version: 66.11
glider: 167
mission: 16
dive: 318
start: 8 16 113 20 13 8
data:
$ID,167
$MISSION,16
$DIVE,318
$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,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,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,-975592.25
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,81
$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
$GPS1,160813,200304,2016.316,12256.005,37,1.1,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-69.0
$GPS2,160813,201235,2016.335,12255.920,32,1.1,32,-2.9
$SPEED_LIMITS,0.173,0.226
$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,109.2,146113,-18.3,-10.000,-23.91,2793
$D_GRID,5318
$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,-184.9,110,2242,676,650,0.0,0.0,0,118,0.00,0.00,-89.05,0.000,16386,0.000,0.000,110,2243,2890,2870,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-1.12,-184.9,110,2243,2870,2912,3.1,-3.2,15,164,10.52,2.15,-17.67,0.000,18948,0.234,0.039,2648,799,3727,3722,3732,0,0,0,0,0,0,25.27,26.10,26.46
$GC,280,-1.02,-184.9,1600,799,3716,3731,48.0,-29.3,35,287,0.17,2.00,0.00,0.000,3078,0.194,0.024,2681,2181,3727,3722,3733,0,0,0,0,0,0,25.61,26.17,28.83
$GC,586,-0.95,-184.9,2681,2181,3722,3733,124.5,-23.0,51,592,0.00,2.10,0.00,0.000,260,0.000,0.034,2672,3598,3727,3722,3733,0,0,0,0,0,0,28.83,26.21,28.83
$GC,762,-0.89,-184.9,2672,3598,3722,3733,161.8,-21.7,59,768,0.20,2.00,0.00,0.000,3078,0.161,0.016,2725,2163,3727,3722,3733,0,0,0,0,0,0,25.84,26.41,28.83
$GC,1078,-0.86,-184.9,2725,2162,3724,3733,216.5,-16.2,75,1084,0.00,2.15,0.00,0.000,260,0.000,0.034,2717,3603,3728,3724,3733,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1118,-0.83,-184.9,2717,3605,3724,3733,220.8,-16.3,76,1125,0.12,1.98,0.00,0.000,3078,0.161,0.017,2749,2188,3728,3724,3733,0,0,0,0,0,0,26.08,26.46,28.83
$GC,1424,-0.81,-184.9,2748,2188,3725,3733,266.4,-14.4,92,1429,0.00,1.95,0.00,0.000,516,0.000,0.028,2749,824,3729,3725,3733,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1459,-0.79,-184.9,2749,825,3725,3734,270.3,-14.8,93,1464,0.00,1.98,0.00,0.000,1030,0.000,0.024,2742,2201,3729,3725,3733,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1774,-0.78,-184.9,2742,2200,3725,3733,315.4,-13.1,109,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2201,3729,3725,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2079,-0.76,-184.9,2741,2201,3725,3733,352.7,-12.1,124,2085,0.00,2.00,0.00,0.000,516,0.000,0.028,2741,822,3729,3725,3733,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2125,-0.75,-184.9,2741,822,3725,3733,358.7,-12.1,126,2131,0.12,2.00,0.00,0.000,3078,0.165,0.024,2769,2205,3728,3725,3732,0,0,0,0,0,0,26.08,26.40,28.83
$GC,2451,-0.75,-184.9,2769,2205,3725,3730,395.2,-11.1,142,2457,0.00,2.00,0.00,0.000,516,0.000,0.028,2769,826,3727,3725,3730,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2485,-0.75,-184.9,2769,826,3726,3729,398.2,-11.3,143,2491,0.00,2.00,0.00,0.000,1030,0.000,0.025,2765,2207,3727,3725,3730,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2800,-0.75,-184.9,2765,2207,3725,3726,435.7,-11.4,159,2805,0.00,2.00,0.00,0.000,516,0.000,0.028,2766,829,3725,3725,3726,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2829,-0.75,-184.9,2765,829,3725,3726,438.5,-11.4,160,2835,0.00,1.98,0.00,0.000,1030,0.000,0.026,2766,2200,3725,3725,3726,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3149,-0.75,-184.9,2765,2200,3725,3721,474.7,-11.0,176,3154,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,825,3723,3725,3721,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3183,-0.75,-184.9,2765,825,3726,3721,477.3,-11.0,177,3189,0.00,2.00,0.00,0.000,1030,0.000,0.025,2766,2210,3722,3725,3720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3500,-0.75,-184.9,2765,2210,3725,3716,513.1,-11.1,193,3505,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,831,3720,3724,3716,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3534,-0.75,-184.9,2765,831,3725,3715,516.1,-11.2,194,3539,0.00,1.98,0.00,0.000,1030,0.000,0.026,2765,2199,3720,3725,3715,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3849,-0.75,-184.9,2765,2200,3725,3710,551.5,-10.8,210,3855,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,826,3717,3725,3710,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3883,-0.75,-184.9,2765,828,3725,3710,554.4,-10.9,211,3889,0.00,2.00,0.00,0.000,1030,0.000,0.026,2766,2203,3717,3725,3709,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4198,-0.75,-184.9,2765,2203,3725,3704,587.9,-10.3,227,4204,0.00,2.10,0.00,0.000,260,0.000,0.039,2765,3601,3714,3725,3704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4228,-0.75,-184.9,2765,3601,3725,3704,590.6,-10.3,228,4234,0.00,1.98,0.00,0.000,1030,0.000,0.019,2766,2188,3714,3724,3704,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4543,-0.75,-184.9,2765,2188,3725,3698,621.8,-9.5,240,4548,0.00,1.95,0.00,0.000,516,0.000,0.029,2765,841,3711,3725,3698,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4617,-0.75,-184.9,2765,840,3724,3697,628.6,-9.6,242,4623,0.00,2.00,0.00,0.000,1030,0.000,0.027,2765,2211,3711,3725,3697,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4945,-0.75,-184.9,2765,2211,3724,3691,659.1,-8.9,253,4951,0.00,2.10,0.00,0.000,260,0.000,0.041,2765,3596,3707,3724,3691,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4970,-0.75,-184.9,2765,3596,3724,3690,659.1,-8.9,253,4976,0.00,1.98,0.00,0.000,1030,0.000,0.019,2765,2200,3707,3724,3690,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5289,-0.75,-184.9,2765,2200,3722,3685,690.0,-9.0,264,5294,0.00,2.00,0.00,0.000,516,0.000,0.030,2765,822,3703,3722,3685,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5333,-0.75,-184.9,2765,822,3721,3685,693.7,-9.1,265,5339,0.00,2.03,0.00,0.000,1030,0.000,0.028,2765,2198,3704,3723,3685,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5662,-0.75,-184.9,2765,2198,3719,3682,724.7,-9.4,276,5668,0.00,2.12,0.00,0.000,260,0.000,0.041,2765,3603,3700,3719,3682,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5728,-0.75,-184.9,2765,3603,3717,3682,731.3,-9.4,278,5734,0.00,2.00,0.00,0.000,1030,0.000,0.020,2765,2217,3699,3717,3682,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6067,-0.75,-184.9,2765,2215,3715,3677,763.9,-10.1,289,6073,0.00,2.05,0.00,0.000,516,0.000,0.031,2765,810,3696,3715,3677,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6117,-0.75,-184.9,2765,811,3715,3677,768.0,-10.3,290,6122,0.00,2.05,0.00,0.000,1030,0.000,0.028,2766,2205,3696,3715,3677,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6437,-0.75,-184.9,2765,2205,3712,3674,803.0,-10.5,301,6443,0.00,2.12,0.00,0.000,260,0.000,0.042,2766,3602,3693,3712,3674,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6497,-0.75,-184.9,2765,3601,3712,3673,806.7,-10.4,302,6503,0.00,2.05,0.00,0.000,1030,0.000,0.021,2766,2190,3692,3712,3673,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6803,-0.75,-184.9,2765,2190,3711,3670,839.4,-9.8,313,6809,0.00,2.03,0.00,0.000,516,0.000,0.031,2766,806,3690,3711,3669,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6834,-0.75,-184.9,2765,806,3711,3670,839.4,-9.8,313,6840,0.00,2.05,0.00,0.000,1030,0.000,0.029,2766,2198,3690,3710,3670,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7142,-0.75,-184.9,2765,2198,3709,3668,871.3,-9.1,324,7148,0.00,2.15,0.00,0.000,260,0.000,0.043,2765,3606,3688,3709,3667,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7179,-0.76,-184.9,2765,3606,3708,3667,874.7,-9.0,325,7184,0.00,2.05,0.00,0.000,1030,0.000,0.022,2765,2202,3688,3708,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7518,-0.76,-184.9,2765,2202,3706,3664,905.3,-9.5,336,7523,0.00,2.17,0.00,0.000,260,0.000,0.043,2766,3605,3685,3706,3664,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7559,-0.76,-184.9,2765,3605,3706,3664,908.7,-9.4,337,7564,0.00,2.05,0.00,0.000,1030,0.000,0.023,2765,2202,3685,3706,3664,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7892,-0.77,-184.9,2765,2201,3705,3662,940.4,-9.9,348,7898,0.00,2.17,0.00,0.000,260,0.000,0.044,2765,3602,3683,3705,3661,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7948,-0.78,-184.9,2765,3602,3704,3661,944.3,-10.0,349,7954,0.00,2.08,0.00,0.000,1030,0.000,0.024,2765,2186,3682,3704,3661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8266,-0.79,-184.9,2765,2185,3703,3659,976.9,-10.1,360,8272,0.00,2.05,0.00,0.000,516,0.000,0.033,2766,805,3680,3703,3658,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8326,-0.80,-184.9,2765,804,3702,3658,980.9,-10.4,361,8333,0.00,2.08,0.00,0.000,1030,0.000,0.031,2765,2199,3680,3703,3658,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,8388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8388,begin apogee
$GC,8397,-0.18,0.0,2765,2049,3702,3658,990.1,-10.3,364,8556,0.57,0.00,149.38,1.233,10246,0.119,0.000,2952,2048,2964,3030,2898,0,0,0,0,0,0,25.58,28.83,23.80
$STATE,8559,end apogee,CONTROL_FINISHED_OK
$STATE,8559,begin climb
$GC,8563,1.12,184.9,2952,2048,3029,2891,998.6,0.0,369,8733,1.20,2.30,159.00,1.193,10756,0.066,0.036,3380,670,2206,2291,2122,0,0,0,0,0,0,24.97,24.45,23.46
$GC,8783,1.08,199.0,3381,670,2283,2116,988.6,9.5,376,8804,0.00,2.20,12.60,1.196,9222,0.000,0.030,3381,2056,2151,2236,2066,0,0,0,0,0,0,28.83,25.14,23.83
$GC,9124,1.03,199.0,3381,2056,2236,2051,936.4,14.1,388,9130,0.12,2.17,0.00,0.000,4356,0.172,0.041,3347,3460,2143,2236,2051,0,0,0,0,0,0,25.75,25.93,28.83
$GC,9192,0.98,199.0,3347,3459,2234,2051,927.0,14.0,390,9197,0.00,2.10,0.00,0.000,1030,0.000,0.024,3355,2054,2142,2234,2050,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9530,0.93,199.0,3355,2054,2234,2047,882.1,13.1,401,9536,0.12,2.17,0.00,0.000,4356,0.175,0.040,3320,3453,2140,2234,2047,0,0,0,0,0,0,25.93,26.08,28.83
$GC,9597,0.89,199.0,3320,3453,2234,2047,873.6,12.7,403,9602,0.00,2.10,0.00,0.000,1030,0.000,0.025,3329,2040,2140,2235,2046,0,0,0,0,0,0,28.83,26.24,28.83
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$STATE,18014,end climb,SURFACE_DEPTH_REACHED
$STATE,18015,begin surface coast
$FINISH,1.1,1.020940
$STATE,18031,end surface coast,CONTROL_FINISHED_OK
$STATE,18031,begin surface
$SM_CCo,18116,0.00,0.000,0,0,624,575.47
$SM_GC,2.05,8.77,2.33,0.00,0.028,0.024,0.000,137,2210,624,-8.93,-1.27,575.47,0,0,0,0,0,0,26.10,26.20,28.83
$IRIDIUM_FIX,2006.47,12256.81,160813,141435
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.03
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.80
$XPDR_PINGS,6
$SC_FREEKB,7595072
$24V_AH,23.5,50.866
$10V_AH,9.9,31.810
$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,23.850,183.525,585.425,0.000,0.000,0.000,0.000,330.725,1.500,0.000,33.943,2701.956,12125.817,745.209,2392.488,710.273,0.000,2262.697,0.000,2004.613,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,48.960,1233.180,0.000,0.000,0.000,0.000,119.340,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18048.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.720,0.000,0.000,0.000
$MEM,343416
$DATA_FILE_SIZE,30044,809
$CAP_FILE_SIZE,215317,0
$CFSIZE,260034560,222543872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.115,352.2,1
$GPS,170813,011623,2016.961,12257.117,38,1.4,38,-2.9