version: 66.11
glider: 167
mission: 16
dive: 430
start: 9 7 113 10 31 55
data:
$ID,167
$MISSION,16
$DIVE,430
$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,-975755.19
$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,61
$R_STBD_OVSHOOT,78
$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
$GPS1,070913,102206,1940.867,12342.278,42,0.8,42,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-69.4
$GPS2,070913,103124,1940.897,12342.149,46,0.9,46,-2.8
$SPEED_LIMITS,0.163,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,1931.110,12346.992
$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,-184.9,120,2248,692,648,0.0,0.0,0,111,0.00,0.00,-81.62,0.000,16386,0.000,0.000,121,2249,2713,2691,2736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.99,-184.9,119,2249,2692,2737,3.1,-2.8,15,158,10.95,2.15,-22.23,0.000,18948,0.236,0.044,2694,805,3726,3723,3730,0,0,0,0,0,0,24.98,26.02,26.50
$GC,195,-0.99,-184.9,2693,805,3724,3731,21.2,-23.8,28,202,0.00,2.03,0.00,0.000,1030,0.000,0.029,2686,2180,3727,3723,3731,0,0,0,0,0,0,28.83,26.08,28.83
$GC,517,-0.99,-184.9,2685,2178,3723,3731,88.0,-19.1,52,523,0.00,2.03,0.00,0.000,516,0.000,0.036,2686,809,3727,3723,3731,0,0,0,0,0,0,28.83,24.70,28.83
$GC,551,-0.99,-184.9,2686,811,3723,3730,92.2,-18.2,53,557,0.00,2.05,0.00,0.000,1030,0.000,0.028,2676,2218,3727,3724,3731,0,0,0,0,0,0,28.83,26.25,28.83
$GC,866,-0.99,-184.9,2676,2219,3724,3731,146.0,-16.4,69,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2219,3727,3723,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1169,-0.99,-184.9,2676,2219,3724,3732,194.3,-15.6,84,1174,0.00,2.08,0.00,0.000,516,0.000,0.029,2676,799,3727,3723,3732,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1238,-0.99,-184.9,1616,798,3717,3730,204.5,-15.4,87,1244,0.12,2.03,0.00,0.000,3078,0.176,0.027,2700,2196,3728,3724,3732,0,0,0,0,0,0,25.97,26.32,28.83
$GC,1558,-0.99,-184.9,2699,2196,3723,3732,248.5,-14.0,103,1564,0.00,2.03,0.00,0.000,516,0.000,0.040,2700,810,3727,3723,3732,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1598,-0.99,-184.9,2700,810,3724,3732,252.0,-13.9,104,1605,0.00,2.03,0.00,0.000,1030,0.000,0.028,2696,2207,3728,3724,3732,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1903,-0.99,-184.9,2696,2206,3723,3732,297.9,-14.3,120,1908,0.00,2.05,0.00,0.000,516,0.000,0.029,2696,803,3727,3723,3732,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1948,-0.99,-184.9,2696,803,3723,3732,304.4,-14.6,122,1953,0.00,2.05,0.00,0.000,1030,0.000,0.028,2688,2211,3728,3724,3732,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2273,-0.99,-184.9,2688,2210,3723,3731,350.8,-13.8,138,2278,0.00,2.05,0.00,0.000,516,0.000,0.029,2688,806,3727,3723,3731,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2317,-0.99,-184.9,2688,806,3723,3731,356.8,-13.6,140,2323,0.00,2.05,0.00,0.000,1030,0.000,0.028,2683,2208,3727,3723,3731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2642,-0.99,-184.9,2683,2208,3723,3728,399.6,-12.5,156,2647,0.00,2.05,0.00,0.000,516,0.000,0.030,2683,806,3726,3724,3728,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2707,-0.99,-184.9,2683,806,3723,3728,407.7,-12.6,159,2712,0.00,2.05,0.00,0.000,1030,0.000,0.028,2676,2209,3725,3723,3727,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3032,-0.99,-184.9,2675,2209,3723,3724,449.4,-13.1,175,3037,0.00,2.08,0.00,0.000,516,0.000,0.030,2675,794,3723,3723,3724,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3070,-0.99,-184.9,2675,794,3723,3723,452.6,-13.2,176,3078,0.12,2.05,0.00,0.000,3078,0.169,0.028,2701,2198,3723,3723,3723,0,0,0,0,0,0,26.01,26.33,28.83
$GC,3376,-0.99,-184.9,2700,2197,3724,3720,488.4,-10.2,192,3382,0.00,2.05,0.00,0.000,516,0.000,0.031,2701,803,3721,3723,3719,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3445,-0.99,-184.9,2700,803,3722,3719,495.4,-10.7,195,3450,0.00,2.05,0.00,0.000,1030,0.000,0.028,2697,2206,3721,3723,3719,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3765,-0.99,-184.9,2696,2206,3723,3714,529.3,-10.7,211,3770,0.00,2.08,0.00,0.000,516,0.000,0.031,2697,799,3718,3724,3713,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3833,-0.99,-184.9,1664,798,3717,3711,536.4,-10.9,214,3838,0.00,2.08,0.00,0.000,1030,0.000,0.029,2697,2213,3717,3723,3712,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4153,-0.99,-184.9,2697,2213,3723,3708,569.6,-10.0,230,4158,0.00,2.08,0.00,0.000,516,0.000,0.030,2697,805,3715,3723,3707,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4207,-0.99,-184.9,2697,805,3723,3707,574.1,-9.8,232,4212,0.00,2.08,0.00,0.000,1030,0.000,0.029,2697,2209,3714,3723,3706,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4542,-0.99,-184.9,2697,2209,3723,3702,608.0,-10.2,248,4547,0.00,2.08,0.00,0.000,516,0.000,0.031,2697,803,3712,3723,3701,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4601,-0.99,-184.9,2697,803,3723,3701,611.6,-10.3,249,4608,0.00,2.08,0.00,0.000,1030,0.000,0.030,2697,2211,3711,3723,3700,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4908,-0.99,-184.9,2697,2211,3723,3695,648.0,-11.1,260,4914,0.00,2.08,0.00,0.000,516,0.000,0.031,2697,807,3709,3723,3695,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4947,-0.99,-184.9,2697,808,3723,3694,652.2,-11.2,261,4952,0.00,2.05,0.00,0.000,1030,0.000,0.030,2697,2200,3708,3722,3694,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5281,-0.99,-184.9,2697,2199,3722,3689,690.3,-11.3,272,5287,0.00,2.08,0.00,0.000,516,0.000,0.032,2697,800,3706,3723,3689,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5350,-0.99,-184.9,2696,800,3722,3688,698.2,-11.5,274,5356,0.00,2.08,0.00,0.000,1030,0.000,0.030,2698,2206,3704,3722,3687,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5684,-0.99,-184.9,2696,2207,3719,3684,736.6,-11.8,285,5689,0.00,2.10,0.00,0.000,516,0.000,0.032,2697,808,3702,3720,3684,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5749,-0.99,-184.9,2696,807,3719,3684,745.0,-12.0,287,5754,0.00,2.08,0.00,0.000,1030,0.000,0.030,2696,2205,3700,3718,3683,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6087,-0.99,-184.9,2696,2205,3716,3681,783.2,-11.2,298,6092,0.00,2.08,0.00,0.000,516,0.000,0.033,2697,810,3697,3716,3679,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6131,-0.99,-184.9,2696,810,3716,3679,787.5,-11.2,299,6136,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2200,3697,3716,3679,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6459,-0.99,-184.9,2696,2200,3714,3675,823.6,-10.9,310,6464,0.00,2.08,0.00,0.000,516,0.000,0.033,2697,809,3695,3714,3676,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6498,-0.99,-184.9,1664,809,3707,3673,827.9,-10.9,311,6503,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2206,3694,3714,3675,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6830,-0.99,-184.9,2697,2207,3712,3672,865.5,-11.4,322,6836,0.00,2.10,0.00,0.000,516,0.000,0.033,2697,808,3692,3712,3672,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6866,-0.99,-184.9,2696,807,3712,3672,869.9,-11.3,323,6871,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2200,3691,3711,3672,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7204,-0.99,-184.9,2696,2200,3710,3669,907.6,-11.0,334,7209,0.00,2.15,0.00,0.000,260,0.000,0.044,2697,3603,3689,3709,3669,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7227,-0.99,-184.9,2696,3603,3709,3669,907.6,-11.0,334,7233,0.00,2.08,0.00,0.000,1030,0.000,0.023,2697,2163,3689,3709,3669,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7543,-0.99,-184.9,2696,2163,3707,3667,943.4,-10.3,345,7549,0.00,1.98,0.00,0.000,516,0.000,0.034,2697,826,3687,3707,3667,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7617,-0.99,-184.9,2696,825,3706,3667,950.3,-10.4,347,7623,0.00,2.05,0.00,0.000,1030,0.000,0.033,2697,2198,3686,3706,3666,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7946,-0.99,-184.9,2696,2198,3705,3663,984.6,-10.3,358,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2198,3684,3705,3663,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7999,begin apogee
$GC,8007,-0.21,0.0,2697,2063,3705,3663,990.7,-10.1,360,8179,0.77,0.00,156.10,1.728,10246,0.125,0.000,2944,2060,2974,3035,2913,0,0,0,0,1,0,25.48,28.83,22.50
$STATE,8181,end apogee,CONTROL_FINISHED_OK
$STATE,8181,begin climb
$GC,8184,0.99,184.9,2944,2060,3035,2918,998.6,0.0,365,8375,1.10,2.40,178.00,1.136,10500,0.051,0.043,3336,3456,2201,2290,2112,0,0,0,0,0,0,24.54,24.55,23.29
$GC,8456,0.99,184.9,3336,3456,2288,2096,982.6,11.5,375,8462,0.00,2.12,0.00,0.000,1030,0.000,0.025,3345,2067,2191,2287,2096,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8795,0.99,184.9,3345,2066,2288,2089,945.7,10.8,386,8800,0.00,2.15,0.00,0.000,516,0.000,0.041,3356,657,2188,2288,2089,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8860,0.99,184.9,3355,657,2283,2089,938.1,11.0,388,8866,0.00,2.12,0.00,0.000,1030,0.000,0.033,3355,2057,2186,2283,2089,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9198,0.99,184.9,3355,2057,2283,2087,901.5,10.8,399,9204,0.00,2.15,0.00,0.000,260,0.000,0.044,3358,3453,2184,2282,2087,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9332,0.99,184.9,3356,3453,2279,2086,886.5,11.7,403,9337,0.00,2.08,0.00,0.000,1030,0.000,0.025,3365,2044,2183,2279,2087,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9665,0.99,185.8,3365,2044,2279,2086,853.0,9.4,414,9671,0.00,2.20,0.00,0.000,260,0.000,0.043,3366,3459,2182,2279,2086,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9714,0.99,185.8,3365,3459,2279,2086,849.1,9.6,415,9720,0.15,2.08,0.00,0.000,5126,0.177,0.026,3339,2053,2182,2279,2086,0,0,0,0,0,0,25.82,26.29,28.83
$GC,10038,1.04,218.3,3339,2053,2279,2084,820.4,8.3,426,10077,0.00,2.22,31.05,1.066,8708,0.000,0.040,3348,657,2067,2161,1973,0,0,0,0,0,0,28.83,25.70,24.24
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$STATE,18592,end climb,SURFACE_DEPTH_REACHED
$STATE,18592,begin surface coast
$FINISH,1.3,1.009806
$STATE,18619,end surface coast,CONTROL_FINISHED_OK
$STATE,18622,begin surface
$SM_CCo,18646,32.17,0.116,0,0,662,564.93
$SM_GC,2.18,8.38,1.88,32.17,0.020,0.021,0.116,139,2190,662,-8.92,1.53,564.93,0,0,0,0,0,0,26.18,26.32,25.53
$IRIDIUM_FIX,1934.38,12343.94,070913,050538
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.39
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.20
$XPDR_PINGS,8
$SC_FREEKB,7576992
$24V_AH,22.5,69.812
$10V_AH,10.1,43.035
$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
$DEVICE_SECS,22.225,188.875,579.550,32.175,0.000,0.000,0.000,297.175,2.000,0.000,47.925,2691.147,12517.640,748.228,2553.042,720.153,0.000,2311.891,0.000,2179.825,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18650.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.825,0.000,0.000,0.000
$MEM,328196
$DATA_FILE_SIZE,33372,858
$CAP_FILE_SIZE,216260,0
$CFSIZE,260034560,212553728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,070913,154436,1940.593,12341.644,35,1.3,35,-2.8