version: 66.11
glider: 167
mission: 16
dive: 320
start: 8 17 113 6 41 31
data:
$ID,167
$MISSION,16
$DIVE,320
$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,-975594.75
$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,59
$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,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
$GPS1,170813,063130,2017.268,12259.424,42,0.9,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-69.6
$GPS2,170813,064059,2017.305,12259.534,41,1.2,41,-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,120.0,139878,-18.3,-10.000,-23.91,2793
$D_GRID,5312
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.12,-184.9,110,2213,679,647,0.0,0.0,0,122,0.00,0.00,-93.18,0.000,16386,0.000,0.000,111,2213,3006,2984,3028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.12,-184.9,110,2213,2985,3029,3.3,-3.5,16,162,10.57,2.08,-13.98,0.000,18948,0.238,0.037,2649,786,3724,3718,3730,0,0,0,0,0,0,25.29,26.10,26.46
$GC,240,-1.01,-184.9,1600,785,3712,3730,36.6,-30.9,31,247,0.17,2.05,0.00,0.000,3078,0.194,0.024,2682,2200,3725,3719,3732,0,0,0,0,0,0,25.60,26.15,28.83
$GC,547,-0.94,-184.9,2682,2200,3719,3732,116.9,-23.6,49,552,0.00,2.08,0.00,0.000,260,0.000,0.035,2672,3605,3725,3719,3732,0,0,0,0,0,0,28.83,26.20,28.83
$GC,784,-0.88,-184.9,2673,3605,3719,3732,167.1,-21.2,60,790,0.20,2.00,0.00,0.000,3078,0.168,0.015,2726,2163,3725,3719,3732,0,0,0,0,0,0,25.82,26.42,28.83
$GC,1100,-0.85,-184.9,2725,2163,3722,3732,224.3,-16.4,76,1105,0.00,1.90,0.00,0.000,516,0.000,0.029,2726,836,3727,3722,3732,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1150,-0.82,-184.9,1632,836,3714,3730,232.0,-16.9,78,1156,0.12,1.95,0.00,0.000,3078,0.171,0.024,2750,2203,3727,3722,3732,0,0,0,0,0,0,26.03,26.39,28.83
$GC,1472,-0.80,-184.9,2750,2203,3723,3732,276.9,-12.5,94,1477,0.00,2.00,0.00,0.000,516,0.000,0.028,2750,825,3727,3723,3732,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1507,-0.78,-184.9,2750,824,3723,3731,280.2,-12.6,95,1512,0.00,1.98,0.00,0.000,1030,0.000,0.025,2750,2198,3727,3723,3732,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1822,-0.77,-184.9,2750,2197,3723,3732,322.5,-13.4,111,1828,0.00,2.08,0.00,0.000,260,0.000,0.036,2740,3605,3727,3722,3732,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1946,-0.76,-184.9,2740,3605,3723,3732,337.7,-14.4,116,1954,0.12,1.95,0.00,0.000,3078,0.154,0.017,2772,2198,3727,3723,3732,0,0,0,0,0,0,26.15,26.51,28.83
$GC,2248,-0.76,-184.9,2772,2197,3723,3731,378.0,-11.8,132,2253,0.00,1.95,0.00,0.000,516,0.000,0.028,2773,833,3727,3723,3731,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2333,-0.76,-184.9,2773,833,3723,3731,387.9,-11.7,136,2338,0.00,1.98,0.00,0.000,1030,0.000,0.024,2766,2207,3727,3725,3729,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2657,-0.76,-184.9,2765,2207,3723,3727,425.0,-11.7,152,2662,0.00,2.00,0.00,0.000,516,0.000,0.027,2766,824,3725,3723,3727,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2685,-0.76,-184.9,1728,823,3718,3725,428.0,-11.9,153,2691,0.00,1.98,0.00,0.000,1030,0.000,0.026,2766,2196,3724,3723,3726,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3006,-0.76,-184.9,2765,2196,3722,3722,466.0,-11.7,169,3011,0.00,1.98,0.00,0.000,516,0.000,0.027,2766,833,3723,3723,3723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3040,-0.76,-184.9,2765,833,3723,3723,469.1,-12.0,170,3045,0.00,2.00,0.00,0.000,1030,0.000,0.026,2766,2212,3722,3723,3722,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3355,-0.76,-184.9,2766,2212,3723,3718,507.7,-11.6,186,3361,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,834,3720,3723,3718,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3400,-0.76,-184.9,2765,834,3723,3718,512.8,-11.3,188,3406,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2203,3720,3723,3717,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3726,-0.76,-184.9,2765,2203,3723,3712,547.0,-10.1,204,3731,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,826,3718,3724,3712,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3761,-0.76,-184.9,2765,826,3723,3712,549.5,-10.0,205,3766,0.00,2.00,0.00,0.000,1030,0.000,0.026,2765,2206,3717,3723,3711,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4076,-0.76,-184.9,2765,2206,3723,3707,584.4,-11.3,221,4081,0.00,2.08,0.00,0.000,260,0.000,0.039,2765,3595,3715,3723,3707,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4101,-0.76,-184.9,2765,3596,3723,3706,587.4,-11.4,222,4106,0.00,1.98,0.00,0.000,1030,0.000,0.019,2765,2186,3714,3723,3706,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4439,-0.76,-184.9,2764,2187,3723,3702,626.3,-11.5,235,4444,0.00,2.15,0.00,0.000,260,0.000,0.038,2765,3602,3711,3722,3701,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4543,-0.76,-184.9,2765,3603,3722,3700,636.9,-11.0,238,4548,0.00,1.98,0.00,0.000,1030,0.000,0.018,2765,2194,3711,3722,3700,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4873,-0.76,-184.9,2765,2194,3722,3694,672.4,-10.4,249,4879,0.00,1.98,0.00,0.000,516,0.000,0.030,2765,830,3707,3722,3693,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4958,-0.76,-184.9,2765,830,3722,3691,680.1,-10.6,251,4964,0.00,2.00,0.00,0.000,1030,0.000,0.027,2765,2202,3707,3722,3692,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5275,-0.76,-184.9,2765,2204,3722,3685,716.4,-10.8,262,5281,0.00,2.10,0.00,0.000,260,0.000,0.041,2765,3596,3704,3722,3686,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5314,-0.76,-184.9,1728,3595,3715,3683,720.4,-10.9,263,5319,0.00,1.98,0.00,0.000,1030,0.000,0.020,2765,2201,3703,3721,3686,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5647,-0.76,-184.9,2765,2201,3718,3683,756.8,-10.9,274,5652,0.00,2.00,0.00,0.000,516,0.000,0.030,2765,823,3701,3719,3683,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5721,-0.76,-184.9,2765,822,3717,3683,764.4,-11.0,276,5727,0.00,2.03,0.00,0.000,1030,0.000,0.028,2765,2201,3700,3717,3683,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6050,-0.76,-184.9,2765,2201,3715,3678,799.3,-10.4,287,6055,0.00,2.12,0.00,0.000,260,0.000,0.041,2765,3603,3696,3715,3678,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6124,-0.77,-184.9,2765,3603,3714,3678,806.5,-10.5,289,6130,0.00,2.00,0.00,0.000,1030,0.000,0.021,2765,2212,3696,3714,3678,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6453,-0.78,-184.9,2765,2212,3713,3674,840.1,-10.1,300,6458,0.00,2.05,0.00,0.000,516,0.000,0.030,2765,806,3693,3713,3674,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6488,-0.79,-184.9,2765,806,3712,3673,844.2,-10.1,301,6494,0.00,2.08,0.00,0.000,1030,0.000,0.028,2765,2208,3693,3712,3675,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6829,-0.79,-184.9,2765,2207,3711,3671,876.6,-9.4,312,6835,0.00,2.12,0.00,0.000,260,0.000,0.042,2765,3603,3690,3711,3670,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6883,-0.79,-184.9,1728,3602,3703,3668,880.3,-9.4,313,6888,0.00,2.03,0.00,0.000,1030,0.000,0.021,2764,2197,3689,3709,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7202,-0.79,-184.9,2765,2197,3707,3668,910.7,-9.3,324,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2197,3687,3707,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7500,-0.79,-184.9,2765,2197,3706,3665,937.7,-9.0,334,7506,0.00,2.03,0.00,0.000,516,0.000,0.032,2765,816,3685,3706,3665,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7536,-0.80,-184.9,2765,816,3706,3665,941.2,-9.2,335,7542,0.00,2.08,0.00,0.000,1030,0.000,0.029,2765,2209,3685,3705,3665,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7876,-0.81,-184.9,2765,2209,3704,3662,973.4,-10.1,346,7881,0.00,2.08,0.00,0.000,516,0.000,0.031,2765,815,3683,3705,3662,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7920,-0.82,-184.9,2765,814,3704,3662,977.6,-10.4,347,7926,0.00,2.08,0.00,0.000,1030,0.000,0.030,2765,2210,3683,3704,3662,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,8032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8032,begin apogee
$GC,8041,-0.18,0.0,2765,2042,3703,3660,990.9,-10.7,351,8200,0.57,0.00,147.85,1.242,10246,0.119,0.000,2952,2040,2964,3031,2897,0,0,0,0,0,0,25.62,28.83,23.82
$STATE,8202,end apogee,CONTROL_FINISHED_OK
$STATE,8203,begin climb
$GC,8207,1.12,184.9,2952,2039,3030,2892,999.7,0.0,356,8370,1.20,0.00,157.25,1.208,10758,0.066,0.000,3372,2040,2214,2299,2130,0,0,0,0,0,0,25.00,28.83,23.52
$GC,8669,1.06,184.9,3372,2040,2290,2102,957.9,12.0,372,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2040,2196,2290,2102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8966,1.01,184.9,3373,2040,2289,2100,920.7,12.3,382,8972,0.12,2.20,0.00,0.000,4356,0.172,0.041,3337,3459,2194,2288,2100,0,0,0,0,0,0,25.91,26.07,28.83
$GC,9059,0.96,184.9,3337,3459,2286,2099,912.1,12.6,384,9066,0.00,2.08,0.00,0.000,1030,0.000,0.024,3346,2055,2192,2286,2099,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9365,0.92,184.9,3345,2055,2286,2096,873.7,11.7,395,9371,0.12,2.17,0.00,0.000,4356,0.174,0.039,3310,3460,2192,2288,2097,0,0,0,0,0,0,26.01,26.13,28.83
$GC,9402,0.88,184.9,3310,3460,2286,2097,869.2,11.6,396,9407,0.00,2.10,0.00,0.000,1030,0.000,0.024,3319,2040,2192,2286,2098,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9741,0.84,184.9,3318,2039,2286,2095,832.8,10.9,407,9747,0.12,2.17,0.00,0.000,4356,0.166,0.040,3282,3449,2190,2286,2095,0,0,0,0,0,0,26.08,26.16,28.83
$GC,9766,0.81,184.9,3282,3450,2286,2095,832.8,10.9,407,9771,0.00,2.08,0.00,0.000,1030,0.000,0.024,3290,2039,2191,2287,2095,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10084,0.83,198.7,3290,2038,2286,2092,798.8,9.5,418,10099,0.00,2.08,10.15,1.194,8708,0.000,0.036,3300,660,2154,2247,2062,0,0,0,0,0,0,28.83,26.16,24.97
$GC,10120,0.85,215.6,3299,660,2243,2060,795.2,9.4,419,10142,0.00,2.10,17.70,1.144,9222,0.000,0.031,3300,2047,2090,2184,1997,0,0,0,0,0,0,28.83,26.15,24.73
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$STATE,17736,end climb,SURFACE_DEPTH_REACHED
$STATE,17736,begin surface coast
$FINISH,1.1,1.013092
$STATE,17769,end surface coast,CONTROL_FINISHED_OK
$STATE,17769,begin surface
$SM_CCo,17792,38.72,0.118,0,0,666,564.93
$SM_GC,2.13,8.32,0.17,38.72,0.021,0.060,0.118,135,2210,666,-8.93,-1.58,564.93,0,0,0,0,0,0,26.21,26.45,25.79
$IRIDIUM_FIX,2008.77,12254.88,170813,010155
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.12
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,27.00
$XPDR_PINGS,9
$SC_FREEKB,7594304
$24V_AH,23.5,51.237
$10V_AH,10.0,32.031
$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,22.325,174.150,570.475,38.725,0.000,0.000,0.000,321.150,2.250,0.000,42.533,2732.816,11789.696,748.636,2426.160,693.640,0.000,2260.659,0.000,2041.207,0.000,0.546,0.000
$DEVICE_MAMPS,237.915,59.670,1242.360,117.810,0.000,0.000,0.000,117.810,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17785.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.691,0.000,0.000,0.000
$MEM,343416
$DATA_FILE_SIZE,30009,805
$CAP_FILE_SIZE,211047,0
$CFSIZE,260034560,222355456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.036, 87.6,1
$GPS,170813,114006,2016.705,12301.068,38,1.0,38,-2.9