version: 66.11
glider: 167
mission: 16
dive: 316
start: 8 16 113 9 48 53
data:
$ID,167
$MISSION,16
$DIVE,316
$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,-975589.75
$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,57
$R_STBD_OVSHOOT,79
$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
$GPS1,160813,093736,2016.613,12255.155,41,0.9,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-67.2
$GPS2,160813,094825,2016.578,12255.270,45,1.2,45,-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,150.0,323429,-18.3,-10.000,-23.91,2793
$D_GRID,4909
$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,-184.9,111,2230,687,637,0.0,0.0,0,122,0.00,0.00,-92.95,0.000,16386,0.000,0.000,111,2230,3004,2980,3029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.12,-184.9,110,2231,2982,3029,3.3,-3.6,17,161,10.50,2.10,-13.98,0.000,18692,0.235,0.047,2642,3578,3725,3720,3731,0,0,0,0,0,0,25.34,26.06,26.46
$GC,394,-1.01,-184.9,2641,3579,3720,3732,85.0,-32.9,42,401,0.17,2.00,0.00,0.000,3078,0.188,0.017,2684,2161,3726,3720,3732,0,0,0,0,0,0,25.71,26.31,28.83
$GC,701,-0.95,-184.9,2683,2161,3721,3732,154.8,-20.3,58,706,0.00,2.10,0.00,0.000,260,0.000,0.033,2677,3573,3726,3721,3732,0,0,0,0,0,0,28.83,26.26,28.83
$GC,840,-0.89,-184.9,2676,3573,3721,3732,182.3,-22.1,64,847,0.17,1.92,0.00,0.000,3078,0.160,0.016,2721,2201,3726,3721,3732,0,0,0,0,0,0,25.93,26.42,28.83
$GC,1146,-0.86,-184.9,2721,2201,3723,3732,235.9,-14.0,80,1151,0.00,2.00,0.00,0.000,516,0.000,0.030,2721,819,3728,3723,3733,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1196,-0.83,-184.9,1632,819,3717,3730,242.1,-13.8,82,1202,0.12,1.95,0.00,0.000,3078,0.169,0.024,2745,2183,3727,3723,3732,0,0,0,0,0,0,26.06,26.39,28.83
$GC,1517,-0.82,-184.9,2745,2183,3723,3732,283.5,-13.2,98,1523,0.00,1.98,0.00,0.000,516,0.000,0.028,2746,818,3727,3723,3732,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1546,-0.80,-184.9,1680,816,3717,3730,287.1,-13.4,99,1551,0.00,1.98,0.00,0.000,1030,0.000,0.024,2739,2197,3727,3723,3732,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1866,-0.78,-184.9,2738,2198,3723,3732,331.5,-13.4,115,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2198,3727,3723,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2169,-0.77,-184.9,2738,2198,3722,3731,370.0,-12.9,130,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2197,3727,3723,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2470,-0.75,-184.9,2738,2198,3723,3730,408.0,-12.7,145,2476,0.12,2.00,0.00,0.000,2564,0.166,0.026,2777,820,3726,3723,3729,0,0,0,0,0,0,26.24,26.39,28.83
$GC,2500,-0.74,-184.9,1696,820,3717,3727,411.5,-12.4,146,2506,0.00,2.00,0.00,0.000,1030,0.000,0.026,2777,2204,3725,3721,3729,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2820,-0.74,-184.9,2777,2205,3723,3725,446.2,-10.6,162,2825,0.00,2.03,0.00,0.000,516,0.000,0.028,2777,812,3724,3723,3725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2865,-0.74,-184.9,2777,812,3724,3724,450.9,-10.4,164,2870,0.00,2.03,0.00,0.000,1030,0.000,0.026,2777,2206,3723,3723,3724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3190,-0.74,-184.9,2777,2206,3723,3720,482.6,-9.6,180,3195,0.00,2.03,0.00,0.000,516,0.000,0.028,2777,815,3721,3723,3720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3229,-0.74,-184.9,2777,815,3723,3719,485.0,-9.5,181,3236,0.00,2.00,0.00,0.000,1030,0.000,0.026,2777,2201,3721,3723,3719,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3535,-0.74,-184.9,2777,2201,3723,3714,516.1,-9.5,197,3540,0.00,2.00,0.00,0.000,516,0.000,0.028,2777,823,3718,3723,3714,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3570,-0.74,-184.9,2777,823,3723,3714,518.5,-9.4,198,3575,0.00,2.00,0.00,0.000,1030,0.000,0.025,2777,2205,3718,3723,3714,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3884,-0.74,-184.9,2777,2205,3723,3709,547.9,-9.1,214,3890,0.00,2.03,0.00,0.000,516,0.000,0.028,2777,819,3716,3723,3709,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3939,-0.74,-184.9,2777,819,3723,3708,552.2,-9.4,216,3944,0.00,2.03,0.00,0.000,1030,0.000,0.026,2777,2209,3715,3723,3708,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4254,-0.75,-184.9,2777,2209,3723,3703,582.1,-9.2,232,4260,0.00,2.03,0.00,0.000,516,0.000,0.029,2777,824,3713,3723,3703,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4320,-0.75,-184.9,2777,825,3723,3702,588.0,-9.1,235,4325,0.00,2.03,0.00,0.000,1030,0.000,0.026,2777,2209,3712,3723,3702,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4648,-0.75,-184.9,2777,2209,3723,3696,618.0,-9.2,248,4653,0.00,2.05,0.00,0.000,516,0.000,0.031,2777,816,3709,3723,3696,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4697,-0.75,-184.9,2777,816,3723,3695,621.7,-9.4,249,4702,0.00,2.03,0.00,0.000,1030,0.000,0.027,2777,2204,3709,3723,3695,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5021,-0.76,-184.9,2777,2204,3723,3690,654.9,-10.2,260,5026,0.00,2.10,0.00,0.000,260,0.000,0.040,2778,3597,3706,3722,3690,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5050,-0.77,-184.9,2777,3597,3723,3690,654.9,-10.2,260,5057,0.00,2.00,0.00,0.000,1030,0.000,0.019,2777,2184,3706,3722,3690,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5360,-0.79,-184.9,2777,2184,3723,3684,689.1,-9.9,271,5365,0.00,1.98,0.00,0.000,516,0.000,0.030,2777,823,3703,3722,3684,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5410,-0.80,-184.9,2777,823,3721,3684,693.0,-9.9,272,5415,0.00,2.03,0.00,0.000,1030,0.000,0.028,2777,2202,3702,3721,3684,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5734,-0.81,-184.9,2777,2203,3718,3681,723.1,-8.5,283,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2202,3699,3718,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6030,-0.83,-184.9,2777,2202,3715,3678,747.6,-8.1,293,6036,0.00,2.03,0.00,0.000,516,0.000,0.030,2777,832,3696,3715,3677,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6081,-0.84,-184.9,2777,832,3715,3677,750.7,-8.4,294,6086,0.00,2.03,0.00,0.000,1030,0.000,0.028,2777,2209,3696,3715,3677,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6404,-0.85,-184.9,2778,2209,3714,3673,778.2,-8.3,305,6410,0.12,2.12,0.00,0.000,4356,0.083,0.040,2709,3605,3693,3713,3673,0,0,0,0,0,0,26.54,26.19,28.83
$GC,6484,-0.85,-184.9,2709,3605,3712,3672,785.7,-9.6,307,6490,0.12,2.00,0.00,0.000,3078,0.161,0.021,2741,2214,3692,3712,3673,0,0,0,0,0,0,26.06,26.46,28.83
$GC,6808,-0.85,-184.9,2741,2215,3711,3670,821.6,-10.6,318,6813,0.00,2.05,0.00,0.000,516,0.000,0.031,2741,815,3690,3710,3670,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6826,-0.85,-184.9,2740,814,3710,3670,821.6,-10.6,318,6831,0.00,2.05,0.00,0.000,1030,0.000,0.028,2738,2204,3689,3709,3670,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7146,-0.85,-184.9,2738,2205,3707,3668,858.9,-11.2,329,7152,0.00,2.12,0.00,0.000,260,0.000,0.042,2738,3600,3687,3707,3668,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7241,-0.85,-184.9,2738,3600,3706,3668,869.9,-11.4,332,7247,0.00,2.05,0.00,0.000,1030,0.000,0.022,2738,2183,3687,3706,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7581,-0.85,-184.9,2737,2183,3705,3664,910.7,-12.2,343,7586,0.00,2.00,0.00,0.000,516,0.000,0.033,2738,825,3684,3705,3664,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7676,-0.85,-184.9,2737,825,3704,3663,923.0,-12.5,346,7681,0.00,2.05,0.00,0.000,1030,0.000,0.030,2738,2200,3684,3705,3663,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8014,-0.85,-184.9,2737,2200,3704,3660,964.1,-12.0,357,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2200,3681,3703,3660,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8247,begin apogee
$GC,8255,-0.18,0.0,2738,2049,3702,3657,990.5,-10.8,365,8411,0.68,0.00,146.95,1.235,10246,0.125,0.000,2953,2047,2968,3033,2904,0,0,0,0,0,0,25.53,28.83,23.85
$STATE,8414,end apogee,CONTROL_FINISHED_OK
$STATE,8414,begin climb
$GC,8417,1.12,184.9,2953,2047,3031,2895,996.4,0.0,370,8584,1.20,2.38,158.25,1.192,10500,0.064,0.042,3375,3453,2209,2295,2123,0,0,0,0,0,0,24.98,24.49,23.55
$GC,8648,1.05,184.9,3374,3453,2293,2111,974.6,14.6,378,8654,0.12,2.15,0.00,0.000,5126,0.174,0.024,3357,2065,2201,2293,2110,0,0,0,0,0,0,25.03,25.32,28.83
$GC,8984,1.00,184.9,3357,2064,2293,2102,924.9,14.6,389,8989,0.00,2.15,0.00,0.000,516,0.000,0.037,3364,656,2197,2293,2102,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9038,0.96,184.9,3366,656,2289,2101,919.6,14.6,390,9044,0.17,2.10,0.00,0.000,5126,0.165,0.030,3322,2045,2195,2289,2101,0,0,0,0,0,0,25.67,26.08,28.83
$GC,9358,0.92,184.9,3321,2045,2289,2100,877.4,11.9,401,9363,0.00,2.17,0.00,0.000,260,0.000,0.042,3322,3460,2195,2290,2100,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9371,0.89,184.9,3322,3459,2289,2100,877.4,11.9,401,9377,0.00,2.10,0.00,0.000,1030,0.000,0.025,3330,2039,2193,2287,2100,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9699,0.85,184.9,3329,2039,2289,2098,837.6,11.4,412,9701,0.15,0.00,0.00,0.000,4102,0.169,0.000,3292,2039,2193,2287,2099,0,0,0,0,0,0,26.00,28.83,28.83
$GC,9997,0.83,184.9,3292,2040,2288,2096,805.6,10.6,422,10003,0.00,2.20,0.00,0.000,260,0.000,0.042,3292,3457,2192,2287,2097,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10132,0.80,184.9,3292,3457,2287,2096,791.3,11.4,426,10137,0.00,2.08,0.00,0.000,1030,0.000,0.025,3300,2050,2192,2288,2097,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10460,0.78,188.0,3300,2050,2287,2095,756.9,9.9,437,10466,0.12,2.17,0.00,0.000,4356,0.165,0.040,3263,3457,2191,2287,2095,0,0,0,0,0,0,26.13,26.15,28.83
$GC,10506,0.78,195.5,3263,3457,2288,2095,753.2,9.7,438,10516,0.00,2.10,3.10,0.884,9222,0.000,0.025,3270,2040,2175,2266,2085,0,0,0,0,0,0,28.83,26.33,24.32
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$STATE,17742,end climb,SURFACE_DEPTH_REACHED
$STATE,17742,begin surface coast
$FINISH,1.7,1.021319
$STATE,17757,end surface coast,CONTROL_FINISHED_OK
$STATE,17758,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,53.38
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.80
$XPDR_PINGS,7
$SC_FREEKB,7595840
$24V_AH,23.5,50.507
$10V_AH,10.0,31.587
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,342960
$DATA_FILE_SIZE,30026,806
$CAP_FILE_SIZE,211843,0
$CFSIZE,260034560,222740480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,160813,144705,2015.751,12255.491,39,1.0,39,-2.9