version: 66.11
glider: 167
mission: 16
dive: 429
start: 9 7 113 5 14 54
data:
$ID,167
$MISSION,16
$DIVE,429
$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,350
$T_MISSION,390
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$HEADING,155
$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,1
$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,-975753.94
$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,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,58
$R_STBD_OVSHOOT,48
$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,0.0015
$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
$GPS1,070913,050459,1941.341,12342.251,40,1.0,40,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-71.2
$GPS2,070913,051423,1941.443,12342.083,41,0.9,41,-2.8
$SPEED_LIMITS,0.163,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,1931.656,12346.926
$TGT_RADIUS,1852.000
$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,157.8,20000,-17.1,-9.429,-23.09,2955
$D_GRID,5044
$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,-0.99,-184.9,129,2210,678,661,0.0,0.0,0,117,0.00,0.00,-87.38,0.000,16386,0.000,0.000,130,2210,2883,2858,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.99,-184.9,130,2211,2858,2909,3.5,-4.6,16,161,11.00,2.17,-16.15,0.000,18948,0.238,0.044,2695,796,3727,3722,3733,0,0,0,0,0,0,25.01,26.03,26.48
$GC,214,-0.99,-184.9,2694,796,3723,3731,25.7,-21.2,31,220,0.00,2.10,0.00,0.000,1030,0.000,0.030,2686,2209,3727,3723,3731,0,0,0,0,0,0,28.83,26.08,28.83
$GC,530,-0.99,-184.9,2686,2209,3723,3731,96.0,-21.1,53,535,0.00,2.08,0.00,0.000,516,0.000,0.031,2686,802,3727,3723,3731,0,0,0,0,0,0,28.83,26.19,28.83
$GC,558,-0.99,-184.9,1640,801,3717,3730,101.1,-20.7,54,563,0.00,2.05,0.00,0.000,1030,0.000,0.030,2677,2202,3727,3723,3731,0,0,0,0,0,0,28.83,26.22,28.83
$GC,878,-0.99,-184.9,2677,2202,3723,3731,153.8,-15.4,70,883,0.00,2.05,0.00,0.000,516,0.000,0.029,2677,799,3727,3723,3731,0,0,0,0,0,0,28.83,26.26,28.83
$GC,903,-0.99,-184.9,2677,799,3722,3732,157.7,-15.6,71,909,0.12,2.05,0.00,0.000,3078,0.175,0.028,2700,2212,3727,3723,3731,0,0,0,0,0,0,25.94,26.29,28.83
$GC,1229,-0.99,-184.9,2699,2212,3723,3732,207.2,-15.4,87,1234,0.00,2.08,0.00,0.000,516,0.000,0.030,2700,793,3728,3723,3733,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1278,-0.99,-184.9,2700,793,3724,3732,214.3,-15.6,89,1283,0.00,2.05,0.00,0.000,1030,0.000,0.028,2696,2203,3727,3723,3732,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1598,-0.99,-184.9,2697,2203,3723,3732,258.3,-12.7,105,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2203,3727,3723,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-0.99,-184.9,2696,2203,3723,3732,295.4,-12.6,120,1905,0.00,2.05,0.00,0.000,516,0.000,0.029,2696,802,3727,3723,3732,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1969,-0.99,-184.9,2696,801,3723,3732,304.4,-13.3,123,1974,0.00,2.05,0.00,0.000,1030,0.000,0.028,2688,2217,3727,3723,3731,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2289,-0.99,-184.9,2689,2216,3723,3732,351.1,-14.8,139,2294,0.00,2.08,0.00,0.000,516,0.000,0.029,2689,799,3727,3723,3732,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2334,-0.99,-184.9,2689,799,3723,3731,357.8,-14.8,141,2339,0.00,2.05,0.00,0.000,1030,0.000,0.028,2682,2200,3726,3723,3730,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2658,-0.99,-184.9,2682,2200,3723,3730,402.0,-13.1,157,2663,0.00,2.05,0.00,0.000,516,0.000,0.030,2683,802,3726,3724,3729,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2697,-0.99,-184.9,2684,802,3723,3729,405.3,-13.0,158,2704,0.00,2.05,0.00,0.000,1030,0.000,0.028,2679,2208,3726,3723,3729,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3003,-0.99,-184.9,2679,2207,3723,3726,443.6,-11.8,174,3008,0.00,2.08,0.00,0.000,516,0.000,0.030,2679,802,3724,3723,3725,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3028,-0.99,-184.9,2678,802,3723,3725,446.7,-12.2,175,3034,0.12,2.05,0.00,0.000,3078,0.166,0.028,2701,2206,3724,3723,3725,0,0,0,0,0,0,26.02,26.34,28.83
$GC,3353,-0.99,-184.9,2701,2206,3724,3721,485.2,-12.0,191,3359,0.00,2.08,0.00,0.000,516,0.000,0.031,2701,796,3722,3723,3721,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3412,-0.99,-184.9,2701,795,3724,3720,490.6,-12.1,193,3419,0.00,2.08,0.00,0.000,1030,0.000,0.028,2698,2211,3721,3723,3720,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3718,-0.99,-184.9,2699,2211,3723,3716,528.7,-11.9,209,3723,0.00,2.08,0.00,0.000,516,0.000,0.031,2699,802,3720,3725,3716,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3777,-0.99,-184.9,2699,802,3723,3715,533.8,-11.7,211,3784,0.00,2.08,0.00,0.000,1030,0.000,0.030,2699,2211,3718,3723,3714,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4083,-0.99,-184.9,2699,2211,3723,3711,570.3,-11.4,227,4088,0.00,2.08,0.00,0.000,516,0.000,0.031,2699,805,3716,3723,3710,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4142,-0.99,-184.9,2699,805,3723,3710,575.2,-11.3,229,4148,0.00,2.08,0.00,0.000,1030,0.000,0.029,2697,2209,3716,3723,3709,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4471,-0.99,-184.9,2695,2209,3723,3704,614.7,-12.0,244,4476,0.00,2.08,0.00,0.000,516,0.000,0.031,2697,803,3713,3723,3704,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4546,-0.99,-184.9,2697,803,3723,3703,622.9,-12.0,246,4551,0.00,2.05,0.00,0.000,1030,0.000,0.030,2697,2199,3713,3723,3703,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4874,-0.99,-184.9,2697,2200,3723,3698,662.8,-11.6,257,4879,0.00,2.08,0.00,0.000,516,0.000,0.031,2697,797,3710,3723,3697,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4913,-0.99,-184.9,2697,797,3723,3696,667.4,-11.6,258,4918,0.00,2.08,0.00,0.000,1030,0.000,0.030,2697,2205,3709,3723,3696,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5247,-0.99,-184.9,2697,2205,3722,3690,706.1,-11.4,269,5252,0.00,2.10,0.00,0.000,516,0.000,0.032,2697,803,3706,3723,3690,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5306,-0.99,-184.9,2696,803,3723,3690,710.5,-11.4,270,5312,0.00,2.08,0.00,0.000,1030,0.000,0.030,2697,2210,3706,3723,3689,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5612,-0.99,-184.9,2697,2209,3721,3684,746.9,-10.8,281,5617,0.00,2.10,0.00,0.000,516,0.000,0.031,2697,796,3703,3723,3684,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5648,-0.99,-184.9,2697,796,3720,3684,750.6,-10.6,282,5653,0.00,2.10,0.00,0.000,1030,0.000,0.031,2697,2206,3701,3719,3684,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5985,-0.99,-184.9,2697,2206,3717,3682,785.0,-10.3,293,5991,0.00,2.10,0.00,0.000,516,0.000,0.032,2696,803,3699,3717,3682,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6020,-0.99,-184.9,2696,803,3719,3682,789.1,-10.4,294,6025,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2201,3699,3717,3682,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6359,-0.99,-184.9,2697,2200,3715,3677,826.4,-11.6,305,6364,0.00,2.08,0.00,0.000,516,0.000,0.033,2697,806,3696,3716,3677,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6389,-0.99,-184.9,2697,806,3715,3677,826.4,-11.6,305,6395,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2205,3695,3715,3676,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6695,-0.99,-184.9,2697,2204,3714,3673,866.7,-11.8,316,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2203,3693,3713,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6993,-0.99,-184.9,2697,2204,3711,3672,901.1,-11.3,326,6999,0.00,2.10,0.00,0.000,516,0.000,0.033,2696,806,3691,3711,3672,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7018,-0.99,-184.9,2697,807,3711,3672,901.1,-11.3,326,7023,0.00,2.08,0.00,0.000,1030,0.000,0.032,2697,2200,3691,3711,3671,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7333,-0.99,-184.9,2697,2199,3709,3668,938.5,-11.0,337,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2199,3689,3709,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7632,-0.99,-184.9,2697,2199,3707,3666,972.3,-11.4,347,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2200,3686,3707,3666,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7809,begin apogee
$GC,7818,-0.21,0.0,2697,2034,3706,3665,992.6,-11.3,353,7988,0.77,0.00,156.62,1.730,10246,0.125,0.000,2945,2033,2973,3035,2912,0,0,0,0,1,0,25.48,28.83,22.51
$STATE,7991,end apogee,CONTROL_FINISHED_OK
$STATE,7991,begin climb
$GC,7995,0.99,184.9,2944,2033,3035,2917,1001.3,0.0,358,8179,1.10,2.35,175.48,1.147,10500,0.051,0.043,3339,3444,2207,2296,2119,0,0,0,0,0,0,24.54,24.57,23.31
$GC,8248,0.99,184.9,3339,3444,2287,2097,991.0,9.9,366,8253,0.00,2.12,0.00,0.000,1030,0.000,0.025,3348,2054,2192,2287,2097,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8563,0.99,184.9,3347,2054,2287,2090,955.2,10.1,377,8568,0.00,2.15,0.00,0.000,516,0.000,0.040,3358,649,2188,2287,2090,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8581,0.99,184.9,3358,649,2282,2090,955.2,10.1,377,8587,0.00,2.12,0.00,0.000,1030,0.000,0.033,3358,2048,2186,2282,2090,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8905,0.99,184.9,3358,2048,2282,2089,920.4,10.0,388,8911,0.00,2.17,0.00,0.000,260,0.000,0.043,3359,3461,2185,2283,2088,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8970,0.99,184.9,3358,3463,2278,2089,912.9,10.4,390,8975,0.00,2.10,0.00,0.000,1030,0.000,0.025,3368,2045,2184,2279,2089,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9309,0.99,184.9,3367,2045,2279,2087,880.1,9.6,401,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2045,2183,2279,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9605,0.99,187.0,3368,2045,2279,2086,851.6,9.4,411,9607,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2045,2182,2279,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9906,0.99,187.0,3368,2045,2279,2084,822.9,9.6,421,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2045,2182,2281,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10205,1.01,194.6,3368,2045,2276,2084,794.8,9.2,431,10210,0.00,2.17,0.00,0.000,260,0.000,0.043,3368,3452,2180,2277,2084,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10280,1.01,194.6,3368,3452,2276,2083,787.8,9.9,433,10286,0.12,2.08,0.00,0.000,5126,0.179,0.026,3349,2047,2180,2276,2084,0,0,0,0,0,0,25.89,26.30,28.83
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$STATE,18247,end climb,SURFACE_DEPTH_REACHED
$STATE,18247,begin surface coast
$FINISH,1.3,1.021400
$STATE,18282,end surface coast,CONTROL_FINISHED_OK
$STATE,18282,begin surface
$SM_CCo,18305,38.75,0.116,0,0,666,564.93
$SM_GC,2.05,8.48,0.17,38.75,0.026,0.061,0.116,130,2233,666,-8.95,-1.41,564.93,0,0,0,0,0,0,26.20,26.41,25.52
$IRIDIUM_FIX,1936.66,12343.94,060913,232348
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.82
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.30
$XPDR_PINGS,5
$SC_FREEKB,7576992
$24V_AH,22.5,69.621
$10V_AH,10.0,42.919
$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
$DEVICE_SECS,22.275,172.900,568.725,38.750,0.000,0.000,0.000,308.150,1.250,0.000,42.913,2537.031,12535.047,724.047,2411.181,691.742,0.000,2222.041,0.000,2030.398,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18289.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.775,0.000,0.000,0.000
$MEM,328216
$DATA_FILE_SIZE,33383,843
$CAP_FILE_SIZE,206818,0
$CFSIZE,260034560,212656128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,070913,102206,1940.867,12342.278,42,0.8,42,-2.8