version: 66.11
glider: 167
mission: 16
dive: 290
start: 8 10 113 22 18 7
data:
$ID,167
$MISSION,16
$DIVE,290
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$HEADING,-1
$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,564.9259
$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,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975557.25
$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,3015
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,22
$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
$GPS1,100813,220835,2021.425,12244.025,33,1.3,33,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.5
$GPS2,100813,221737,2021.499,12244.016,40,1.1,40,-2.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,T6
$TGT_LATLONG,2000.000,12245.000
$TGT_RADIUS,10000.000
$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,171.8,39852,-18.3,-10.000,-23.91,2793
$D_GRID,2894
$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,-1.12,-184.9,134,2157,669,659,0.0,0.0,0,117,0.00,0.00,-87.45,0.000,16386,0.000,0.000,134,2157,2863,2838,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-1.12,-184.9,134,2157,2838,2888,3.1,-2.4,15,160,10.25,2.10,-18.20,0.000,18948,0.233,0.040,2647,742,3726,3720,3732,0,0,0,0,0,0,25.41,26.12,26.46
$GC,213,-1.00,-184.9,1576,741,3714,3733,30.5,-35.8,28,220,0.20,2.08,0.00,0.000,3078,0.200,0.023,2686,2177,3727,3720,3734,0,0,0,0,0,0,25.53,26.13,28.83
$GC,531,-0.93,-184.9,2685,2178,3720,3734,117.9,-23.4,47,537,0.00,2.00,0.00,0.000,260,0.000,0.031,2677,3550,3727,3721,3734,0,0,0,0,0,0,28.83,26.22,28.83
$GC,566,-0.87,-184.9,2677,3550,3721,3734,124.1,-23.3,48,572,0.20,2.00,0.00,0.000,3078,0.170,0.015,2729,2104,3730,3721,3740,0,0,0,0,0,0,25.77,26.38,28.83
$GC,882,-0.82,-184.9,2729,2104,3723,3733,188.3,-18.8,64,888,0.00,2.15,0.00,0.000,260,0.000,0.031,2721,3549,3728,3723,3734,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1062,-0.78,-184.9,2721,3549,3723,3734,217.5,-17.0,72,1069,0.15,1.92,0.00,0.000,3078,0.155,0.015,2760,2152,3728,3723,3734,0,0,0,0,0,0,26.03,26.47,28.83
$GC,1368,-0.77,-184.9,2760,2151,3724,3734,262.9,-14.1,88,1373,0.00,1.95,0.00,0.000,516,0.000,0.026,2761,776,3729,3724,3735,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1408,-0.76,-184.9,2760,776,3724,3734,266.7,-14.2,89,1414,0.00,1.98,0.00,0.000,1030,0.000,0.022,2754,2162,3729,3724,3734,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1714,-0.74,-184.9,2753,2162,3724,3735,309.4,-12.8,105,1719,0.00,2.05,0.00,0.000,260,0.000,0.035,2743,3553,3728,3723,3734,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1864,-0.73,-184.9,2743,3553,3724,3734,330.0,-13.7,112,1870,0.12,1.92,0.00,0.000,3078,0.153,0.015,2775,2150,3729,3725,3734,0,0,0,0,0,0,26.16,26.52,28.83
$GC,2189,-0.73,-184.9,2775,2149,3725,3733,371.7,-12.4,128,2195,0.00,1.95,0.00,0.000,516,0.000,0.027,2776,779,3728,3724,3733,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2264,-0.73,-184.9,2775,779,3725,3731,379.8,-12.6,131,2270,0.00,1.98,0.00,0.000,1030,0.000,0.023,2767,2160,3728,3725,3732,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2579,-0.73,-184.9,2769,2160,3725,3729,418.5,-12.3,147,2584,0.00,1.98,0.00,0.000,516,0.000,0.026,2769,787,3727,3725,3729,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2624,-0.73,-184.9,2769,787,3724,3729,424.4,-12.8,149,2629,0.00,1.98,0.00,0.000,1030,0.000,0.023,2766,2155,3727,3725,3729,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2949,-0.73,-184.9,2765,2155,3724,3725,469.5,-13.9,165,2954,0.00,2.05,0.00,0.000,260,0.000,0.036,2765,3547,3724,3724,3725,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3031,-0.73,-184.9,2765,3548,3724,3723,478.2,-13.4,168,3038,0.00,1.95,0.00,0.000,1030,0.000,0.016,2766,2141,3723,3723,3723,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3335,-0.73,-184.9,2766,2141,3724,3719,514.1,-10.2,184,3340,0.00,1.95,0.00,0.000,516,0.000,0.028,2765,782,3722,3725,3719,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3421,-0.73,-184.9,2765,781,3724,3718,523.2,-10.6,188,3426,0.00,2.00,0.00,0.000,1030,0.000,0.025,2765,2160,3721,3724,3718,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3746,-0.73,-184.9,2765,2160,3725,3712,560.0,-12.2,204,3752,0.00,2.08,0.00,0.000,260,0.000,0.037,2766,3555,3717,3724,3711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3772,-0.73,-184.9,2765,3555,3724,3710,563.1,-12.1,205,3778,0.00,1.98,0.00,0.000,1030,0.000,0.018,2765,2141,3717,3724,3711,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4098,-0.73,-184.9,2765,2141,3724,3706,601.0,-11.1,221,4103,0.00,1.95,0.00,0.000,516,0.000,0.028,2765,782,3715,3724,3706,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4153,-0.73,-184.9,2765,782,3724,3706,604.7,-10.9,222,4158,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2150,3714,3724,3705,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4468,-0.73,-184.9,2765,2150,3724,3700,640.5,-10.5,233,4473,0.00,2.08,0.00,0.000,260,0.000,0.037,2765,3545,3712,3724,3700,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4547,-0.73,-184.9,2765,3544,3724,3698,647.2,-10.2,235,4553,0.00,1.95,0.00,0.000,1030,0.000,0.018,2765,2155,3711,3724,3698,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4871,-0.73,-184.9,2765,2155,3724,3692,681.2,-10.3,246,4876,0.00,2.00,0.00,0.000,516,0.000,0.029,2765,769,3708,3724,3692,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4910,-0.73,-184.9,2764,769,3724,3692,685.4,-10.6,247,4916,0.00,2.00,0.00,0.000,1030,0.000,0.025,2765,2148,3707,3724,3691,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5245,-0.73,-184.9,2765,2148,3723,3686,722.7,-11.3,258,5250,0.00,2.10,0.00,0.000,260,0.000,0.038,2765,3548,3704,3723,3686,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5319,-0.73,-184.9,2765,3548,3721,3687,730.7,-11.6,260,5325,0.00,1.98,0.00,0.000,1030,0.000,0.019,2766,2153,3703,3721,3686,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5648,-0.73,-184.9,2765,2153,3719,3683,771.2,-12.1,271,5653,0.00,2.00,0.00,0.000,516,0.000,0.030,2766,776,3701,3719,3683,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5692,-0.73,-184.9,2765,776,3717,3683,776.1,-12.2,272,5697,0.00,2.00,0.00,0.000,1030,0.000,0.026,2765,2150,3700,3718,3683,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6020,-0.73,-184.9,2765,2150,3715,3679,815.3,-11.5,283,6025,0.00,2.10,0.00,0.000,260,0.000,0.039,2766,3544,3696,3715,3678,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6099,-0.73,-184.9,2765,3545,3714,3677,822.7,-11.2,285,6105,0.00,2.00,0.00,0.000,1030,0.000,0.021,2766,2135,3695,3714,3677,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6423,-0.73,-184.9,2764,2135,3712,3675,859.7,-11.2,296,6428,0.00,1.98,0.00,0.000,516,0.000,0.031,2765,780,3693,3712,3674,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6518,-0.73,-184.9,2765,779,3711,3673,871.3,-11.7,299,6523,0.00,2.03,0.00,0.000,1030,0.000,0.027,2765,2153,3692,3711,3674,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6856,-0.73,-184.9,2765,2152,3711,3670,910.5,-11.4,310,6862,0.00,2.12,0.00,0.000,260,0.000,0.040,2765,3557,3690,3710,3670,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6942,-0.74,-184.9,2765,3557,3709,3670,918.1,-11.1,312,6947,0.00,2.00,0.00,0.000,1030,0.000,0.021,2765,2150,3689,3709,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7257,-0.74,-184.9,2765,2150,3707,3667,952.8,-10.4,323,7263,0.00,2.00,0.00,0.000,516,0.000,0.031,2765,785,3687,3707,3667,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7316,-0.74,-184.9,2765,784,3706,3667,956.8,-10.8,324,7323,0.00,2.03,0.00,0.000,1030,0.000,0.028,2766,2160,3686,3706,3667,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,7619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7619,begin apogee
$GC,7628,-0.18,0.0,2765,2039,3705,3663,991.3,-10.3,335,7787,0.57,0.00,147.35,1.235,10246,0.122,0.000,2951,2039,2963,3028,2899,0,0,0,0,0,0,25.64,28.83,23.89
$STATE,7789,end apogee,CONTROL_FINISHED_OK
$STATE,7789,begin climb
$GC,7793,1.12,184.9,2952,2039,3029,2894,998.0,0.0,340,7964,1.20,2.40,157.35,1.193,11012,0.067,0.040,3372,3445,2207,2294,2121,0,0,0,0,0,0,25.00,24.51,23.61
$GC,8033,1.05,184.9,3372,3446,2293,2108,980.5,13.9,348,8039,0.00,2.10,0.00,0.000,1030,0.000,0.024,3381,2076,2200,2293,2108,0,0,0,0,0,0,28.83,25.35,28.83
$GC,8357,0.99,184.9,3381,2076,2293,2101,931.4,14.8,359,8364,0.15,2.15,0.00,0.000,4356,0.172,0.037,3339,3460,2197,2293,2101,0,0,0,0,0,0,25.72,25.96,28.83
$GC,8403,0.94,184.9,3339,3459,2289,2100,925.6,14.8,360,8409,0.00,2.10,0.00,0.000,1030,0.000,0.024,3347,2049,2194,2289,2100,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8732,0.89,184.9,3347,2049,2289,2097,883.0,12.5,371,8738,0.12,2.17,0.00,0.000,4356,0.177,0.037,3311,3454,2193,2289,2098,0,0,0,0,0,0,25.94,26.10,28.83
$GC,8798,0.85,184.9,3311,3454,2289,2098,874.5,12.4,373,8803,0.00,2.10,0.00,0.000,1030,0.000,0.024,3320,2043,2193,2289,2098,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9136,0.82,184.9,3319,2043,2288,2095,833.1,12.8,384,9142,0.12,2.10,0.00,0.000,4612,0.168,0.034,3292,648,2192,2289,2095,0,0,0,0,0,0,26.03,26.20,28.83
$GC,9181,0.79,184.9,3292,648,2285,2095,828.1,12.8,385,9187,0.00,2.10,0.00,0.000,1030,0.000,0.028,3293,2045,2190,2285,2095,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9510,0.76,184.9,3292,2045,2285,2095,789.2,11.1,396,9517,0.12,2.15,0.00,0.000,4356,0.157,0.040,3255,3456,2190,2285,2095,0,0,0,0,0,0,26.11,26.16,28.83
$GC,9618,0.74,184.9,3255,3456,2285,2095,778.5,10.7,399,9624,0.00,2.08,0.00,0.000,1030,0.000,0.025,3261,2044,2189,2284,2095,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9949,0.85,232.9,3261,2043,2285,2092,749.3,8.2,410,9998,0.00,2.15,42.67,1.082,8708,0.000,0.035,3273,651,2012,2109,1916,0,0,0,0,0,0,28.83,25.56,24.67
$GC,10083,0.94,266.9,3271,651,2101,1910,738.4,8.7,414,10123,0.12,2.15,32.05,1.076,11270,0.076,0.028,3331,2063,1878,1972,1784,0,0,0,0,0,0,25.77,25.80,24.43
$GC,10433,0.91,266.9,3331,2063,1966,1770,696.1,11.7,426,10439,0.00,2.15,0.00,0.000,260,0.000,0.041,3330,3453,1867,1966,1769,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,16982,end climb,SURFACE_DEPTH_REACHED
$STATE,16982,begin surface coast
$FINISH,1.3,0.998754
$STATE,17008,end surface coast,CONTROL_FINISHED_OK
$STATE,17009,begin surface
$SM_CCo,17031,34.67,0.122,0,0,666,564.93
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$IRIDIUM_FIX,2013.37,12244.67,100813,171719
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.13
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.50
$XPDR_PINGS,10
$SC_FREEKB,7605696
$24V_AH,23.6,45.779
$10V_AH,10.1,28.663
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.750,169.625,567.375,34.675,0.000,0.000,0.000,299.325,2.500,0.000,41.555,2709.310,11073.691,739.679,2435.452,641.078,0.000,2229.346,0.000,2056.010,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,76.500,1234.710,121.635,0.000,0.000,0.000,119.340,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.148,0.000,0.000,0.000
$MEM,342988
$DATA_FILE_SIZE,30025,779
$CAP_FILE_SIZE,204184,0
$CFSIZE,260034560,225198080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.123, 45.8,1
$GPS,110813,030400,2020.936,12244.901,41,1.0,41,-2.9