version: 66.11
glider: 167
mission: 16
dive: 596
start: 10 10 113 0 40 2
data:
$ID,167
$MISSION,16
$DIVE,596
$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,270
$T_MISSION,300
$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,300
$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,0.0025476699
$HD_B,0.0275445
$HD_C,1.10039e-05
$HEADING,230
$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,450
$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,4096
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-976654.56
$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,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2715
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$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,21
$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
$GPS1,101013,002936,2038.988,12322.823,39,0.9,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-68.1
$GPS2,101013,003929,2038.986,12322.896,44,1.2,44,-3.0
$SPEED_LIMITS,0.212,0.230
$TGT_NAME,HEADING
$TGT_LATLONG,2032.044,12314.062
$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,233.0,20000,-18.9,-12.222,-27.98,3576
$D_GRID,4773
$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,-1.53,-292.0,111,2218,553,397,0.0,0.0,0,113,0.00,0.00,-81.72,0.000,16386,0.000,0.000,111,2219,2525,2509,2541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.53,-292.0,111,2219,2508,2542,3.1,-2.4,15,166,10.50,1.70,-30.08,0.000,18948,0.233,0.051,2540,1144,3908,3902,3915,0,0,0,0,0,0,24.66,25.83,26.46
$GC,269,-1.53,-292.0,2540,1143,3902,3917,42.3,-28.1,36,274,0.00,1.55,0.00,0.000,1030,0.000,0.034,2535,2186,3909,3902,3917,0,0,0,0,0,0,28.83,25.92,28.83
$GC,445,-1.53,-292.0,2535,2185,3902,3917,91.0,-27.1,46,450,0.00,1.60,0.00,0.000,260,0.000,0.038,2529,3265,3910,3902,3918,0,0,0,0,0,0,28.83,25.97,28.83
$GC,474,-1.53,-292.0,2527,3265,3902,3917,97.2,-25.6,47,479,0.00,1.55,0.00,0.000,1030,0.000,0.021,2527,2183,3909,3902,3917,0,0,0,0,0,0,28.83,26.16,28.83
$GC,634,-1.53,-292.0,2527,2183,3902,3917,136.7,-24.6,55,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2183,3909,3902,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,795,-1.53,-292.0,2527,2182,3902,3917,173.5,-23.4,63,800,0.00,1.50,0.00,0.000,516,0.000,0.029,2527,1123,3909,3902,3917,0,0,0,0,0,0,28.83,26.13,28.83
$GC,840,-1.53,-292.0,2527,1124,3902,3917,183.8,-23.2,65,845,0.00,1.58,0.00,0.000,1030,0.000,0.030,2520,2207,3909,3902,3917,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1005,-1.53,-292.0,2520,2206,3902,3917,219.8,-21.3,73,1011,0.00,1.58,0.00,0.000,260,0.000,0.036,2512,3251,3909,3902,3917,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1055,-1.53,-292.0,1488,3249,3900,3916,229.7,-21.5,75,1061,0.10,1.55,0.00,0.000,3078,0.177,0.019,2540,2183,3909,3902,3917,0,0,0,0,0,0,25.68,26.26,28.83
$GC,1216,-1.53,-292.0,2539,2182,3903,3917,262.0,-19.4,83,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2183,3909,3902,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1377,-1.53,-292.0,2539,2183,3902,3917,294.1,-20.1,91,1382,0.00,1.50,0.00,0.000,516,0.000,0.031,2540,1130,3910,3903,3917,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1462,-1.53,-292.0,2540,1130,3903,3917,311.1,-19.8,95,1467,0.00,1.58,0.00,0.000,1030,0.000,0.029,2535,2202,3910,3903,3917,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1628,-1.53,-292.0,2535,2202,3903,3917,341.9,-18.2,103,1633,0.00,1.50,0.00,0.000,516,0.000,0.028,2534,1157,3910,3903,3917,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1641,-1.53,-292.0,2535,1157,3901,3917,341.9,-18.2,103,1647,0.00,1.52,0.00,0.000,1030,0.000,0.030,2528,2205,3910,3903,3917,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1817,-1.53,-292.0,2528,2205,3903,3917,376.8,-18.1,112,1822,0.00,1.50,0.00,0.000,516,0.000,0.028,2528,1162,3910,3903,3917,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1852,-1.53,-292.0,2528,1163,3903,3917,381.4,-18.2,113,1857,0.00,1.52,0.00,0.000,1030,0.000,0.029,2521,2212,3910,3903,3917,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2027,-1.53,-292.0,2521,2212,3903,3917,416.4,-19.1,122,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2212,3910,3903,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2187,-1.53,-292.0,2521,2212,3903,3917,448.3,-20.5,130,2192,0.00,1.52,0.00,0.000,516,0.000,0.028,2521,1156,3910,3903,3917,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2213,-1.53,-292.0,2522,1156,3903,3917,453.5,-21.1,131,2219,0.08,1.58,0.00,0.000,3078,0.188,0.030,2537,2197,3910,3903,3917,0,0,0,0,0,0,25.70,26.14,28.83
$GC,2379,-1.53,-292.0,2537,2197,3903,3915,484.3,-18.3,139,2384,0.00,1.55,0.00,0.000,260,0.000,0.037,2531,3252,3908,3903,3914,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2474,-1.53,-292.0,2531,3252,3903,3914,500.3,-18.9,143,2479,0.00,1.50,0.00,0.000,1030,0.000,0.020,2531,2196,3908,3903,3914,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2649,-1.53,-292.0,2531,2195,3903,3913,535.2,-18.8,152,2654,0.00,1.60,0.00,0.000,260,0.000,0.035,2524,3263,3907,3903,3912,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2688,-1.53,-292.0,2524,3262,3904,3912,540.0,-18.7,153,2695,0.00,1.52,0.00,0.000,1030,0.000,0.019,2524,2190,3907,3902,3912,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2855,-1.53,-292.0,2524,2189,3903,3909,572.5,-17.7,162,2860,0.00,1.50,0.00,0.000,516,0.000,0.031,2524,1144,3905,3903,3908,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2900,-1.53,-292.0,2524,1144,3903,3908,580.7,-17.8,164,2905,0.00,1.55,0.00,0.000,1030,0.000,0.031,2518,2199,3905,3903,3908,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3086,-1.53,-292.0,2518,2199,3903,3907,612.9,-17.7,172,3091,0.00,1.58,0.00,0.000,260,0.000,0.038,2510,3259,3904,3903,3906,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3140,-1.53,-292.0,2510,3258,3903,3905,619.1,-17.5,173,3146,0.15,1.52,0.00,0.000,3078,0.189,0.020,2543,2185,3904,3903,3905,0,0,0,0,0,0,25.65,26.27,28.83
$GC,3307,-1.53,-292.0,2545,2185,3902,3903,650.1,-16.6,179,3312,0.00,1.50,0.00,0.000,516,0.000,0.031,2544,1169,3902,3903,3902,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3352,-1.53,-292.0,2545,1168,3903,3902,656.1,-16.6,180,3358,0.00,1.58,0.00,0.000,1030,0.000,0.031,2540,2206,3902,3903,3901,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3528,-1.53,-292.0,2540,2206,3903,3898,687.5,-17.0,186,3533,0.00,1.58,0.00,0.000,260,0.000,0.039,2533,3261,3900,3903,3898,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3627,-1.53,-292.0,1536,3259,3900,3895,705.0,-18.2,189,3632,0.00,1.52,0.00,0.000,1030,0.000,0.021,2532,2198,3900,3903,3897,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3807,-1.53,-292.0,2531,2198,3903,3893,738.9,-18.7,195,3813,0.00,1.55,0.00,0.000,516,0.000,0.031,2532,1151,3898,3903,3893,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3862,-1.53,-292.0,2532,1151,3903,3893,745.8,-19.1,196,3867,0.00,1.55,0.00,0.000,1030,0.000,0.031,2526,2202,3897,3903,3892,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4028,-1.53,-292.0,2526,2202,3902,3888,781.4,-19.4,202,4033,0.00,1.58,0.00,0.000,260,0.000,0.039,2520,3252,3895,3902,3889,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4117,-1.53,-292.0,2520,3252,3902,3888,794.9,-20.1,204,4123,0.00,1.52,0.00,0.000,1030,0.000,0.021,2520,2188,3894,3902,3887,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4273,-1.53,-292.0,2520,2187,3902,3884,831.3,-20.0,210,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2188,3893,3902,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4424,-1.53,-292.0,2519,2188,3902,3882,862.8,-21.0,215,4429,0.00,1.62,0.00,0.000,260,0.000,0.038,2514,3251,3891,3902,3881,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4569,-1.53,-292.0,2514,3251,3902,3879,889.8,-21.4,219,4575,0.15,1.52,0.00,0.000,3078,0.187,0.021,2548,2185,3890,3902,3879,0,0,0,0,0,0,25.61,26.24,28.83
$GC,4736,-1.53,-292.0,2547,2185,3902,3875,926.2,-19.0,225,4742,0.00,1.67,0.00,0.000,260,0.000,0.038,2543,3249,3888,3902,3874,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4954,-1.53,-292.0,2542,3249,3899,3873,968.7,-19.4,232,4959,0.00,1.52,0.00,0.000,1030,0.000,0.021,2543,2199,3886,3899,3874,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,5075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5075,begin apogee
$GC,5084,-0.25,0.0,2542,1892,3899,3870,992.2,-18.7,236,5371,1.38,0.00,277.62,1.135,10246,0.149,0.000,2950,1892,2712,2801,2623,0,0,0,0,0,0,24.79,28.83,23.59
$STATE,5376,end apogee,CONTROL_FINISHED_OK
$STATE,5376,begin climb
$GC,5380,1.53,292.0,2950,1892,2794,2612,1010.2,0.0,245,5660,1.62,1.65,263.30,1.159,10756,0.066,0.039,3537,877,1510,1593,1427,0,0,0,0,0,0,25.27,25.08,23.51
$GC,5674,1.53,292.0,3537,878,1578,1415,972.2,18.8,255,5679,0.00,1.58,0.00,0.000,1030,0.000,0.031,3537,1901,1495,1576,1414,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5840,1.53,292.0,3537,1901,1572,1404,932.2,20.9,261,5845,0.00,1.58,0.00,0.000,516,0.000,0.038,3544,876,1487,1571,1404,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5894,1.53,292.0,3544,876,1572,1404,924.7,20.8,262,5899,0.00,1.55,0.00,0.000,1030,0.000,0.031,3544,1908,1487,1569,1405,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6059,1.53,292.0,3544,1908,1569,1403,885.9,21.0,268,6064,0.00,1.62,0.00,0.000,260,0.000,0.043,3544,2955,1486,1569,1403,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6095,1.53,292.0,3544,2954,1568,1401,878.3,21.1,269,6100,0.00,1.52,0.00,0.000,1030,0.000,0.031,3551,1934,1484,1567,1401,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6280,1.53,292.0,3551,1934,1568,1401,840.4,20.1,275,6285,0.00,1.65,0.00,0.000,516,0.000,0.041,3559,839,1484,1569,1400,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6390,1.53,292.0,3559,839,1568,1401,819.6,21.6,278,6395,0.00,1.60,0.00,0.000,1030,0.000,0.031,3559,1907,1484,1568,1401,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6560,1.53,292.0,3559,1907,1566,1401,780.4,21.0,284,6565,0.00,1.62,0.00,0.000,260,0.000,0.042,3559,2956,1483,1566,1401,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6629,1.53,292.0,3559,2956,1566,1399,766.6,21.0,286,6635,0.15,1.58,0.00,0.000,5126,0.200,0.031,3532,1897,1482,1566,1399,0,0,0,0,0,0,25.53,26.11,28.83
$GC,6811,1.53,292.0,3532,1898,1566,1398,731.7,18.7,292,6816,0.00,1.62,0.00,0.000,516,0.000,0.041,3539,850,1482,1567,1398,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,11717,end climb,SURFACE_DEPTH_REACHED
$STATE,11717,begin surface coast
$FINISH,1.4,0.999904
$STATE,11747,end surface coast,CONTROL_FINISHED_OK
$STATE,11747,begin surface
$SM_CCo,11771,20.92,0.121,0,0,876,450.13
$SM_GC,2.31,8.85,0.43,20.92,0.028,0.041,0.121,140,2211,876,-9.00,-1.24,450.13,0,0,0,0,0,0,25.99,26.20,25.12
$IRIDIUM_FIX,2034.08,12319.68,091013,191912
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.58
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.90
$XPDR_PINGS,11
$SC_FREEKB,7541696
$24V_AH,23.5,99.248
$10V_AH,9.7,61.791
$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,23.600,133.100,662.175,20.925,0.000,0.000,0.000,304.650,2.750,0.000,45.271,2023.951,6810.423,764.103,2107.200,664.085,0.000,2169.252,0.000,1699.844,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,51.255,1158.975,120.870,0.000,0.000,0.000,122.400,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11772.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.068,0.000,0.000,0.000
$MEM,327968
$DATA_FILE_SIZE,20113,555
$CAP_FILE_SIZE,180237,0
$CFSIZE,260034560,196546560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,035804,2038.589,12323.929,37,1.0,41,-3.0