version: 66.11
glider: 167
mission: 16
dive: 324
start: 8 18 113 3 25 5
data:
$ID,167
$MISSION,16
$DIVE,324
$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,-6
$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,-975599.75
$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,60
$R_STBD_OVSHOOT,55
$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
$GPS1,180813,031536,2017.675,12304.360,33,1.1,33,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.4
$GPS2,180813,032435,2017.715,12304.497,38,1.0,38,-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,117.1,131285,-18.3,-10.000,-23.91,2793
$D_GRID,5302
$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,-184.9,113,2221,686,645,0.0,0.0,0,123,0.00,0.00,-93.25,0.000,16386,0.000,0.000,113,2221,2995,2971,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.12,-184.9,113,2221,2972,3020,3.3,-3.7,16,163,10.55,2.08,-14.27,0.000,18948,0.234,0.037,2651,792,3724,3718,3730,0,0,0,0,0,0,25.24,26.09,26.47
$GC,280,-1.02,-184.9,1600,792,3711,3730,49.9,-31.8,35,287,0.17,2.05,0.00,0.000,3078,0.191,0.024,2685,2208,3725,3718,3732,0,0,0,0,0,0,25.61,26.17,28.83
$GC,587,-0.95,-184.9,2685,2208,3719,3732,127.7,-22.3,51,592,0.00,2.05,0.00,0.000,260,0.000,0.034,2676,3600,3725,3719,3732,0,0,0,0,0,0,28.83,26.22,28.83
$GC,794,-0.89,-184.9,2676,3601,3719,3731,173.6,-20.3,61,800,0.17,2.03,0.00,0.000,3078,0.164,0.015,2721,2153,3725,3719,3731,0,0,0,0,0,0,25.89,26.42,28.83
$GC,1120,-0.86,-184.9,2721,2153,3721,3732,224.5,-15.2,77,1126,0.00,2.15,0.00,0.000,260,0.000,0.033,2713,3602,3726,3721,3732,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1152,-0.83,-184.9,2713,3602,3722,3732,228.7,-15.7,78,1158,0.12,1.95,0.00,0.000,3078,0.161,0.016,2745,2201,3726,3721,3732,0,0,0,0,0,0,26.08,26.46,28.83
$GC,1473,-0.82,-184.9,2744,2201,3722,3731,275.4,-13.1,94,1478,0.00,1.98,0.00,0.000,516,0.000,0.028,2745,823,3726,3722,3731,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1513,-0.80,-184.9,2745,823,3723,3733,278.7,-13.0,95,1519,0.00,1.98,0.00,0.000,1030,0.000,0.024,2738,2200,3727,3722,3732,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1818,-0.78,-184.9,2738,2200,3722,3731,318.9,-12.7,111,1823,0.00,2.08,0.00,0.000,260,0.000,0.037,2737,3602,3727,3722,3732,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1884,-0.77,-184.9,2737,3602,3722,3731,327.3,-12.7,114,1890,0.12,2.00,0.00,0.000,3078,0.155,0.016,2769,2182,3726,3722,3731,0,0,0,0,0,0,26.13,26.51,28.83
$GC,2210,-0.77,-184.9,2769,2181,3722,3731,365.5,-11.6,130,2215,0.00,1.92,0.00,0.000,516,0.000,0.028,2769,836,3726,3722,3730,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2299,-0.77,-184.9,1712,835,3716,3728,375.4,-11.7,134,2304,0.00,1.98,0.00,0.000,1030,0.000,0.024,2766,2210,3726,3722,3730,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2619,-0.77,-184.9,2766,2209,3722,3726,412.7,-11.8,150,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2210,3724,3722,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,-0.77,-184.9,2765,2210,3723,3723,446.0,-10.6,165,2927,0.00,2.00,0.00,0.000,516,0.000,0.028,2766,835,3722,3722,3722,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3011,-0.77,-184.9,1728,835,3716,3719,455.5,-10.7,169,3017,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2201,3721,3722,3721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3332,-0.77,-184.9,2765,2201,3722,3717,490.5,-11.1,185,3337,0.00,2.00,0.00,0.000,516,0.000,0.028,2766,825,3719,3722,3717,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3360,-0.77,-184.9,1728,826,3716,3715,493.4,-11.1,186,3365,0.00,2.00,0.00,0.000,1030,0.000,0.026,2766,2206,3719,3722,3717,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3680,-0.77,-184.9,2766,2206,3722,3711,529.0,-10.4,202,3685,0.00,2.00,0.00,0.000,516,0.000,0.028,2766,832,3716,3722,3711,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3725,-0.77,-184.9,2766,832,3723,3711,533.8,-10.4,204,3730,0.00,2.00,0.00,0.000,1030,0.000,0.026,2766,2213,3717,3723,3711,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4050,-0.77,-184.9,2766,2213,3722,3706,567.9,-10.5,220,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2213,3714,3722,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,-0.77,-184.9,2765,2213,3722,3701,597.2,-9.3,235,4359,0.00,2.03,0.00,0.000,516,0.000,0.028,2765,826,3711,3722,3701,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4399,-0.77,-184.9,2766,826,3722,3700,601.8,-9.2,237,4404,0.00,2.00,0.00,0.000,1030,0.000,0.026,2766,2200,3710,3722,3699,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4727,-0.77,-184.9,2766,2200,3722,3694,633.7,-10.2,248,4732,0.00,2.10,0.00,0.000,260,0.000,0.040,2766,3592,3708,3722,3694,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4793,-0.77,-184.9,2766,3592,3721,3692,641.2,-10.7,250,4798,0.00,1.98,0.00,0.000,1030,0.000,0.019,2766,2191,3707,3722,3692,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5132,-0.77,-184.9,2765,2191,3722,3686,678.5,-11.3,261,5137,0.00,1.98,0.00,0.000,516,0.000,0.030,2766,830,3704,3722,3686,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5211,-0.77,-184.9,2766,830,3722,3684,686.4,-11.3,263,5217,0.00,2.00,0.00,0.000,1030,0.000,0.028,2765,2198,3703,3721,3685,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5536,-0.77,-184.9,2765,2199,3718,3683,720.1,-9.8,274,5541,0.00,2.12,0.00,0.000,260,0.000,0.041,2766,3596,3700,3718,3683,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5556,-0.77,-184.9,2765,3596,3718,3683,720.1,-9.8,274,5562,0.00,1.98,0.00,0.000,1030,0.000,0.020,2765,2217,3700,3717,3683,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5880,-0.78,-184.9,2765,2217,3715,3679,754.2,-10.1,285,5886,0.00,2.05,0.00,0.000,516,0.000,0.030,2766,819,3697,3715,3679,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5940,-0.79,-184.9,2765,819,3715,3678,758.2,-10.3,286,5947,0.00,2.03,0.00,0.000,1030,0.000,0.028,2766,2198,3696,3714,3678,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6249,-0.80,-184.9,2766,2198,3713,3675,794.7,-11.2,297,6254,0.00,2.12,0.00,0.000,260,0.000,0.042,2766,3601,3694,3713,3675,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6333,-0.81,-184.9,2766,3600,3712,3675,802.3,-11.1,299,6338,0.00,2.00,0.00,0.000,1030,0.000,0.021,2766,2198,3693,3712,3675,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6648,-0.81,-184.9,2766,2197,3710,3671,837.6,-10.4,310,6654,0.00,2.15,0.00,0.000,260,0.000,0.042,2766,3601,3691,3711,3671,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6687,-0.82,-184.9,1728,3599,3703,3669,841.3,-10.3,311,6692,0.00,2.00,0.00,0.000,1030,0.000,0.022,2766,2204,3690,3709,3671,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7021,-0.82,-184.9,2765,2204,3708,3668,873.1,-9.0,322,7027,0.00,2.15,0.00,0.000,260,0.000,0.043,2765,3595,3688,3708,3668,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7060,-0.82,-184.9,1728,3594,3700,3666,876.7,-8.9,323,7066,0.00,2.03,0.00,0.000,1030,0.000,0.023,2766,2185,3687,3707,3668,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7394,-0.82,-184.9,2765,2185,3705,3665,909.0,-10.3,334,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2185,3685,3705,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7692,-0.83,-184.9,2765,2185,3704,3663,942.8,-11.4,344,7697,0.00,2.00,0.00,0.000,516,0.000,0.033,2766,819,3683,3704,3663,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7731,-0.84,-184.9,2765,819,3704,3663,947.1,-11.6,345,7737,0.00,2.05,0.00,0.000,1030,0.000,0.031,2766,2200,3683,3704,3662,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8066,-0.85,-184.9,2765,2201,3703,3660,985.3,-11.1,356,8071,0.00,2.15,0.00,0.000,260,0.000,0.044,2766,3608,3681,3703,3660,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,8127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8127,begin apogee
$GC,8138,-0.18,0.0,2765,2053,3702,3660,992.7,-10.9,358,8312,0.57,0.00,161.25,1.191,10246,0.121,0.000,2951,2051,2962,3030,2895,0,0,0,0,0,0,25.56,28.83,23.89
$STATE,8314,end apogee,CONTROL_FINISHED_OK
$STATE,8315,begin climb
$GC,8318,1.12,184.9,2950,2051,3030,2891,1002.4,0.0,364,8488,1.17,2.33,161.00,1.205,10500,0.063,0.042,3368,3446,2206,2292,2121,0,0,0,0,0,0,25.01,24.40,23.42
$GC,8611,1.06,184.9,3368,3446,2288,2100,981.5,13.9,373,8617,0.00,2.10,0.00,0.000,1030,0.000,0.024,3377,2053,2194,2289,2100,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8919,1.00,184.9,3377,2053,2289,2095,935.9,13.5,384,8925,0.12,2.10,0.00,0.000,4612,0.172,0.035,3351,657,2191,2288,2095,0,0,0,0,0,0,25.82,26.01,28.83
$GC,8934,0.95,184.9,3351,657,2289,2095,935.9,13.5,384,8940,0.12,2.10,0.00,0.000,5126,0.168,0.030,3323,2046,2192,2289,2095,0,0,0,0,0,0,25.76,26.06,28.83
$GC,9263,0.91,184.9,3322,2046,2289,2091,896.8,10.9,395,9269,0.00,2.17,0.00,0.000,260,0.000,0.042,3323,3463,2189,2288,2091,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9353,0.87,184.9,3322,3463,2285,2090,888.6,11.6,397,9360,0.12,2.08,0.00,0.000,5126,0.174,0.024,3300,2046,2187,2284,2091,0,0,0,0,0,0,25.87,26.25,28.83
$GC,9663,0.85,184.9,3300,2045,2284,2090,854.7,10.1,408,9668,0.00,2.20,0.00,0.000,260,0.000,0.042,3300,3466,2187,2284,2090,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9731,0.82,184.9,3300,3466,2284,2090,847.3,10.4,410,9736,0.00,2.08,0.00,0.000,1030,0.000,0.025,3308,2049,2187,2285,2090,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10065,0.80,189.8,3309,2048,2283,2089,813.6,9.8,421,10071,0.12,2.08,0.00,0.000,4612,0.168,0.035,3281,661,2187,2285,2089,0,0,0,0,0,0,26.08,26.19,28.83
$GC,10111,0.80,199.1,3280,661,2280,2088,809.8,9.7,422,10121,0.00,2.10,3.65,0.893,9222,0.000,0.030,3281,2064,2159,2252,2066,0,0,0,0,0,0,28.83,26.26,24.22
$GC,10436,0.88,239.4,3281,2064,2253,2086,780.7,8.5,433,10494,0.00,2.28,47.78,1.099,8452,0.000,0.043,3281,3458,1980,2076,1884,0,0,0,0,0,0,28.83,25.41,24.43
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$STATE,17989,end climb,SURFACE_DEPTH_REACHED
$STATE,17989,begin surface coast
$FINISH,1.1,1.017050
$STATE,18011,end surface coast,CONTROL_FINISHED_OK
$STATE,18011,begin surface
$SM_CCo,18033,36.78,0.251,1,0,665,564.93
$SM_GC,2.16,8.50,0.17,36.78,0.031,0.060,0.251,137,2223,665,-8.93,-1.50,564.93,0,0,0,0,1,0,26.17,26.44,25.15
$IRIDIUM_FIX,2008.77,12259.99,170813,222241
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.67
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.90
$XPDR_PINGS,6
$SC_FREEKB,7592768
$24V_AH,23.4,51.981
$10V_AH,10.2,32.473
$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,22.600,179.200,607.175,36.775,0.000,0.000,0.000,291.825,1.500,0.000,39.945,2790.204,11871.259,777.821,2485.676,677.902,0.000,2308.331,0.000,2116.919,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,60.435,1204.875,250.920,0.000,0.000,0.000,121.635,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18016.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.665,0.000,0.000,0.000
$MEM,327860
$DATA_FILE_SIZE,30012,812
$CAP_FILE_SIZE,217009,0
$CFSIZE,260034560,221970432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.108, 68.1,1
$GPS,180813,082736,2017.557,12306.745,30,0.8,30,-2.9