version: 66.11
glider: 167
mission: 16
dive: 600
start: 10 10 113 14 57 31
data:
$ID,167
$MISSION,16
$DIVE,600
$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,-976659.56
$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,52
$R_STBD_OVSHOOT,64
$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
$GPS1,101013,144408,2036.208,12326.896,41,1.0,41,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-66.1
$GPS2,101013,145705,2036.129,12326.979,43,1.2,43,-3.0
$SPEED_LIMITS,0.197,0.225
$TGT_NAME,HEADING
$TGT_LATLONG,2029.187,12318.147
$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,5289
$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,-292.0,109,2239,703,558,0.0,0.0,0,106,0.00,0.00,-76.12,0.000,16386,0.000,0.000,109,2239,2516,2495,2538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-1.44,-292.0,109,2239,2495,2540,3.0,-2.4,14,160,10.52,1.70,-31.80,0.000,18948,0.230,0.051,2568,1156,3907,3901,3914,0,0,0,0,0,0,24.55,25.85,26.42
$GC,258,-1.44,-292.0,2568,1155,3901,3916,37.6,-26.1,36,264,0.00,1.58,0.00,0.000,1030,0.000,0.036,2564,2168,3908,3901,3916,0,0,0,0,0,0,28.83,25.95,28.83
$GC,434,-1.44,-292.0,2564,2168,3901,3915,85.1,-27.1,47,439,0.00,1.62,0.00,0.000,260,0.000,0.041,2555,3260,3908,3901,3916,0,0,0,0,0,0,28.83,25.98,28.83
$GC,488,-1.44,-292.0,2555,3260,3901,3916,96.2,-25.6,49,493,0.00,1.60,0.00,0.000,1030,0.000,0.024,2556,2179,3908,3901,3916,0,0,0,0,0,0,28.83,26.19,28.83
$GC,664,-1.44,-292.0,2555,2179,3901,3916,136.0,-20.2,58,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2179,3908,3901,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,823,-1.44,-292.0,2555,2180,3901,3916,170.6,-22.4,66,828,0.00,1.65,0.00,0.000,260,0.000,0.039,2548,3266,3908,3901,3916,0,0,0,0,0,0,28.83,25.99,28.83
$GC,842,-1.44,-292.0,2548,3266,3901,3916,170.6,-22.4,66,848,0.00,1.52,0.00,0.000,1030,0.000,0.023,2548,2201,3908,3901,3916,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1009,-1.44,-292.0,2548,2202,3901,3917,209.8,-20.3,75,1014,0.00,1.50,0.00,0.000,516,0.000,0.029,2548,1140,3909,3901,3917,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1054,-1.44,-292.0,2548,1139,3901,3917,218.8,-19.5,77,1060,0.15,1.58,0.00,0.000,3078,0.183,0.030,2577,2222,3909,3901,3917,0,0,0,0,0,0,25.65,26.15,28.83
$GC,1221,-1.44,-292.0,2576,2222,3902,3917,247.3,-17.3,85,1226,0.00,1.55,0.00,0.000,260,0.000,0.054,2571,3255,3909,3901,3917,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1320,-1.44,-292.0,2571,3255,3901,3917,262.9,-18.2,89,1326,0.00,1.52,0.00,0.000,1030,0.000,0.023,2571,2187,3909,3901,3917,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1487,-1.44,-292.0,2571,2186,3901,3917,294.5,-17.3,98,1492,0.00,1.50,0.00,0.000,516,0.000,0.028,2571,1154,3909,3902,3917,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1541,-1.44,-292.0,2571,1154,3902,3917,302.5,-17.6,100,1547,0.00,1.52,0.00,0.000,1030,0.000,0.028,2566,2206,3909,3902,3917,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1716,-1.44,-292.0,2565,2207,3901,3917,333.9,-17.3,109,1722,0.00,1.55,0.00,0.000,260,0.000,0.040,2557,3251,3909,3902,3917,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1806,-1.44,-292.0,2555,3250,3901,3917,349.5,-18.4,113,1812,0.00,1.50,0.00,0.000,1030,0.000,0.021,2557,2190,3908,3900,3916,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1967,-1.44,-292.0,2556,2190,3901,3917,379.1,-18.4,121,1972,0.00,1.50,0.00,0.000,516,0.000,0.028,2557,1131,3909,3901,3917,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2013,-1.44,-292.0,2556,1130,3901,3917,387.4,-18.2,123,2018,0.00,1.58,0.00,0.000,1030,0.000,0.028,2549,2209,3909,3901,3917,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2178,-1.44,-292.0,2549,2209,3901,3917,416.7,-17.1,131,2183,0.00,1.58,0.00,0.000,260,0.000,0.039,2542,3243,3909,3901,3917,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2247,-1.44,-292.0,2541,3243,3901,3916,428.3,-17.7,134,2253,0.12,1.50,0.00,0.000,3078,0.180,0.021,2571,2180,3908,3901,3916,0,0,0,0,0,0,25.82,26.29,28.83
$GC,2409,-1.44,-292.0,2570,2180,3901,3915,454.9,-15.5,142,2414,0.00,1.48,0.00,0.000,516,0.000,0.028,2571,1169,3907,3901,3914,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2498,-1.44,-292.0,2571,1168,3901,3914,468.6,-15.8,146,2504,0.00,1.50,0.00,0.000,1030,0.000,0.028,2566,2202,3908,3902,3914,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2660,-1.44,-292.0,2566,2203,3901,3912,494.5,-15.9,154,2665,0.00,1.50,0.00,0.000,516,0.000,0.028,2566,1162,3906,3901,3912,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2728,-1.44,-292.0,1552,1161,3899,3911,504.8,-15.5,157,2733,0.00,1.52,0.00,0.000,1030,0.000,0.028,2561,2209,3906,3901,3911,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2889,-1.44,-292.0,2560,2209,3902,3908,531.9,-17.4,165,2894,0.00,1.52,0.00,0.000,516,0.000,0.031,2561,1159,3904,3901,3908,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2923,-1.44,-292.0,2561,1159,3901,3908,536.3,-17.3,166,2928,0.00,1.52,0.00,0.000,1030,0.000,0.029,2561,2202,3904,3901,3908,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3098,-1.44,-292.0,2560,2203,3901,3906,566.0,-16.1,175,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2203,3903,3901,3906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3260,-1.44,-292.0,2560,2203,3901,3903,593.3,-16.8,183,3265,0.00,1.52,0.00,0.000,516,0.000,0.041,2561,1157,3902,3901,3903,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3280,-1.44,-292.0,2560,1156,3901,3903,593.3,-16.8,183,3286,0.00,1.60,0.00,0.000,1030,0.000,0.033,2561,2201,3901,3901,3902,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3456,-1.44,-292.0,2561,2201,3901,3899,627.3,-17.3,190,3461,0.00,1.60,0.00,0.000,260,0.000,0.044,2554,3259,3900,3901,3899,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3516,-1.44,-292.0,2553,3259,3901,3898,633.5,-17.2,191,3522,0.00,1.50,0.00,0.000,1030,0.000,0.021,2554,2204,3899,3901,3898,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3671,-1.44,-292.0,2554,2204,3901,3895,666.2,-18.0,197,3676,0.00,1.50,0.00,0.000,516,0.000,0.029,2554,1151,3898,3901,3895,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3715,-1.44,-292.0,2554,1150,3902,3894,672.4,-17.9,198,3721,0.12,1.55,0.00,0.000,3078,0.190,0.029,2575,2211,3897,3901,3894,0,0,0,0,0,0,25.72,26.15,28.83
$GC,3892,-1.44,-292.0,2575,2211,3901,3891,703.2,-16.5,204,3897,0.00,1.55,0.00,0.000,260,0.000,0.041,2570,3247,3896,3901,3891,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3977,-1.44,-292.0,2569,3249,3901,3889,714.8,-16.7,206,3982,0.00,1.50,0.00,0.000,1030,0.000,0.021,2569,2196,3895,3901,3889,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4143,-1.44,-292.0,2569,2196,3901,3886,747.0,-17.5,212,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2196,3893,3901,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4292,-1.44,-292.0,2569,2196,3901,3883,773.8,-17.9,217,4297,0.00,1.50,0.00,0.000,516,0.000,0.030,2569,1150,3892,3901,3883,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4331,-1.44,-292.0,2569,1148,3900,3882,780.0,-17.9,218,4337,0.00,1.55,0.00,0.000,1030,0.000,0.029,2562,2203,3891,3901,3882,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4513,-1.44,-292.0,2564,2204,3899,3880,812.4,-17.5,224,4518,0.00,1.62,0.00,0.000,260,0.000,0.042,2555,3248,3889,3899,3879,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4650,-1.44,-292.0,2555,3248,3899,3878,835.0,-17.8,228,4655,0.00,1.50,0.00,0.000,1030,0.000,0.021,2555,2199,3887,3898,3877,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4826,-1.44,-292.0,2555,2198,3898,3874,867.0,-16.7,234,4831,0.00,1.50,0.00,0.000,516,0.000,0.030,2555,1151,3886,3898,3874,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4865,-1.44,-292.0,2555,1151,3898,3873,872.9,-16.4,235,4870,0.00,1.55,0.00,0.000,1030,0.000,0.030,2548,2202,3885,3897,3873,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5045,-1.44,-292.0,2547,2202,3897,3871,902.8,-16.1,241,5050,0.00,1.60,0.00,0.000,260,0.000,0.043,2540,3257,3883,3896,3871,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5145,-1.44,-292.0,1552,3254,3891,3869,919.4,-17.0,244,5151,0.10,1.58,0.00,0.000,3078,0.167,0.022,2569,2191,3882,3894,3870,0,0,0,0,0,0,25.70,26.23,28.83
$GC,5326,-1.44,-292.0,2569,2191,3894,3868,949.4,-16.2,250,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2191,3881,3894,3868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5477,-1.44,-292.0,2569,2191,3893,3866,974.8,-17.0,255,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2191,3879,3893,3866,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5563,begin apogee
$GC,5572,-0.25,0.0,2569,1875,3892,3864,990.7,-17.5,258,5844,1.25,0.00,264.70,1.179,10246,0.142,0.000,2950,1875,2715,2802,2629,0,0,0,0,0,0,24.91,28.83,23.30
$STATE,5849,end apogee,CONTROL_FINISHED_OK
$STATE,5849,begin climb
$GC,5853,1.44,292.0,2950,1875,2784,2612,1009.6,0.0,267,6124,1.55,1.75,259.42,1.169,10500,0.066,0.040,3500,2939,1511,1597,1426,0,0,0,0,0,0,25.20,25.10,23.46
$GC,6151,1.44,292.0,3500,2939,1583,1409,972.6,16.6,277,6156,0.00,1.52,0.00,0.000,1030,0.000,0.032,3507,1939,1495,1583,1408,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6327,1.44,292.0,3507,1939,1579,1403,938.0,18.7,283,6332,0.00,1.70,0.00,0.000,516,0.000,0.040,3515,852,1491,1580,1402,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6441,1.44,292.0,3515,851,1578,1402,919.3,19.3,286,6447,0.00,1.58,0.00,0.000,1030,0.000,0.029,3515,1912,1490,1578,1402,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6608,1.44,292.0,3515,1912,1576,1401,882.5,19.9,292,6613,0.00,1.55,0.00,0.000,260,0.000,0.042,3515,2943,1488,1576,1401,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6646,1.44,292.0,2632,2940,1529,1394,875.2,19.9,293,6651,0.00,1.55,0.00,0.000,1030,0.000,0.031,3522,1898,1488,1576,1400,0,0,0,0,0,0,28.83,26.11,28.83
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$STATE,12549,end climb,SURFACE_DEPTH_REACHED
$STATE,12549,begin surface coast
$STATE,12572,end surface coast,CONTROL_FINISHED_OK
$STATE,12572,begin surface
$SM_CCo,12597,14.45,0.127,0,0,878,450.13
$SM_GC,2.22,8.90,0.40,14.45,0.031,0.044,0.127,141,2204,878,-8.99,-1.70,450.13,0,0,0,0,0,0,25.88,26.17,24.98
$IRIDIUM_FIX,2027.17,12328.64,101013,141459
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.65
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.70
$XPDR_PINGS,85
$SC_FREEKB,7540416
$24V_AH,23.3,100.061
$10V_AH,9.7,62.117
$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,23.675,148.175,596.650,14.450,0.000,0.000,0.000,446.850,21.250,0.000,44.540,2144.600,7451.901,730.328,2332.767,715.384,0.000,2317.112,0.000,1806.577,0.000,0.542,0.000
$DEVICE_MAMPS,229.500,53.550,1178.865,126.990,0.000,0.000,0.000,119.340,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5877.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.472,0.000,0.000,0.000
$MEM,328024
$DATA_FILE_SIZE,23397,585
$CAP_FILE_SIZE,195887,0
$CFSIZE,260034560,196202496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,182906,2035.322,12327.196,34,1.0,34,-3.0