version: 66.11
glider: 167
mission: 16
dive: 330
start: 8 19 113 10 24 53
data:
$ID,167
$MISSION,16
$DIVE,330
$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,-975607.25
$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,62
$R_STBD_OVSHOOT,71
$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
$GPS1,190813,101535,2016.112,12314.223,31,1.7,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-68.7
$GPS2,190813,102423,2016.022,12314.359,42,1.3,42,-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,81.9,114068,-18.3,-10.000,-23.91,2793
$D_GRID,5359
$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,-184.9,110,2228,697,641,0.0,0.0,0,122,0.00,0.00,-92.93,0.000,16386,0.000,0.000,110,2229,2992,2971,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.12,-184.9,110,2229,2971,3013,3.4,-3.6,16,162,10.60,2.08,-14.07,0.000,18948,0.235,0.037,2648,796,3725,3720,3731,0,0,0,0,0,0,25.28,26.10,26.48
$GC,249,-1.02,-184.9,2648,796,3720,3732,40.8,-30.7,32,257,0.17,2.03,0.00,0.000,3078,0.196,0.025,2682,2187,3726,3720,3732,0,0,0,0,0,0,25.58,26.15,28.83
$GC,557,-0.96,-184.9,2682,2187,3721,3732,119.1,-22.1,49,563,0.00,2.08,0.00,0.000,260,0.000,0.034,2673,3602,3726,3720,3732,0,0,0,0,0,0,28.83,26.21,28.83
$GC,633,-0.89,-184.9,2673,3602,3720,3732,133.7,-22.1,52,639,0.20,2.00,0.00,0.000,3078,0.163,0.015,2725,2171,3726,3720,3732,0,0,0,0,0,0,25.79,26.39,28.83
$GC,949,-0.85,-184.9,2725,2170,3722,3732,194.5,-17.0,68,954,0.00,1.92,0.00,0.000,516,0.000,0.028,2725,823,3727,3722,3732,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1038,-0.82,-184.9,2725,823,3722,3732,208.4,-16.2,72,1045,0.12,2.00,0.00,0.000,3078,0.174,0.024,2750,2219,3727,3722,3732,0,0,0,0,0,0,26.00,26.36,28.83
$GC,1360,-0.80,-184.9,2749,2219,3723,3732,258.3,-15.5,88,1365,0.00,2.03,0.00,0.000,516,0.000,0.027,2749,815,3727,3723,3732,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1445,-0.78,-184.9,2750,815,3723,3732,271.4,-15.4,92,1450,0.00,2.00,0.00,0.000,1030,0.000,0.024,2742,2207,3728,3723,3734,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1771,-0.76,-184.9,2742,2207,3723,3732,315.7,-12.6,108,1776,0.00,2.00,0.00,0.000,516,0.000,0.027,2742,820,3727,3723,3732,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1810,-0.75,-184.9,2742,819,3723,3732,318.9,-12.6,109,1818,0.12,1.98,0.00,0.000,3078,0.162,0.025,2770,2196,3727,3723,3732,0,0,0,0,0,0,26.08,26.39,28.83
$GC,2116,-0.75,-184.9,2770,2196,3724,3732,355.8,-11.7,125,2122,0.00,1.98,0.00,0.000,516,0.000,0.027,2770,825,3728,3724,3732,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2156,-0.75,-184.9,2770,825,3723,3732,359.1,-11.8,126,2162,0.00,1.98,0.00,0.000,1030,0.000,0.025,2766,2199,3727,3723,3732,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2461,-0.75,-184.9,2765,2199,3723,3730,400.0,-12.8,142,2466,0.00,2.00,0.00,0.000,516,0.000,0.027,2765,816,3726,3723,3730,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2510,-0.75,-184.9,2766,816,3723,3730,405.7,-12.5,144,2516,0.00,2.00,0.00,0.000,1030,0.000,0.025,2765,2202,3726,3723,3729,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2830,-0.75,-184.9,2765,2202,3722,3726,441.6,-10.5,160,2835,0.00,2.00,0.00,0.000,516,0.000,0.027,2765,820,3724,3723,3725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2884,-0.75,-184.9,2765,820,3723,3725,446.4,-10.5,162,2890,0.00,2.00,0.00,0.000,1030,0.000,0.026,2765,2202,3724,3723,3725,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3200,-0.75,-184.9,2765,2203,3723,3720,481.6,-10.6,178,3205,0.00,2.00,0.00,0.000,516,0.000,0.027,2765,821,3721,3723,3720,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3275,-0.75,-184.9,2765,821,3723,3720,488.6,-10.8,181,3281,0.00,2.00,0.00,0.000,1030,0.000,0.025,2765,2206,3721,3723,3720,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3590,-0.75,-184.9,2765,2206,3723,3715,526.1,-12.2,197,3596,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,825,3719,3723,3715,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3636,-0.75,-184.9,2765,825,3723,3714,531.4,-12.0,199,3642,0.00,2.00,0.00,0.000,1030,0.000,0.025,2765,2203,3718,3723,3714,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3961,-0.75,-184.9,2765,2203,3723,3710,566.8,-10.2,215,3966,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,826,3716,3723,3709,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4010,-0.75,-184.9,2765,826,3723,3709,571.3,-10.0,217,4016,0.00,2.00,0.00,0.000,1030,0.000,0.025,2765,2211,3715,3723,3708,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4341,-0.76,-184.9,2765,2211,3723,3704,602.9,-9.4,233,4346,0.00,2.08,0.00,0.000,260,0.000,0.039,2765,3598,3713,3723,3704,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4411,-0.78,-184.9,2765,3598,3723,3703,609.3,-9.5,235,4416,0.00,1.98,0.00,0.000,1030,0.000,0.018,2765,2180,3713,3723,3703,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4744,-0.80,-184.9,2766,2181,3723,3697,642.4,-10.1,246,4750,0.00,1.92,0.00,0.000,516,0.000,0.029,2765,843,3709,3723,3696,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4829,-0.82,-184.9,2765,843,3723,3695,649.8,-10.4,248,4835,0.00,1.98,0.00,0.000,1030,0.000,0.026,2765,2202,3708,3723,3694,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5148,-0.84,-184.9,2765,2202,3723,3691,685.7,-10.7,259,5153,0.00,2.10,0.00,0.000,260,0.000,0.040,2765,3599,3706,3723,3690,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5193,-0.86,-184.9,2765,3599,3723,3691,689.9,-10.6,260,5198,0.00,1.95,0.00,0.000,1030,0.000,0.019,2765,2222,3706,3722,3690,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5523,-0.88,-184.9,2765,2220,3722,3684,722.9,-9.4,271,5530,0.10,2.10,0.00,0.000,4356,0.096,0.038,2710,3595,3702,3722,3683,0,0,0,0,0,0,26.57,26.22,28.83
$GC,5585,-0.90,-184.9,2710,3596,3720,3684,727.1,-9.6,272,5591,0.00,2.00,0.00,0.000,1030,0.000,0.019,2710,2177,3701,3720,3683,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5893,-0.89,-184.9,2710,2176,3717,3682,766.0,-11.9,283,5899,0.00,1.95,0.00,0.000,516,0.000,0.031,2711,832,3699,3717,3682,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5962,-0.88,-184.9,1672,832,3709,3680,774.7,-12.3,285,5967,0.00,2.00,0.00,0.000,1030,0.000,0.028,2710,2196,3698,3715,3682,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6296,-0.87,-184.9,2709,2197,3714,3677,818.9,-13.5,296,6301,0.00,2.12,0.00,0.000,260,0.000,0.041,2710,3603,3695,3714,3677,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6395,-0.85,-184.9,1664,3602,3704,3675,832.3,-13.6,299,6401,0.12,2.00,0.00,0.000,3078,0.162,0.021,2741,2198,3694,3710,3678,0,0,0,0,0,0,26.04,26.44,28.83
$GC,6729,-0.85,-184.9,2741,2198,3711,3673,869.6,-10.5,310,6735,0.00,2.00,0.00,0.000,516,0.000,0.031,2742,829,3691,3711,3672,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6783,-0.85,-184.9,2742,829,3711,3673,873.8,-10.6,311,6789,0.00,2.03,0.00,0.000,1030,0.000,0.029,2738,2200,3691,3711,3672,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7099,-0.85,-184.9,2738,2201,3711,3668,909.2,-10.5,322,7104,0.00,2.12,0.00,0.000,260,0.000,0.043,2739,3598,3689,3711,3668,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7183,-0.85,-184.9,2738,3597,3711,3667,915.9,-10.3,324,7188,0.00,2.00,0.00,0.000,1030,0.000,0.022,2738,2205,3689,3712,3666,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7501,-0.85,-184.9,2738,2205,3709,3663,949.7,-9.9,335,7506,0.00,2.03,0.00,0.000,516,0.000,0.031,2738,823,3686,3710,3663,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7566,-0.85,-184.9,2738,823,3709,3663,956.5,-9.8,337,7571,0.00,2.05,0.00,0.000,1030,0.000,0.031,2738,2200,3686,3709,3663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7905,-0.85,-184.9,2738,2200,3706,3660,987.7,-9.1,348,7910,0.00,2.15,0.00,0.000,260,0.000,0.043,2738,3604,3683,3706,3660,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,7936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7936,begin apogee
$GC,7947,-0.18,0.0,2738,2053,3706,3660,991.2,-9.1,349,8138,0.65,0.00,185.82,1.134,10246,0.121,0.000,2948,2052,2969,3034,2904,0,0,0,0,0,0,25.55,28.83,23.86
$STATE,8141,end apogee,CONTROL_FINISHED_OK
$STATE,8141,begin climb
$GC,8144,1.12,184.9,2948,2051,3029,2893,997.3,0.0,355,8315,1.20,2.38,159.52,1.203,10500,0.061,0.041,3370,3443,2203,2290,2117,0,0,0,0,0,0,24.92,24.47,23.46
$GC,8360,1.05,184.9,3370,3443,2286,2102,984.3,10.7,362,8367,0.00,2.12,0.00,0.000,1030,0.000,0.024,3380,2065,2193,2286,2101,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8668,0.99,184.9,3380,2065,2286,2095,938.5,13.1,373,8670,0.17,0.00,0.00,0.000,4102,0.166,0.000,3335,2065,2190,2286,2095,0,0,0,0,0,0,25.71,28.83,28.83
$GC,8969,0.98,194.7,3336,2065,2282,2091,907.8,9.6,383,8972,0.00,0.00,1.50,0.193,8198,0.000,0.000,3336,2065,2174,2266,2082,0,0,0,0,0,0,28.83,28.83,25.65
$GC,9268,1.00,216.8,3336,2065,2266,2095,879.4,9.2,393,9305,0.00,2.28,27.83,1.148,8452,0.000,0.041,3336,3455,2073,2165,1982,0,0,0,0,0,0,28.83,25.69,24.63
$GC,9357,0.96,216.8,3336,3456,2161,1973,872.4,10.0,395,9365,0.00,2.12,0.00,0.000,1030,0.000,0.025,3344,2039,2067,2161,1973,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9662,0.92,216.8,3344,2038,2161,1968,832.8,12.4,406,9664,0.12,0.00,0.00,0.000,4102,0.171,0.000,3313,2038,2064,2161,1968,0,0,0,0,0,0,25.96,28.83,28.83
$GC,9960,0.89,216.8,3314,2038,2160,1966,797.9,11.5,416,9965,0.00,2.20,0.00,0.000,260,0.000,0.042,3314,3453,2063,2160,1966,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10009,0.87,216.8,3314,3453,2160,1966,793.5,11.7,417,10015,0.00,2.08,0.00,0.000,1030,0.000,0.025,3322,2050,2063,2160,1966,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10333,0.84,216.8,3322,2049,2161,1965,756.2,11.0,428,10339,0.12,2.10,0.00,0.000,4612,0.162,0.035,3294,651,2063,2161,1965,0,0,0,0,0,0,26.08,26.18,28.83
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$STATE,17750,end climb,SURFACE_DEPTH_REACHED
$STATE,17750,begin surface coast
$FINISH,1.1,1.020309
$STATE,17772,end surface coast,CONTROL_FINISHED_OK
$STATE,17772,begin surface
$SM_CCo,17794,18.88,0.122,0,0,663,564.93
$SM_GC,1.83,8.48,0.15,18.88,0.026,0.057,0.122,141,2178,663,-8.93,-1.75,564.93,0,0,0,0,0,0,26.15,26.47,25.70
$IRIDIUM_FIX,2008.77,12310.19,190813,050526
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.01
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.70
$XPDR_PINGS,2
$SC_FREEKB,7590464
$24V_AH,23.5,53.118
$10V_AH,10.0,33.129
$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
$DEVICE_SECS,23.675,179.250,635.775,18.875,0.000,0.000,0.000,279.575,0.500,0.000,43.612,2741.451,11689.950,779.320,2431.795,689.397,0.000,2279.568,0.000,2085.723,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17792.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.690,0.000,0.000,0.000
$MEM,327908
$DATA_FILE_SIZE,30075,802
$CAP_FILE_SIZE,216314,0
$CFSIZE,260034560,221388800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.139,151.9,1
$GPS,190813,152306,2015.244,12316.205,34,1.3,34,-2.9