version: 66.11
glider: 167
mission: 16
dive: 233
start: 7 30 113 5 47 4
data:
$ID,167
$MISSION,16
$DIVE,233
$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,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,-975486
$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,3050
$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,2075
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,90
$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,2763
$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
$GPS1,300713,053805,2054.531,12254.498,29,0.8,29,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-71.8
$GPS2,300713,054635,2054.637,12254.374,28,0.8,28,-3.0
$SPEED_LIMITS,0.163,0.277
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,113.2,165902,-15.7,-9.429,-18.82,2841
$D_GRID,3930
$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,22,begin dive
$GC,26,-0.83,-175.2,116,2040,527,409,0.0,0.0,0,124,0.00,0.00,-95.53,0.000,16386,0.000,0.000,115,2041,2894,2876,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,132,-0.83,-175.2,114,2041,2876,2913,3.3,-2.8,17,164,10.73,2.20,-11.10,0.000,18692,0.234,0.045,2766,3481,3480,3480,3481,0,0,0,0,0,0,25.58,26.14,26.46
$GC,225,-0.73,-175.2,2766,3481,3480,3482,33.2,-33.7,30,233,0.17,1.98,0.00,0.000,3078,0.178,0.017,2809,2086,3481,3480,3482,0,0,0,0,0,0,25.82,26.25,28.83
$GC,534,-0.68,-175.2,2809,2085,3481,3482,99.2,-17.7,49,539,0.00,2.05,0.00,0.000,260,0.000,0.031,2801,3471,3481,3481,3482,0,0,0,0,0,0,28.83,26.32,28.83
$GC,613,-0.63,-175.2,2802,3471,3481,3482,112.4,-19.5,52,622,0.15,1.98,0.00,0.000,3078,0.159,0.015,2841,2056,3481,3481,3482,0,0,0,0,0,0,26.08,26.44,28.83
$GC,919,-0.61,-175.2,2840,2056,3482,3482,160.8,-14.2,68,925,0.00,1.95,0.00,0.000,516,0.000,0.029,2841,700,3482,3482,3482,0,0,0,0,0,0,28.83,26.43,28.83
$GC,965,-0.59,-175.2,2841,700,3482,3482,167.0,-13.8,70,971,0.00,1.98,0.00,0.000,1030,0.000,0.020,2834,2087,3482,3482,3482,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1291,-0.57,-175.2,2833,2088,3482,3482,208.9,-12.8,86,1297,0.12,2.03,0.00,0.000,2308,0.163,0.032,2873,3471,3482,3482,3482,0,0,0,0,0,0,26.30,26.43,28.83
$GC,1419,-0.57,-175.2,2872,3471,3482,3482,220.2,-8.1,92,1424,0.00,1.92,0.00,0.000,1030,0.000,0.016,2873,2080,3482,3482,3482,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1744,-0.57,-175.2,2872,2080,3482,3481,247.4,-8.6,108,1749,0.00,1.98,0.00,0.000,516,0.000,0.029,2873,698,3482,3482,3482,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1804,-0.57,-175.2,2872,699,3482,3484,251.4,-8.7,110,1810,0.00,1.95,0.00,0.000,1030,0.000,0.022,2873,2072,3481,3482,3481,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2110,-0.57,-175.2,2872,2072,3482,3481,278.4,-9.1,126,2115,0.00,2.05,0.00,0.000,260,0.000,0.035,2872,3470,3481,3482,3481,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2169,-0.58,-175.2,2872,3470,3482,3480,282.7,-9.5,128,2176,0.00,1.95,0.00,0.000,1030,0.000,0.017,2873,2064,3482,3484,3480,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2474,-0.58,-175.2,2871,2063,3483,3478,316.1,-10.7,144,2480,0.00,1.95,0.00,0.000,516,0.000,0.030,2872,703,3480,3482,3478,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2494,-0.58,-175.2,2872,702,3482,3478,316.1,-10.7,144,2501,0.00,1.98,0.00,0.000,1030,0.000,0.023,2873,2072,3480,3482,3478,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2801,-0.59,-175.2,2872,2072,3482,3474,343.7,-5.8,160,2806,0.00,2.05,0.00,0.000,260,0.000,0.035,2873,3467,3478,3482,3474,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2880,-0.61,-175.2,1792,3466,3463,3470,347.0,-5.3,163,2886,0.00,1.95,0.00,0.000,1030,0.000,0.017,2873,2060,3477,3482,3473,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3186,-0.62,-175.2,2872,2060,3482,3470,364.7,-6.8,179,3192,0.00,1.95,0.00,0.000,516,0.000,0.030,2872,706,3475,3482,3469,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3221,-0.64,-175.2,2872,706,3482,3470,366.7,-7.2,180,3227,0.00,1.98,0.00,0.000,1030,0.000,0.022,2872,2087,3475,3482,3469,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3537,-0.65,-175.2,2872,2087,3482,3466,397.9,-9.9,196,3543,0.00,2.05,0.00,0.000,260,0.000,0.035,2873,3480,3474,3482,3466,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3604,-0.67,-175.2,2872,3480,3482,3465,404.6,-10.0,199,3610,0.12,1.98,0.00,0.000,5126,0.083,0.016,2812,2062,3473,3481,3465,0,0,0,0,0,0,26.49,26.60,28.83
$GC,3929,-0.67,-175.2,2812,2062,3482,3462,444.9,-11.5,215,3935,0.00,1.95,0.00,0.000,516,0.000,0.031,2812,708,3472,3482,3462,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4058,-0.67,-175.2,2812,707,3482,3466,457.3,-9.3,221,4064,0.00,1.98,0.00,0.000,1030,0.000,0.022,2806,2081,3471,3482,3460,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4384,-0.67,-175.2,2806,2080,3482,3456,484.4,-9.1,237,4390,0.00,2.05,-0.08,0.000,16644,0.000,0.048,2806,3470,3498,3507,3490,0,0,0,0,0,0,28.83,26.46,25.84
$GC,4487,-0.67,-175.2,2806,3469,3507,3489,492.6,-9.6,241,4493,0.00,1.95,0.00,0.000,1030,0.000,0.017,2806,2072,3498,3507,3489,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4790,-0.67,-175.2,2806,2072,3507,3486,526.3,-11.3,257,4795,0.00,1.98,0.00,0.000,516,0.000,0.031,2806,701,3496,3507,3486,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4859,-0.67,-175.2,2806,700,3507,3485,534.4,-12.2,260,4864,0.00,1.98,0.00,0.000,1030,0.000,0.023,2806,2074,3496,3507,3485,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5179,-0.67,-175.2,2805,2075,3507,3481,568.2,-9.3,276,5184,0.00,2.08,0.00,0.000,260,0.000,0.037,2806,3478,3494,3507,3481,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5214,-0.67,-175.2,2806,3478,3507,3481,570.6,-9.1,277,5219,0.00,1.98,0.00,0.000,1030,0.000,0.018,2806,2066,3493,3507,3480,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5530,-0.67,-175.2,2806,2065,3507,3476,595.6,-6.9,293,5536,0.00,1.98,0.00,0.000,516,0.000,0.031,2806,699,3491,3507,3476,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5609,-0.67,-175.2,2806,698,3507,3476,600.3,-6.9,296,5615,0.00,2.00,0.00,0.000,1030,0.000,0.024,2806,2079,3491,3507,3475,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5933,-0.67,-175.2,2806,2079,3507,3471,628.4,-9.8,307,5939,0.00,2.08,0.00,0.000,260,0.000,0.037,2806,3481,3489,3507,3471,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6033,-0.67,-175.2,2806,3480,3507,3470,638.5,-10.1,310,6038,0.00,1.98,0.00,0.000,1030,0.000,0.018,2806,2075,3488,3507,3470,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6366,-0.67,-175.2,2806,2075,3507,3465,671.5,-9.7,321,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2075,3486,3507,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6663,-0.67,-175.2,2806,2074,3506,3461,698.9,-8.8,331,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2074,3484,3507,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6964,-0.67,-175.2,2806,2075,3507,3456,725.4,-9.0,341,6970,0.00,2.00,0.00,0.000,516,0.000,0.032,2806,703,3481,3506,3457,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7004,-0.67,-175.2,2806,703,3506,3457,728.9,-9.0,342,7010,0.00,2.00,0.00,0.000,1030,0.000,0.025,2806,2080,3481,3506,3457,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7338,-0.67,-175.2,2805,2080,3504,3454,761.1,-10.7,353,7344,0.00,2.08,0.00,0.000,260,0.000,0.038,2806,3470,3479,3504,3454,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7430,-0.67,-175.2,2806,3470,3502,3454,768.5,-10.7,355,7437,0.00,1.98,0.00,0.000,1030,0.000,0.019,2806,2077,3478,3503,3454,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7734,-0.67,-175.2,2806,2077,3502,3451,804.9,-11.3,366,7740,0.00,2.03,0.00,0.000,516,0.000,0.034,2807,692,3476,3502,3451,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7794,-0.67,-175.2,2806,691,3501,3451,809.1,-11.4,367,7801,0.00,2.03,0.00,0.000,1030,0.000,0.024,2806,2083,3476,3501,3451,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8100,-0.67,-175.2,2806,2083,3501,3449,842.2,-9.3,378,8105,0.00,2.08,0.00,0.000,260,0.000,0.037,2806,3470,3474,3499,3449,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8154,-0.67,-175.2,2806,3470,3498,3448,845.2,-9.1,379,8160,0.00,2.00,0.00,0.000,1030,0.000,0.021,2806,2075,3473,3498,3449,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8473,-0.67,-175.2,2806,2075,3499,3446,870.3,-7.1,390,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2075,3471,3497,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8770,-0.67,-175.2,2806,2075,3496,3444,892.8,-7.4,400,8776,0.00,2.12,0.00,0.000,260,0.000,0.038,2806,3473,3470,3496,3445,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8810,-0.67,-175.2,2806,3473,3496,3444,895.3,-7.1,401,8816,0.00,2.00,0.00,0.000,1030,0.000,0.021,2806,2076,3470,3496,3444,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9145,-0.67,-175.2,2806,2076,3494,3441,918.7,-6.9,412,9151,0.00,2.05,0.00,0.000,516,0.000,0.034,2806,687,3468,3495,3441,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9237,-0.67,-175.2,2806,687,3494,3441,924.0,-7.1,414,9243,0.00,2.05,0.00,0.000,1030,0.000,0.026,2806,2084,3467,3494,3441,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9541,-0.67,-175.2,2806,2084,3492,3439,947.0,-7.0,425,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2084,3466,3493,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9841,-0.67,-175.2,2806,2084,3491,3437,967.5,-7.0,435,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2084,3464,3491,3437,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10137,begin apogee
$GC,10145,-0.18,0.0,2806,2223,3490,3436,991.2,-8.0,445,10343,0.55,0.00,191.23,1.092,10246,0.119,0.000,2987,2223,2760,2836,2684,0,0,0,0,0,0,25.94,28.83,24.08
$STATE,10346,end apogee,CONTROL_FINISHED_OK
$STATE,10346,begin climb
$GC,10349,0.83,175.2,2987,2222,2830,2674,996.8,0.0,451,10527,0.93,2.22,166.45,1.157,10500,0.063,0.040,3317,3577,2038,2133,1944,0,0,0,0,0,0,24.98,24.54,23.73
$GC,10576,0.77,175.2,3317,3577,2120,1913,975.5,12.9,459,10582,0.00,2.12,0.00,0.000,1030,0.000,0.024,3325,2210,2016,2120,1912,0,0,0,0,0,0,28.83,25.19,28.83
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$STATE,19712,end climb,SURFACE_DEPTH_REACHED
$STATE,19712,begin surface coast
$FINISH,1.3,1.016023
$STATE,19739,end surface coast,CONTROL_FINISHED_OK
$STATE,19739,begin surface
$SM_CCo,19761,22.27,0.119,0,0,456,564.93
$SM_GC,1.91,8.25,0.15,22.27,0.022,0.052,0.119,140,2012,456,-9.02,1.72,564.93,0,0,0,0,0,0,26.36,26.53,26.03
$IRIDIUM_FIX,2047.91,12253.40,290713,232307
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.72
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,26.30
$XPDR_PINGS,10
$SC_FREEKB,7627584
$24V_AH,23.7,34.985
$10V_AH,10.1,22.255
$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,22.000,176.950,651.075,22.275,0.000,0.000,0.000,275.875,2.500,0.000,30.064,2995.448,13175.580,818.129,2601.477,688.170,0.000,2389.778,0.000,2243.336,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,72.675,1156.680,118.575,0.000,0.000,0.000,122.400,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19762.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.165,0.000,0.000,0.000
$MEM,322888
$DATA_FILE_SIZE,33386,890
$CAP_FILE_SIZE,228376,0
$CFSIZE,260034560,230481920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.167,285.9,1
$GPS,300713,111805,2054.119,12254.173,32,1.1,32,-3.0