version: 66.11
glider: 167
mission: 16
dive: 603
start: 10 11 113 2 18 26
data:
$ID,167
$MISSION,16
$DIVE,603
$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,-976663.31
$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,49
$R_STBD_OVSHOOT,27
$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
$GPS1,111013,020425,2034.118,12328.751,66,1.1,66,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-69.5
$GPS2,111013,021753,2034.084,12328.745,46,1.2,46,-3.0
$SPEED_LIMITS,0.191,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2027.143,12319.916
$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,5481
$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,24,begin dive
$GC,28,-1.39,-292.0,111,2196,939,840,0.0,0.0,0,96,0.00,0.00,-65.47,0.000,16386,0.000,0.000,111,2196,2508,2487,2530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.39,-292.0,111,2196,2488,2531,3.3,-3.8,12,150,10.60,1.75,-30.30,0.000,18692,0.228,0.059,2589,3266,3908,3901,3915,0,0,0,0,0,0,24.51,25.77,26.48
$GC,297,-1.39,-292.0,2588,3266,3901,3918,49.9,-26.8,38,304,0.00,1.60,0.00,0.000,1030,0.000,0.024,2588,2196,3909,3901,3917,0,0,0,0,0,0,28.83,26.12,28.83
$GC,463,-1.39,-292.0,2589,2196,3901,3917,94.1,-25.6,47,468,0.00,1.50,0.00,0.000,516,0.000,0.033,2588,1146,3909,3901,3918,0,0,0,0,0,0,28.83,26.07,28.83
$GC,548,-1.39,-292.0,2588,1146,3901,3918,113.4,-22.5,51,554,0.00,1.55,0.00,0.000,1030,0.000,0.032,2582,2196,3909,3901,3917,0,0,0,0,0,0,28.83,26.08,28.83
$GC,714,-1.39,-292.0,2582,2196,3901,3917,148.5,-20.3,59,719,0.00,1.58,0.00,0.000,260,0.000,0.035,2573,3245,3909,3901,3918,0,0,0,0,0,0,28.83,26.08,28.83
$GC,783,-1.39,-292.0,1536,3243,3899,3917,161.4,-19.6,62,789,0.00,1.52,0.00,0.000,1030,0.000,0.018,2574,2159,3909,3901,3918,0,0,0,0,0,0,28.83,26.28,28.83
$GC,944,-1.39,-292.0,2573,2159,3901,3918,192.8,-19.3,70,949,0.00,1.45,0.00,0.000,516,0.000,0.030,2574,1166,3909,3901,3918,0,0,0,0,0,0,28.83,26.14,28.83
$GC,998,-1.39,-292.0,2574,1166,3901,3918,201.5,-19.2,72,1004,0.12,1.50,0.00,0.000,3078,0.184,0.031,2595,2200,3909,3901,3918,0,0,0,0,0,0,25.73,26.14,28.83
$GC,1178,-1.39,-292.0,2595,2201,3900,3918,236.3,-18.4,81,1183,0.00,1.55,0.00,0.000,516,0.000,0.029,2595,1160,3910,3901,3919,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1212,-1.39,-292.0,2595,1160,3901,3919,241.8,-18.7,82,1217,0.00,1.48,0.00,0.000,1030,0.000,0.029,2591,2147,3910,3901,3919,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1388,-1.39,-292.0,2591,2147,3901,3918,272.6,-16.2,91,1393,0.00,1.48,0.00,0.000,516,0.000,0.029,2591,1159,3910,3902,3919,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1437,-1.39,-292.0,2591,1158,3901,3919,279.9,-16.0,93,1442,0.00,1.48,0.00,0.000,1030,0.000,0.031,2587,2136,3910,3901,3919,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1598,-1.39,-292.0,2587,2136,3901,3919,306.7,-16.6,101,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2137,3910,3901,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1758,-1.39,-292.0,2587,2137,3901,3919,334.9,-17.6,109,1763,0.00,1.65,0.00,0.000,260,0.000,0.036,2580,3258,3910,3901,3919,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1807,-1.39,-292.0,2580,3259,3900,3919,343.2,-17.8,111,1812,0.00,1.60,0.00,0.000,1030,0.000,0.018,2580,2125,3910,3902,3919,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1968,-1.39,-292.0,2580,2124,3901,3919,372.9,-18.3,119,1973,0.00,1.40,0.00,0.000,516,0.000,0.031,2580,1168,3910,3902,3919,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2034,-1.39,-292.0,2580,1169,3901,3919,384.2,-17.4,122,2039,0.00,1.45,0.00,0.000,1030,0.000,0.029,2574,2128,3910,3901,3919,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2199,-1.39,-292.0,2574,2127,3901,3918,411.6,-16.1,130,2204,0.00,1.65,0.00,0.000,260,0.000,0.036,2567,3250,3909,3901,3918,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2299,-1.39,-292.0,2567,3250,3902,3917,426.9,-17.9,134,2306,0.12,1.52,0.00,0.000,3078,0.169,0.018,2597,2162,3908,3900,3917,0,0,0,0,0,0,25.86,26.30,28.83
$GC,2464,-1.39,-292.0,2596,2162,3901,3917,457.3,-16.3,143,2469,0.00,1.45,0.00,0.000,516,0.000,0.031,2597,1173,3908,3901,3915,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2510,-1.39,-292.0,2596,1172,3901,3915,464.8,-16.5,145,2516,0.00,1.50,0.00,0.000,1030,0.000,0.030,2592,2165,3908,3901,3915,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2676,-1.39,-292.0,2592,2165,3901,3914,492.2,-16.4,153,2681,0.00,1.60,0.00,0.000,260,0.000,0.037,2588,3250,3907,3901,3914,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2721,-1.39,-292.0,2587,3250,3901,3913,499.5,-15.8,155,2726,0.00,1.52,0.00,0.000,1030,0.000,0.018,2587,2170,3907,3901,3913,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2888,-1.39,-292.0,2587,2170,3901,3912,524.4,-14.8,163,2893,0.00,1.48,0.00,0.000,516,0.000,0.030,2588,1163,3906,3901,3912,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2907,-1.39,-292.0,2587,1163,3901,3912,524.4,-14.8,163,2914,0.00,1.52,0.00,0.000,1030,0.000,0.031,2583,2176,3906,3901,3911,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3074,-1.39,-292.0,2582,2176,3902,3909,551.6,-14.6,172,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2176,3905,3901,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,-1.39,-292.0,2582,2176,3902,3907,575.9,-15.1,180,3238,0.00,1.58,0.00,0.000,260,0.000,0.036,2575,3250,3905,3902,3908,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3262,-1.39,-292.0,2575,3250,3901,3907,579.8,-15.2,181,3267,0.00,1.55,0.00,0.000,1030,0.000,0.033,2575,2167,3904,3901,3907,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3443,-1.39,-292.0,2574,2168,3901,3904,610.5,-16.7,189,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2167,3902,3901,3904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3592,-1.39,-292.0,2574,2167,3901,3901,636.6,-17.3,194,3598,0.00,1.48,0.00,0.000,516,0.000,0.031,2575,1170,3901,3901,3901,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3651,-1.39,-292.0,2575,1169,3902,3900,642.8,-17.4,195,3659,0.08,1.48,0.00,0.000,3078,0.166,0.031,2593,2141,3900,3901,3900,0,0,0,0,0,0,25.76,26.14,28.83
$GC,3809,-1.39,-292.0,2593,2141,3901,3897,673.2,-16.6,201,3814,0.00,1.65,0.00,0.000,260,0.000,0.037,2588,3247,3899,3901,3897,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3858,-1.39,-292.0,2587,3248,3901,3896,679.6,-16.8,202,3863,0.00,1.55,0.00,0.000,1030,0.000,0.019,2588,2154,3898,3901,3896,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4028,-1.39,-292.0,2587,2154,3901,3893,710.4,-16.7,208,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2154,3897,3901,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4179,-1.39,-292.0,2587,2154,3901,3890,734.2,-15.7,213,4184,0.00,1.48,0.00,0.000,516,0.000,0.032,2588,1161,3895,3901,3890,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4228,-1.39,-292.0,2587,1160,3901,3889,739.7,-15.6,214,4233,0.00,1.50,0.00,0.000,1030,0.000,0.033,2588,2174,3895,3901,3889,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4399,-1.39,-292.0,2587,2173,3901,3886,766.6,-14.6,220,4405,0.00,1.65,0.00,0.000,260,0.000,0.040,2588,3246,3893,3901,3886,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4465,-1.39,-292.0,2587,3246,3901,3885,776.5,-14.7,222,4470,0.00,1.55,0.00,0.000,1030,0.000,0.021,2586,2166,3893,3901,3885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4650,-1.39,-292.0,2587,2165,3901,3882,802.6,-14.2,228,4655,0.00,1.48,0.00,0.000,516,0.000,0.031,2587,1171,3891,3901,3881,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4690,-1.39,-292.0,2587,1171,3901,3881,807.7,-14.4,229,4696,0.00,1.52,0.00,0.000,1030,0.000,0.034,2588,2166,3890,3901,3880,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4871,-1.39,-292.0,2588,2167,3901,3877,835.6,-15.1,235,4876,0.00,1.62,0.00,0.000,260,0.000,0.040,2581,3252,3889,3901,3877,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5012,-1.39,-292.0,2580,3253,3899,3875,855.7,-16.1,239,5017,0.00,1.52,0.00,0.000,1030,0.000,0.020,2581,2184,3887,3899,3875,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5184,-1.39,-292.0,2580,2185,3897,3874,886.7,-16.8,245,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2185,3885,3897,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5332,-1.39,-292.0,2580,2185,3897,3871,912.4,-17.2,250,5337,0.00,1.62,0.00,0.000,260,0.000,0.037,2574,3250,3884,3897,3871,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5402,-1.39,-292.0,1568,3248,3893,3869,923.9,-17.4,252,5407,0.00,1.52,0.00,0.000,1030,0.000,0.021,2574,2185,3883,3896,3871,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5582,-1.39,-292.0,2574,2185,3895,3869,955.5,-16.9,258,5587,0.00,1.65,0.00,0.000,260,0.000,0.039,2574,3258,3881,3895,3868,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5621,-1.39,-292.0,2573,3258,3894,3868,961.5,-16.9,259,5626,0.00,1.52,0.00,0.000,1030,0.000,0.022,2574,2199,3880,3893,3868,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,5798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5798,begin apogee
$GC,5808,-0.25,0.0,2573,1897,3893,3866,992.9,-16.9,265,6141,1.27,0.00,322.38,1.069,10244,0.142,0.000,2959,1896,2715,2801,2629,0,0,0,0,0,0,24.87,28.83,23.27
$STATE,6144,end apogee,CONTROL_FINISHED_OK
$STATE,6144,begin climb
$GC,6148,1.39,292.0,2958,1897,2785,2612,1016.7,0.0,276,6423,1.48,1.70,262.38,1.170,10500,0.057,0.039,3503,2948,1513,1602,1425,0,0,0,0,0,0,25.23,25.28,23.47
$GC,6491,1.39,292.0,3503,2947,1581,1401,971.2,18.6,287,6498,0.00,1.55,0.00,0.000,1030,0.000,0.031,3510,1924,1492,1584,1401,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6646,1.39,292.0,3510,1924,1579,1400,937.2,18.8,293,6651,0.00,1.65,0.00,0.000,516,0.000,0.043,3521,840,1489,1578,1400,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,12985,end climb,SURFACE_DEPTH_REACHED
$STATE,12985,begin surface coast
$FINISH,1.2,1.008774
$STATE,13006,end surface coast,CONTROL_FINISHED_OK
$STATE,13007,begin surface
$SM_CCo,13030,4.32,0.135,0,0,879,450.13
$SM_GC,2.03,8.90,0.47,4.32,0.030,0.036,0.135,146,2218,879,-9.02,-1.27,450.13,0,0,0,0,0,0,25.84,26.21,25.01
$IRIDIUM_FIX,2024.87,12326.72,111013,020218
$TT8_MAMPS,0.024717,0.024717
$HUMID,59.92
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.80
$XPDR_PINGS,58
$SC_FREEKB,7539264
$24V_AH,23.3,100.680
$10V_AH,9.8,62.392
$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,23.425,149.175,673.225,4.325,0.000,0.000,0.000,470.925,14.500,0.000,47.921,2188.545,7774.736,771.799,2362.806,738.594,0.000,2403.443,0.000,1805.216,0.000,0.545,0.000
$DEVICE_MAMPS,227.970,58.905,1170.450,134.640,0.000,0.000,0.000,118.575,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13018.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.083,0.000,0.000,0.000
$MEM,328000
$DATA_FILE_SIZE,23398,602
$CAP_FILE_SIZE,200720,0
$CFSIZE,260034560,195932160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111013,055705,2033.490,12329.687,35,1.0,35,-3.0