version: 66.11
glider: 167
mission: 16
dive: 390
start: 8 30 113 18 10 3
data:
$ID,167
$MISSION,16
$DIVE,390
$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,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,-975705.19
$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,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,61
$R_STBD_OVSHOOT,49
$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,0.003
$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
$GPS1,300813,180035,1942.729,12333.654,30,1.0,30,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-74.2
$GPS2,300813,180930,1942.775,12333.650,42,1.0,42,-2.8
$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,144.7,235203,-18.3,-10.000,-23.91,2793
$D_GRID,5190
$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,-1.23,-184.9,133,2211,672,672,0.0,0.0,0,115,0.00,0.00,-85.03,0.000,16386,0.000,0.000,133,2211,2810,2783,2838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.23,-184.9,133,2211,2784,2838,3.5,-4.0,15,160,10.52,2.15,-17.65,0.000,18692,0.239,0.049,2586,3601,3725,3721,3730,0,0,0,0,0,0,25.14,26.03,26.49
$GC,303,-1.23,-184.9,2587,3601,3721,3731,56.6,-28.8,37,309,0.00,2.03,0.00,0.000,1030,0.000,0.018,2587,2186,3726,3721,3731,0,0,0,0,0,0,28.83,26.25,28.83
$GC,628,-1.23,-184.9,2587,2186,3722,3731,131.4,-21.6,53,633,0.00,2.12,0.00,0.000,260,0.000,0.032,2577,3608,3726,3722,3731,0,0,0,0,0,0,28.83,26.20,28.83
$GC,762,-1.23,-184.9,2577,3608,3722,3731,157.5,-20.3,59,768,0.00,2.00,0.00,0.000,1030,0.000,0.017,2577,2194,3726,3722,3731,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1078,-1.23,-184.9,2577,2194,3722,3732,217.3,-17.5,75,1083,0.00,1.98,0.00,0.000,516,0.000,0.027,2577,815,3727,3722,3732,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1146,-1.23,-184.9,1552,814,3716,3730,229.5,-18.6,78,1152,0.12,2.00,0.00,0.000,3078,0.190,0.024,2597,2209,3727,3722,3732,0,0,0,0,0,0,25.91,26.34,28.83
$GC,1467,-1.23,-184.9,2596,2209,3722,3732,284.7,-16.9,94,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2209,3727,3722,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1770,-1.23,-184.9,2597,2209,3722,3731,336.8,-17.9,109,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2209,3727,3724,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2070,-1.23,-184.9,2597,2209,3722,3732,391.3,-18.2,124,2075,0.00,2.03,0.00,0.000,516,0.000,0.028,2597,817,3727,3722,3732,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2124,-1.23,-184.9,2597,817,3722,3732,400.5,-18.9,126,2130,0.00,2.00,0.00,0.000,1030,0.000,0.025,2590,2202,3727,3722,3732,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2440,-1.23,-184.9,2589,2202,3722,3730,457.7,-16.2,142,2445,0.00,2.03,0.00,0.000,516,0.000,0.026,2590,806,3726,3722,3730,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2466,-1.23,-184.9,2589,806,3722,3730,461.6,-15.9,143,2471,0.00,2.03,0.00,0.000,1030,0.000,0.025,2582,2212,3726,3722,3730,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2791,-1.23,-184.9,2581,2212,3722,3727,509.8,-14.7,159,2797,0.00,2.05,0.00,0.000,260,0.000,0.036,2571,3597,3724,3722,3727,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2982,-1.23,-184.9,2571,3596,3722,3724,540.0,-16.7,168,2989,0.12,1.98,0.00,0.000,3078,0.181,0.017,2600,2188,3723,3722,3725,0,0,0,0,0,0,26.00,26.46,28.83
$GC,3309,-1.23,-184.9,2600,2187,3722,3720,594.1,-16.5,184,3314,0.00,1.98,0.00,0.000,516,0.000,0.028,2599,818,3721,3722,3720,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3378,-1.23,-184.9,2599,819,3722,3719,604.8,-16.3,187,3384,0.00,2.00,0.00,0.000,1030,0.000,0.025,2592,2199,3720,3722,3718,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3711,-1.23,-184.9,2592,2199,3720,3713,659.2,-16.2,198,3716,0.00,2.10,0.00,0.000,260,0.000,0.037,2587,3600,3716,3721,3712,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3750,-1.23,-184.9,1568,3598,3715,3710,665.6,-16.4,199,3756,0.00,2.00,0.00,0.000,1030,0.000,0.018,2587,2204,3716,3722,3710,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4083,-1.23,-184.9,2587,2204,3722,3706,721.9,-16.7,210,4089,0.00,2.00,0.00,0.000,516,0.000,0.028,2587,821,3714,3722,3706,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4097,-1.23,-184.9,2587,820,3722,3706,721.9,-16.7,210,4103,0.00,2.00,0.00,0.000,1030,0.000,0.026,2578,2197,3714,3722,3706,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4426,-1.23,-184.9,2578,2198,3722,3700,782.6,-18.0,221,4431,0.00,2.10,0.00,0.000,260,0.000,0.037,2568,3601,3711,3722,3700,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4499,-1.23,-184.9,2568,3601,3722,3698,795.3,-18.5,223,4506,0.12,2.00,0.00,0.000,3078,0.183,0.020,2597,2201,3710,3722,3699,0,0,0,0,0,0,25.95,26.43,28.83
$GC,4829,-1.23,-184.9,2597,2201,3722,3692,850.6,-16.0,234,4834,0.00,2.12,0.00,0.000,260,0.000,0.037,2589,3599,3707,3722,3692,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4904,-1.23,-184.9,2589,3599,3722,3691,861.8,-16.1,236,4909,0.00,2.00,0.00,0.000,1030,0.000,0.020,2589,2203,3706,3721,3691,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5233,-1.23,-184.9,2589,2203,3719,3686,916.5,-16.4,247,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,3703,3720,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5529,-1.23,-184.9,2589,2203,3716,3684,967.0,-16.9,257,5534,0.00,2.15,0.00,0.000,260,0.000,0.040,2587,3602,3699,3716,3683,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5573,-1.23,-184.9,2587,3602,3715,3683,973.2,-17.3,258,5579,0.00,2.03,0.00,0.000,1030,0.000,0.021,2588,2205,3699,3715,3683,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,5685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5685,begin apogee
$GC,5694,-0.19,0.0,2587,2009,3713,3682,994.8,-17.3,262,5927,1.15,0.00,221.85,1.022,10246,0.153,0.000,2930,2008,2962,3028,2896,0,0,0,0,0,0,25.25,28.83,23.80
$STATE,5929,end apogee,CONTROL_FINISHED_OK
$STATE,5929,begin climb
$GC,5933,1.23,184.9,2930,2008,3028,2891,1009.9,0.0,270,6101,1.35,0.00,163.15,1.184,10758,0.066,0.000,3400,2008,2216,2302,2130,0,0,0,0,0,0,25.10,28.83,23.57
$GC,6384,1.23,184.9,3400,2008,2280,2089,968.2,12.4,285,6389,0.00,2.25,0.00,0.000,260,0.000,0.041,3401,3448,2184,2279,2089,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6433,1.23,184.9,3400,3447,2275,2089,963.5,12.7,286,6439,0.00,2.03,0.00,0.000,1030,0.000,0.024,3410,2088,2183,2276,2090,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6757,1.23,184.9,3409,2088,2276,2084,920.5,12.7,297,6763,0.00,2.17,0.00,0.000,516,0.000,0.037,3420,651,2181,2276,2086,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6786,1.23,184.9,3421,650,2272,2086,920.5,12.7,297,6793,0.00,2.08,0.00,0.000,1030,0.000,0.030,3420,2040,2179,2272,2086,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7094,1.23,184.9,3420,2040,2271,2084,875.4,13.3,308,7099,0.00,2.17,0.00,0.000,260,0.000,0.043,3420,3460,2178,2272,2084,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7172,1.23,184.9,3420,3461,2271,2084,866.0,13.6,310,7179,0.12,2.08,0.00,0.000,5126,0.194,0.025,3402,2052,2177,2271,2084,0,0,0,0,0,0,25.86,26.30,28.83
$GC,7497,1.23,184.9,3402,2052,2271,2082,824.7,12.1,321,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2051,2176,2270,2082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7794,1.23,184.9,3402,2052,2271,2081,788.9,12.0,331,7799,0.00,2.17,0.00,0.000,260,0.000,0.041,3403,3456,2176,2271,2081,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7817,1.23,184.9,3402,3456,2271,2081,788.9,12.0,331,7822,0.00,2.08,0.00,0.000,1030,0.000,0.026,3410,2048,2176,2271,2081,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8133,1.23,184.9,3410,2048,2271,2079,748.1,11.7,342,8138,0.00,2.10,0.00,0.000,516,0.000,0.037,3420,653,2175,2271,2079,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8231,1.23,184.9,2496,653,2188,2065,736.6,11.9,345,8236,0.00,2.10,0.00,0.000,1030,0.000,0.031,3421,2060,2172,2265,2079,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8566,1.23,184.9,3421,2058,2265,2079,700.2,10.4,356,8571,0.00,2.15,0.00,0.000,260,0.000,0.042,3421,3461,2172,2265,2079,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8670,1.23,184.9,3421,3460,2263,2080,688.8,11.4,359,8676,0.15,2.10,0.00,0.000,5126,0.191,0.026,3397,2041,2171,2263,2079,0,0,0,0,0,0,25.75,26.32,28.83
$GC,8999,1.23,184.9,3396,2041,2264,2078,653.3,10.6,370,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2041,2171,2263,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9296,1.23,184.9,3397,2041,2263,2077,620.7,10.8,380,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2041,2170,2263,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9607,1.23,184.9,3397,2041,2263,2077,587.8,10.8,392,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2041,2170,2263,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9908,1.23,184.9,3397,2041,2263,2076,553.3,11.8,407,9914,0.00,2.20,0.00,0.000,260,0.000,0.042,3397,3449,2169,2262,2077,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9938,1.23,184.9,3397,3449,2262,2076,549.8,11.9,408,9944,0.00,2.08,0.00,0.000,1030,0.000,0.027,3405,2049,2170,2263,2078,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10258,1.25,190.9,3405,2049,2263,2076,515.0,9.8,424,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2049,2169,2263,2076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10562,1.47,263.1,3405,2049,2263,2076,491.2,7.3,439,10646,0.15,2.22,74.70,0.893,10756,0.076,0.036,3493,661,1882,1971,1793,0,0,0,0,0,0,26.45,25.33,24.18
$GC,10692,1.47,263.1,3493,660,1950,1781,477.5,11.7,445,10699,0.00,2.12,0.00,0.000,1030,0.000,0.031,3493,2046,1864,1949,1779,0,0,0,0,0,0,28.83,25.62,28.83
$GC,11008,1.47,263.1,3493,2046,1949,1771,433.8,13.2,461,11014,0.00,2.20,0.00,0.000,260,0.000,0.043,3493,3465,1860,1949,1771,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11119,1.47,263.1,2560,3463,1876,1758,419.5,13.8,466,11125,0.12,2.12,0.00,0.000,5126,0.205,0.025,3476,2040,1858,1948,1769,0,0,0,0,0,0,25.63,26.10,28.83
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$STATE,14867,end climb,SURFACE_DEPTH_REACHED
$STATE,14867,begin surface coast
$FINISH,1.3,1.008308
$STATE,14893,end surface coast,CONTROL_FINISHED_OK
$STATE,14893,begin surface
$SM_CCo,14916,80.35,0.120,0,0,665,564.93
$SM_GC,2.12,8.85,0.17,80.35,0.032,0.065,0.120,132,2221,665,-8.88,-1.55,564.93,0,0,0,0,0,0,26.15,26.40,25.58
$IRIDIUM_FIX,1936.66,12335.69,300813,131303
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.51
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,26.00
$XPDR_PINGS,1
$SC_FREEKB,7576992
$24V_AH,23.6,63.044
$10V_AH,10.1,39.010
$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,23.275,125.350,523.125,80.350,0.000,0.000,0.000,288.175,0.250,0.000,43.943,2272.727,9903.299,713.802,2067.918,571.467,0.000,1987.295,0.000,1708.431,0.000,0.544,0.000
$DEVICE_MAMPS,239.445,65.025,1184.220,120.105,0.000,0.000,0.000,118.575,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14897.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.761,0.000,0.000,0.000
$MEM,327840
$DATA_FILE_SIZE,26774,690
$CAP_FILE_SIZE,168584,0
$CFSIZE,260034560,216133632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.177,316.9,1
$GPS,300813,222124,1942.839,12333.390,37,1.0,37,-2.8