version: 66.11
glider: 167
mission: 16
dive: 597
start: 10 10 113 4 6 37
data:
$ID,167
$MISSION,16
$DIVE,597
$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,-976655.81
$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,48
$R_STBD_OVSHOOT,51
$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
$GPS1,101013,035804,2038.589,12323.929,37,1.0,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-69.0
$GPS2,101013,040607,2038.597,12324.043,34,1.1,34,-3.0
$SPEED_LIMITS,0.212,0.230
$TGT_NAME,HEADING
$TGT_LATLONG,2031.655,12315.210
$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,4775
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-1.53,-292.0,113,2229,912,865,0.0,0.0,0,98,0.00,0.00,-65.20,0.000,16386,0.000,0.000,113,2229,2499,2478,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.53,-292.0,113,2229,2478,2522,3.0,-3.4,12,151,10.40,1.67,-31.12,0.000,18948,0.230,0.048,2539,1137,3908,3901,3915,0,0,0,0,0,0,24.60,25.96,26.50
$GC,278,-1.53,-292.0,2539,1137,3901,3917,48.6,-28.2,36,283,0.00,1.58,0.00,0.000,1030,0.000,0.031,2534,2206,3909,3901,3917,0,0,0,0,0,0,28.83,26.02,28.83
$GC,453,-1.53,-292.0,2534,2207,3902,3917,96.2,-26.5,45,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2207,3909,3901,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,613,-1.53,-292.0,2534,2207,3901,3917,133.2,-23.4,53,618,0.00,1.58,0.00,0.000,260,0.000,0.037,2525,3247,3909,3901,3917,0,0,0,0,0,0,28.83,26.08,28.83
$GC,678,-1.53,-292.0,2525,3246,3901,3917,150.6,-26.6,56,683,0.00,1.52,0.00,0.000,1030,0.000,0.021,2525,2177,3909,3901,3917,0,0,0,0,0,0,28.83,26.24,28.83
$GC,844,-1.53,-292.0,2525,2177,3902,3917,190.3,-23.6,64,849,0.00,1.48,0.00,0.000,516,0.000,0.028,2525,1156,3909,3901,3917,0,0,0,0,0,0,28.83,26.19,28.83
$GC,963,-1.53,-292.0,2525,1156,3902,3918,212.8,-21.0,69,970,0.00,1.52,0.00,0.000,1030,0.000,0.030,2519,2202,3910,3902,3918,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1130,-1.53,-292.0,2519,2202,3901,3918,249.4,-20.5,78,1135,0.00,1.52,0.00,0.000,516,0.000,0.031,2518,1152,3910,3902,3918,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1219,-1.53,-292.0,2519,1152,3902,3919,267.4,-21.0,82,1225,0.15,1.55,0.00,0.000,3078,0.193,0.046,2545,2204,3910,3902,3919,0,0,0,0,0,0,25.59,26.13,28.83
$GC,1380,-1.53,-292.0,2545,2204,3902,3919,299.1,-19.0,90,1385,0.00,1.55,0.00,0.000,260,0.000,0.044,2539,3252,3910,3901,3919,0,0,0,0,0,0,28.83,25.24,28.83
$GC,1518,-1.53,-292.0,2539,3252,3902,3918,322.6,-18.8,96,1523,0.00,1.55,0.00,0.000,1030,0.000,0.034,2539,2200,3910,3903,3918,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1693,-1.53,-292.0,2539,2200,3903,3919,359.0,-19.4,105,1698,0.00,1.50,0.00,0.000,516,0.000,0.044,2539,1146,3911,3903,3919,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1719,-1.53,-292.0,2539,1146,3903,3918,363.8,-19.4,106,1724,0.00,1.58,0.00,0.000,1030,0.000,0.037,2533,2208,3911,3903,3919,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1884,-1.53,-292.0,2532,2208,3903,3919,396.8,-19.5,114,1889,0.00,1.55,0.00,0.000,260,0.000,0.050,2525,3258,3910,3903,3918,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1909,-1.53,-292.0,2525,3258,3902,3918,401.2,-18.9,115,1914,0.00,1.52,0.00,0.000,1030,0.000,0.035,2525,2191,3910,3903,3918,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2075,-1.53,-292.0,2524,2191,3902,3918,429.3,-16.6,123,2080,0.00,1.52,0.00,0.000,516,0.000,0.044,2525,1159,3910,3902,3919,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2109,-1.53,-292.0,2525,1159,3903,3918,433.8,-16.5,124,2114,0.00,1.55,0.00,0.000,1030,0.000,0.045,2519,2205,3910,3902,3919,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2284,-1.53,-292.0,2519,2205,3902,3918,464.5,-16.9,133,2290,0.00,1.58,0.00,0.000,260,0.000,0.045,2512,3265,3910,3903,3918,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2427,-1.53,-292.0,2512,3265,3902,3917,488.0,-19.0,139,2435,0.10,1.58,0.00,0.000,3078,0.168,0.034,2540,2194,3909,3902,3917,0,0,0,0,0,0,25.71,26.20,28.83
$GC,2589,-1.53,-292.0,2540,2195,3903,3915,521.8,-18.7,148,2595,0.00,1.50,0.00,0.000,516,0.000,0.034,2540,1149,3909,3903,3915,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2608,-1.53,-292.0,2540,1149,3903,3915,521.8,-18.7,148,2615,0.00,1.60,0.00,0.000,1030,0.000,0.044,2536,2201,3908,3902,3915,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2775,-1.53,-292.0,2535,2201,3902,3913,555.3,-18.2,157,2780,0.00,1.58,0.00,0.000,260,0.000,0.050,2528,3260,3908,3903,3913,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2889,-1.53,-292.0,2528,3260,3902,3912,575.5,-19.1,162,2895,0.00,1.52,0.00,0.000,1030,0.000,0.021,2528,2200,3907,3902,3912,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3055,-1.53,-292.0,2527,2201,3902,3909,607.6,-18.4,170,3060,0.00,1.50,0.00,0.000,516,0.000,0.030,2528,1153,3905,3902,3908,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3085,-1.53,-292.0,2527,1154,3902,3908,607.6,-18.4,170,3091,0.00,1.58,0.00,0.000,1030,0.000,0.030,2521,2198,3905,3902,3908,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3241,-1.53,-292.0,2521,2198,3902,3907,641.2,-18.2,176,3246,0.00,1.58,0.00,0.000,260,0.000,0.044,2514,3252,3904,3902,3907,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3339,-1.53,-292.0,1536,3250,3900,3904,658.0,-17.5,179,3345,0.12,1.52,0.00,0.000,3078,0.189,0.034,2540,2187,3903,3902,3905,0,0,0,0,0,0,25.67,26.10,28.83
$GC,3522,-1.53,-292.0,2541,2187,3902,3902,687.7,-15.8,185,3527,0.00,1.50,0.00,0.000,516,0.000,0.044,2541,1146,3901,3902,3901,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3561,-1.53,-292.0,2541,1146,3902,3901,693.2,-15.6,186,3566,0.00,1.58,0.00,0.000,1030,0.000,0.034,2536,2208,3901,3902,3901,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3741,-1.53,-292.0,2536,2208,3902,3897,721.1,-15.0,192,3746,0.00,1.58,0.00,0.000,260,0.000,0.040,2529,3260,3899,3902,3897,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3801,-1.53,-292.0,2528,3260,3902,3896,726.9,-15.3,193,3808,0.00,1.52,0.00,0.000,1030,0.000,0.024,2529,2206,3899,3902,3896,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3956,-1.53,-292.0,2529,2206,3902,3893,757.3,-17.4,199,3961,0.00,1.50,0.00,0.000,516,0.000,0.034,2528,1162,3897,3902,3893,0,0,0,0,0,0,28.83,24.92,28.83
$GC,4000,-1.53,-292.0,2528,1162,3902,3893,763.4,-17.6,200,4005,0.00,1.55,0.00,0.000,1030,0.000,0.044,2522,2200,3897,3902,3892,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4178,-1.53,-292.0,2521,2200,3902,3889,797.5,-18.8,206,4183,0.00,1.58,0.00,0.000,260,0.000,0.040,2514,3252,3895,3902,3889,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4335,-1.53,-292.0,2514,3252,3901,3886,829.2,-20.3,211,4341,0.12,1.55,0.00,0.000,3078,0.191,0.034,2541,2188,3893,3901,3886,0,0,0,0,0,0,25.57,25.95,28.83
$GC,4522,-1.53,-292.0,2541,2188,3901,3883,864.0,-18.1,217,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2188,3892,3901,3883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4671,-1.53,-292.0,2541,2187,3902,3881,891.4,-18.0,222,4676,0.00,1.65,0.00,0.000,260,0.000,0.039,2536,3256,3890,3901,3880,0,0,0,0,0,0,28.83,25.31,28.83
$GC,4889,-1.53,-292.0,2536,3256,3901,3876,932.0,-19.0,229,4895,0.00,1.60,0.00,0.000,1030,0.000,0.023,2536,2204,3888,3900,3876,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5075,-1.53,-292.0,2535,2204,3900,3873,964.5,-17.1,235,5080,0.00,1.52,0.00,0.000,516,0.000,0.040,2536,1155,3887,3901,3873,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5104,-1.53,-292.0,2536,1154,3900,3873,964.5,-17.1,235,5110,0.00,1.58,0.00,0.000,1030,0.000,0.034,2530,2198,3886,3900,3873,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,5226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5226,begin apogee
$GC,5236,-0.25,0.0,2530,1876,3897,3872,990.3,-16.7,240,5610,1.45,0.00,357.75,1.005,10246,0.152,0.000,2952,1875,2708,2796,2621,0,0,0,0,0,0,24.79,28.83,23.59
$STATE,5612,end apogee,CONTROL_FINISHED_OK
$STATE,5612,begin climb
$GC,5615,1.53,292.0,2952,1875,2794,2613,1007.3,0.0,252,5889,1.62,1.65,261.92,1.161,11012,0.063,0.040,3542,872,1513,1595,1431,0,0,0,0,0,0,25.32,25.11,23.55
$GC,5962,1.53,292.0,3542,871,1572,1412,947.8,22.1,264,5967,0.00,1.58,0.00,0.000,1030,0.000,0.031,3542,1905,1492,1572,1412,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6142,1.53,292.0,3542,1905,1571,1407,908.4,21.2,270,6147,0.00,1.60,0.00,0.000,516,0.000,0.041,3549,869,1489,1571,1407,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6217,1.53,292.0,3549,869,1570,1407,894.5,21.2,272,6222,0.00,1.55,0.00,0.000,1030,0.000,0.031,3549,1900,1488,1570,1407,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6392,1.53,292.0,3550,1901,1568,1405,856.4,20.1,278,6397,0.00,1.58,0.00,0.000,260,0.000,0.041,3549,2953,1486,1567,1405,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6422,1.53,292.0,3549,2953,1568,1403,856.4,20.1,278,6429,0.00,1.52,0.00,0.000,1030,0.000,0.032,3556,1930,1486,1568,1404,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6577,1.53,292.0,3556,1930,1568,1403,819.0,19.9,284,6582,0.00,1.65,0.00,0.000,516,0.000,0.041,3564,839,1485,1568,1402,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6686,1.53,292.0,3564,839,1568,1403,799.2,20.7,287,6692,0.10,1.65,0.00,0.000,5126,0.195,0.033,3536,1910,1485,1568,1403,0,0,0,0,0,0,25.60,26.11,28.83
$GC,6858,1.53,292.0,3536,1910,1566,1402,762.0,19.6,293,6863,0.00,1.58,0.00,0.000,260,0.000,0.042,3536,2960,1484,1566,1402,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6887,1.53,292.0,3536,2959,1566,1401,762.0,19.6,293,6894,0.00,1.58,0.00,0.000,1030,0.000,0.033,3543,1901,1484,1567,1401,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7043,1.53,292.0,3543,1901,1566,1401,724.2,20.2,299,7048,0.00,1.60,0.00,0.000,516,0.000,0.041,3551,842,1483,1566,1401,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,11788,end climb,SURFACE_DEPTH_REACHED
$STATE,11789,begin surface coast
$FINISH,1.4,1.021861
$STATE,11809,end surface coast,CONTROL_FINISHED_OK
$STATE,11809,begin surface
$SM_CCo,11833,16.83,0.125,0,0,875,450.13
$SM_GC,2.40,8.98,0.45,16.83,0.031,0.037,0.125,131,2203,875,-9.01,-1.24,450.13,0,0,0,0,0,0,26.03,26.20,25.10
$IRIDIUM_FIX,2029.47,12324.80,101013,000042
$TT8_MAMPS,0.025466,0.025466
$HUMID,61.26
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.20
$XPDR_PINGS,43
$SC_FREEKB,7541440
$24V_AH,23.5,99.455
$10V_AH,9.6,61.864
$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,23.525,133.150,716.275,16.825,0.000,0.000,0.000,225.275,10.750,0.000,35.251,2085.417,6704.680,791.274,2100.401,644.996,0.000,2158.148,0.000,1767.282,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,50.490,1160.505,125.460,0.000,0.000,0.000,120.870,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6242.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.723,0.000,0.000,0.000
$MEM,327984
$DATA_FILE_SIZE,20097,550
$CAP_FILE_SIZE,168244,0
$CFSIZE,260034560,196481024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,072535,2038.299,12325.429,39,1.4,39,-3.0