version: 66.11
glider: 167
mission: 16
dive: 338
start: 8 21 113 3 46 3
data:
$ID,167
$MISSION,16
$DIVE,338
$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,-975617.25
$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,61
$R_STBD_OVSHOOT,81
$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
$GPS1,210813,033236,2010.046,12322.588,43,1.1,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-65.5
$GPS2,210813,034530,2009.925,12322.695,67,0.9,67,-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,130.3,288796,-18.3,-10.000,-23.91,2793
$D_GRID,5358
$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,23,begin dive
$GC,26,-1.12,-184.9,108,2242,706,635,0.0,0.0,0,120,0.00,0.00,-90.68,0.000,16386,0.000,0.000,108,2242,2910,2890,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-1.12,-184.9,108,2242,2890,2931,3.3,-3.9,16,161,10.60,2.08,-16.35,0.000,18692,0.236,0.047,2638,3573,3726,3721,3732,0,0,0,0,0,0,25.29,26.05,26.47
$GC,396,-1.03,-184.9,2638,3573,3721,3732,84.2,-28.4,41,402,0.17,1.98,0.00,0.000,3078,0.190,0.017,2679,2161,3727,3721,3733,0,0,0,0,0,0,25.67,26.31,28.83
$GC,713,-0.97,-184.9,2679,2161,3722,3732,153.3,-20.3,57,719,0.00,2.10,0.00,0.000,260,0.000,0.033,2672,3572,3727,3722,3732,0,0,0,0,0,0,28.83,26.24,28.83
$GC,802,-0.91,-184.9,1620,3571,3716,3730,171.6,-21.1,61,808,0.17,1.92,0.00,0.000,3078,0.161,0.016,2717,2187,3727,3722,3732,0,0,0,0,0,0,25.89,26.42,28.83
$GC,1123,-0.88,-184.9,2717,2187,3725,3732,223.4,-14.5,77,1129,0.00,1.95,0.00,0.000,516,0.000,0.029,2717,827,3727,3723,3732,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1178,-0.85,-184.9,2717,827,3723,3732,230.1,-14.5,79,1184,0.12,1.95,0.00,0.000,3078,0.167,0.024,2741,2186,3727,3723,3732,0,0,0,0,0,0,26.03,26.37,28.83
$GC,1494,-0.83,-184.9,2741,2186,3723,3732,274.5,-13.3,95,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2186,3727,3723,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1796,-0.81,-184.9,2741,2185,3723,3732,314.5,-13.4,110,1801,0.00,2.10,0.00,0.000,260,0.000,0.037,2738,3602,3727,3723,3732,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1822,-0.80,-184.9,2738,3602,3723,3732,318.2,-13.4,111,1827,0.00,1.95,0.00,0.000,1030,0.000,0.018,2738,2211,3727,3723,3732,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2148,-0.79,-184.9,2737,2211,3723,3731,363.3,-13.6,127,2153,0.00,2.00,0.00,0.000,516,0.000,0.030,2737,817,3727,3723,3731,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2167,-0.77,-184.9,2737,816,3723,3730,363.3,-13.6,127,2176,0.12,2.00,0.00,0.000,3078,0.164,0.026,2761,2201,3727,3724,3730,0,0,0,0,0,0,26.07,26.39,28.83
$GC,2472,-0.77,-184.9,2761,2201,3723,3728,400.9,-11.3,143,2478,0.00,2.00,0.00,0.000,516,0.000,0.028,2762,821,3725,3723,3727,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2568,-0.77,-184.9,2761,821,3723,3727,410.9,-11.7,147,2573,0.00,2.00,0.00,0.000,1030,0.000,0.025,2757,2209,3724,3723,3726,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2882,-0.77,-184.9,2757,2209,3723,3722,448.0,-11.0,163,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2209,3722,3723,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,-0.77,-184.9,2757,2209,3723,3718,480.4,-11.2,178,3191,0.00,2.03,0.00,0.000,516,0.000,0.029,2756,819,3720,3723,3718,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3251,-0.77,-184.9,2757,819,3723,3717,488.1,-11.2,181,3256,0.00,2.00,0.00,0.000,1030,0.000,0.025,2752,2197,3720,3723,3717,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3576,-0.77,-184.9,2752,2197,3723,3711,524.2,-10.6,197,3581,0.00,2.00,0.00,0.000,516,0.000,0.029,2752,822,3717,3723,3711,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3624,-0.77,-184.9,1712,821,3718,3709,528.7,-10.2,199,3630,0.00,2.00,0.00,0.000,1030,0.000,0.027,2752,2198,3716,3723,3710,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3944,-0.77,-184.9,2752,2199,3723,3705,559.9,-10.5,215,3950,0.00,2.03,0.00,0.000,516,0.000,0.029,2752,811,3714,3723,3705,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3990,-0.77,-184.9,2751,810,3723,3705,564.9,-11.0,217,3996,0.00,2.03,0.00,0.000,1030,0.000,0.027,2752,2199,3713,3723,3704,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4315,-0.77,-184.9,2752,2200,3724,3699,601.6,-11.5,233,4320,0.00,2.03,0.00,0.000,516,0.000,0.029,2751,811,3711,3723,3699,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4374,-0.77,-184.9,2752,810,3723,3698,605.6,-11.5,234,4381,0.00,2.03,0.00,0.000,1030,0.000,0.027,2752,2203,3710,3723,3698,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4681,-0.77,-184.9,2751,2203,3723,3692,642.9,-11.3,245,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2203,3707,3723,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4980,-0.77,-184.9,2752,2203,3723,3686,676.3,-10.9,255,4985,0.00,2.03,0.00,0.000,516,0.000,0.030,2752,822,3704,3723,3686,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5024,-0.77,-184.9,2752,822,3723,3686,680.2,-10.9,256,5030,0.00,2.03,0.00,0.000,1030,0.000,0.028,2752,2206,3704,3723,3685,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5353,-0.77,-184.9,2752,2206,3720,3683,714.1,-9.9,267,5358,0.00,2.05,0.00,0.000,516,0.000,0.031,2752,820,3701,3720,3683,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5377,-0.77,-184.9,2753,820,3720,3683,714.1,-9.9,267,5383,0.00,2.03,0.00,0.000,1030,0.000,0.028,2752,2200,3700,3718,3683,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5694,-0.77,-184.9,2752,2199,3717,3678,747.9,-10.2,278,5699,0.00,2.12,0.00,0.000,260,0.000,0.042,2752,3602,3697,3717,3678,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5729,-0.77,-184.9,2752,3602,3716,3678,751.6,-10.3,279,5734,0.00,2.03,0.00,0.000,1030,0.000,0.021,2752,2202,3697,3716,3678,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6068,-0.77,-184.9,2752,2201,3714,3675,788.6,-11.5,290,6073,0.00,2.03,0.00,0.000,516,0.000,0.031,2752,815,3694,3714,3675,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6112,-0.77,-184.9,2752,814,3714,3675,793.2,-11.5,291,6117,0.00,2.05,0.00,0.000,1030,0.000,0.030,2752,2202,3694,3714,3675,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6441,-0.77,-184.9,2752,2202,3712,3671,831.0,-11.0,302,6446,0.00,2.12,0.00,0.000,260,0.000,0.043,2751,3598,3691,3711,3671,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6485,-0.77,-184.9,2751,3598,3711,3671,835.0,-10.7,303,6490,0.00,2.03,0.00,0.000,1030,0.000,0.022,2751,2195,3691,3711,3671,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6813,-0.77,-184.9,2751,2196,3709,3668,867.4,-9.4,314,6818,0.00,2.03,0.00,0.000,516,0.000,0.032,2751,819,3688,3709,3668,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6849,-0.77,-184.9,2751,819,3709,3668,871.0,-9.5,315,6854,0.00,2.05,0.00,0.000,1030,0.000,0.030,2751,2199,3688,3709,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7188,-0.77,-184.9,2751,2199,3707,3664,904.0,-9.9,326,7193,0.00,2.15,0.00,0.000,260,0.000,0.044,2751,3603,3685,3707,3664,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7227,-0.77,-184.9,1712,3602,3699,3661,907.8,-9.9,327,7233,0.00,2.05,0.00,0.000,1030,0.000,0.024,2751,2201,3685,3706,3664,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7561,-0.77,-184.9,2752,2201,3705,3662,941.8,-10.3,338,7566,0.00,2.08,0.00,0.000,516,0.000,0.033,2752,809,3683,3705,3662,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7611,-0.77,-184.9,2751,808,3705,3662,945.8,-10.3,339,7617,0.00,2.08,0.00,0.000,1030,0.000,0.031,2751,2199,3683,3705,3662,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7935,-0.77,-184.9,2751,2199,3704,3659,980.7,-10.5,350,7941,0.00,2.15,0.00,0.000,260,0.000,0.045,2751,3599,3681,3704,3659,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7970,-0.77,-184.9,2751,3599,3703,3658,984.7,-10.4,351,7975,0.00,2.08,0.00,0.000,1030,0.000,0.024,2751,2185,3681,3703,3659,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,8031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8031,begin apogee
$GC,8041,-0.18,0.0,2751,2044,3703,3658,991.4,-10.5,353,8210,0.62,0.00,158.57,1.248,10246,0.119,0.000,2952,2042,2960,3027,2893,0,0,0,0,0,0,25.55,28.83,23.65
$STATE,8213,end apogee,CONTROL_FINISHED_OK
$STATE,8213,begin climb
$GC,8216,1.12,184.9,2952,2042,3023,2883,999.5,0.0,358,8394,1.17,2.40,165.50,1.207,10500,0.061,0.043,3369,3439,2199,2287,2112,0,0,0,0,0,0,24.94,24.37,23.32
$GC,8506,1.06,184.9,3368,3439,2280,2093,980.1,13.2,368,8512,0.00,2.10,0.00,0.000,1030,0.000,0.025,3378,2060,2186,2280,2092,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8831,1.00,184.9,3377,2060,2280,2088,936.6,12.8,379,8836,0.12,2.12,0.00,0.000,4612,0.171,0.037,3352,657,2183,2280,2086,0,0,0,0,0,0,25.84,26.02,28.83
$GC,8886,0.95,184.9,3352,656,2276,2087,931.9,12.7,380,8892,0.12,2.12,0.00,0.000,5126,0.169,0.032,3323,2061,2182,2277,2087,0,0,0,0,0,0,25.78,26.09,28.83
$GC,9206,0.92,184.9,3323,2060,2276,2085,895.2,10.5,391,9211,0.00,2.15,0.00,0.000,260,0.000,0.044,3323,3457,2180,2276,2085,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9305,0.88,184.9,3323,3457,2274,2084,884.0,11.0,394,9311,0.12,2.10,0.00,0.000,5126,0.179,0.026,3303,2037,2180,2276,2084,0,0,0,0,0,0,25.87,26.25,28.83
$GC,9637,0.92,213.1,3302,2037,2275,2083,853.4,9.0,405,9669,0.00,2.12,25.27,1.122,8708,0.000,0.038,3311,659,2091,2185,1997,0,0,0,0,0,0,28.83,25.79,24.66
$GC,9742,0.89,213.1,3311,659,2168,1983,843.9,10.0,408,9747,0.00,2.12,0.00,0.000,1030,0.000,0.031,3311,2049,2075,2168,1983,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10070,0.87,213.1,3311,2050,2167,1978,807.7,10.9,419,10075,0.00,2.17,0.00,0.000,260,0.000,0.044,3311,3457,2073,2168,1978,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10188,0.83,213.1,3311,3457,2166,1978,795.9,11.9,422,10194,0.15,2.10,0.00,0.000,5126,0.167,0.026,3284,2043,2071,2166,1977,0,0,0,0,0,0,25.79,26.20,28.83
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$STATE,17952,end climb,SURFACE_DEPTH_REACHED
$STATE,17952,begin surface coast
$FINISH,1.3,1.021223
$STATE,17980,end surface coast,CONTROL_FINISHED_OK
$STATE,17980,begin surface
$SM_CCo,18002,22.60,0.121,0,0,665,564.93
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$TT8_MAMPS,0.026215,0.026215
$HUMID,54.92
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.60
$XPDR_PINGS,4
$SC_FREEKB,7587392
$24V_AH,23.3,54.660
$10V_AH,10.1,34.020
$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
$DEVICE_SECS,23.175,180.550,643.300,22.600,0.000,0.000,0.000,439.350,1.000,0.000,68.905,2769.354,11844.864,788.046,2600.900,744.882,0.000,2459.760,0.000,2091.698,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.663,0.000,0.000,0.000
$MEM,328224
$DATA_FILE_SIZE,29995,815
$CAP_FILE_SIZE,220905,0
$CFSIZE,260034560,220610560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.026, 87.9,1
$GPS,210813,084753,2009.187,12324.123,39,0.9,39,-2.9