version: 66.11
glider: 167
mission: 16
dive: 485
start: 9 18 113 14 1 7
data:
$ID,167
$MISSION,16
$DIVE,485
$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,320
$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,200
$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,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,-975984.44
$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,3000
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,67
$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,21.5
$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
$GPS1,180913,135129,1927.530,12324.774,38,1.1,38,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-69.7
$GPS2,180913,140035,1927.628,12324.702,29,1.0,29,-2.7
$SPEED_LIMITS,0.179,0.233
$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,148.3,219206,-18.3,-10.312,-23.85,2851
$D_GRID,5005
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.05,-194.6,112,2238,650,513,0.0,0.0,0,112,0.00,0.00,-81.65,0.000,16386,0.000,0.000,112,2239,2634,2612,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.05,-194.6,112,2239,2615,2657,3.3,-3.3,15,162,10.82,2.17,-22.48,0.000,19204,0.233,0.045,2653,789,3765,3760,3771,0,0,0,0,0,0,24.82,25.98,26.49
$GC,233,-1.05,-194.6,2653,790,3761,3773,30.8,-24.2,32,240,0.00,2.08,0.00,0.000,1030,0.000,0.031,2645,2187,3767,3761,3773,0,0,0,0,0,0,28.83,26.07,28.83
$GC,549,-1.05,-194.6,2645,2187,3761,3773,108.0,-21.9,52,554,0.00,2.10,0.00,0.000,260,0.000,0.036,2635,3604,3766,3760,3773,0,0,0,0,0,0,28.83,26.13,28.83
$GC,583,-1.05,-194.6,2634,3604,3761,3773,112.9,-20.9,53,588,0.00,2.05,0.00,0.000,1030,0.000,0.020,2635,2191,3767,3761,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,898,-1.05,-194.6,2634,2190,3762,3773,171.5,-17.8,69,903,0.00,2.15,0.00,0.000,260,0.000,0.041,2625,3601,3767,3761,3773,0,0,0,0,0,0,28.83,26.15,28.83
$GC,963,-1.05,-194.6,2625,3601,3761,3773,183.2,-18.0,72,969,0.12,2.03,0.00,0.000,3078,0.181,0.020,2653,2187,3767,3762,3773,0,0,0,0,0,0,25.90,26.34,28.83
$GC,1288,-1.05,-194.6,2652,2186,3763,3774,234.3,-15.7,88,1293,0.00,2.00,0.00,0.000,516,0.000,0.031,2653,799,3768,3763,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1373,-1.05,-194.6,2653,799,3763,3774,246.7,-14.6,92,1378,0.00,2.05,0.00,0.000,1030,0.000,0.028,2645,2203,3768,3763,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1698,-1.05,-194.6,2645,2203,3763,3774,295.9,-15.5,108,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,3768,3763,3774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2000,-1.05,-194.6,2646,2203,3763,3774,341.0,-14.6,123,2005,0.00,2.10,0.00,0.000,260,0.000,0.041,2640,3602,3768,3763,3774,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2035,-1.05,-194.6,2639,3602,3763,3774,345.0,-14.6,124,2040,0.00,2.03,0.00,0.000,1030,0.000,0.019,2640,2193,3768,3763,3774,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2350,-1.05,-194.6,2640,2192,3762,3773,393.1,-14.2,140,2355,0.00,2.00,0.00,0.000,516,0.000,0.030,2640,804,3767,3762,3772,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2449,-1.05,-194.6,2639,803,3763,3771,405.5,-14.6,144,2457,0.12,2.05,0.00,0.000,3078,0.177,0.028,2660,2206,3766,3762,3771,0,0,0,0,0,0,25.92,26.27,28.83
$GC,2755,-1.05,-194.6,2660,2206,3763,3768,448.4,-13.8,160,2760,0.00,2.05,0.00,0.000,516,0.000,0.028,2660,802,3765,3762,3768,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2784,-1.05,-194.6,1616,801,3758,3766,451.7,-13.6,161,2789,0.00,2.05,0.00,0.000,1030,0.000,0.028,2656,2195,3765,3762,3768,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3104,-1.05,-194.6,2656,2195,3762,3764,498.9,-14.9,177,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2195,3762,3761,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3408,-1.05,-194.6,2656,2196,3762,3759,541.1,-13.7,192,3414,0.00,2.05,0.00,0.000,516,0.000,0.029,2656,800,3761,3762,3760,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3467,-1.05,-194.6,2656,800,3762,3760,547.8,-13.6,194,3474,0.00,2.08,0.00,0.000,1030,0.000,0.031,2656,2202,3760,3763,3758,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3773,-1.05,-194.6,2655,2201,3762,3752,589.3,-12.5,210,3779,0.00,2.12,0.00,0.000,260,0.000,0.042,2655,3607,3757,3762,3752,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3827,-1.05,-194.6,2655,3607,3762,3751,594.9,-12.4,212,3832,0.00,2.05,0.00,0.000,1030,0.000,0.020,2655,2189,3756,3761,3751,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4165,-1.05,-194.6,2655,2189,3762,3746,639.8,-13.5,224,4171,0.00,2.03,0.00,0.000,516,0.000,0.031,2656,798,3754,3762,3746,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4249,-1.05,-194.6,2655,799,3762,3745,649.2,-13.7,226,4254,0.00,2.08,0.00,0.000,1030,0.000,0.030,2647,2201,3753,3762,3745,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4565,-1.05,-194.6,2647,2201,3761,3738,697.4,-14.5,237,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2201,3749,3760,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4864,-1.05,-194.6,2647,2202,3762,3733,739.6,-14.0,247,4869,0.00,2.08,0.00,0.000,516,0.000,0.031,2648,799,3747,3762,3733,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4893,-1.05,-194.6,2647,799,3761,3733,739.6,-14.0,247,4899,0.00,2.08,0.00,0.000,1030,0.000,0.030,2641,2197,3746,3761,3732,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5200,-1.05,-194.6,2640,2197,3758,3731,786.3,-13.7,258,5205,0.00,2.15,0.00,0.000,260,0.000,0.044,2640,3607,3744,3758,3730,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5253,-1.05,-194.6,2640,3607,3757,3730,791.3,-13.9,259,5258,0.00,2.05,0.00,0.000,1030,0.000,0.022,2640,2200,3743,3757,3730,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5570,-1.05,-194.6,2640,2200,3755,3726,837.1,-13.5,270,5575,0.00,2.05,0.00,0.000,516,0.000,0.031,2641,799,3740,3755,3726,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5593,-1.05,-194.6,2640,799,3755,3726,837.1,-13.5,270,5599,0.00,2.10,0.00,0.000,1030,0.000,0.031,2632,2207,3740,3755,3726,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5908,-1.05,-194.6,2632,2207,3752,3722,883.3,-13.5,281,5914,0.00,2.15,0.00,0.000,260,0.000,0.044,2627,3610,3737,3752,3722,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6104,-1.05,-194.6,2627,3610,3750,3721,910.5,-14.8,287,6110,0.12,2.08,0.00,0.000,3078,0.176,0.023,2657,2196,3735,3749,3722,0,0,0,0,0,0,25.88,26.30,28.83
$GC,6433,-1.05,-194.6,2657,2196,3750,3718,956.7,-14.0,298,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2197,3734,3750,3718,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6666,begin apogee
$GC,6675,-0.21,0.0,2657,1930,3748,3714,991.8,-14.8,306,6868,0.85,0.00,185.07,1.142,10246,0.133,0.000,2925,1929,2963,3029,2897,0,0,0,0,0,0,25.37,28.83,23.38
$STATE,6870,end apogee,CONTROL_FINISHED_OK
$STATE,6870,begin climb
$GC,6873,1.05,194.6,2925,1929,3023,2884,1005.3,0.0,312,7059,1.15,2.40,172.95,1.168,11012,0.060,0.042,3336,3351,2163,2253,2073,0,0,0,0,0,0,25.12,24.96,23.50
$GC,7077,1.25,323.9,3336,3351,2244,2056,1001.5,5.7,319,7209,0.17,2.12,120.03,1.120,11270,0.057,0.028,3428,1978,1640,1728,1552,0,0,0,0,0,0,25.42,25.40,23.61
$GC,7519,1.25,323.9,3428,1978,1699,1522,935.2,15.2,334,7524,0.00,2.15,0.00,0.000,260,0.000,0.041,3428,3357,1610,1699,1522,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7588,1.25,323.9,3428,3356,1698,1520,924.7,15.7,336,7594,0.15,2.12,0.00,0.000,5126,0.177,0.029,3403,1950,1609,1698,1520,0,0,0,0,0,0,25.71,26.10,28.83
$GC,7919,1.25,323.9,3402,1950,1697,1518,877.2,14.1,347,7924,0.00,2.20,0.00,0.000,260,0.000,0.043,3403,3368,1607,1697,1518,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8003,1.25,323.9,3403,3366,1696,1517,867.4,14.6,349,8008,0.00,2.15,0.00,0.000,1030,0.000,0.028,3411,1939,1606,1696,1517,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8317,1.25,323.9,3410,1939,1696,1515,820.9,13.7,360,8323,0.00,2.12,0.00,0.000,516,0.000,0.041,3421,542,1605,1696,1515,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8332,1.25,323.9,3421,542,1696,1516,820.9,13.7,360,8337,0.00,2.10,0.00,0.000,1030,0.000,0.030,3421,1951,1606,1696,1516,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8659,1.25,323.9,3421,1951,1695,1515,774.7,13.4,371,8664,0.00,2.15,0.00,0.000,260,0.000,0.044,3421,3352,1605,1695,1516,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8733,1.25,323.9,3421,3353,1694,1514,765.3,13.5,373,8739,0.00,2.12,0.00,0.000,1030,0.000,0.029,3431,1940,1605,1695,1515,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9061,1.25,323.9,3431,1939,1694,1515,719.1,14.1,384,9066,0.00,2.20,0.00,0.000,260,0.000,0.042,3431,3357,1604,1695,1514,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9135,1.25,323.9,3431,3357,1694,1514,708.6,14.9,386,9141,0.15,2.12,0.00,0.000,5126,0.179,0.029,3405,1945,1604,1694,1514,0,0,0,0,0,0,25.75,26.21,28.83
$GC,9464,1.25,323.9,3405,1944,1693,1514,662.2,13.7,397,9469,0.00,2.20,0.00,0.000,260,0.000,0.043,3405,3358,1603,1693,1514,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9548,1.25,323.9,3405,3358,1694,1513,652.4,14.0,399,9553,0.00,2.12,0.00,0.000,1030,0.000,0.029,3413,1946,1603,1693,1513,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9863,1.25,323.9,3413,1946,1694,1513,608.6,12.7,410,9869,0.00,2.20,0.00,0.000,260,0.000,0.043,3413,3359,1602,1692,1513,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9912,1.25,323.9,3413,3360,1693,1514,604.0,12.6,411,9917,0.00,2.12,0.00,0.000,1030,0.000,0.029,3423,1946,1603,1693,1513,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10232,1.25,323.9,3424,1946,1693,1513,562.5,12.3,427,10237,0.00,2.20,0.00,0.000,260,0.000,0.043,3423,3365,1603,1693,1513,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10307,1.25,323.9,3423,3365,1692,1512,554.1,13.0,430,10313,0.12,2.12,0.00,0.000,5126,0.181,0.029,3405,1950,1601,1691,1512,0,0,0,0,0,0,25.78,26.18,28.83
$GC,10622,1.25,323.9,3404,1949,1692,1512,517.7,11.3,446,10628,0.00,2.22,0.00,0.000,260,0.000,0.044,3405,3364,1602,1693,1512,0,0,0,0,0,0,28.83,26.03,28.83
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$GC,12634,1.27,337.5,3422,3357,1691,1512,288.1,10.6,544,12639,0.00,2.10,0.00,0.000,1030,0.000,0.028,3432,1947,1602,1692,1512,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,15379,end climb,SURFACE_DEPTH_REACHED
$STATE,15379,begin surface coast
$FINISH,1.3,1.009441
$STATE,15404,end surface coast,CONTROL_FINISHED_OK
$STATE,15404,begin surface
$SM_CCo,15487,0.00,0.000,0,0,604,580.38
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$IRIDIUM_FIX,1920.65,12326.82,180913,090918
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.60
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.20
$XPDR_PINGS,6
$SC_FREEKB,7576992
$24V_AH,23.4,80.252
$10V_AH,10.0,49.178
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.150,148.950,655.600,0.000,0.000,0.000,0.000,302.800,1.500,0.000,30.426,2213.974,10290.003,742.297,2169.455,607.939,0.000,2106.872,0.000,1813.290,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.175,0.000,0.000,0.000
$MEM,327820
$DATA_FILE_SIZE,26700,718
$CAP_FILE_SIZE,178228,0
$CFSIZE,260034560,207589376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,180913,182105,1927.053,12325.426,68,1.3,68,-2.7