version: 66.11
glider: 167
mission: 16
dive: 270
start: 8 6 113 18 21 59
data:
$ID,167
$MISSION,16
$DIVE,270
$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,-14
$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,0
$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,-975532.25
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,62
$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
$GPS1,060813,181307,2039.407,12233.874,30,1.2,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-71.7
$GPS2,060813,182130,2039.473,12233.948,43,0.9,43,-2.9
$SPEED_LIMITS,0.173,0.226
$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,168.2,75592,-18.3,-10.000,-23.91,2793
$D_GRID,3598
$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,-1.12,-184.9,123,2168,678,659,0.0,0.0,0,116,0.00,0.00,-87.70,0.000,16386,0.000,0.000,123,2169,2883,2858,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.12,-184.9,122,2169,2858,2909,3.3,-3.2,16,161,10.30,2.12,-15.75,0.000,18948,0.234,0.039,2648,750,3726,3717,3735,0,0,0,0,0,0,25.41,26.11,26.44
$GC,178,-0.99,-184.9,2648,749,3717,3738,22.0,-36.7,24,186,0.20,2.03,0.00,0.000,3078,0.190,0.023,2690,2141,3727,3718,3736,0,0,0,0,0,0,25.60,26.11,28.83
$GC,486,-0.93,-184.9,2689,2141,3718,3736,110.8,-25.3,44,491,0.00,2.08,0.00,0.000,260,0.000,0.032,2681,3552,3727,3719,3735,0,0,0,0,0,0,28.83,26.20,28.83
$GC,673,-0.87,-184.9,2680,3552,3720,3736,146.6,-19.3,53,679,0.17,2.00,0.00,0.000,3078,0.164,0.015,2727,2104,3728,3720,3736,0,0,0,0,0,0,25.89,26.41,28.83
$GC,999,-0.84,-184.9,2727,2103,3722,3736,203.5,-17.0,69,1004,0.00,2.15,0.00,0.000,260,0.000,0.031,2719,3555,3729,3722,3736,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1018,-0.81,-184.9,2719,3555,3722,3736,203.5,-17.0,69,1025,0.12,1.95,0.00,0.000,3078,0.162,0.015,2750,2142,3729,3722,3736,0,0,0,0,0,0,26.09,26.46,28.83
$GC,1324,-0.79,-184.9,2750,2142,3723,3736,252.4,-14.4,85,1329,0.00,2.10,0.00,0.000,260,0.000,0.032,2741,3560,3729,3723,3736,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1389,-0.78,-184.9,2742,3561,3723,3736,261.7,-14.3,88,1394,0.00,1.95,0.00,0.000,1030,0.000,0.015,2742,2158,3729,3723,3736,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1714,-0.75,-184.9,2742,2157,3723,3736,307.6,-15.0,104,1719,0.00,1.98,0.00,0.000,516,0.000,0.028,2742,775,3729,3723,3736,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1743,-0.73,-184.9,2742,775,3723,3736,311.4,-14.9,105,1749,0.15,2.00,0.00,0.000,3078,0.160,0.023,2777,2165,3729,3723,3736,0,0,0,0,0,0,26.07,26.41,28.83
$GC,2064,-0.73,-184.9,2777,2164,3722,3734,351.8,-11.7,121,2069,0.00,2.05,0.00,0.000,260,0.000,0.037,2777,3549,3728,3723,3734,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2103,-0.73,-184.9,2777,3549,3722,3734,354.6,-11.8,122,2109,0.00,1.95,0.00,0.000,1030,0.000,0.017,2777,2152,3728,3723,3734,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2408,-0.73,-184.9,2777,2152,3722,3731,391.3,-11.4,138,2414,0.00,1.98,0.00,0.000,516,0.000,0.028,2777,775,3727,3723,3731,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2477,-0.73,-184.9,1728,774,3716,3729,399.0,-11.7,141,2482,0.00,2.00,0.00,0.000,1030,0.000,0.024,2777,2159,3727,3723,3731,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2797,-0.73,-184.9,2777,2159,3723,3728,438.8,-12.9,157,2802,0.00,2.05,0.00,0.000,260,0.000,0.037,2777,3547,3725,3723,3727,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2830,-0.73,-184.9,2777,3546,3722,3727,442.0,-12.8,158,2836,0.00,1.98,0.00,0.000,1030,0.000,0.017,2777,2140,3725,3723,3727,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3145,-0.73,-184.9,2777,2139,3723,3723,481.3,-11.7,174,3151,0.00,1.95,0.00,0.000,516,0.000,0.028,2777,782,3723,3723,3723,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3179,-0.73,-184.9,2777,782,3723,3722,484.2,-11.7,175,3184,0.00,1.98,0.00,0.000,1030,0.000,0.024,2778,2152,3722,3723,3722,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3494,-0.73,-184.9,2777,2152,3723,3718,518.4,-10.1,191,3499,0.00,2.00,0.00,0.000,516,0.000,0.026,2776,772,3720,3723,3718,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3539,-0.73,-184.9,2777,772,3723,3718,523.3,-10.6,193,3544,0.00,2.00,0.00,0.000,1030,0.000,0.023,2777,2156,3720,3723,3717,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3864,-0.73,-184.9,2776,2155,3722,3713,559.2,-11.3,209,3869,0.00,2.08,0.00,0.000,260,0.000,0.037,2777,3549,3717,3722,3712,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3912,-0.74,-184.9,1728,3548,3716,3709,564.2,-11.1,211,3917,0.00,1.98,0.00,0.000,1030,0.000,0.018,2777,2139,3722,3733,3712,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4232,-0.74,-184.9,2777,2139,3722,3707,601.1,-11.4,227,4237,0.00,1.95,0.00,0.000,516,0.000,0.029,2777,784,3715,3724,3707,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4276,-0.74,-184.9,2777,784,3722,3706,605.1,-11.4,228,4281,0.00,1.98,0.00,0.000,1030,0.000,0.024,2777,2149,3714,3723,3706,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4604,-0.74,-184.9,2777,2148,3722,3702,643.4,-11.5,239,4609,0.00,2.10,0.00,0.000,260,0.000,0.038,2777,3550,3712,3723,3701,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4672,-0.76,-184.9,1736,3549,3716,3698,651.5,-11.8,241,4677,0.00,1.98,0.00,0.000,1030,0.000,0.018,2777,2151,3711,3722,3700,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5006,-0.76,-184.9,2777,2151,3722,3695,689.6,-11.2,252,5011,0.00,2.00,0.00,0.000,516,0.000,0.030,2776,772,3708,3722,3694,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5065,-0.76,-184.9,2777,772,3722,3694,693.6,-11.1,253,5072,0.00,2.03,0.00,0.000,1030,0.000,0.024,2777,2157,3708,3722,3694,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5375,-0.77,-184.9,2777,2157,3722,3690,726.9,-9.7,264,5380,0.00,2.10,0.00,0.000,260,0.000,0.039,2778,3548,3706,3722,3690,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5455,-0.78,-184.9,2777,3548,3722,3688,733.6,-9.7,266,5460,0.00,1.98,0.00,0.000,1030,0.000,0.019,2777,2153,3705,3722,3688,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5778,-0.79,-184.9,2777,2153,3720,3684,766.8,-10.0,277,5783,0.00,2.03,0.00,0.000,516,0.000,0.031,2778,775,3702,3720,3684,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5828,-0.80,-184.9,2778,775,3719,3684,770.6,-10.1,278,5833,0.00,2.03,0.00,0.000,1030,0.000,0.025,2778,2156,3701,3719,3684,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6151,-0.81,-184.9,2777,2158,3716,3683,806.3,-10.5,289,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2156,3699,3716,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6450,-0.83,-184.9,2777,2156,3715,3679,837.0,-10.0,299,6455,0.00,2.10,0.00,0.000,260,0.000,0.040,2778,3547,3696,3715,3678,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6515,-0.84,-184.9,2777,3547,3714,3678,843.6,-9.8,301,6521,0.10,2.03,0.00,0.000,5126,0.100,0.021,2733,2144,3696,3714,3678,0,0,0,0,0,0,26.33,26.46,28.83
$GC,6850,-0.84,-184.9,2733,2144,3712,3676,884.6,-12.5,312,6856,0.00,2.03,0.00,0.000,516,0.000,0.031,2733,762,3694,3712,3676,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6924,-0.84,-184.9,2733,762,3711,3676,892.6,-12.4,314,6930,0.00,2.05,0.00,0.000,1030,0.000,0.025,2726,2150,3693,3711,3676,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7252,-0.84,-184.9,2726,2150,3709,3672,934.3,-12.5,325,7258,0.00,2.12,0.00,0.000,260,0.000,0.041,2726,3552,3691,3710,3672,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7306,-0.84,-184.9,2726,3551,3709,3672,939.1,-12.5,326,7311,0.00,2.03,0.00,0.000,1030,0.000,0.021,2726,2146,3691,3709,3673,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7621,-0.84,-184.9,2724,2140,3705,3670,984.3,-13.9,337,7627,0.00,2.03,0.00,0.000,516,0.000,0.031,2724,766,3687,3705,3670,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7660,-0.84,-184.9,2723,767,3705,3670,989.3,-13.9,338,7666,0.00,2.05,0.00,0.000,1030,0.000,0.027,2724,2154,3687,3705,3669,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,7687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7687,begin apogee
$GC,7695,-0.18,0.0,2724,2035,3705,3669,994.0,-13.9,339,7861,0.70,0.00,154.05,1.226,10246,0.132,0.000,2946,2035,2962,3024,2900,0,0,0,0,0,0,25.59,28.83,23.87
$STATE,7863,end apogee,CONTROL_FINISHED_OK
$STATE,7863,begin climb
$GC,7867,1.12,184.9,2946,2035,3023,2892,1002.9,0.0,344,8037,1.23,2.20,161.62,1.197,10756,0.070,0.034,3380,688,2208,2291,2125,0,0,0,0,0,0,24.97,24.41,23.53
$GC,8105,1.05,184.9,3380,688,2274,2110,991.3,11.0,352,8112,0.00,2.12,0.00,0.000,1030,0.000,0.028,3380,2040,2192,2274,2111,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8410,0.99,184.9,3380,2039,2273,2102,945.5,13.7,363,8416,0.15,2.20,0.00,0.000,4356,0.177,0.039,3339,3466,2187,2273,2102,0,0,0,0,0,0,25.65,25.96,28.83
$GC,8612,0.94,184.9,3338,3466,2273,2099,921.0,12.6,369,8617,0.00,2.08,0.00,0.000,1030,0.000,0.024,3347,2064,2186,2273,2099,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8935,0.90,184.9,3347,2064,2273,2096,881.8,11.7,380,8941,0.12,2.17,0.00,0.000,4356,0.181,0.039,3312,3465,2184,2273,2095,0,0,0,0,0,0,25.94,26.13,28.83
$GC,9061,0.86,184.9,3312,3465,2273,2094,866.4,11.8,384,9067,0.00,2.10,0.00,0.000,1030,0.000,0.024,3320,2049,2184,2273,2095,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9401,0.82,184.9,3320,2047,2273,2093,828.2,11.7,395,9406,0.12,2.17,0.00,0.000,4356,0.173,0.038,3285,3458,2182,2273,2092,0,0,0,0,0,0,26.03,26.18,28.83
$GC,9471,0.79,184.9,3284,3458,2273,2092,820.3,11.6,397,9476,0.00,2.08,0.00,0.000,1030,0.000,0.025,3292,2046,2182,2273,2092,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9805,0.81,203.9,3292,2046,2272,2090,787.2,9.3,408,9823,0.00,0.00,15.38,1.113,8198,0.000,0.000,3293,2045,2137,2227,2048,0,0,0,0,0,0,28.83,28.83,25.11
$GC,10106,0.79,203.9,3292,2046,2214,2023,756.3,10.5,418,10111,0.00,2.10,0.00,0.000,516,0.000,0.036,3302,657,2119,2214,2025,0,0,0,0,0,0,28.83,26.12,28.83
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$STATE,17498,end climb,SURFACE_DEPTH_REACHED
$STATE,17498,begin surface coast
$FINISH,1.5,1.021174
$STATE,17526,end surface coast,CONTROL_FINISHED_OK
$STATE,17526,begin surface
$SM_CCo,17548,32.95,0.125,0,0,664,564.93
$SM_GC,2.31,8.30,0.10,32.95,0.021,0.090,0.125,135,2184,664,-8.92,-1.61,564.93,0,0,0,0,0,0,26.27,26.45,25.83
$IRIDIUM_FIX,2034.08,12234.28,060813,131325
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.41
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,26.20
$XPDR_PINGS,7
$SC_FREEKB,7613376
$24V_AH,23.3,42.222
$10V_AH,10.0,26.384
$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
$DEVICE_SECS,22.550,178.200,546.350,32.950,0.000,0.000,0.000,261.050,1.750,0.000,44.133,2606.531,11646.276,712.357,2437.547,674.828,0.000,2193.030,0.000,2098.993,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17546.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.119,0.000,0.000,0.000
$MEM,342960
$DATA_FILE_SIZE,30056,800
$CAP_FILE_SIZE,213525,0
$CFSIZE,260034560,227065856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060813,231629,2038.753,12234.116,42,1.0,42,-2.9