version: 66.11
glider: 167
mission: 16
dive: 602
start: 10 10 113 22 26 23
data:
$ID,167
$MISSION,16
$DIVE,602
$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,300
$T_MISSION,330
$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,-976662.06
$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,3050
$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,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,101013,221723,2034.850,12327.922,70,1.0,70,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-69.0
$GPS2,101013,222553,2034.864,12327.940,7,1.0,7,-3.0
$SPEED_LIMITS,0.191,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2027.922,12319.110
$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,-16.2,-11.000,-26.31,3945
$D_GRID,5321
$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,-1.39,-292.0,111,2230,909,862,0.0,0.0,0,96,0.00,0.00,-65.55,0.000,16386,0.000,0.000,111,2230,2499,2472,2527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.39,-292.0,111,2230,2475,2526,3.1,-3.1,12,150,10.62,1.70,-31.30,0.000,18948,0.231,0.047,2593,1127,3907,3901,3914,0,0,0,0,0,0,24.58,25.91,26.45
$GC,231,-1.39,-292.0,1568,1126,3899,3915,32.2,-25.4,32,238,0.00,1.58,0.00,0.000,1030,0.000,0.032,2588,2191,3908,3900,3916,0,0,0,0,0,0,28.83,25.95,28.83
$GC,398,-1.39,-292.0,2588,2190,3901,3916,77.6,-25.6,44,403,0.00,1.58,0.00,0.000,260,0.000,0.036,2580,3263,3908,3900,3916,0,0,0,0,0,0,28.83,25.99,28.83
$GC,498,-1.39,-292.0,2580,3263,3901,3916,98.0,-24.0,48,504,0.00,1.52,0.00,0.000,1030,0.000,0.020,2580,2192,3908,3901,3916,0,0,0,0,0,0,28.83,26.20,28.83
$GC,663,-1.39,-292.0,2580,2191,3901,3916,136.7,-21.4,57,668,0.00,1.50,0.00,0.000,516,0.000,0.031,2580,1138,3908,3901,3916,0,0,0,0,0,0,28.83,26.10,28.83
$GC,713,-1.39,-292.0,2580,1138,3901,3917,146.4,-21.2,59,718,0.00,1.58,0.00,0.000,1030,0.000,0.032,2573,2206,3909,3902,3916,0,0,0,0,0,0,28.83,26.08,28.83
$GC,874,-1.39,-292.0,2573,2207,3902,3917,179.4,-19.5,67,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2206,3909,3902,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1035,-1.39,-292.0,2573,2207,3903,3917,209.3,-18.4,75,1040,0.00,1.52,0.00,0.000,516,0.000,0.031,2574,1159,3909,3902,3917,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1100,-1.39,-292.0,2573,1159,3903,3917,221.3,-17.9,78,1106,0.12,1.52,0.00,0.000,3078,0.184,0.031,2596,2197,3909,3903,3916,0,0,0,0,0,0,25.70,26.12,28.83
$GC,1269,-1.39,-292.0,2595,2197,3903,3917,249.9,-16.8,86,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2197,3910,3903,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1426,-1.39,-292.0,2596,2198,3904,3918,277.5,-17.2,94,1432,0.00,1.58,0.00,0.000,260,0.000,0.037,2590,3260,3911,3904,3918,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1460,-1.39,-292.0,2590,3260,3904,3918,282.1,-17.2,95,1466,0.00,1.58,0.00,0.000,1030,0.000,0.019,2590,2146,3911,3904,3918,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1637,-1.39,-292.0,2590,2145,3904,3918,315.2,-18.2,104,1642,0.00,1.65,0.00,0.000,260,0.000,0.034,2583,3250,3911,3904,3918,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1702,-1.39,-292.0,2582,3250,3903,3918,328.0,-18.8,107,1707,0.00,1.52,0.00,0.000,1030,0.000,0.019,2582,2175,3911,3904,3918,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1867,-1.39,-292.0,2582,2176,3904,3918,359.0,-18.5,115,1872,0.00,1.48,0.00,0.000,516,0.000,0.031,2583,1168,3911,3904,3918,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1898,-1.39,-292.0,2583,1168,3904,3918,363.4,-18.3,116,1904,0.00,1.50,0.00,0.000,1030,0.000,0.031,2577,2197,3911,3904,3918,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2059,-1.39,-292.0,2576,2197,3903,3918,391.6,-16.6,124,2064,0.00,1.58,0.00,0.000,260,0.000,0.041,2574,3250,3910,3903,3918,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2222,-1.39,-292.0,2574,3250,3904,3917,416.3,-16.8,131,2229,0.00,1.50,0.00,0.000,1030,0.000,0.019,2574,2190,3910,3904,3917,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2387,-1.39,-292.0,2574,2190,3904,3916,447.0,-17.6,140,2392,0.00,1.50,0.00,0.000,516,0.000,0.031,2574,1137,3909,3903,3916,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2437,-1.39,-292.0,2574,1137,3904,3915,454.2,-16.8,142,2443,0.12,1.58,0.00,0.000,3078,0.184,0.031,2596,2213,3909,3903,3915,0,0,0,0,0,0,25.73,26.13,28.83
$GC,2599,-1.39,-292.0,2595,2214,3904,3914,480.5,-15.9,150,2604,0.00,1.52,0.00,0.000,516,0.000,0.029,2596,1160,3909,3904,3914,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2618,-1.39,-292.0,2596,1160,3904,3914,480.5,-15.9,150,2624,0.00,1.52,0.00,0.000,1030,0.000,0.031,2591,2201,3908,3904,3913,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2785,-1.39,-292.0,2591,2201,3903,3912,511.1,-16.4,159,2791,0.00,1.52,0.00,0.000,516,0.000,0.029,2591,1150,3908,3903,3913,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2821,-1.39,-292.0,2591,1150,3904,3912,515.3,-16.2,160,2826,0.00,1.52,0.00,0.000,1030,0.000,0.032,2587,2185,3908,3904,3912,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2996,-1.39,-292.0,2587,2185,3903,3908,543.4,-15.2,169,3001,0.00,1.60,0.00,0.000,260,0.000,0.037,2581,3266,3905,3903,3908,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3036,-1.39,-292.0,2581,3266,3903,3908,547.4,-15.3,170,3043,0.00,1.58,0.00,0.000,1030,0.000,0.019,2581,2156,3906,3904,3908,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3202,-1.39,-292.0,2581,2156,3904,3907,575.1,-15.7,179,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2157,3904,3902,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3362,-1.39,-292.0,2581,2156,3903,3904,600.9,-16.1,187,3367,0.00,1.48,0.00,0.000,516,0.000,0.035,2581,1164,3904,3904,3904,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3427,-1.39,-292.0,2581,1163,3903,3903,611.6,-16.1,189,3433,0.00,1.52,0.00,0.000,1030,0.000,0.031,2575,2163,3903,3903,3903,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3613,-1.39,-292.0,2575,2162,3903,3899,641.5,-16.4,195,3618,0.00,1.62,0.00,0.000,260,0.000,0.039,2568,3255,3901,3903,3899,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3698,-1.39,-292.0,2568,3255,3903,3897,652.5,-16.6,197,3704,0.12,1.55,0.00,0.000,3078,0.171,0.021,2597,2165,3900,3903,3898,0,0,0,0,0,0,25.82,26.26,28.83
$GC,3864,-1.39,-292.0,2597,2165,3903,3895,682.6,-16.0,203,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2164,3898,3902,3895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4015,-1.39,-292.0,2597,2165,3903,3892,706.8,-16.3,208,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2165,3897,3903,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4164,-1.39,-292.0,2597,2165,3903,3890,730.7,-15.9,213,4169,0.00,1.48,0.00,0.000,516,0.000,0.032,2597,1171,3895,3903,3888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4203,-1.39,-292.0,2597,1171,3903,3888,736.3,-16.0,214,4208,0.00,1.50,0.00,0.000,1030,0.000,0.032,2593,2183,3895,3903,3888,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4385,-1.39,-292.0,2592,2183,3903,3885,766.1,-16.3,220,4390,0.00,1.60,0.00,0.000,260,0.000,0.040,2588,3249,3894,3903,3885,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4470,-1.39,-292.0,2587,3249,3902,3884,777.8,-16.9,222,4475,0.00,1.52,0.00,0.000,1030,0.000,0.021,2588,2185,3892,3902,3883,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4635,-1.39,-292.0,2587,2185,3902,3881,810.3,-17.6,228,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2185,3891,3902,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4786,-1.39,-292.0,2587,2185,3902,3879,835.6,-16.8,233,4791,0.00,1.65,0.00,0.000,260,0.000,0.038,2582,3260,3890,3902,3878,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4815,-1.39,-292.0,2581,3260,3902,3878,835.6,-16.8,233,4822,0.00,1.52,0.00,0.000,1030,0.000,0.022,2582,2200,3890,3902,3878,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4971,-1.39,-292.0,2581,2199,3902,3875,867.2,-16.9,239,4977,0.00,1.50,0.00,0.000,516,0.000,0.033,2582,1162,3888,3902,3875,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4993,-1.39,-292.0,2581,1162,3901,3874,867.2,-16.9,239,4998,0.00,1.52,0.00,0.000,1030,0.000,0.033,2575,2188,3888,3902,3874,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5165,-1.39,-292.0,2575,2188,3900,3874,899.1,-16.6,245,5170,0.00,1.62,0.00,0.000,260,0.000,0.042,2575,3259,3887,3900,3874,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5332,-1.39,-292.0,2575,3258,3898,3872,926.0,-16.8,250,5337,0.00,1.52,0.00,0.000,1030,0.000,0.022,2575,2200,3884,3898,3871,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5507,-1.39,-292.0,2575,2200,3897,3869,956.3,-16.4,256,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2200,3883,3897,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5657,-1.39,-292.0,2575,2199,3896,3869,981.1,-16.6,261,5662,0.00,1.50,0.00,0.000,516,0.000,0.034,2575,1164,3883,3897,3869,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5682,-1.39,-292.0,2575,1165,3896,3868,981.1,-16.6,261,5687,0.00,1.60,0.00,0.000,1030,0.000,0.034,2574,2223,3882,3896,3868,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,5723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5724,begin apogee
$GC,5733,-0.25,0.0,2574,1892,3895,3867,992.8,-16.8,263,6101,1.30,0.00,359.02,1.026,10244,0.143,0.000,2963,1891,2712,2799,2626,0,0,0,0,0,0,24.79,28.83,23.49
$STATE,6103,end apogee,CONTROL_FINISHED_OK
$STATE,6104,begin climb
$GC,6107,1.39,292.0,2963,1892,2793,2615,1014.1,0.0,275,6390,1.42,1.65,268.83,1.152,10756,0.056,0.038,3499,867,1522,1596,1448,0,0,0,0,0,0,25.24,25.29,23.47
$GC,6398,1.39,292.0,3498,868,1573,1426,974.1,18.8,285,6403,0.00,1.62,0.00,0.000,1030,0.000,0.031,3499,1910,1498,1573,1423,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6579,1.39,292.0,3498,1910,1570,1411,936.6,19.2,291,6585,0.00,1.58,0.00,0.000,260,0.000,0.041,3499,2957,1490,1569,1411,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,12909,end climb,SURFACE_DEPTH_REACHED
$STATE,12909,begin surface coast
$FINISH,1.3,1.010108
$STATE,12935,end surface coast,CONTROL_FINISHED_OK
$STATE,12935,begin surface
$SM_CCo,12961,6.82,0.132,0,0,879,450.13
$SM_GC,2.09,8.95,2.10,6.82,0.030,0.032,0.132,139,2183,879,-9.04,-1.47,450.13,0,0,0,0,0,0,25.82,25.95,24.94
$IRIDIUM_FIX,2029.47,12326.72,101013,181800
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.78
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.40
$XPDR_PINGS,31
$SC_FREEKB,7539648
$24V_AH,23.5,100.474
$10V_AH,9.8,62.298
$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,23.425,146.900,715.250,6.825,0.000,0.000,0.000,272.400,7.750,0.000,8.326,2164.583,7648.226,807.682,2122.532,724.466,0.000,2235.912,0.000,1790.189,0.000,0.542,0.000
$DEVICE_MAMPS,231.030,47.430,1152.090,132.345,0.000,0.000,0.000,120.105,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12951.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.057,0.000,0.000,0.000
$MEM,328000
$DATA_FILE_SIZE,23399,600
$CAP_FILE_SIZE,196158,0
$CFSIZE,260034560,196030464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111013,020425,2034.118,12328.751,66,1.1,66,-3.0