version: 66.11
glider: 167
mission: 16
dive: 426
start: 9 6 113 13 31 3
data:
$ID,167
$MISSION,16
$DIVE,426
$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,350
$T_MISSION,390
$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,1
$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,-975750.19
$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,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,55
$R_STBD_OVSHOOT,56
$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,0.0015
$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
$GPS1,060913,132059,1942.791,12343.303,41,1.0,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-72.5
$GPS2,060913,133030,1942.838,12343.119,43,1.1,43,-2.8
$SPEED_LIMITS,0.163,0.221
$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,139.2,228116,-17.1,-9.429,-23.09,2955
$D_GRID,5036
$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,-0.99,-184.9,127,2212,684,658,0.0,0.0,0,111,0.00,0.00,-81.75,0.000,16386,0.000,0.000,127,2212,2720,2694,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.99,-184.9,127,2212,2694,2747,3.1,-2.6,15,155,10.88,2.20,-21.83,0.000,18948,0.236,0.042,2691,781,3726,3722,3730,0,0,0,0,0,0,24.99,26.05,26.49
$GC,222,-0.99,-184.9,2692,782,3723,3732,26.1,-23.1,32,229,0.00,2.08,0.00,0.000,1030,0.000,0.028,2683,2189,3726,3721,3732,0,0,0,0,0,0,28.83,26.08,28.83
$GC,529,-0.99,-184.9,2683,2189,3723,3731,90.5,-18.7,53,535,0.00,2.05,0.00,0.000,516,0.000,0.028,2684,786,3727,3723,3732,0,0,0,0,0,0,28.83,26.22,28.83
$GC,548,-0.99,-184.9,2683,786,3723,3732,90.5,-18.7,53,556,0.00,2.10,0.00,0.000,1030,0.000,0.028,2674,2214,3727,3723,3732,0,0,0,0,0,0,28.83,26.20,28.83
$GC,854,-0.99,-184.9,2674,2214,3723,3732,147.1,-17.5,69,860,0.00,2.08,0.00,0.000,516,0.000,0.029,2674,790,3727,3723,3732,0,0,0,0,0,0,28.83,26.28,28.83
$GC,889,-0.99,-184.9,2673,790,3723,3731,151.3,-16.9,70,895,0.12,2.08,0.00,0.000,3078,0.175,0.029,2699,2205,3727,3723,3732,0,0,0,0,0,0,25.92,26.26,28.83
$GC,1205,-0.99,-184.9,2699,2205,3724,3732,200.2,-14.3,86,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2205,3728,3724,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1507,-0.99,-184.9,2699,2205,3724,3732,242.0,-14.5,101,1512,0.00,2.08,0.00,0.000,516,0.000,0.030,2699,783,3728,3724,3732,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1596,-0.99,-184.9,1640,783,3718,3730,254.5,-14.3,105,1601,0.00,2.08,0.00,0.000,1030,0.000,0.028,2697,2201,3728,3724,3733,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1916,-0.99,-184.9,2697,2201,3724,3732,298.6,-13.6,121,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2201,3728,3724,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2219,-0.99,-184.9,2697,2201,3724,3732,338.7,-13.1,136,2225,0.00,2.05,0.00,0.000,516,0.000,0.030,2696,794,3727,3723,3731,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2284,-0.99,-184.9,2697,795,3724,3731,347.7,-13.1,139,2291,0.00,2.08,0.00,0.000,1030,0.000,0.032,2697,2198,3727,3724,3731,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2610,-0.99,-184.9,2697,2198,3724,3729,392.3,-13.6,155,2615,0.00,2.08,0.00,0.000,516,0.000,0.030,2697,785,3726,3723,3729,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2649,-0.99,-184.9,2697,784,3724,3729,395.8,-13.7,156,2656,0.00,2.10,0.00,0.000,1030,0.000,0.030,2697,2213,3726,3724,3729,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2955,-0.99,-184.9,2697,2213,3724,3725,436.1,-11.9,172,2960,0.00,2.08,0.00,0.000,516,0.000,0.030,2697,794,3724,3724,3725,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3044,-0.99,-184.9,2697,794,3724,3724,446.1,-11.8,176,3049,0.00,2.08,0.00,0.000,1030,0.000,0.030,2697,2205,3724,3724,3724,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3364,-0.99,-184.9,2696,2205,3724,3720,483.9,-12.1,192,3369,0.00,2.08,0.00,0.000,516,0.000,0.031,2696,789,3722,3724,3720,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3423,-0.99,-184.9,2696,789,3724,3720,489.5,-12.2,194,3430,0.00,2.08,0.00,0.000,1030,0.000,0.030,2697,2201,3721,3724,3719,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3728,-0.99,-184.9,2696,2200,3724,3715,528.3,-12.5,210,3734,0.00,2.08,0.00,0.000,516,0.000,0.031,2697,790,3719,3724,3715,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3798,-0.99,-184.9,2696,789,3723,3714,536.5,-12.7,213,3804,0.00,2.08,0.00,0.000,1030,0.000,0.030,2696,2202,3719,3724,3714,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4118,-0.99,-184.9,2696,2201,3724,3709,577.1,-12.4,229,4123,0.00,2.08,0.00,0.000,516,0.000,0.031,2697,792,3716,3724,3709,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4197,-0.99,-184.9,2696,792,3724,3708,585.0,-12.5,232,4204,0.00,2.08,0.00,0.000,1030,0.000,0.030,2697,2198,3715,3723,3707,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4506,-0.99,-184.9,2697,2197,3723,3703,620.0,-10.3,245,4512,0.00,2.08,0.00,0.000,516,0.000,0.031,2697,790,3713,3723,3703,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4561,-0.99,-184.9,2696,790,3724,3702,623.9,-10.2,246,4566,0.00,2.10,0.00,0.000,1030,0.000,0.031,2697,2207,3713,3724,3702,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4876,-0.99,-184.9,2696,2207,3723,3697,658.3,-10.5,257,4881,0.00,2.10,0.00,0.000,516,0.000,0.032,2696,788,3710,3723,3697,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4921,-0.99,-184.9,2696,787,3724,3696,662.2,-10.7,258,4926,0.00,2.10,0.00,0.000,1030,0.000,0.031,2696,2202,3710,3724,3696,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5250,-0.99,-184.9,2696,2202,3723,3690,699.1,-11.1,269,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2202,3707,3723,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5547,-0.99,-184.9,2696,2202,3723,3685,732.4,-11.1,279,5552,0.00,2.10,0.00,0.000,516,0.000,0.032,2696,790,3704,3723,3685,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5626,-0.99,-184.9,2696,789,3721,3685,740.0,-11.4,281,5632,0.00,2.10,0.00,0.000,1030,0.000,0.031,2697,2200,3703,3721,3685,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5948,-0.99,-184.9,2696,2200,3719,3682,778.3,-11.6,292,5953,0.00,2.10,0.00,0.000,516,0.000,0.033,2696,788,3700,3719,3681,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6013,-0.99,-184.9,2696,788,3717,3682,786.3,-11.9,294,6018,0.00,2.12,0.00,0.000,1030,0.000,0.031,2696,2205,3699,3717,3682,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6352,-0.99,-184.9,2696,2205,3715,3678,825.8,-11.9,305,6357,0.00,2.10,0.00,0.000,516,0.000,0.033,2696,792,3696,3715,3677,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6391,-0.99,-184.9,2696,792,3715,3677,830.5,-12.0,306,6397,0.00,2.10,0.00,0.000,1030,0.000,0.032,2697,2199,3696,3715,3677,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6724,-0.99,-184.9,2696,2199,3717,3674,869.6,-11.6,317,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2199,3694,3714,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7023,-0.99,-184.9,2696,2199,3711,3672,904.4,-11.7,327,7028,0.00,2.10,0.00,0.000,516,0.000,0.034,2697,793,3692,3711,3673,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7076,-0.99,-184.9,2695,792,3711,3672,908.9,-11.9,328,7082,0.00,2.12,0.00,0.000,1030,0.000,0.033,2696,2201,3691,3711,3671,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7393,-0.99,-184.9,2697,2201,3710,3669,948.2,-11.7,339,7398,0.00,2.15,0.00,0.000,260,0.000,0.044,2696,3603,3689,3710,3669,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7421,-0.99,-184.9,2697,3602,3709,3669,948.2,-11.7,339,7429,0.00,2.08,0.00,0.000,1030,0.000,0.024,2697,2183,3690,3711,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7727,-0.99,-184.9,2696,2182,3707,3666,987.8,-11.6,350,7733,0.00,2.05,0.00,0.000,516,0.000,0.036,2695,802,3686,3707,3666,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,7759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7760,begin apogee
$GC,7770,-0.21,0.0,2696,2061,3707,3666,991.8,-11.6,351,7944,0.77,0.00,156.48,1.727,10246,0.129,0.000,2943,2061,2976,3034,2918,0,0,0,0,1,0,25.45,28.83,22.53
$STATE,7946,end apogee,CONTROL_FINISHED_OK
$STATE,7946,begin climb
$GC,7951,0.99,184.9,2943,2061,3034,2918,1003.2,0.0,357,8134,1.10,2.30,174.38,1.155,10500,0.050,0.044,3339,3451,2207,2295,2119,0,0,0,0,0,0,24.62,24.55,23.25
$GC,8236,0.99,184.9,3339,3451,2287,2096,990.7,10.2,366,8244,0.00,2.15,0.00,0.000,1030,0.000,0.027,3348,2061,2191,2287,2096,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8542,0.99,184.9,3348,2060,2287,2090,957.3,9.7,377,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2059,2188,2287,2090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8843,0.99,186.8,3348,2060,2287,2087,928.7,9.4,387,8849,0.00,2.17,0.00,0.000,260,0.000,0.042,3348,3454,2186,2287,2086,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8897,0.99,186.8,3348,3455,2281,2088,925.1,9.5,388,8903,0.00,2.12,0.00,0.000,1030,0.000,0.027,3358,2035,2185,2282,2088,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9213,0.99,186.8,3358,2036,2281,2087,893.3,9.6,399,9218,0.00,2.22,0.00,0.000,260,0.000,0.043,3358,3454,2184,2282,2087,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9242,0.99,186.8,3358,3455,2282,2087,893.3,9.6,399,9250,0.00,2.10,0.00,0.000,1030,0.000,0.028,3369,2045,2184,2282,2087,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9548,0.99,186.8,3366,2045,2282,2085,859.0,10.1,410,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2046,2183,2282,2085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9849,0.99,186.8,3368,2045,2277,2084,828.1,10.1,420,9854,0.00,2.20,0.00,0.000,260,0.000,0.043,3368,3460,2181,2277,2085,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9878,0.99,186.8,3368,3460,2277,2084,828.1,10.1,420,9885,0.15,2.10,0.00,0.000,5126,0.171,0.028,3341,2048,2180,2277,2084,0,0,0,0,0,0,25.82,26.27,28.83
$GC,10188,1.01,200.2,3341,2048,2278,2084,796.7,9.0,431,10200,0.00,0.00,10.57,1.060,8198,0.000,0.000,3341,2049,2153,2247,2060,0,0,0,0,0,0,28.83,28.83,24.12
$GC,10485,1.03,211.3,3341,2049,2236,2045,768.7,9.0,441,10504,0.00,2.17,11.35,1.071,8708,0.000,0.040,3350,656,2102,2195,2010,0,0,0,0,0,0,28.83,26.02,24.36
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$STATE,18299,end climb,SURFACE_DEPTH_REACHED
$STATE,18299,begin surface coast
$FINISH,1.3,1.010788
$STATE,18338,end surface coast,CONTROL_FINISHED_OK
$STATE,18338,begin surface
$SM_CCo,18361,40.72,0.116,0,0,665,564.93
$SM_GC,2.28,8.50,0.22,40.72,0.028,0.041,0.116,132,2213,665,-8.94,-1.27,564.93,0,0,0,0,0,0,26.20,26.47,25.52
$IRIDIUM_FIX,1934.38,12342.04,060913,080808
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.63
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.20
$XPDR_PINGS,5
$SC_FREEKB,7576992
$24V_AH,22.5,69.069
$10V_AH,10.0,42.584
$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,22.075,173.625,577.425,40.725,0.000,0.000,0.000,313.050,1.250,0.000,44.885,2736.542,12329.610,758.572,2459.454,681.446,0.000,2276.205,0.000,2059.554,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,45.135,1726.605,116.280,0.000,0.000,0.000,121.635,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18345.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.773,0.000,0.000,0.000
$MEM,327860
$DATA_FILE_SIZE,33375,841
$CAP_FILE_SIZE,207087,0
$CFSIZE,260034560,212938752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.057,287.0,1
$GPS,060913,183905,1942.379,12343.680,34,1.3,34,-2.8