version: 66.11
glider: 167
mission: 16
dive: 239
start: 7 31 113 15 23 27
data:
$ID,167
$MISSION,16
$DIVE,239
$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,360
$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,200
$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,-975493.5
$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,60
$R_STBD_OVSHOOT,57
$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
$GPS1,310713,151424,2053.251,12252.482,42,1.2,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-71.1
$GPS2,310713,152300,2053.302,12252.377,44,1.0,44,-3.0
$SPEED_LIMITS,0.173,0.296
$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,111.4,167962,-15.7,-10.000,-18.68,2978
$D_GRID,3555
$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,-0.85,-194.6,125,2079,533,411,0.0,0.0,0,126,0.00,0.00,-96.95,0.000,16386,0.000,0.000,125,2080,2928,2909,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-0.85,-194.6,125,2079,2909,2947,3.5,-4.3,17,160,10.75,0.00,-11.50,0.000,18950,0.236,0.000,2768,2080,3558,3557,3559,0,0,0,0,0,0,25.54,28.83,26.46
$GC,475,-0.80,-194.6,2768,2080,3558,3560,95.3,-17.8,45,480,0.00,2.08,0.00,0.000,260,0.000,0.034,2760,3470,3559,3558,3560,0,0,0,0,0,0,28.83,26.26,28.83
$GC,583,-0.75,-194.6,2760,3470,3558,3560,111.1,-14.7,50,589,0.17,2.00,0.00,0.000,3078,0.156,0.017,2807,2039,3559,3558,3560,0,0,0,0,0,0,26.01,26.41,28.83
$GC,910,-0.72,-194.6,2806,2039,3560,3561,160.3,-16.5,66,915,0.00,1.92,0.00,0.000,516,0.000,0.030,2806,701,3560,3560,3560,0,0,0,0,0,0,28.83,26.39,28.83
$GC,969,-0.69,-194.6,2806,702,3560,3561,168.3,-17.6,68,977,0.00,1.98,0.00,0.000,1030,0.000,0.023,2801,2083,3560,3560,3560,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1276,-0.67,-194.6,2801,2083,3560,3561,212.9,-10.3,84,1283,0.12,2.05,0.00,0.000,2308,0.168,0.031,2830,3481,3560,3560,3560,0,0,0,0,0,0,26.25,26.41,28.83
$GC,1355,-0.66,-194.6,2830,3481,3560,3561,218.9,-9.0,87,1360,0.00,1.98,0.00,0.000,1030,0.000,0.015,2830,2067,3560,3560,3560,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1670,-0.66,-194.6,2830,2066,3560,3561,254.7,-12.2,103,1675,0.00,1.95,0.00,0.000,516,0.000,0.030,2830,708,3560,3560,3560,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1724,-0.66,-194.6,2830,708,3560,3560,260.1,-12.4,105,1730,0.00,1.95,0.00,0.000,1030,0.000,0.022,2823,2077,3560,3560,3560,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2039,-0.66,-194.6,2822,2077,3560,3559,300.7,-11.4,121,2044,0.00,2.05,0.00,0.000,260,0.000,0.035,2818,3470,3559,3560,3559,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2124,-0.66,-194.6,2818,3470,3559,3558,309.5,-10.3,125,2130,0.00,1.95,0.00,0.000,1030,0.000,0.016,2818,2069,3559,3560,3559,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2451,-0.66,-194.6,2818,2068,3560,3556,341.5,-10.0,141,2456,0.00,1.98,0.00,0.000,516,0.000,0.030,2818,694,3558,3560,3556,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2476,-0.66,-194.6,2818,694,3560,3555,344.2,-10.0,142,2482,0.00,2.00,0.00,0.000,1030,0.000,0.022,2811,2088,3557,3560,3555,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2801,-0.66,-194.6,2811,2088,3560,3552,383.1,-12.9,158,2807,0.00,2.03,0.00,0.000,260,0.000,0.035,2806,3466,3556,3560,3552,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2861,-0.66,-194.6,2806,3465,3561,3551,389.0,-12.8,160,2869,0.12,1.95,0.00,0.000,3078,0.149,0.017,2840,2065,3555,3560,3551,0,0,0,0,0,0,26.27,26.58,28.83
$GC,3167,-0.66,-194.6,2839,2065,3561,3548,424.9,-11.3,176,3172,0.00,2.10,0.00,0.000,260,0.000,0.034,2833,3476,3553,3560,3547,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3186,-0.66,-194.6,2833,3476,3560,3547,424.9,-11.3,176,3193,0.00,1.95,0.00,0.000,1030,0.000,0.018,2833,2078,3553,3560,3547,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3492,-0.66,-194.6,2833,2078,3560,3544,458.8,-9.0,192,3497,0.00,1.98,0.00,0.000,516,0.000,0.031,2833,705,3552,3560,3544,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3552,-0.66,-194.6,2833,705,3560,3543,462.8,-8.7,194,3559,0.00,1.98,0.00,0.000,1030,0.000,0.023,2833,2076,3551,3560,3543,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3857,-0.66,-194.6,2832,2075,3560,3540,490.9,-10.1,210,3863,0.00,2.08,0.00,0.000,260,0.000,0.036,2834,3479,3550,3560,3540,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3932,-0.67,-194.6,2833,3478,3559,3540,497.9,-10.7,213,3938,0.00,1.98,0.00,0.000,1030,0.000,0.018,2833,2066,3551,3562,3540,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4248,-0.67,-194.6,2833,2066,3558,3536,531.4,-9.3,229,4254,0.00,1.98,0.00,0.000,516,0.000,0.031,2833,701,3547,3560,3535,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4314,-0.67,-194.6,2833,702,3560,3534,537.2,-8.8,232,4320,0.00,2.00,0.00,0.000,1030,0.000,0.024,2833,2081,3547,3560,3534,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4640,-0.67,-194.6,2833,2080,3560,3531,561.8,-7.8,248,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2081,3545,3560,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4943,-0.68,-194.6,2833,2080,3560,3526,584.0,-7.4,263,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2080,3543,3560,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5244,-0.69,-194.6,2833,2080,3560,3522,605.6,-7.3,277,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2082,3541,3559,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5540,-0.70,-194.6,2833,2081,3559,3519,631.2,-9.2,287,5546,0.00,2.08,0.00,0.000,260,0.000,0.037,2833,3471,3538,3559,3518,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5591,-0.71,-194.6,2833,3471,3559,3517,634.6,-9.3,288,5596,0.00,1.98,0.00,0.000,1030,0.000,0.018,2833,2074,3537,3559,3516,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5914,-0.72,-194.6,2833,2075,3558,3512,667.1,-9.7,299,5921,0.00,2.03,0.00,0.000,516,0.000,0.032,2834,697,3535,3559,3512,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5971,-0.74,-194.6,2833,697,3559,3511,671.0,-9.7,300,5976,0.00,2.00,0.00,0.000,1030,0.000,0.024,2835,2073,3534,3558,3511,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6289,-0.75,-194.6,2833,2073,3556,3510,700.5,-8.1,311,6294,0.00,2.10,0.00,0.000,260,0.000,0.039,2833,3473,3533,3556,3510,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6388,-0.76,-194.6,2832,3473,3555,3510,707.5,-7.3,314,6394,0.00,2.00,0.00,0.000,1030,0.000,0.020,2834,2069,3532,3555,3510,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6728,-0.78,-194.6,2833,2069,3554,3507,731.2,-7.4,325,6734,0.00,2.00,0.00,0.000,516,0.000,0.032,2833,702,3530,3554,3507,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6789,-0.79,-194.6,2833,702,3553,3506,734.5,-7.6,326,6796,0.12,2.00,0.00,0.000,5126,0.083,0.025,2769,2075,3529,3553,3506,0,0,0,0,0,0,26.39,26.46,28.83
$GC,7097,-0.78,-194.6,2769,2075,3551,3504,770.2,-11.1,337,7102,0.00,2.10,0.00,0.000,260,0.000,0.038,2766,3472,3527,3551,3504,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7121,-0.76,-194.6,2766,3472,3550,3504,770.2,-11.1,337,7127,0.12,2.00,0.00,0.000,3078,0.150,0.020,2799,2064,3527,3550,3504,0,0,0,0,0,0,26.20,26.53,28.83
$GC,7439,-0.76,-194.6,2799,2064,3550,3501,804.8,-10.0,348,7444,0.00,2.00,0.00,0.000,516,0.000,0.033,2799,699,3525,3549,3501,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7488,-0.76,-194.6,2799,699,3549,3501,808.8,-10.2,349,7493,0.00,2.03,0.00,0.000,1030,0.000,0.025,2793,2083,3525,3549,3501,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7811,-0.76,-194.6,2792,2084,3549,3499,845.4,-11.2,360,7817,0.00,2.10,0.00,0.000,260,0.000,0.039,2793,3474,3523,3548,3499,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7866,-0.76,-194.6,2793,3475,3548,3499,849.7,-11.2,361,7871,0.00,2.00,0.00,0.000,1030,0.000,0.021,2795,2078,3523,3548,3499,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8181,-0.76,-194.6,2792,2078,3545,3497,886.2,-10.9,372,8186,0.00,2.03,0.00,0.000,516,0.000,0.034,2793,700,3521,3545,3497,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8216,-0.76,-194.6,2792,699,3546,3497,890.1,-10.9,373,8222,0.00,2.03,0.00,0.000,1030,0.000,0.025,2793,2076,3521,3545,3497,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8555,-0.76,-194.6,2793,2076,3544,3495,923.7,-9.8,384,8561,0.00,2.10,0.00,0.000,260,0.000,0.040,2793,3470,3519,3544,3495,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8645,-0.76,-194.6,2792,3470,3543,3495,930.2,-9.4,386,8652,0.00,2.00,0.00,0.000,1030,0.000,0.021,2793,2076,3519,3543,3495,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8950,-0.76,-194.6,2793,2076,3542,3492,964.1,-10.4,397,8956,0.00,2.03,0.00,0.000,516,0.000,0.034,2793,699,3517,3542,3492,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9025,-0.76,-194.6,2793,698,3542,3492,971.1,-10.6,399,9031,0.00,2.03,0.00,0.000,1030,0.000,0.027,2793,2075,3516,3542,3491,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,9227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9227,begin apogee
$GC,9235,-0.18,0.0,2793,2216,3541,3490,991.8,-9.6,406,9473,0.60,0.00,230.18,1.040,10246,0.121,0.000,2988,2216,2758,2837,2679,0,0,0,0,0,0,25.88,28.83,24.01
$STATE,9476,end apogee,CONTROL_FINISHED_OK
$STATE,9476,begin climb
$GC,9479,0.85,194.6,2988,2216,2841,2673,1002.3,0.0,414,9668,0.93,0.00,180.35,1.167,10758,0.054,0.000,3325,2216,1968,2066,1871,0,0,0,0,0,0,24.95,28.83,23.58
$GC,9951,0.81,194.6,3324,2216,2042,1833,947.9,13.4,430,9956,0.00,2.12,0.00,0.000,260,0.000,0.042,3325,3578,1938,2042,1834,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9996,0.77,194.6,3325,3578,2040,1833,942.8,13.6,431,10002,0.12,2.05,0.00,0.000,5126,0.177,0.024,3303,2207,1936,2040,1833,0,0,0,0,0,0,25.69,25.96,28.83
$GC,10325,0.74,194.6,3302,2207,2040,1832,899.4,13.2,442,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2207,1936,2040,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10623,0.70,194.6,3302,2207,2040,1830,860.7,12.7,452,10628,0.00,2.15,0.00,0.000,260,0.000,0.042,3303,3588,1935,2040,1830,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,18947,end climb,SURFACE_DEPTH_REACHED
$STATE,18947,begin surface coast
$FINISH,1.2,1.010112
$STATE,18973,end surface coast,CONTROL_FINISHED_OK
$STATE,18973,begin surface
$SM_CCo,18998,29.23,0.118,0,0,456,564.93
$SM_GC,2.04,8.30,1.88,29.23,0.026,0.021,0.118,141,2083,456,-9.02,-1.67,564.93,0,0,0,0,0,0,26.31,26.41,25.98
$IRIDIUM_FIX,2043.29,12252.15,310713,090955
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.87
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,26.60
$XPDR_PINGS,14
$SC_FREEKB,7625280
$24V_AH,23.6,36.160
$10V_AH,10.1,23.014
$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,22.200,176.750,680.175,29.225,0.000,0.000,0.000,266.925,3.500,0.000,45.937,2855.102,12650.525,845.995,2501.472,674.685,0.000,2362.965,0.000,2140.643,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,72.675,1166.625,117.810,0.000,0.000,0.000,123.165,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18981.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.160,0.000,0.000,0.000
$MEM,322888
$DATA_FILE_SIZE,33414,865
$CAP_FILE_SIZE,218951,0
$CFSIZE,260034560,229888000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.263,296.8,1
$GPS,310713,204159,2053.474,12251.701,39,0.9,39,-3.0