version: 66.11
glider: 167
mission: 16
dive: 329
start: 8 19 113 5 22 36
data:
$ID,167
$MISSION,16
$DIVE,329
$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,-975606
$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,61
$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,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
$GPS1,190813,051355,2016.751,12311.858,62,0.8,62,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-68.9
$GPS2,190813,052206,2016.740,12311.939,16,1.1,16,-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,106.2,118302,-18.3,-10.000,-23.91,2793
$D_GRID,5383
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.12,-184.9,111,2236,689,648,0.0,0.0,0,122,0.00,0.00,-91.25,0.000,16386,0.000,0.000,111,2237,2940,2916,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.12,-184.9,111,2237,2917,2965,3.2,-3.3,15,162,10.52,2.10,-15.93,0.000,19204,0.234,0.047,2643,3585,3727,3722,3732,0,0,0,0,0,0,25.29,26.04,26.46
$GC,395,-1.03,-184.9,1600,3584,3716,3731,82.0,-27.7,41,402,0.15,1.98,0.00,0.000,3078,0.194,0.015,2677,2157,3728,3723,3733,0,0,0,0,0,0,25.72,26.32,28.83
$GC,717,-0.97,-184.9,2677,2156,3724,3733,153.2,-21.0,57,722,0.00,2.12,0.00,0.000,260,0.000,0.032,2670,3586,3728,3724,3733,0,0,0,0,0,0,28.83,26.25,28.83
$GC,757,-0.91,-184.9,2669,3586,3724,3733,158.4,-20.7,58,764,0.17,1.92,0.00,0.000,3078,0.163,0.016,2715,2201,3728,3724,3733,0,0,0,0,0,0,25.87,26.41,28.83
$GC,1063,-0.88,-184.9,2715,2201,3725,3733,213.8,-16.7,74,1068,0.00,1.98,0.00,0.000,516,0.000,0.028,2715,820,3729,3726,3733,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1158,-0.85,-184.9,2715,820,3726,3733,228.1,-16.6,78,1164,0.12,1.98,0.00,0.000,3078,0.170,0.024,2739,2192,3729,3726,3733,0,0,0,0,0,0,26.02,26.36,28.83
$GC,1474,-0.83,-184.9,2739,2193,3726,3733,272.7,-13.6,94,1480,0.00,1.98,0.00,0.000,516,0.000,0.027,2739,828,3729,3726,3733,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1530,-0.81,-184.9,2739,828,3726,3733,278.8,-13.3,96,1535,0.00,1.98,0.00,0.000,1030,0.000,0.024,2738,2201,3729,3726,3733,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1845,-0.80,-184.9,2737,2202,3726,3733,321.0,-12.9,112,1850,0.00,2.00,0.00,0.000,516,0.000,0.027,2741,830,3729,3726,3733,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1896,-0.78,-184.9,2737,830,3726,3735,327.0,-13.1,114,1903,0.12,1.98,0.00,0.000,3078,0.164,0.024,2761,2208,3729,3726,3733,0,0,0,0,0,0,26.07,26.40,28.83
$GC,2217,-0.78,-184.9,2760,2208,3726,3732,366.7,-12.0,130,2223,0.00,2.05,0.00,0.000,260,0.000,0.036,2753,3598,3729,3726,3732,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2243,-0.78,-184.9,2752,3598,3726,3732,369.7,-12.0,131,2248,0.00,1.98,0.00,0.000,1030,0.000,0.017,2753,2189,3728,3726,3731,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2568,-0.78,-184.9,2752,2188,3726,3728,409.1,-12.4,147,2574,0.00,2.10,0.00,0.000,260,0.000,0.035,2743,3593,3727,3726,3729,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2654,-0.78,-184.9,2743,3593,3726,3728,419.5,-12.0,151,2660,0.00,1.95,0.00,0.000,1030,0.000,0.018,2744,2203,3727,3726,3728,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2979,-0.78,-184.9,2743,2203,3726,3724,460.2,-12.5,167,2985,0.00,1.98,0.00,0.000,516,0.000,0.029,2743,826,3725,3726,3724,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3085,-0.78,-184.9,2743,826,3728,3723,473.6,-12.5,172,3091,0.00,2.00,0.00,0.000,1030,0.000,0.025,2738,2204,3724,3726,3722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3412,-0.78,-184.9,2737,2203,3726,3718,514.2,-12.3,188,3417,0.00,2.00,0.00,0.000,516,0.000,0.028,2738,826,3722,3726,3718,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3446,-0.78,-184.9,2738,826,3726,3718,517.3,-12.2,189,3451,0.00,2.00,0.00,0.000,1030,0.000,0.026,2738,2209,3721,3726,3717,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3760,-0.78,-184.9,2737,2209,3727,3713,555.4,-11.5,205,3765,0.00,2.03,0.00,0.000,516,0.000,0.028,2738,818,3719,3726,3712,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3830,-0.78,-184.9,2737,818,3726,3711,563.1,-12.0,208,3835,0.00,2.03,0.00,0.000,1030,0.000,0.027,2738,2210,3718,3726,3711,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4150,-0.78,-184.9,2738,2210,3725,3706,601.2,-11.7,224,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2210,3716,3726,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,-0.78,-184.9,2738,2210,3726,3702,636.3,-11.5,234,4455,0.00,2.03,0.00,0.000,516,0.000,0.029,2738,824,3714,3726,3702,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4504,-0.78,-184.9,2737,823,3726,3701,640.3,-11.5,235,4509,0.00,2.03,0.00,0.000,1030,0.000,0.027,2738,2212,3713,3726,3700,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4820,-0.78,-184.9,2738,2212,3726,3695,676.9,-11.2,246,4825,0.00,2.03,0.00,0.000,516,0.000,0.028,2738,827,3710,3726,3694,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4849,-0.78,-184.9,2737,827,3726,3694,676.9,-11.2,246,4855,0.00,2.03,0.00,0.000,1030,0.000,0.028,2738,2212,3710,3726,3694,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5155,-0.78,-184.9,2738,2212,3725,3689,717.6,-12.4,257,5161,0.00,2.03,0.00,0.000,516,0.000,0.029,2738,830,3707,3725,3689,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5201,-0.78,-184.9,2738,829,3723,3689,722.3,-12.5,258,5206,0.00,2.03,0.00,0.000,1030,0.000,0.028,2738,2211,3706,3725,3688,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5528,-0.78,-184.9,2738,2210,3722,3684,763.5,-12.0,269,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2210,3703,3722,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5827,-0.78,-184.9,2738,2210,3720,3682,797.7,-11.1,279,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2210,3701,3720,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6125,-0.78,-184.9,2738,2210,3716,3678,831.1,-11.2,289,6131,0.00,2.10,0.00,0.000,260,0.000,0.042,2738,3593,3697,3717,3678,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6161,-0.78,-184.9,2738,3593,3716,3678,835.1,-11.2,290,6166,0.00,2.00,0.00,0.000,1030,0.000,0.021,2737,2191,3697,3716,3678,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6499,-0.78,-184.9,2738,2191,3715,3675,873.0,-11.3,301,6505,0.00,1.98,0.00,0.000,516,0.000,0.031,2738,837,3694,3715,3674,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6538,-0.78,-184.9,1712,837,3708,3672,877.3,-11.2,302,6544,0.00,2.03,0.00,0.000,1030,0.000,0.029,2738,2209,3694,3714,3675,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6873,-0.78,-184.9,2738,2209,3712,3672,915.0,-11.4,313,6878,0.00,2.12,0.00,0.000,260,0.000,0.042,2738,3602,3692,3712,3672,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6917,-0.78,-184.9,2738,3602,3711,3671,919.4,-11.4,314,6922,0.00,2.00,0.00,0.000,1030,0.000,0.021,2738,2202,3691,3711,3671,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7245,-0.78,-184.9,2738,2202,3711,3668,956.1,-10.9,325,7250,0.00,2.03,0.00,0.000,516,0.000,0.033,2738,824,3689,3711,3668,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7311,-0.78,-184.9,2738,824,3709,3668,963.8,-11.2,327,7316,0.00,2.05,0.00,0.000,1030,0.000,0.030,2738,2201,3688,3709,3668,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,7554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7554,begin apogee
$GC,7563,-0.18,0.0,2738,2063,3708,3666,990.9,-10.9,335,7726,0.65,0.00,153.12,1.259,10246,0.122,0.000,2947,2060,2963,3029,2897,0,0,0,0,0,0,25.56,28.83,23.71
$STATE,7728,end apogee,CONTROL_FINISHED_OK
$STATE,7728,begin climb
$GC,7732,1.12,184.9,2947,2060,3026,2888,998.5,0.0,340,7904,1.20,2.38,160.77,1.210,10500,0.067,0.041,3366,3445,2202,2289,2115,0,0,0,0,0,0,24.95,24.44,23.44
$GC,7953,1.05,184.9,3367,3446,2287,2101,983.8,11.6,348,7958,0.00,2.15,0.00,0.000,1030,0.000,0.024,3376,2062,2194,2288,2101,0,0,0,0,0,0,28.83,25.20,28.83
$GC,8292,1.00,184.9,3376,2062,2289,2092,939.6,12.9,359,8294,0.15,0.00,0.00,0.000,4102,0.168,0.000,3341,2061,2190,2288,2092,0,0,0,0,0,0,25.79,28.83,28.83
$GC,8589,0.96,184.9,3341,2061,2284,2090,906.8,10.6,369,8594,0.00,2.17,0.00,0.000,260,0.000,0.041,3341,3460,2187,2284,2090,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8618,0.91,184.9,3340,3460,2284,2090,906.8,10.6,369,8626,0.15,2.10,0.00,0.000,5126,0.178,0.025,3312,2043,2187,2284,2090,0,0,0,0,0,0,25.79,26.22,28.83
$GC,8929,0.89,187.0,3311,2044,2283,2088,873.1,9.9,380,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2043,2186,2284,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9224,0.86,187.0,3312,2042,2284,2087,842.0,10.4,390,9230,0.00,2.20,0.00,0.000,260,0.000,0.041,3312,3455,2185,2283,2087,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9331,0.83,187.0,3312,3455,2280,2086,831.0,11.3,393,9337,0.15,2.08,0.00,0.000,5126,0.166,0.025,3282,2046,2184,2281,2087,0,0,0,0,0,0,25.88,26.32,28.83
$GC,9661,0.93,236.4,3281,2046,2280,2086,801.2,8.2,404,9716,0.00,0.00,47.47,1.095,8198,0.000,0.000,3282,2046,1993,2091,1895,0,0,0,0,0,0,28.83,28.83,24.41
$GC,10020,1.01,267.1,3282,2046,2085,1880,769.3,8.9,416,10053,0.15,0.00,29.40,1.079,10758,0.073,0.000,3354,2045,1878,1974,1783,0,0,0,0,0,0,26.15,28.83,24.49
$GC,10384,0.98,267.1,3354,2045,1956,1758,724.2,12.3,428,10389,0.00,2.12,0.00,0.000,516,0.000,0.038,3364,648,1856,1956,1757,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10419,0.95,267.1,3364,648,1954,1758,719.7,12.3,429,10425,0.17,2.12,0.00,0.000,5126,0.155,0.031,3319,2041,1855,1953,1758,0,0,0,0,0,0,25.66,26.06,28.83
$GC,10755,0.94,270.2,3319,2041,1953,1757,685.3,9.9,440,10761,0.00,2.20,0.00,0.000,260,0.000,0.043,3318,3467,1855,1953,1757,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10794,0.92,270.2,2336,3465,1883,1747,681.4,10.1,441,10799,0.00,2.10,0.00,0.000,1030,0.000,0.025,3328,2045,1854,1952,1757,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,17422,end climb,SURFACE_DEPTH_REACHED
$STATE,17422,begin surface coast
$FINISH,1.2,1.021288
$STATE,17449,end surface coast,CONTROL_FINISHED_OK
$STATE,17452,begin surface
$SM_CCo,17474,27.85,0.122,0,0,665,565.17
$SM_GC,1.95,8.48,0.20,27.85,0.030,0.057,0.122,137,2217,665,-8.91,-1.70,565.17,0,0,0,0,0,0,26.25,26.42,25.74
$IRIDIUM_FIX,2006.47,12313.37,190813,000012
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.21
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.80
$XPDR_PINGS,4
$SC_FREEKB,7590848
$24V_AH,23.4,52.929
$10V_AH,10.0,33.019
$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,23.725,158.000,596.200,27.850,0.000,0.000,0.000,266.750,1.000,0.000,17.427,2666.240,11601.556,791.705,2279.243,644.648,0.000,2185.606,0.000,1966.782,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,56.610,1259.190,121.635,0.000,0.000,0.000,124.695,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17473.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.755,0.000,0.000,0.000
$MEM,327868
$DATA_FILE_SIZE,30076,795
$CAP_FILE_SIZE,204305,0
$CFSIZE,260034560,221495296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.102,118.0,1
$GPS,190813,101535,2016.112,12314.223,31,1.7,31,-2.9