version: 66.11
glider: 167
mission: 16
dive: 241
start: 8 1 113 2 19 35
data:
$ID,167
$MISSION,16
$DIVE,241
$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,-975496
$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,72
$R_STBD_OVSHOOT,70
$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
$GPS1,010813,020923,2053.814,12250.960,38,1.2,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-66.4
$GPS2,010813,021905,2054.090,12250.808,39,1.9,39,-3.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T6
$TGT_LATLONG,2000.000,12245.000
$TGT_RADIUS,10000.000
$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,159.8,100683,-15.7,-10.000,-18.68,2978
$D_GRID,3636
$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,-0.85,-194.6,108,2095,535,410,0.0,0.0,0,122,0.00,0.00,-92.57,0.000,16386,0.000,0.000,108,2096,2809,2791,2828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.85,-194.6,108,2096,2792,2829,3.2,-3.4,16,162,10.82,2.03,-14.07,0.000,18692,0.236,0.044,2759,3464,3558,3559,3558,0,0,0,0,0,0,25.51,26.11,26.45
$GC,189,-0.76,-194.6,1632,3463,3543,3555,22.5,-31.6,25,197,0.17,1.98,0.00,0.000,3078,0.185,0.016,2801,2059,3558,3559,3558,0,0,0,0,0,0,25.75,26.21,28.83
$GC,507,-0.71,-194.6,2801,2060,3559,3558,97.0,-17.3,46,512,0.00,2.08,0.00,0.000,260,0.000,0.031,2794,3458,3558,3559,3558,0,0,0,0,0,0,28.83,26.27,28.83
$GC,562,-0.67,-194.6,2793,3458,3559,3558,104.4,-16.4,48,568,0.15,1.95,0.00,0.000,3078,0.153,0.015,2833,2057,3558,3559,3558,0,0,0,0,0,0,26.04,26.41,28.83
$GC,878,-0.65,-194.6,2833,2055,3561,3558,151.0,-13.6,64,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2056,3559,3561,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-0.63,-194.6,2833,2055,3561,3559,188.7,-11.5,79,1186,0.00,1.92,0.00,0.000,516,0.000,0.029,2833,712,3560,3561,3559,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1256,-0.62,-194.6,2832,712,3561,3559,196.0,-10.6,82,1261,0.00,1.92,0.00,0.000,1030,0.000,0.022,2833,2061,3559,3561,3558,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1571,-0.61,-194.6,2833,2062,3561,3559,224.8,-9.5,98,1578,0.00,2.08,0.00,0.000,260,0.000,0.034,2833,3480,3565,3563,3568,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1708,-0.61,-194.6,2833,3480,3561,3558,239.7,-12.1,104,1714,0.00,1.95,0.00,0.000,1030,0.000,0.015,2833,2074,3559,3561,3558,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2023,-0.61,-194.6,2833,2073,3561,3558,282.3,-12.3,120,2028,0.00,1.98,0.00,0.000,516,0.000,0.030,2833,701,3559,3560,3558,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2073,-0.61,-194.6,2833,700,3561,3558,287.6,-12.0,122,2079,0.00,1.98,0.00,0.000,1030,0.000,0.022,2831,2080,3559,3561,3557,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2394,-0.61,-194.6,2831,2081,3561,3555,318.7,-9.3,138,2399,0.00,2.05,0.00,0.000,260,0.000,0.034,2831,3474,3558,3561,3555,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2445,-0.61,-194.6,2831,3474,3561,3554,322.8,-9.3,140,2450,0.00,1.95,0.00,0.000,1030,0.000,0.016,2831,2070,3557,3561,3554,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2765,-0.61,-194.6,2831,2070,3561,3551,356.4,-11.3,156,2770,0.00,1.98,0.00,0.000,516,0.000,0.030,2831,703,3555,3561,3550,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2793,-0.61,-194.6,1792,703,3547,3548,359.3,-11.6,157,2798,0.00,1.98,0.00,0.000,1030,0.000,0.023,2831,2080,3555,3561,3550,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3113,-0.61,-194.6,2830,2080,3560,3547,396.6,-10.5,173,3119,0.00,2.05,0.00,0.000,260,0.000,0.034,2827,3474,3553,3560,3546,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3255,-0.61,-194.6,2828,3474,3561,3544,408.0,-8.6,179,3261,0.00,1.95,0.00,0.000,1030,0.000,0.018,2829,2075,3553,3560,3546,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3561,-0.61,-194.6,2827,2075,3560,3542,437.5,-10.4,195,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2076,3551,3560,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3864,-0.61,-194.6,2827,2075,3561,3539,468.9,-9.8,210,3869,0.00,1.98,0.00,0.000,516,0.000,0.030,2828,706,3549,3560,3539,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3918,-0.61,-194.6,2827,705,3561,3538,473.5,-9.5,212,3924,0.00,1.98,0.00,0.000,1030,0.000,0.023,2828,2078,3549,3561,3538,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4234,-0.61,-194.6,2827,2078,3560,3534,504.1,-9.9,228,4239,0.00,2.05,0.00,0.000,260,0.000,0.036,2828,3466,3547,3561,3533,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4303,-0.61,-194.6,1768,3465,3547,3529,510.5,-9.7,231,4308,0.00,1.95,0.00,0.000,1030,0.000,0.018,2828,2068,3546,3560,3533,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4623,-0.61,-194.6,2827,2068,3560,3530,541.0,-9.4,247,4629,0.00,1.98,0.00,0.000,516,0.000,0.031,2827,702,3545,3560,3530,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4658,-0.61,-194.6,2828,702,3560,3530,543.4,-9.3,248,4664,0.00,2.00,0.00,0.000,1030,0.000,0.024,2826,2084,3544,3560,3529,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4974,-0.61,-194.6,2827,2084,3560,3524,573.7,-8.9,264,4979,0.00,2.05,0.00,0.000,260,0.000,0.036,2827,3470,3542,3560,3524,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5064,-0.61,-194.6,1744,3469,3546,3521,581.0,-8.6,268,5070,0.00,1.98,0.00,0.000,1030,0.000,0.018,2829,2070,3542,3560,3524,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5396,-0.61,-194.6,2827,2070,3560,3519,608.7,-8.6,283,5402,0.00,2.00,0.00,0.000,516,0.000,0.031,2827,695,3539,3560,3519,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5421,-0.61,-194.6,2827,694,3560,3519,608.7,-8.6,283,5427,0.00,2.00,0.00,0.000,1030,0.000,0.024,2824,2080,3539,3560,3518,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5740,-0.61,-194.6,2824,2080,3560,3513,640.9,-9.5,294,5745,0.00,2.08,0.00,0.000,260,0.000,0.037,2822,3466,3537,3560,3514,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5791,-0.61,-194.6,2822,3465,3559,3513,644.7,-9.5,295,5797,0.12,1.98,0.00,0.000,3078,0.142,0.019,2855,2063,3536,3560,3513,0,0,0,0,0,0,26.26,26.56,28.83
$GC,6115,-0.63,-194.6,2857,2063,3559,3509,672.6,-8.3,306,6120,0.00,1.98,0.00,0.000,516,0.000,0.032,2857,707,3534,3559,3509,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6181,-0.66,-194.6,2857,707,3558,3509,678.4,-8.5,308,6186,0.00,2.00,0.00,0.000,1030,0.000,0.024,2858,2071,3533,3558,3509,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6519,-0.68,-194.6,2857,2071,3557,3507,708.5,-9.1,319,6525,0.00,2.10,0.00,0.000,260,0.000,0.039,2857,3470,3532,3557,3507,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6622,-0.71,-194.6,1760,3469,3539,3502,717.0,-8.7,322,6628,0.12,1.98,0.00,0.000,5126,0.086,0.020,2801,2075,3530,3554,3507,0,0,0,0,0,0,26.42,26.53,28.83
$GC,6955,-0.71,-194.6,2801,2075,3554,3504,752.5,-10.3,333,6961,0.00,2.00,0.00,0.000,516,0.000,0.032,2801,703,3528,3554,3503,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6995,-0.71,-194.6,2801,703,3553,3504,756.4,-10.3,334,7001,0.00,2.00,0.00,0.000,1030,0.000,0.024,2800,2076,3528,3553,3504,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7328,-0.71,-194.6,2800,2076,3550,3501,789.1,-9.6,345,7334,0.00,2.10,0.00,0.000,260,0.000,0.038,2794,3474,3525,3550,3501,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7367,-0.71,-194.6,1744,3472,3535,3498,792.7,-9.4,346,7373,0.00,2.00,0.00,0.000,1030,0.000,0.021,2794,2075,3525,3550,3501,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7701,-0.71,-194.6,2795,2075,3549,3498,823.9,-9.4,357,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2076,3524,3549,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7998,-0.71,-194.6,2795,2075,3548,3496,855.4,-11.1,367,8003,0.00,2.03,0.00,0.000,516,0.000,0.034,2795,699,3522,3548,3496,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8036,-0.71,-194.6,1776,697,3534,3493,859.7,-11.5,368,8042,0.12,2.03,0.00,0.000,3078,0.158,0.026,2824,2081,3521,3547,3496,0,0,0,0,0,0,26.14,26.44,28.83
$GC,8371,-0.72,-194.6,2824,2080,3546,3494,896.3,-11.2,379,8376,0.00,2.10,0.00,0.000,260,0.000,0.040,2822,3471,3520,3546,3494,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8466,-0.73,-194.6,2822,3471,3545,3494,907.3,-11.3,382,8471,0.00,2.03,0.00,0.000,1030,0.000,0.021,2822,2075,3519,3545,3494,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8805,-0.74,-194.6,2822,2074,3544,3490,942.1,-9.9,393,8810,0.00,2.03,0.00,0.000,516,0.000,0.034,2822,696,3517,3544,3490,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8864,-0.76,-194.6,2822,696,3543,3490,945.7,-9.6,394,8871,0.00,2.03,0.00,0.000,1030,0.000,0.026,2821,2073,3516,3543,3490,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9174,-0.77,-194.6,2821,2073,3542,3489,974.9,-8.5,405,9180,0.00,2.12,0.00,0.000,260,0.000,0.041,2821,3470,3515,3542,3488,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9210,-0.78,-194.6,2821,3470,3541,3489,978.3,-8.5,406,9215,0.00,2.03,0.00,0.000,1030,0.000,0.022,2821,2065,3514,3541,3488,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,9362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9362,begin apogee
$GC,9370,-0.18,0.0,2821,2209,3541,3488,990.8,-8.0,411,9548,0.50,0.00,170.15,1.198,10246,0.112,0.000,2989,2209,2754,2833,2676,0,0,0,0,0,0,25.96,28.83,23.96
$STATE,9550,end apogee,CONTROL_FINISHED_OK
$STATE,9550,begin climb
$GC,9554,0.85,194.6,2989,2210,2826,2664,996.4,0.0,417,9744,0.93,2.30,179.35,1.159,10500,0.063,0.042,3319,3592,1954,2052,1857,0,0,0,0,0,0,24.96,24.48,23.66
$GC,9905,0.81,194.6,3318,3591,2042,1832,955.9,16.7,428,9913,0.00,2.08,0.00,0.000,1030,0.000,0.024,3327,2219,1936,2042,1831,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10213,0.77,194.6,3327,2219,2043,1828,902.8,16.1,439,10218,0.00,2.12,0.00,0.000,516,0.000,0.036,3337,811,1935,2042,1828,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10268,0.73,194.6,3337,810,2039,1828,896.8,16.1,440,10274,0.20,2.08,0.00,0.000,5126,0.150,0.030,3283,2201,1934,2039,1829,0,0,0,0,0,0,25.82,26.09,28.83
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$STATE,18764,end climb,SURFACE_DEPTH_REACHED
$STATE,18764,begin surface coast
$FINISH,1.2,1.008926
$STATE,18794,end surface coast,CONTROL_FINISHED_OK
$STATE,18795,begin surface
$SM_CCo,18818,6.93,0.125,0,0,460,564.93
$SM_GC,1.83,8.40,1.88,6.93,0.030,0.018,0.125,144,2084,460,-9.01,-1.44,564.93,0,0,0,0,0,0,26.31,26.40,26.02
$IRIDIUM_FIX,2045.60,12252.15,310713,202023
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.22
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,26.50
$XPDR_PINGS,8
$SC_FREEKB,7624512
$24V_AH,23.7,36.558
$10V_AH,10.1,23.264
$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,22.500,172.600,682.925,6.925,0.000,0.000,0.000,338.500,2.000,0.000,40.826,2889.723,12406.179,797.436,2581.902,719.992,0.000,2409.589,0.000,2182.275,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,90.270,1197.990,125.460,0.000,0.000,0.000,117.810,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18798.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.257,0.000,0.000,0.000
$MEM,323124
$DATA_FILE_SIZE,33400,857
$CAP_FILE_SIZE,223318,0
$CFSIZE,260034560,229687296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.204,348.2,1
$GPS,010813,073436,2054.107,12250.583,30,1.1,30,-3.0