16.3,89,1367,0.00,1.98,0.00,0.000,1030,0.000,0.022,2712,2208,3728,3724,3733,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1666,-0.82,-184.9,2712,2208,3724,3733,318.8,-14.6,105,1672,0.12,2.00,0.00,0.000,2564,0.172,0.024,2750,821,3728,3723,3733,0,0,0,0,0,0,26.20,26.40,28.83
$GC,1686,-0.79,-184.9,2750,821,3723,3733,318.8,-14.6,105,1692,0.00,1.98,0.00,0.000,1030,0.000,0.024,2743,2204,3728,3724,3732,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1992,-0.78,-184.9,2742,2204,3723,3733,360.8,-12.9,121,1997,0.00,1.98,0.00,0.000,516,0.000,0.026,2742,829,3728,3724,3733,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2026,-0.76,-184.9,2742,829,3724,3732,364.2,-13.1,122,2032,0.12,1.98,0.00,0.000,3078,0.166,0.023,2769,2212,3727,3724,3731,0,0,0,0,0,0,26.09,26.41,28.83
$GC,2343,-0.76,-184.9,2769,2214,3724,3730,402.0,-11.1,138,2348,0.00,2.00,0.00,0.000,516,0.000,0.026,2769,825,3727,3724,3730,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2387,-0.76,-184.9,2769,824,3723,3730,407.0,-10.8,140,2393,0.00,1.98,0.00,0.000,1030,0.000,0.024,2768,2198,3726,3723,3729,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2713,-0.76,-184.9,2768,2198,3724,3726,438.7,-9.9,156,2718,0.00,2.08,0.00,0.000,260,0.000,0.037,2765,3601,3725,3724,3726,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2732,-0.76,-184.9,2765,3601,3724,3726,438.7,-9.9,156,2739,0.00,1.95,0.00,0.000,1030,0.000,0.015,2765,2182,3724,3723,3726,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3038,-0.76,-184.9,2765,2181,3723,3721,472.2,-10.3,172,3043,0.00,1.92,0.00,0.000,516,0.000,0.028,2765,832,3722,3723,3721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3117,-0.76,-184.9,2764,832,3723,3720,479.1,-10.8,175,3124,0.00,1.98,0.00,0.000,1030,0.000,0.024,2765,2205,3721,3723,3719,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3423,-0.76,-184.9,2765,2205,3723,3715,511.5,-10.0,191,3428,0.00,1.98,0.00,0.000,516,0.000,0.027,2765,839,3719,3724,3714,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3462,-0.76,-184.9,2765,839,3725,3713,514.1,-10.1,192,3469,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2209,3718,3723,3713,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3768,-0.76,-184.9,2765,2209,3723,3709,547.0,-10.5,208,3773,0.00,1.98,0.00,0.000,516,0.000,0.027,2765,844,3716,3724,3709,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3807,-0.76,-184.9,2765,845,3724,3708,549.8,-10.7,209,3814,0.00,1.95,0.00,0.000,1030,0.000,0.025,2765,2198,3715,3723,3708,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4113,-0.76,-184.9,2765,2198,3723,3703,584.3,-10.5,225,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2198,3713,3723,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4426,-0.76,-184.9,2765,2198,3723,3697,614.5,-9.4,238,4432,0.00,1.98,0.00,0.000,516,0.000,0.027,2765,841,3710,3723,3697,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4495,-0.76,-184.9,1728,840,3717,3694,620.9,-9.2,240,4500,0.00,1.98,0.00,0.000,1030,0.000,0.024,2765,2209,3709,3723,3696,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4829,-0.76,-184.9,2765,2209,3723,3690,652.6,-10.1,251,4834,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,842,3706,3723,3690,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4864,-0.76,-184.9,2765,842,3723,3690,656.7,-10.2,252,4869,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2197,3706,3723,3690,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5202,-0.76,-184.9,2765,2197,3720,3684,691.4,-10.4,263,5208,0.00,2.10,0.00,0.000,260,0.000,0.038,2765,3598,3702,3720,3684,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5268,-0.76,-184.9,2765,3598,3721,3684,698.5,-10.5,265,5273,0.00,1.98,0.00,0.000,1030,0.000,0.018,2765,2207,3701,3719,3684,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5606,-0.76,-184.9,2765,2207,3717,3681,732.3,-10.3,276,5611,0.00,2.00,0.00,0.000,516,0.000,0.029,2765,825,3699,3717,3681,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5630,-0.76,-184.9,2765,824,3716,3681,732.3,-10.3,276,5635,0.00,2.03,0.00,0.000,1030,0.000,0.026,2765,2210,3698,3716,3681,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5948,-0.76,-184.9,2765,2210,3714,3677,766.5,-10.0,287,5953,0.00,2.05,0.00,0.000,516,0.000,0.029,2765,818,3695,3714,3677,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5993,-0.76,-184.9,2765,818,3714,3676,770.4,-10.0,288,5998,0.00,2.05,0.00,0.000,1030,0.000,0.027,2765,2209,3695,3714,3676,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6321,-0.76,-184.9,2765,2209,3712,3672,804.2,-10.1,299,6326,0.00,2.10,0.00,0.000,260,0.000,0.041,2766,3598,3692,3712,3672,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6345,-0.76,-184.9,2765,3598,3711,3673,804.2,-10.1,299,6350,0.00,2.00,0.00,0.000,1030,0.000,0.020,2765,2203,3691,3711,3672,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6660,-0.76,-184.9,2765,2203,3710,3670,839.1,-10.5,310,6666,0.00,2.15,0.00,0.000,260,0.000,0.041,2765,3601,3690,3710,3670,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6704,-0.76,-184.9,2765,3601,3709,3669,842.9,-10.5,311,6710,0.00,2.03,0.00,0.000,1030,0.000,0.020,2765,2196,3689,3709,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7034,-0.76,-184.9,2765,2196,3707,3666,875.5,-9.5,322,7039,0.00,2.00,0.00,0.000,516,0.000,0.031,2765,825,3686,3706,3666,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7069,-0.76,-184.9,2765,825,3706,3666,879.3,-9.5,323,7074,0.00,2.03,0.00,0.000,1030,0.000,0.027,2765,2198,3686,3706,3666,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7407,-0.76,-184.9,2765,2198,3705,3663,912.0,-9.8,334,7412,0.00,2.12,0.00,0.000,260,0.000,0.041,2765,3596,3684,3705,3663,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7447,-0.77,-184.9,2765,3596,3704,3663,915.6,-9.8,335,7452,0.00,2.00,0.00,0.000,1030,0.000,0.021,2765,2205,3683,3704,3663,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7782,-0.78,-184.9,2765,2206,3703,3659,946.5,-9.1,346,7787,0.00,2.03,0.00,0.000,516,0.000,0.031,2765,819,3682,3704,3660,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7822,-0.79,-184.9,2766,819,3703,3660,950.3,-9.2,347,7827,0.00,2.05,0.00,0.000,1030,0.000,0.028,2765,2207,3681,3703,3660,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8156,-0.81,-184.9,2765,2207,3701,3658,979.3,-8.6,358,8161,0.00,2.12,0.00,0.000,260,0.000,0.042,2765,3596,3679,3701,3658,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8195,-0.82,-184.9,1728,3595,3693,3655,982.4,-8.4,359,8200,0.00,2.03,0.00,0.000,1030,0.000,0.021,2766,2199,3679,3700,3658,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,8281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8281,begin apogee
$GC,8290,-0.18,0.0,2765,2035,3701,3657,990.0,-8.1,362,8450,0.57,0.00,148.70,1.234,10246,0.118,0.000,2952,2032,2963,3029,2898,0,0,0,0,0,0,25.59,28.83,23.81
$STATE,8452,end apogee,CONTROL_FINISHED_OK
$STATE,8453,begin climb
$GC,8456,1.12,184.9,2952,2032,3029,2892,995.2,0.0,367,8620,1.20,0.00,160.05,1.190,10246,0.066,0.000,3372,2033,2215,2299,2131,0,0,0,0,0,0,24.98,28.83,23.48
$GC,8915,1.06,184.9,3372,2033,2290,2103,945.6,13.5,383,8920,0.00,2.22,0.00,0.000,260,0.000,0.041,3372,3453,2196,2290,2103,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8989,1.01,184.9,3372,3453,2287,2103,936.2,14.0,385,8995,0.15,2.05,0.00,0.000,5126,0.171,0.024,3345,2073,2194,2287,2102,0,0,0,0,0,0,25.65,26.04,28.83
$GC,9318,0.96,184.9,3345,2073,2287,2100,895.2,12.1,396,9324,0.00,2.12,0.00,0.000,260,0.000,0.040,3346,3447,2193,2287,2100,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9402,0.92,184.9,3345,3448,2285,2099,886.6,12.3,398,9408,0.17,2.08,0.00,0.000,5126,0.171,0.024,3309,2040,2192,2285,2100,0,0,0,0,0,0,25.73,26.22,28.83
$GC,9721,0.89,184.9,3309,2041,2285,2097,852.2,10.3,409,9727,0.00,2.08,0.00,0.000,516,0.000,0.037,3318,662,2191,2285,2098,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9757,0.86,184.9,3319,662,2282,2098,848.0,10.4,410,9762,0.00,2.08,0.00,0.000,1030,0.000,0.029,3318,2047,2190,2282,2098,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10096,0.82,184.9,3318,2047,2281,2097,810.7,11.3,421,10102,0.12,2.15,0.00,0.000,4356,0.163,0.040,3282,3455,2190,2282,2098,0,0,0,0,0,0,26.08,26.14,28.83
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$STATE,17803,end climb,SURFACE_DEPTH_REACHED
$STATE,17803,begin surface coast
$FINISH,1.2,1.006447
$STATE,17824,end surface coast,CONTROL_FINISHED_OK
$STATE,17824,begin surface
$SM_CCo,17847,16.10,0.126,0,0,666,564.93
$SM_GC,2.26,8.40,0.12,16.10,0.024,0.079,0.126,137,2225,666,-8.91,-1.92,564.93,0,0,0,0,0,0,26.23,26.41,25.71
$IRIDIUM_FIX,2008.77,12249.78,150813,181840
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.04
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.70
$XPDR_PINGS,4
$SC_FREEKB,7596608
$24V_AH,23.5,50.138
$10V_AH,10.1,31.369
$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,23.125,177.825,586.025,16.100,0.000,0.000,0.000,351.250,1.000,0.000,41.258,2522.868,12202.669,765.838,2401.900,678.273,0.000,2267.049,0.000,1973.890,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,78.795,1233.945,126.225,0.000,0.000,0.000,120.105,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17839.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.621,0.000,0.000,0.000
$MEM,342940
$DATA_FILE_SIZE,30087,793
$CAP_FILE_SIZE,213178,0
$CFSIZE,260034560,222924800
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160813,043005,2017.773,12253.478,32,0.7,32,-2.9