version: 66.11
glider: 167
mission: 16
dive: 604
start: 10 11 113 6 7 2
data:
$ID,167
$MISSION,16
$DIVE,604
$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,-976664.56
$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,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,40
$R_STBD_OVSHOOT,58
$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
$GPS1,111013,055705,2033.490,12329.687,35,1.0,35,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-66.5
$GPS2,111013,060631,2033.519,12329.763,62,1.1,62,-3.0
$SPEED_LIMITS,0.191,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2026.578,12320.935
$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,23,begin dive
$GC,28,-1.39,-292.0,111,2229,947,827,0.0,0.0,0,96,0.00,0.00,-65.62,0.000,16386,0.000,0.000,111,2230,2498,2476,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.39,-292.0,111,2229,2476,2522,3.2,-3.1,12,149,10.60,1.62,-28.67,0.000,18948,0.227,0.047,2593,1134,3907,3902,3913,0,0,0,0,0,0,24.53,25.94,26.51
$GC,246,-1.39,-292.0,2593,1134,3902,3914,39.3,-26.3,33,252,0.00,1.60,0.00,0.000,1030,0.000,0.034,2588,2182,3908,3903,3914,0,0,0,0,0,0,28.83,25.98,28.83
$GC,413,-1.39,-292.0,2589,2182,3901,3914,83.7,-27.6,43,418,0.00,1.60,0.00,0.000,260,0.000,0.037,2580,3266,3907,3901,3914,0,0,0,0,0,0,28.83,26.01,28.83
$GC,461,-1.39,-292.0,1552,3265,3899,3912,96.5,-27.4,45,466,0.00,1.58,0.00,0.000,1030,0.000,0.021,2580,2168,3907,3901,3914,0,0,0,0,0,0,28.83,26.19,28.83
$GC,622,-1.39,-292.0,2580,2168,3901,3914,135.0,-22.3,53,627,0.00,1.48,0.00,0.000,516,0.000,0.031,2581,1159,3907,3901,3914,0,0,0,0,0,0,28.83,26.13,28.83
$GC,668,-1.39,-292.0,2580,1159,3902,3914,144.4,-21.6,55,673,0.00,1.55,0.00,0.000,1030,0.000,0.034,2574,2194,3907,3901,3914,0,0,0,0,0,0,28.83,26.04,28.83
$GC,833,-1.39,-292.0,2574,2194,3901,3914,176.2,-18.9,63,838,0.00,1.62,0.00,0.000,260,0.000,0.038,2566,3263,3908,3901,3915,0,0,0,0,0,0,28.83,26.05,28.83
$GC,862,-1.39,-292.0,2566,3263,3901,3915,180.9,-18.5,64,868,0.15,1.58,0.00,0.000,3078,0.168,0.024,2604,2164,3908,3901,3915,0,0,0,0,0,0,25.71,26.22,28.83
$GC,1024,-1.39,-292.0,2603,2164,3901,3916,211.5,-18.8,72,1029,0.00,1.48,0.00,0.000,516,0.000,0.030,2602,1152,3908,3901,3916,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1069,-1.39,-292.0,2602,1152,3902,3916,220.1,-18.7,74,1075,0.00,1.52,0.00,0.000,1030,0.000,0.032,2598,2186,3908,3900,3916,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1236,-1.39,-292.0,2598,2186,3902,3918,250.7,-18.6,82,1241,0.00,1.52,0.00,0.000,516,0.000,0.028,2597,1154,3909,3902,3916,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1255,-1.39,-292.0,2597,1154,3901,3917,250.7,-18.6,82,1261,0.00,1.50,0.00,0.000,1030,0.000,0.029,2591,2186,3909,3902,3917,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1421,-1.39,-292.0,2591,2186,3902,3917,282.7,-16.8,91,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2186,3909,3901,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1582,-1.39,-292.0,2591,2186,3902,3917,309.3,-16.4,99,1587,0.00,1.58,0.00,0.000,260,0.000,0.038,2583,3254,3909,3902,3917,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1618,-1.39,-292.0,2582,3253,3902,3917,313.3,-16.0,100,1623,0.00,1.55,0.00,0.000,1030,0.000,0.021,2583,2163,3909,3902,3917,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1793,-1.39,-292.0,2583,2163,3902,3917,343.2,-15.7,109,1798,0.00,1.48,0.00,0.000,516,0.000,0.030,2583,1152,3910,3903,3917,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1848,-1.39,-292.0,2582,1152,3901,3917,350.6,-16.2,111,1853,0.00,1.52,0.00,0.000,1030,0.000,0.029,2576,2170,3909,3902,3917,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2023,-1.39,-292.0,2576,2170,3902,3917,382.0,-17.0,120,2028,0.00,1.50,0.00,0.000,516,0.000,0.028,2576,1131,3909,3902,3917,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2058,-1.39,-292.0,2576,1131,3901,3917,386.4,-16.9,121,2064,0.12,1.50,0.00,0.000,3078,0.181,0.030,2598,2156,3909,3901,3917,0,0,0,0,0,0,25.76,26.15,28.83
$GC,2234,-1.39,-292.0,2598,2156,3902,3917,415.4,-15.1,130,2240,0.00,1.65,0.00,0.000,260,0.000,0.037,2592,3243,3908,3901,3915,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2294,-1.39,-292.0,2592,3243,3902,3915,422.5,-15.6,132,2300,0.00,1.58,0.00,0.000,1030,0.000,0.021,2593,2137,3908,3902,3915,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2461,-1.39,-292.0,2592,2137,3902,3915,449.3,-14.5,141,2466,0.00,1.42,0.00,0.000,516,0.000,0.030,2592,1155,3909,3904,3914,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2495,-1.39,-292.0,2592,1156,3901,3914,453.1,-14.5,142,2500,0.00,1.48,0.00,0.000,1030,0.000,0.031,2588,2130,3907,3901,3914,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2671,-1.39,-292.0,2587,2130,3902,3913,481.2,-15.2,151,2676,0.00,1.67,0.00,0.000,260,0.000,0.038,2581,3259,3907,3902,3913,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2750,-1.39,-292.0,2580,3260,3902,3912,491.5,-15.4,154,2757,0.00,1.62,0.00,0.000,1030,0.000,0.021,2581,2153,3907,3902,3912,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2916,-1.39,-292.0,2581,2153,3903,3910,519.3,-15.4,163,2921,0.00,1.65,0.00,0.000,260,0.000,0.036,2575,3248,3905,3902,3909,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2967,-1.39,-292.0,2574,3247,3902,3909,526.6,-15.6,165,2973,0.00,1.52,0.00,0.000,1030,0.000,0.020,2574,2169,3905,3902,3909,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3128,-1.39,-292.0,2574,2168,3902,3908,552.7,-15.6,173,3133,0.00,1.48,0.00,0.000,516,0.000,0.030,2574,1159,3904,3901,3907,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3223,-1.39,-292.0,2574,1159,3902,3907,566.5,-16.1,177,3229,0.12,1.48,0.00,0.000,3078,0.180,0.031,2597,2132,3903,3901,3906,0,0,0,0,0,0,25.78,26.15,28.83
$GC,3399,-1.39,-292.0,2597,2132,3901,3904,595.4,-15.2,186,3404,0.00,1.67,0.00,0.000,260,0.000,0.039,2591,3253,3902,3901,3903,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3495,-1.39,-292.0,2591,3253,3902,3901,610.1,-15.6,190,3500,0.00,1.62,0.00,0.000,1030,0.000,0.021,2591,2125,3901,3901,3901,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3680,-1.39,-292.0,2590,2125,3901,3898,636.7,-14.1,196,3686,0.00,1.42,0.00,0.000,516,0.000,0.031,2591,1152,3900,3901,3899,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3767,-1.39,-292.0,2590,1152,3901,3898,645.7,-13.9,198,3772,0.00,1.45,0.00,0.000,1030,0.000,0.031,2587,2101,3899,3901,3897,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3932,-1.39,-292.0,2586,2101,3901,3894,672.7,-14.9,204,3937,0.00,1.73,0.00,0.000,260,0.000,0.041,2586,3245,3897,3901,3894,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4046,-1.39,-292.0,2586,3245,3901,3892,688.0,-16.0,207,4051,0.00,1.65,0.00,0.000,1030,0.000,0.022,2586,2110,3896,3901,3892,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4212,-1.39,-292.0,2586,2110,3901,3888,718.8,-16.6,213,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2111,3895,3901,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4361,-1.39,-292.0,2586,2110,3901,3887,743.3,-16.3,218,4366,0.00,1.40,0.00,0.000,516,0.000,0.031,2586,1159,3894,3901,3887,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4385,-1.39,-292.0,2586,1159,3901,3887,743.3,-16.3,218,4390,0.00,1.45,0.00,0.000,1030,0.000,0.031,2581,2112,3893,3900,3886,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4551,-1.39,-292.0,2580,2112,3901,3883,772.6,-15.2,224,4556,0.00,1.73,0.00,0.000,260,0.000,0.041,2574,3252,3892,3902,3883,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4595,-1.39,-292.0,2574,3253,3901,3882,778.3,-15.1,225,4600,0.00,1.62,0.00,0.000,1030,0.000,0.034,2573,2138,3891,3901,3882,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4771,-1.39,-292.0,2574,2138,3900,3880,807.0,-15.6,231,4776,0.00,1.45,0.00,0.000,516,0.000,0.031,2573,1156,3890,3900,3880,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4807,-1.39,-292.0,2574,1156,3900,3880,812.6,-15.5,232,4813,0.10,1.48,0.00,0.000,3078,0.156,0.031,2599,2111,3889,3900,3879,0,0,0,0,0,0,25.66,26.10,28.83
$GC,4993,-1.39,-292.0,2599,2111,3900,3876,839.6,-14.3,238,4998,0.00,1.73,0.00,0.000,260,0.000,0.041,2593,3251,3887,3900,3875,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5073,-1.39,-292.0,2592,3251,3900,3874,849.4,-14.8,240,5078,0.00,1.62,0.00,0.000,1030,0.000,0.022,2592,2132,3887,3900,3874,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5243,-1.39,-292.0,2592,2132,3900,3872,877.3,-15.2,246,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2132,3886,3900,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5393,-1.39,-292.0,2591,2132,3897,3870,900.2,-15.2,251,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2132,3884,3897,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5544,-1.39,-292.0,2593,2132,3897,3869,923.6,-15.7,256,5549,0.00,1.73,0.00,0.000,260,0.000,0.040,2588,3250,3882,3896,3868,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5613,-1.39,-292.0,2588,3250,3896,3868,934.5,-16.1,258,5618,0.00,1.62,0.00,0.000,1030,0.000,0.022,2588,2130,3882,3895,3869,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5793,-1.39,-292.0,2587,2130,3894,3866,965.2,-16.7,264,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2129,3880,3894,3866,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5940,begin apogee
$GC,5950,-0.25,0.0,2588,1895,3894,3864,990.6,-16.9,269,6314,1.23,0.00,353.83,1.021,10244,0.138,0.000,2960,1895,2709,2796,2623,0,0,0,0,0,0,24.89,28.83,23.53
$STATE,6316,end apogee,CONTROL_FINISHED_OK
$STATE,6316,begin climb
$GC,6320,1.39,292.0,2960,1895,2792,2615,1015.9,0.0,281,6604,1.45,1.62,266.65,1.158,10756,0.057,0.037,3504,877,1510,1584,1436,0,0,0,0,0,0,25.27,25.33,23.52
$GC,6648,1.39,292.0,3504,877,1566,1419,969.5,19.3,292,6654,0.00,1.55,0.00,0.000,1030,0.000,0.030,3504,1894,1492,1566,1418,0,0,0,0,0,0,28.83,25.65,28.83
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$STATE,13076,end climb,SURFACE_DEPTH_REACHED
$STATE,13076,begin surface coast
$FINISH,1.4,1.021835
$STATE,13102,end surface coast,CONTROL_FINISHED_OK
$STATE,13102,begin surface
$SM_CCo,13127,14.82,0.125,0,0,877,450.13
$SM_GC,2.14,8.95,0.40,14.82,0.031,0.037,0.125,136,2209,877,-9.04,-1.39,450.13,0,0,0,0,0,0,25.92,26.24,25.07
$IRIDIUM_FIX,2027.17,12326.72,111013,020229
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.47
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.60
$XPDR_PINGS,43
$SC_FREEKB,7538880
$24V_AH,23.5,100.884
$10V_AH,9.8,62.483
$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,23.575,145.850,688.225,14.825,0.000,0.000,0.000,273.925,10.750,0.000,63.138,2205.818,7755.316,788.864,2221.655,727.213,0.000,2237.209,0.000,1833.060,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,55.080,1158.210,124.695,0.000,0.000,0.000,119.340,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13114.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.064,0.000,0.000,0.000
$MEM,327980
$DATA_FILE_SIZE,23437,608
$CAP_FILE_SIZE,198618,0
$CFSIZE,260034560,195846144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111013,094734,2032.760,12331.142,38,1.0,41,-3.0