version: 66.11
glider: 167
mission: 16
dive: 605
start: 10 11 113 10 2 35
data:
$ID,167
$MISSION,16
$DIVE,605
$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,-976665.81
$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,53
$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
$GPS1,111013,094734,2032.760,12331.142,38,1.0,41,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-67.6
$GPS2,111013,100205,2032.727,12331.258,63,1.1,63,-3.0
$SPEED_LIMITS,0.191,0.222
$TGT_NAME,HEADING
$TGT_LATLONG,2025.785,12322.430
$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,5522
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.39,-292.0,111,2221,923,850,0.0,0.0,0,102,0.00,0.00,-70.75,0.000,16386,0.000,0.000,111,2222,2636,2609,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.39,-292.0,111,2221,2611,2664,3.4,-3.9,13,151,10.57,1.67,-25.55,0.000,19204,0.227,0.049,2593,1149,3908,3901,3915,0,0,0,0,0,0,24.56,25.87,26.50
$GC,253,-1.39,-292.0,2593,1149,3901,3917,38.0,-23.6,33,259,0.00,1.60,0.00,0.000,1030,0.000,0.036,2589,2186,3909,3901,3917,0,0,0,0,0,0,28.83,25.94,28.83
$GC,420,-1.39,-292.0,2588,2187,3901,3916,83.4,-28.1,44,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2187,3908,3901,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,579,-1.39,-292.0,2588,2186,3901,3916,117.7,-20.1,52,585,0.00,1.58,0.00,0.000,516,0.000,0.034,2589,1149,3909,3901,3917,0,0,0,0,0,0,28.83,26.05,28.83
$GC,680,-1.39,-292.0,2589,1149,3901,3916,135.1,-20.3,56,686,0.00,1.58,0.00,0.000,1030,0.000,0.032,2582,2192,3909,3901,3917,0,0,0,0,0,0,28.83,26.10,28.83
$GC,845,-1.39,-292.0,2582,2191,3901,3916,168.4,-18.6,65,850,0.00,1.52,0.00,0.000,516,0.000,0.030,2582,1140,3909,3901,3917,0,0,0,0,0,0,28.83,26.14,28.83
$GC,884,-1.39,-292.0,2582,1140,3901,3917,173.2,-18.9,66,890,0.00,1.50,0.00,0.000,1030,0.000,0.031,2575,2166,3909,3901,3917,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1051,-1.39,-292.0,2575,2166,3901,3917,208.2,-19.5,75,1056,0.00,1.62,0.00,0.000,260,0.000,0.037,2567,3244,3909,3901,3917,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1130,-1.39,-292.0,2567,3244,3901,3917,221.2,-19.6,78,1137,0.12,1.58,0.00,0.000,3078,0.172,0.019,2596,2127,3909,3901,3917,0,0,0,0,0,0,25.84,26.28,28.83
$GC,1298,-1.39,-292.0,2596,2127,3901,3918,252.8,-17.5,87,1303,0.00,1.45,0.00,0.000,516,0.000,0.030,2597,1135,3909,3901,3918,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1343,-1.39,-292.0,2596,1135,3901,3917,260.8,-17.2,89,1348,0.00,1.52,0.00,0.000,1030,0.000,0.030,2592,2177,3909,3901,3918,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1509,-1.39,-292.0,2592,2177,3901,3917,287.7,-16.2,97,1514,0.00,1.62,0.00,0.000,260,0.000,0.039,2584,3243,3909,3901,3918,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1588,-1.39,-292.0,2584,3244,3903,3917,299.4,-17.7,100,1595,0.00,1.58,0.00,0.000,1030,0.000,0.019,2583,2133,3909,3901,3918,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1755,-1.39,-292.0,2584,2133,3901,3917,331.3,-17.5,109,1760,0.00,1.45,0.00,0.000,516,0.000,0.030,2584,1140,3909,3901,3918,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1824,-1.39,-292.0,1536,1139,3899,3916,342.8,-17.5,112,1829,0.00,1.45,0.00,0.000,1030,0.000,0.031,2576,2105,3909,3901,3917,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1984,-1.39,-292.0,2577,2105,3901,3917,371.9,-17.7,120,1990,0.00,1.67,0.00,0.000,260,0.000,0.036,2574,3249,3909,3901,3917,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2015,-1.39,-292.0,2574,3247,3901,3917,376.3,-17.8,121,2020,0.00,1.67,0.00,0.000,1030,0.000,0.020,2574,2100,3908,3901,3916,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2175,-1.39,-292.0,2574,2100,3901,3916,403.8,-16.3,129,2180,0.00,1.40,0.00,0.000,516,0.000,0.031,2574,1140,3908,3901,3915,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2234,-1.39,-292.0,2573,1140,3900,3915,411.0,-16.2,131,2241,0.08,1.45,0.00,0.000,3078,0.161,0.031,2599,2103,3907,3900,3915,0,0,0,0,0,0,25.73,26.17,28.83
$GC,2401,-1.39,-292.0,2599,2103,3901,3913,438.1,-14.9,140,2406,0.00,1.70,0.00,0.000,260,0.000,0.037,2593,3253,3907,3901,3914,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2437,-1.39,-292.0,2592,3254,3902,3912,442.2,-15.3,141,2442,0.00,1.67,0.00,0.000,1030,0.000,0.019,2593,2076,3907,3902,3913,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2613,-1.39,-292.0,2592,2077,3901,3912,470.8,-15.3,150,2618,0.00,1.38,0.00,0.000,516,0.000,0.031,2593,1138,3906,3900,3912,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2652,-1.39,-292.0,2592,1138,3901,3912,474.9,-15.2,151,2658,0.00,1.45,0.00,0.000,1030,0.000,0.031,2588,2096,3905,3900,3911,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2818,-1.39,-292.0,2587,2096,3901,3909,502.2,-15.4,160,2823,0.00,1.70,0.00,0.000,260,0.000,0.037,2581,3248,3905,3902,3908,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2905,-1.39,-292.0,2580,3248,3901,3907,516.4,-16.6,164,2911,0.00,1.67,0.00,0.000,1030,0.000,0.019,2580,2080,3904,3901,3908,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3071,-1.39,-292.0,2580,2080,3901,3906,542.6,-15.9,172,3076,0.00,1.38,0.00,0.000,516,0.000,0.031,2580,1140,3904,3902,3906,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3107,-1.39,-292.0,2580,1141,3901,3906,546.8,-15.8,173,3112,0.00,1.45,0.00,0.000,1030,0.000,0.031,2574,2096,3903,3901,3905,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3282,-1.39,-292.0,2574,2096,3901,3903,575.7,-16.1,182,3287,0.00,1.73,0.00,0.000,260,0.000,0.039,2574,3251,3902,3902,3902,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3370,-1.39,-292.0,1568,3249,3899,3900,589.6,-16.4,186,3375,0.00,1.67,0.00,0.000,1030,0.000,0.020,2574,2080,3901,3901,3901,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3541,-1.39,-292.0,2574,2080,3901,3898,617.6,-16.1,193,3546,0.00,1.38,0.00,0.000,516,0.000,0.031,2574,1142,3899,3901,3898,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3576,-1.39,-292.0,2574,1142,3901,3898,623.4,-16.1,194,3581,0.00,1.45,0.00,0.000,1030,0.000,0.033,2575,2082,3899,3901,3897,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3763,-1.39,-292.0,2574,2082,3901,3893,652.9,-16.2,200,3768,0.00,1.75,0.00,0.000,260,0.000,0.041,2574,3243,3897,3901,3893,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3928,-1.39,-292.0,2574,3244,3901,3890,678.6,-16.2,205,3933,0.00,1.67,0.00,0.000,1030,0.000,0.021,2574,2085,3895,3901,3890,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4104,-1.39,-292.0,2574,2086,3901,3889,707.9,-15.9,211,4110,0.00,1.77,0.00,0.000,260,0.000,0.046,2574,3243,3894,3901,3887,0,0,0,0,0,0,28.83,25.33,28.83
$GC,4164,-1.39,-292.0,2574,3243,3901,3886,714.0,-16.2,212,4170,0.00,1.62,0.00,0.000,1030,0.000,0.021,2574,2113,3893,3901,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4320,-1.39,-292.0,2574,2113,3901,3883,743.5,-16.4,218,4325,0.00,1.45,0.00,0.000,516,0.000,0.040,2574,1145,3892,3901,3883,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4345,-1.39,-292.0,2574,1145,3899,3883,743.5,-16.4,218,4350,0.00,1.50,0.00,0.000,1030,0.000,0.034,2574,2142,3891,3901,3882,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4510,-1.39,-292.0,2574,2142,3901,3879,774.7,-16.3,224,4515,0.00,1.67,0.00,0.000,260,0.000,0.041,2575,3252,3889,3900,3879,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4564,-1.39,-292.0,2574,3252,3901,3879,780.5,-16.4,225,4569,0.00,1.65,0.00,0.000,1030,0.000,0.021,2574,2107,3889,3901,3878,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4730,-1.39,-292.0,2574,2106,3898,3876,811.6,-17.0,231,4736,0.00,1.45,0.00,0.000,516,0.000,0.033,2574,1133,3887,3899,3875,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4755,-1.39,-292.0,2574,1133,3898,3876,811.6,-17.0,231,4760,0.00,1.50,0.00,0.000,1030,0.000,0.033,2574,2139,3887,3898,3876,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4920,-1.39,-292.0,2574,2141,3898,3873,843.2,-16.2,237,4925,0.00,1.70,0.00,0.000,260,0.000,0.041,2574,3237,3885,3898,3873,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4990,-1.39,-292.0,2574,3237,3897,3873,853.8,-16.2,239,4995,0.00,1.62,0.00,0.000,1030,0.000,0.021,2574,2113,3885,3897,3873,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5170,-1.39,-292.0,2574,2114,3897,3869,882.9,-15.6,245,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2114,3883,3897,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5320,-1.39,-292.0,2574,2113,3894,3869,906.9,-15.9,250,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2113,3882,3895,3869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5471,-1.39,-292.0,2574,2113,3893,3868,930.0,-15.3,255,5476,0.00,1.73,0.00,0.000,260,0.000,0.039,2574,3240,3880,3893,3867,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5520,-1.39,-292.0,2574,3240,3893,3867,935.8,-15.4,256,5525,0.00,1.62,0.00,0.000,1030,0.000,0.021,2574,2120,3879,3892,3867,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5691,-1.39,-292.0,2574,2120,3892,3864,963.8,-14.9,262,5697,0.00,1.73,0.00,0.000,260,0.000,0.039,2574,3244,3878,3892,3864,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5735,-1.39,-292.0,2574,3244,3892,3864,969.4,-15.1,263,5741,0.00,1.62,0.00,0.000,1030,0.000,0.021,2574,2123,3878,3892,3864,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,5877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5877,begin apogee
$GC,5886,-0.25,0.0,2574,1877,3891,3862,992.7,-15.0,268,6254,1.27,0.00,358.10,1.013,10244,0.140,0.000,2959,1877,2709,2795,2623,0,0,0,0,0,0,24.86,28.83,23.55
$STATE,6256,end apogee,CONTROL_FINISHED_OK
$STATE,6256,begin climb
$GC,6261,1.39,292.0,2960,1876,2790,2616,1011.0,0.0,280,6544,1.45,1.62,266.25,1.151,10756,0.054,0.039,3500,865,1516,1590,1443,0,0,0,0,0,0,25.29,25.34,23.51
$GC,6693,1.39,292.0,3500,864,1566,1418,947.0,19.2,294,6699,0.00,1.55,0.00,0.000,1030,0.000,0.032,3500,1889,1491,1566,1417,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,13114,end climb,SURFACE_DEPTH_REACHED
$STATE,13114,begin surface coast
$FINISH,2.1,1.021572
$STATE,13119,end surface coast,CONTROL_FINISHED_OK
$STATE,13120,begin surface
$SM_CCo,13145,3.22,0.143,0,0,879,450.13
$SM_GC,2.66,9.00,2.10,3.22,0.031,0.031,0.143,143,2206,879,-9.01,-1.39,450.13,0,0,0,0,0,0,25.90,25.92,24.91
$IRIDIUM_FIX,2024.87,12328.64,111013,090901
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.90
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.40
$XPDR_PINGS,77
$SC_FREEKB,7538496
$24V_AH,23.5,101.094
$10V_AH,9.8,62.580
$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,23.175,163.550,704.350,3.225,0.000,0.000,0.000,455.950,19.250,0.000,64.629,2264.829,7734.847,808.333,2478.313,723.840,0.000,2484.794,0.000,1901.264,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,48.960,1151.325,143.055,0.000,0.000,0.000,117.810,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13134.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.086,0.000,0.000,0.000
$MEM,328000
$DATA_FILE_SIZE,23382,605
$CAP_FILE_SIZE,204810,0
$CFSIZE,260034560,195747840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111013,134336,2031.308,12332.050,63,1.0,63,-3.0