version: 66.11
glider: 167
mission: 16
dive: 341
start: 8 21 113 19 26 8
data:
$ID,167
$MISSION,16
$DIVE,341
$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,-6
$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,-975623.81
$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,59
$R_STBD_OVSHOOT,60
$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
$GPS1,210813,191405,2005.744,12326.445,26,1.7,26,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-69.6
$GPS2,210813,192535,2005.622,12326.469,44,1.0,44,-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,162.1,278720,-18.3,-10.000,-23.91,2793
$D_GRID,5323
$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,-184.9,110,2221,699,640,0.0,0.0,0,117,0.00,0.00,-87.38,0.000,16386,0.000,0.000,110,2221,2810,2785,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.12,-184.9,110,2221,2786,2836,3.0,-2.8,15,163,10.55,2.10,-19.52,0.000,18692,0.234,0.047,2638,3599,3723,3718,3729,0,0,0,0,0,0,25.21,26.01,26.48
$GC,277,-1.01,-184.9,2638,3600,3720,3730,48.2,-31.2,35,283,0.20,2.03,0.00,0.000,3078,0.195,0.017,2686,2165,3725,3720,3730,0,0,0,0,0,0,25.51,26.24,28.83
$GC,593,-0.95,-184.9,2686,2167,3720,3730,126.1,-21.9,51,598,0.00,2.15,0.00,0.000,260,0.000,0.034,2677,3602,3724,3720,3729,0,0,0,0,0,0,28.83,26.20,28.83
$GC,667,-0.89,-184.9,2676,3602,3720,3730,140.8,-22.7,54,674,0.17,1.98,0.00,0.000,3078,0.162,0.017,2723,2200,3724,3720,3729,0,0,0,0,0,0,25.85,26.38,28.83
$GC,984,-0.86,-184.9,2722,2200,3722,3730,196.3,-16.1,70,989,0.00,1.98,0.00,0.000,516,0.000,0.028,2723,823,3726,3721,3731,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1044,-0.83,-184.9,2723,823,3721,3730,203.5,-15.7,72,1052,0.12,1.98,0.00,0.000,3078,0.166,0.024,2747,2198,3726,3722,3730,0,0,0,0,0,0,26.01,26.34,28.83
$GC,1349,-0.82,-184.9,2746,2198,3722,3730,246.9,-13.7,88,1356,0.00,2.00,0.00,0.000,516,0.000,0.028,2747,822,3726,3722,3730,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1401,-0.80,-184.9,2749,822,3722,3729,253.2,-13.6,90,1406,0.00,1.98,0.00,0.000,1030,0.000,0.024,2740,2200,3726,3722,3730,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1721,-0.78,-184.9,2740,2200,3722,3730,295.4,-12.3,106,1726,0.00,2.00,0.00,0.000,516,0.000,0.028,2740,820,3725,3722,3729,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1770,-0.77,-184.9,1664,820,3718,3728,300.9,-12.1,108,1777,0.12,2.00,0.00,0.000,3078,0.161,0.026,2770,2203,3725,3721,3730,0,0,0,0,0,0,26.07,26.37,28.83
$GC,2091,-0.77,-184.9,2770,2203,3722,3729,336.0,-10.8,124,2097,0.00,2.00,0.00,0.000,516,0.000,0.028,2770,822,3725,3722,3729,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2137,-0.77,-184.9,2770,822,3722,3729,340.9,-10.7,126,2142,0.00,2.00,0.00,0.000,1030,0.000,0.024,2765,2201,3726,3722,3730,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2462,-0.77,-184.9,2764,2200,3722,3726,377.2,-11.2,142,2467,0.00,2.00,0.00,0.000,516,0.000,0.028,2766,821,3723,3722,3725,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2501,-0.77,-184.9,2765,822,3722,3725,380.1,-11.4,143,2508,0.00,2.00,0.00,0.000,1030,0.000,0.026,2765,2201,3723,3722,3725,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2807,-0.77,-184.9,2765,2201,3722,3721,416.4,-10.5,159,2813,0.00,2.08,0.00,0.000,260,0.000,0.038,2765,3596,3721,3722,3721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2832,-0.77,-184.9,2765,3596,3722,3721,419.1,-10.5,160,2839,0.00,2.00,0.00,0.000,1030,0.000,0.018,2765,2187,3721,3722,3720,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3158,-0.77,-184.9,2765,2187,3722,3717,453.1,-10.1,176,3163,0.00,2.12,0.00,0.000,260,0.000,0.037,2765,3596,3719,3722,3717,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3247,-0.77,-184.9,2765,3596,3722,3715,462.2,-10.6,180,3253,0.00,1.98,0.00,0.000,1030,0.000,0.018,2765,2199,3718,3722,3715,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3568,-0.77,-184.9,2764,2199,3722,3711,496.9,-10.4,196,3573,0.00,2.12,0.00,0.000,260,0.000,0.038,2765,3602,3716,3722,3710,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3652,-0.77,-184.9,1696,3601,3714,3707,505.5,-10.1,200,3658,0.00,2.00,0.00,0.000,1030,0.000,0.019,2765,2187,3715,3722,3709,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3979,-0.78,-184.9,2766,2187,3722,3704,537.0,-9.7,216,3984,0.00,1.98,0.00,0.000,516,0.000,0.030,2765,821,3713,3722,3704,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4065,-0.79,-184.9,2764,821,3722,3703,545.8,-10.2,220,4070,0.00,2.03,0.00,0.000,1030,0.000,0.027,2766,2204,3712,3722,3703,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4391,-0.82,-184.9,2764,2204,3722,3697,577.9,-9.7,236,4397,0.00,2.10,0.00,0.000,260,0.000,0.040,2765,3600,3709,3722,3697,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4447,-0.84,-184.9,2765,3600,3722,3696,582.5,-9.8,238,4453,0.00,2.00,0.00,0.000,1030,0.000,0.020,2765,2183,3709,3722,3696,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4776,-0.86,-184.9,2765,2183,3722,3690,616.3,-10.2,252,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2183,3706,3722,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5073,-0.89,-184.9,2765,2181,3722,3685,647.3,-10.3,262,5079,0.12,1.98,0.00,0.000,4612,0.083,0.028,2692,835,3703,3722,3685,0,0,0,0,0,0,26.53,26.32,28.83
$GC,5140,-0.89,-184.9,2692,835,3720,3685,656.1,-11.6,264,5146,0.15,2.03,0.00,0.000,3078,0.160,0.028,2723,2208,3701,3719,3684,0,0,0,0,0,0,25.94,26.33,28.83
$GC,5475,-0.89,-184.9,2723,2208,3718,3682,696.8,-11.8,275,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2208,3699,3717,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5776,-0.89,-184.9,2723,2207,3716,3677,733.5,-12.8,285,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2208,3697,3716,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6076,-0.89,-184.9,2724,2207,3714,3676,771.9,-12.5,295,6081,0.00,2.03,0.00,0.000,516,0.000,0.031,2723,836,3694,3714,3675,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6130,-0.89,-184.9,2722,836,3713,3675,776.5,-12.7,296,6135,0.00,2.03,0.00,0.000,1030,0.000,0.030,2723,2206,3694,3713,3675,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6446,-0.89,-184.9,2723,2206,3712,3672,817.1,-12.1,307,6451,0.00,2.12,0.00,0.000,260,0.000,0.043,2723,3599,3691,3711,3672,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6505,-0.89,-184.9,2724,3599,3711,3671,821.7,-12.2,308,6513,0.00,2.03,0.00,0.000,1030,0.000,0.022,2723,2196,3691,3711,3672,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6811,-0.89,-184.9,2723,2195,3709,3669,861.9,-12.1,319,6816,0.00,2.03,0.00,0.000,516,0.000,0.032,2723,819,3689,3709,3669,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6877,-0.89,-184.9,2723,819,3708,3668,869.8,-12.1,321,6882,0.00,2.05,0.00,0.000,1030,0.000,0.030,2723,2201,3688,3708,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7214,-0.89,-184.9,2723,2201,3706,3665,908.5,-11.3,332,7219,0.00,2.15,0.00,0.000,260,0.000,0.043,2723,3598,3686,3707,3665,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7294,-0.89,-184.9,2722,3598,3705,3665,916.2,-11.4,334,7299,0.00,2.03,0.00,0.000,1030,0.000,0.022,2723,2193,3685,3705,3665,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7616,-0.89,-184.9,2723,2193,3703,3663,952.3,-10.9,345,7622,0.00,2.03,0.00,0.000,516,0.000,0.032,2723,824,3683,3704,3662,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7667,-0.89,-184.9,2722,824,3703,3662,956.6,-11.0,346,7673,0.00,2.05,0.00,0.000,1030,0.000,0.031,2723,2200,3683,3704,3662,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,7954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7954,begin apogee
$GC,7963,-0.18,0.0,2723,2049,3703,3658,990.6,-11.4,356,8133,0.70,0.00,158.48,1.239,10246,0.124,0.000,2949,2047,2960,3027,2893,0,0,0,0,0,0,25.51,28.83,23.69
$STATE,8135,end apogee,CONTROL_FINISHED_OK
$STATE,8136,begin climb
$GC,8139,1.12,184.9,2948,2047,3024,2883,998.9,0.0,361,8320,1.20,2.40,165.85,1.193,10500,0.061,0.042,3373,3450,2199,2286,2112,0,0,0,0,0,0,24.98,24.46,23.43
$GC,8356,1.05,184.9,3372,3451,2283,2098,987.4,10.5,369,8362,0.12,2.17,0.00,0.000,5126,0.172,0.024,3355,2060,2190,2283,2097,0,0,0,0,0,0,24.89,25.14,28.83
$GC,8692,1.00,184.9,3354,2060,2283,2088,948.1,11.4,380,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2059,2185,2283,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8992,0.95,184.9,3354,2060,2278,2085,914.5,11.2,390,8999,0.12,2.17,0.00,0.000,4356,0.187,0.040,3319,3456,2182,2278,2086,0,0,0,0,0,0,25.91,26.09,28.83
$GC,9024,0.91,184.9,3319,3456,2278,2087,914.5,11.2,390,9030,0.00,2.10,0.00,0.000,1030,0.000,0.025,3327,2038,2182,2278,2086,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9332,0.87,184.9,3327,2038,2278,2084,880.2,10.3,401,9339,0.12,2.20,0.00,0.000,4356,0.167,0.040,3292,3458,2181,2278,2084,0,0,0,0,0,0,26.06,26.13,28.83
$GC,9373,0.84,184.9,3291,3459,2278,2084,876.2,10.2,402,9378,0.00,2.08,0.00,0.000,1030,0.000,0.024,3299,2048,2180,2277,2084,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9708,0.81,186.1,3299,2049,2277,2082,842.9,10.0,413,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2048,2180,2278,2082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10003,0.79,186.1,3299,2048,2278,2081,813.1,10.0,423,10010,0.00,2.20,0.00,0.000,260,0.000,0.043,3299,3460,2179,2278,2081,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10040,0.77,186.1,3299,3460,2274,2081,809.3,10.2,424,10046,0.17,2.10,0.00,0.000,5126,0.160,0.026,3262,2044,2178,2275,2081,0,0,0,0,0,0,25.84,26.32,28.83
$GC,10375,0.86,225.5,3262,2044,2275,2081,780.5,8.6,435,10429,0.00,2.20,44.65,1.003,8708,0.000,0.038,3271,659,2041,2137,1945,0,0,0,0,0,0,28.83,25.58,24.53
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$STATE,17568,end climb,SURFACE_DEPTH_REACHED
$STATE,17568,begin surface coast
$FINISH,1.3,1.021355
$STATE,17598,end surface coast,CONTROL_FINISHED_OK
$STATE,17598,begin surface
$SM_CCo,17622,16.45,0.122,0,0,664,564.93
$SM_GC,2.03,8.55,1.88,16.45,0.031,0.019,0.122,139,2183,664,-8.93,1.84,564.93,0,0,0,0,0,0,26.16,26.34,25.65
$IRIDIUM_FIX,1957.29,12325.49,210813,191940
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.63
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.50
$XPDR_PINGS,7
$SC_FREEKB,7586240
$24V_AH,23.4,55.249
$10V_AH,10.0,34.350
$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,24.450,162.575,634.900,16.450,0.000,0.000,0.000,376.200,1.750,0.000,48.095,2606.095,11888.393,800.449,2373.351,652.987,0.000,2305.319,0.000,1935.180,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,48.960,1238.535,122.400,0.000,0.000,0.000,120.105,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17623.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.688,0.000,0.000,0.000
$MEM,327876
$DATA_FILE_SIZE,30065,800
$CAP_FILE_SIZE,207550,0
$CFSIZE,260034560,220332032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.139,234.7,1
$GPS,220813,002135,2003.677,12325.744,42,0.9,42,-2.9