version: 66.11
glider: 167
mission: 16
dive: 427
start: 9 6 113 18 48 36
data:
$ID,167
$MISSION,16
$DIVE,427
$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,350
$T_MISSION,390
$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,190
$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,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$HEADING,155
$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,1
$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,-975751.44
$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,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,54
$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,0.0015
$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
$GPS1,060913,183905,1942.379,12343.680,34,1.3,34,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-72.3
$GPS2,060913,184805,1942.380,12343.598,30,1.5,30,-2.8
$SPEED_LIMITS,0.163,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,1932.593,12348.441
$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,157.8,20000,-17.1,-9.429,-23.09,2955
$D_GRID,5021
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.99,-184.9,129,2226,684,659,0.0,0.0,0,116,0.00,0.00,-87.20,0.000,16386,0.000,0.000,129,2227,2872,2848,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.99,-184.9,129,2227,2849,2897,3.4,-3.6,16,161,10.82,2.12,-16.67,0.000,18948,0.235,0.045,2691,796,3726,3723,3730,0,0,0,0,0,0,25.01,26.03,26.48
$GC,227,-0.99,-184.9,2691,796,3723,3731,28.8,-22.3,33,232,0.00,2.08,0.00,0.000,1030,0.000,0.030,2683,2196,3727,3723,3731,0,0,0,0,0,0,28.83,26.06,28.83
$GC,542,-0.99,-184.9,2683,2195,3724,3731,95.9,-20.3,53,547,0.00,2.08,0.00,0.000,516,0.000,0.034,2683,799,3727,3723,3731,0,0,0,0,0,0,28.83,26.18,28.83
$GC,580,-0.99,-184.9,2683,799,3723,3731,100.8,-20.1,54,587,0.00,2.08,0.00,0.000,1030,0.000,0.030,2673,2210,3727,3724,3731,0,0,0,0,0,0,28.83,26.22,28.83
$GC,886,-0.99,-184.9,2673,2210,3724,3731,157.4,-16.8,70,892,0.00,2.08,0.00,0.000,516,0.000,0.031,2673,797,3727,3724,3731,0,0,0,0,0,0,28.83,26.26,28.83
$GC,916,-0.99,-184.9,2673,797,3724,3731,161.5,-16.6,71,922,0.12,2.05,0.00,0.000,3078,0.175,0.029,2699,2201,3727,3724,3731,0,0,0,0,0,0,25.93,26.27,28.83
$GC,1238,-0.99,-184.9,2699,2201,3724,3732,212.1,-15.7,87,1243,0.00,2.05,0.00,0.000,516,0.000,0.030,2699,800,3727,3723,3732,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1267,-0.99,-184.9,2699,800,3724,3732,216.2,-15.9,88,1272,0.00,2.05,0.00,0.000,1030,0.000,0.028,2697,2207,3728,3724,3732,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1587,-0.99,-184.9,2696,2207,3724,3732,265.8,-13.5,104,1592,0.00,2.08,0.00,0.000,260,0.000,0.038,2695,3602,3728,3724,3732,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1652,-0.99,-184.9,2695,3602,3723,3732,274.0,-12.9,107,1657,0.00,2.03,0.00,0.000,1030,0.000,0.017,2696,2169,3727,3723,3732,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1977,-0.99,-184.9,2695,2169,3724,3731,313.1,-11.9,123,1982,0.00,1.95,0.00,0.000,516,0.000,0.031,2695,821,3728,3724,3732,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2076,-0.99,-184.9,2694,821,3724,3732,323.9,-12.6,127,2083,0.00,2.03,0.00,0.000,1030,0.000,0.028,2686,2219,3728,3724,3732,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2382,-0.99,-184.9,2686,2219,3724,3732,365.5,-13.0,143,2387,0.00,2.05,0.00,0.000,516,0.000,0.031,2686,820,3726,3722,3731,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2451,-0.99,-184.9,2686,820,3723,3731,374.2,-13.4,146,2456,0.00,2.03,0.00,0.000,1030,0.000,0.029,2683,2207,3727,3724,3731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2770,-0.99,-184.9,2683,2207,3723,3729,415.6,-12.3,162,2776,0.00,2.03,0.00,0.000,516,0.000,0.030,2683,825,3726,3724,3729,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2795,-0.99,-184.9,2683,824,3723,3729,418.7,-12.4,163,2801,0.00,2.03,0.00,0.000,1030,0.000,0.030,2683,2199,3726,3723,3729,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3121,-0.99,-184.9,2683,2198,3723,3726,454.9,-10.6,179,3126,0.00,2.03,0.00,0.000,516,0.000,0.030,2684,816,3724,3724,3725,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3195,-0.99,-184.9,2683,816,3723,3725,461.6,-10.4,182,3200,0.00,2.03,0.00,0.000,1030,0.000,0.029,2683,2203,3723,3723,3724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3510,-0.99,-184.9,2683,2203,3724,3720,496.2,-11.8,198,3515,0.00,2.03,0.00,0.000,516,0.000,0.031,2683,825,3722,3724,3720,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3599,-0.99,-184.9,2683,825,3724,3720,506.6,-12.3,202,3604,0.00,2.03,0.00,0.000,1030,0.000,0.029,2683,2208,3721,3724,3719,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3919,-0.99,-184.9,2683,2208,3724,3715,545.1,-11.7,218,3924,0.00,2.05,0.00,0.000,516,0.000,0.031,2683,816,3718,3723,3714,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3983,-0.99,-184.9,2683,816,3724,3714,552.6,-11.6,221,3989,0.00,2.03,0.00,0.000,1030,0.000,0.030,2683,2198,3718,3723,3713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4308,-0.99,-184.9,2683,2198,3723,3709,589.5,-11.4,237,4313,0.00,2.03,0.00,0.000,516,0.000,0.031,2683,826,3716,3724,3709,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4393,-0.99,-184.9,2683,825,3724,3707,599.1,-11.3,241,4398,0.00,2.03,0.00,0.000,1030,0.000,0.030,2683,2203,3715,3723,3707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4721,-0.99,-184.9,2683,2203,3723,3703,635.2,-11.2,252,4726,0.00,2.05,0.00,0.000,516,0.000,0.031,2683,818,3713,3723,3703,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4750,-0.99,-184.9,2683,818,3724,3703,635.2,-11.2,252,4756,0.00,2.05,0.00,0.000,1030,0.000,0.031,2683,2205,3712,3723,3702,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5056,-0.99,-184.9,2683,2205,3723,3697,675.7,-12.3,263,5061,0.00,2.05,0.00,0.000,516,0.000,0.032,2683,822,3709,3723,3696,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5126,-0.99,-184.9,1648,821,3717,3693,684.2,-12.8,265,5131,0.00,2.05,0.00,0.000,1030,0.000,0.031,2683,2212,3708,3723,3694,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5459,-0.99,-184.9,2683,2211,3723,3691,727.6,-13.1,276,5464,0.00,2.05,0.00,0.000,516,0.000,0.032,2683,827,3706,3723,3690,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5528,-0.99,-184.9,1664,827,3716,3687,736.3,-12.9,278,5533,0.00,2.05,0.00,0.000,1030,0.000,0.031,2683,2210,3706,3723,3689,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5860,-0.99,-184.9,2683,2209,3720,3684,777.1,-11.8,289,5865,0.00,2.05,0.00,0.000,516,0.000,0.032,2683,827,3702,3720,3684,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5920,-0.99,-184.9,2683,827,3720,3684,781.6,-11.8,290,5927,0.00,2.05,0.00,0.000,1030,0.000,0.032,2683,2206,3701,3719,3684,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6225,-0.99,-184.9,2683,2207,3717,3682,819.6,-11.3,301,6230,0.00,2.05,0.00,0.000,516,0.000,0.032,2683,827,3699,3717,3682,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6269,-0.99,-184.9,2683,826,3717,3682,823.5,-11.4,302,6274,0.00,2.05,0.00,0.000,1030,0.000,0.032,2683,2204,3699,3717,3681,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6597,-0.99,-184.9,2683,2205,3715,3677,859.7,-10.7,313,6603,0.00,2.05,0.00,0.000,516,0.000,0.033,2683,827,3696,3715,3677,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6632,-0.99,-184.9,2683,827,3714,3677,863.8,-10.7,314,6637,0.00,2.05,0.00,0.000,1030,0.000,0.031,2682,2202,3695,3714,3677,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6971,-0.99,-184.9,2683,2202,3712,3674,901.2,-11.1,325,6976,0.00,2.05,0.00,0.000,516,0.000,0.033,2683,827,3693,3712,3674,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7009,-0.99,-184.9,1672,827,3705,3672,905.7,-11.2,326,7014,0.00,2.05,0.00,0.000,1030,0.000,0.032,2683,2201,3692,3712,3673,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7342,-0.99,-184.9,2683,2201,3711,3671,944.5,-11.7,337,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2200,3690,3710,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7639,-0.99,-184.9,2683,2200,3709,3669,979.9,-11.8,347,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2201,3689,3709,3669,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7725,begin apogee
$GC,7734,-0.21,0.0,2682,2050,3708,3668,990.6,-12.0,350,7905,0.82,0.00,156.45,1.719,10246,0.129,0.000,2944,2050,2971,3035,2908,0,0,0,0,1,0,25.45,28.83,22.55
$STATE,7907,end apogee,CONTROL_FINISHED_OK
$STATE,7907,begin climb
$GC,7911,0.99,184.9,2944,2050,3035,2918,1000.0,0.0,355,8095,1.10,2.38,174.52,1.150,10500,0.051,0.042,3338,3440,2206,2295,2117,0,0,0,0,0,0,24.56,24.57,23.30
$GC,8171,0.99,184.9,3337,3439,2289,2096,990.6,9.5,364,8177,0.00,2.10,0.00,0.000,1030,0.000,0.025,3346,2065,2192,2289,2095,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8487,0.99,184.9,3346,2064,2287,2088,953.6,11.2,375,8492,0.00,2.15,0.00,0.000,516,0.000,0.041,3357,656,2188,2289,2088,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8511,0.99,184.9,3357,655,2289,2088,953.6,11.2,375,8516,0.00,2.12,0.00,0.000,1030,0.000,0.033,3357,2056,2186,2283,2089,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8826,0.99,184.9,3357,2056,2283,2088,914.7,11.6,386,8831,0.00,2.15,0.00,0.000,260,0.000,0.043,3357,3453,2185,2283,2087,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8910,0.99,184.9,3357,3453,2281,2087,906.5,12.0,388,8915,0.00,2.10,0.00,0.000,1030,0.000,0.025,3367,2034,2184,2281,2087,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9225,0.99,184.9,3366,2033,2281,2086,868.0,11.1,399,9230,0.00,2.10,0.00,0.000,516,0.000,0.041,3377,647,2183,2281,2086,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9264,0.99,184.9,3376,648,2277,2086,864.1,11.2,400,9270,0.15,2.12,0.00,0.000,5126,0.168,0.033,3340,2059,2182,2278,2086,0,0,0,0,0,0,25.82,26.23,28.83
$GC,9598,0.99,184.9,3340,2059,2277,2085,829.6,10.3,411,9603,0.00,2.15,0.00,0.000,260,0.000,0.044,3340,3460,2181,2277,2086,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9694,0.99,184.9,3340,3460,2277,2085,818.4,11.3,414,9699,0.00,2.10,0.00,0.000,1030,0.000,0.026,3349,2045,2181,2277,2086,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10031,0.99,184.9,3349,2045,2277,2084,783.0,10.6,425,10036,0.00,2.10,0.00,0.000,516,0.000,0.041,3359,659,2180,2277,2084,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,17912,end climb,SURFACE_DEPTH_REACHED
$STATE,17913,begin surface coast
$FINISH,1.4,0.997486
$STATE,17942,end surface coast,CONTROL_FINISHED_OK
$STATE,17942,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,55.86
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.10
$XPDR_PINGS,3
$SC_FREEKB,7576992
$24V_AH,22.5,69.256
$10V_AH,9.9,42.695
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.700,175.875,555.000,41.500,0.000,0.000,0.000,295.175,0.750,0.000,31.111,2612.539,12029.193,716.496,2485.373,693.954,0.000,2241.507,0.000,2115.251,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.749,0.000,0.000,0.000
$MEM,328216
$DATA_FILE_SIZE,33442,830
$CAP_FILE_SIZE,206627,0
$CFSIZE,260034560,212844544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,060913,235006,1941.276,12343.375,37,1.1,37,-2.8