version: 66.11
glider: 167
mission: 16
dive: 598
start: 10 10 113 7 34 2
data:
$ID,167
$MISSION,16
$DIVE,598
$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,290
$T_MISSION,320
$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,-976657.06
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,101013,072535,2038.299,12325.429,39,1.4,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.7
$GPS2,101013,073336,2038.276,12325.526,40,0.9,40,-3.0
$SPEED_LIMITS,0.197,0.225
$TGT_NAME,HEADING
$TGT_LATLONG,2031.335,12316.693
$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,-17.1,-11.379,-26.83,3823
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.44,-292.0,111,2216,934,836,0.0,0.0,0,95,0.00,0.00,-65.53,0.000,16386,0.000,0.000,111,2216,2492,2471,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.44,-292.0,111,2216,2471,2516,3.1,-3.2,12,149,10.65,1.67,-30.90,0.000,18948,0.233,0.048,2569,1130,3907,3901,3914,0,0,0,0,0,0,24.63,25.96,26.49
$GC,226,-1.44,-292.0,2569,1129,3901,3915,33.6,-26.8,31,232,0.00,1.60,0.00,0.000,1030,0.000,0.032,2565,2211,3908,3901,3915,0,0,0,0,0,0,28.83,25.99,28.83
$GC,391,-1.44,-292.0,2565,2210,3901,3915,76.2,-25.6,42,397,0.00,1.55,0.00,0.000,260,0.000,0.039,2557,3252,3908,3901,3915,0,0,0,0,0,0,28.83,25.99,28.83
$GC,486,-1.44,-292.0,2557,3252,3901,3915,96.8,-24.2,46,492,0.00,1.55,0.00,0.000,1030,0.000,0.022,2557,2171,3908,3901,3916,0,0,0,0,0,0,28.83,26.20,28.83
$GC,662,-1.44,-292.0,2557,2171,3901,3916,138.8,-23.0,55,667,0.00,1.50,0.00,0.000,516,0.000,0.030,2557,1117,3908,3901,3916,0,0,0,0,0,0,28.83,26.14,28.83
$GC,727,-1.44,-292.0,2557,1116,3902,3916,152.5,-21.6,58,732,0.00,1.60,0.00,0.000,1030,0.000,0.030,2550,2203,3909,3901,3917,0,0,0,0,0,0,28.83,26.12,28.83
$GC,893,-1.44,-292.0,2550,2203,3902,3917,186.0,-20.3,66,898,0.00,1.55,0.00,0.000,260,0.000,0.037,2542,3259,3909,3902,3917,0,0,0,0,0,0,28.83,26.07,28.83
$GC,978,-1.44,-292.0,2541,3258,3902,3917,204.2,-21.2,70,984,0.12,1.52,0.00,0.000,3078,0.186,0.021,2570,2179,3909,3902,3917,0,0,0,0,0,0,25.76,26.26,28.83
$GC,1145,-1.44,-292.0,2570,2178,3903,3917,238.0,-20.2,78,1150,0.00,1.48,0.00,0.000,516,0.000,0.028,2570,1160,3909,3902,3917,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1230,-1.44,-292.0,2570,1160,3903,3918,254.6,-19.1,82,1235,0.00,1.52,0.00,0.000,1030,0.000,0.029,2566,2203,3910,3903,3918,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1396,-1.44,-292.0,2566,2202,3903,3917,284.1,-17.4,90,1401,0.00,1.52,0.00,0.000,516,0.000,0.042,2566,1154,3910,3903,3918,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1455,-1.44,-292.0,2566,1154,3903,3918,292.3,-17.5,92,1462,0.00,1.52,0.00,0.000,1030,0.000,0.029,2561,2200,3910,3903,3918,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1622,-1.44,-292.0,2560,2200,3903,3918,323.6,-17.2,101,1627,0.00,1.50,0.00,0.000,516,0.000,0.028,2560,1156,3910,3903,3918,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1647,-1.44,-292.0,2559,1156,3903,3918,328.3,-17.4,102,1653,0.00,1.58,0.00,0.000,1030,0.000,0.029,2553,2202,3910,3903,3918,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1813,-1.44,-292.0,2553,2202,3903,3918,358.3,-18.5,110,1818,0.00,1.55,0.00,0.000,260,0.000,0.037,2545,3254,3910,3903,3918,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1873,-1.44,-292.0,2545,3254,3903,3918,366.8,-18.8,112,1880,0.08,1.55,0.00,0.000,3078,0.168,0.020,2567,2191,3910,3903,3918,0,0,0,0,0,0,25.86,26.29,28.83
$GC,2038,-1.44,-292.0,2567,2191,3903,3918,399.8,-17.7,121,2043,0.00,1.50,0.00,0.000,516,0.000,0.029,2567,1132,3910,3903,3918,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2056,-1.44,-292.0,2568,1131,3903,3918,399.8,-17.7,121,2063,0.00,1.60,0.00,0.000,1030,0.000,0.030,2563,2195,3910,3903,3918,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2224,-1.44,-292.0,2563,2195,3903,3918,432.3,-17.5,130,2229,0.00,1.58,0.00,0.000,260,0.000,0.038,2555,3261,3910,3903,3918,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2299,-1.44,-292.0,2554,3261,3903,3918,444.0,-17.9,133,2304,0.00,1.50,0.00,0.000,1030,0.000,0.020,2555,2206,3910,3903,3918,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2475,-1.44,-292.0,2555,2207,3903,3917,476.2,-16.9,142,2480,0.00,1.50,0.00,0.000,516,0.000,0.029,2555,1147,3910,3903,3917,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2540,-1.44,-292.0,2554,1147,3903,3917,486.8,-16.2,145,2545,0.00,1.55,0.00,0.000,1030,0.000,0.030,2548,2201,3909,3903,3916,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2705,-1.44,-292.0,2548,2201,3903,3914,514.3,-16.6,153,2710,0.00,1.58,0.00,0.000,260,0.000,0.044,2541,3253,3908,3903,3914,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2824,-1.44,-292.0,2540,3253,3903,3913,533.3,-18.2,158,2830,0.15,1.50,0.00,0.000,3078,0.174,0.020,2577,2194,3908,3903,3913,0,0,0,0,0,0,25.73,26.28,28.83
$GC,3000,-1.44,-292.0,2575,2194,3903,3912,566.1,-17.0,167,3006,0.00,1.50,0.00,0.000,516,0.000,0.029,2576,1165,3907,3903,3911,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3040,-1.44,-292.0,2576,1165,3903,3911,570.4,-17.1,168,3047,0.00,1.58,0.00,0.000,1030,0.000,0.030,2572,2205,3906,3903,3910,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3206,-1.44,-292.0,2572,2205,3903,3908,600.6,-16.9,177,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2205,3905,3903,3908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3357,-1.44,-292.0,2572,2205,3903,3907,625.7,-16.5,182,3362,0.00,1.55,0.00,0.000,260,0.000,0.038,2565,3252,3904,3903,3906,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3401,-1.44,-292.0,2564,3253,3903,3906,631.2,-16.2,183,3406,0.00,1.50,0.00,0.000,1030,0.000,0.021,2564,2205,3904,3903,3905,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3576,-1.44,-292.0,2564,2205,3903,3903,662.4,-16.9,189,3581,0.00,1.52,0.00,0.000,516,0.000,0.029,2564,1161,3903,3903,3903,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3636,-1.44,-292.0,2564,1159,3903,3902,668.2,-16.7,190,3643,0.00,1.55,0.00,0.000,1030,0.000,0.031,2561,2209,3902,3903,3902,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3791,-1.44,-292.0,2560,2209,3903,3899,697.7,-16.2,196,3796,0.00,1.58,0.00,0.000,260,0.000,0.041,2561,3261,3900,3902,3899,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3830,-1.44,-292.0,2561,3261,3903,3898,703.4,-16.1,197,3835,0.00,1.55,0.00,0.000,1030,0.000,0.034,2560,2193,3900,3903,3898,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4011,-1.44,-292.0,2560,2192,3903,3895,733.5,-16.2,203,4016,0.00,1.52,0.00,0.000,516,0.000,0.030,2560,1156,3898,3903,3894,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4030,-1.44,-292.0,2560,1155,3903,3895,733.5,-16.2,203,4035,0.00,1.55,0.00,0.000,1030,0.000,0.031,2560,2202,3898,3903,3894,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4200,-1.44,-292.0,2560,2202,3903,3892,764.0,-16.1,209,4205,0.00,1.62,0.00,0.000,260,0.000,0.042,2560,3248,3897,3902,3892,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4275,-1.44,-292.0,2560,3248,3902,3889,774.5,-16.1,211,4280,0.00,1.52,0.00,0.000,1030,0.000,0.021,2560,2187,3895,3902,3889,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4450,-1.44,-292.0,2560,2186,3902,3887,804.0,-15.8,217,4456,0.00,1.67,0.00,0.000,260,0.000,0.038,2555,3252,3894,3902,3887,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4495,-1.44,-292.0,2554,3254,3902,3886,809.9,-16.0,218,4500,0.00,1.58,0.00,0.000,1030,0.000,0.021,2554,2192,3894,3902,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4671,-1.44,-292.0,2554,2191,3902,3883,839.9,-16.2,224,4676,0.00,1.62,0.00,0.000,260,0.000,0.038,2548,3252,3892,3902,3883,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4725,-1.44,-292.0,2547,3252,3902,3882,845.9,-16.3,225,4730,0.00,1.55,0.00,0.000,1030,0.000,0.023,2548,2188,3892,3902,3882,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4890,-1.44,-292.0,2547,2188,3902,3879,876.6,-16.3,231,4892,0.12,0.00,0.00,0.000,2054,0.190,0.000,2576,2188,3890,3902,3878,0,0,0,0,0,0,26.02,28.83,28.83
$GC,5041,-1.44,-292.0,2576,2188,3902,3876,899.2,-14.9,236,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2188,3889,3902,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5190,-1.44,-292.0,2576,2188,3901,3875,922.7,-15.7,241,5195,0.00,1.50,0.00,0.000,516,0.000,0.031,2576,1147,3887,3901,3874,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5214,-1.44,-292.0,2576,1147,3901,3874,922.7,-15.7,241,5219,0.00,1.58,0.00,0.000,1030,0.000,0.032,2574,2203,3887,3901,3874,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5379,-1.44,-292.0,2574,2203,3899,3873,953.9,-16.7,247,5384,0.00,1.60,0.00,0.000,260,0.000,0.044,2573,3255,3885,3898,3873,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5545,-1.44,-292.0,2573,3255,3897,3871,980.6,-17.1,252,5550,0.00,1.52,0.00,0.000,1030,0.000,0.022,2573,2199,3884,3897,3871,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,5596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5596,begin apogee
$GC,5606,-0.25,0.0,2573,1895,3897,3870,991.7,-17.2,254,5902,1.25,0.00,285.85,1.134,10246,0.145,0.000,2948,1894,2708,2797,2619,0,0,0,0,0,0,24.84,28.83,23.51
$STATE,5909,end apogee,CONTROL_FINISHED_OK
$STATE,5909,begin climb
$GC,5912,1.44,292.0,2948,1894,2793,2611,1009.1,0.0,264,6188,1.55,1.67,265.25,1.157,10756,0.065,0.040,3508,876,1517,1602,1432,0,0,0,0,0,0,25.28,25.10,23.52
$GC,6216,1.44,292.0,3506,876,1577,1412,967.7,17.9,274,6221,0.00,1.58,0.00,0.000,1030,0.000,0.030,3508,1906,1494,1577,1411,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6392,1.44,292.0,3508,1906,1572,1405,932.9,18.8,280,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,1906,1488,1572,1405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6541,1.44,292.0,3506,1906,1572,1403,904.9,18.6,285,6546,0.00,1.58,0.00,0.000,516,0.000,0.037,3515,873,1487,1572,1403,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,12316,end climb,SURFACE_DEPTH_REACHED
$STATE,12317,begin surface coast
$FINISH,1.4,1.022089
$STATE,12331,end surface coast,CONTROL_FINISHED_OK
$STATE,12331,begin surface
$SM_CCo,12357,2.35,0.151,0,0,877,450.13
$SM_GC,2.68,8.95,2.10,2.35,0.031,0.031,0.151,142,2192,877,-9.00,-1.44,450.13,0,0,0,0,0,0,25.89,25.98,25.04
$IRIDIUM_FIX,2031.77,12324.80,101013,040448
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.56
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.00
$XPDR_PINGS,54
$SC_FREEKB,7541056
$24V_AH,23.5,99.655
$10V_AH,9.8,61.949
$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,23.400,139.250,655.825,2.350,0.000,0.000,0.000,227.000,13.500,0.000,41.959,2039.521,7365.583,740.805,2012.431,671.999,0.000,2065.638,0.000,1694.109,0.000,0.541,0.000
$DEVICE_MAMPS,233.325,48.195,1156.680,150.705,0.000,0.000,0.000,117.045,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12332.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.110,0.000,0.000,0.000
$MEM,327968
$DATA_FILE_SIZE,23501,568
$CAP_FILE_SIZE,184337,0
$CFSIZE,260034560,196378624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,110200,2037.344,12326.584,69,1.1,69,-3.0