version: 66.11
glider: 167
mission: 16
dive: 507
start: 9 22 113 23 23 58
data:
$ID,167
$MISSION,16
$DIVE,507
$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,320
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-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,500
$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,-976451.06
$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,2990
$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,61
$R_STBD_OVSHOOT,42
$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,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
$GPS1,220913,231407,1921.259,12327.437,32,1.7,32,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.2
$GPS2,220913,232329,1921.170,12327.479,41,0.9,41,-2.7
$SPEED_LIMITS,0.179,0.233
$TGT_NAME,T5
$TGT_LATLONG,2115.000,12200.000
$TGT_RADIUS,2000.000
$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,327.1,259311,-18.3,-10.312,-23.85,2851
$D_GRID,5096
$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,-1.25,-194.6,117,2181,951,920,0.0,0.0,0,100,0.00,0.00,-70.80,0.000,16386,0.000,0.000,115,2181,2674,2654,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.25,-194.6,115,2182,2655,2695,3.4,-3.1,13,148,10.45,2.25,-22.62,0.000,18692,0.230,0.057,2573,3612,3767,3762,3772,0,0,0,0,0,0,24.75,25.85,26.48
$GC,322,-1.25,-194.6,2573,3613,3762,3773,60.5,-29.3,38,329,0.00,2.08,0.00,0.000,1030,0.000,0.023,2574,2203,3767,3762,3773,0,0,0,0,0,0,28.83,26.15,28.83
$GC,486,-1.25,-194.6,2574,2203,3763,3773,100.9,-22.1,47,492,0.00,2.15,0.00,0.000,260,0.000,0.041,2565,3604,3768,3763,3773,0,0,0,0,0,0,28.83,26.04,28.83
$GC,545,-1.25,-194.6,2564,3604,3763,3773,111.3,-22.3,49,552,0.00,2.05,0.00,0.000,1030,0.000,0.019,2564,2172,3768,3763,3773,0,0,0,0,0,0,28.83,26.27,28.83
$GC,712,-1.25,-194.6,2564,2172,3763,3773,148.8,-19.9,58,717,0.00,1.98,0.00,0.000,516,0.000,0.028,2564,803,3768,3763,3773,0,0,0,0,0,0,28.83,26.17,28.83
$GC,761,-1.25,-194.6,1536,802,3758,3772,158.0,-20.5,60,767,0.12,2.08,0.00,0.000,3078,0.189,0.031,2583,2217,3768,3764,3773,0,0,0,0,0,0,25.79,26.20,28.83
$GC,921,-1.25,-194.6,2583,2217,3763,3774,190.3,-19.4,68,927,0.00,2.08,0.00,0.000,260,0.000,0.037,2575,3600,3769,3764,3774,0,0,0,0,0,0,28.83,26.11,28.83
$GC,956,-1.25,-194.6,2574,3601,3763,3773,195.2,-19.5,69,961,0.00,2.00,0.00,0.000,1030,0.000,0.018,2575,2184,3768,3763,3774,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1131,-1.25,-194.6,2574,2184,3763,3775,229.6,-18.8,78,1136,0.00,1.98,0.00,0.000,516,0.000,0.030,2575,815,3769,3764,3775,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1170,-1.25,-194.6,2574,815,3763,3776,234.1,-18.4,79,1176,0.00,2.03,0.00,0.000,1030,0.000,0.028,2566,2204,3769,3764,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1336,-1.25,-194.6,2565,2203,3764,3775,265.6,-17.5,88,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2204,3769,3764,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1496,-1.25,-194.6,2565,2204,3764,3775,294.4,-18.4,96,1501,0.00,2.08,0.00,0.000,260,0.000,0.038,2555,3595,3769,3763,3775,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1525,-1.25,-194.6,2554,3595,3763,3775,299.1,-18.3,97,1531,0.12,1.98,0.00,0.000,3078,0.187,0.018,2582,2190,3769,3763,3775,0,0,0,0,0,0,25.90,26.39,28.83
$GC,1686,-1.25,-194.6,2582,2190,3763,3775,328.1,-17.2,105,1691,0.00,1.98,0.00,0.000,516,0.000,0.030,2582,823,3769,3763,3775,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1740,-1.25,-194.6,2582,823,3764,3775,336.2,-17.4,107,1745,0.00,2.03,0.00,0.000,1030,0.000,0.028,2575,2212,3769,3763,3775,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1916,-1.25,-194.6,2575,2212,3763,3775,368.0,-17.1,116,1921,0.00,2.08,0.00,0.000,260,0.000,0.040,2574,3595,3769,3764,3775,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1929,-1.25,-194.6,2574,3595,3763,3775,368.0,-17.1,116,1934,0.00,1.95,0.00,0.000,1030,0.000,0.018,2574,2208,3769,3763,3775,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2104,-1.25,-194.6,2573,2208,3764,3775,400.6,-17.0,125,2109,0.00,2.00,0.00,0.000,516,0.000,0.030,2574,823,3768,3763,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2149,-1.25,-194.6,2574,822,3763,3774,408.2,-17.1,127,2154,0.00,2.03,0.00,0.000,1030,0.000,0.028,2565,2201,3768,3763,3774,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2314,-1.25,-194.6,2565,2201,3764,3773,436.7,-17.3,135,2319,0.00,2.03,0.00,0.000,516,0.000,0.029,2564,816,3768,3764,3773,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2343,-1.25,-194.6,2565,816,3764,3773,441.2,-17.6,136,2349,0.12,2.05,0.00,0.000,3078,0.190,0.028,2585,2210,3768,3764,3773,0,0,0,0,0,0,25.84,26.25,28.83
$GC,2505,-1.25,-194.6,2585,2210,3763,3770,468.1,-16.3,144,2510,0.00,2.03,0.00,0.000,516,0.000,0.028,2585,823,3767,3764,3770,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2519,-1.25,-194.6,2585,823,3763,3771,468.1,-16.3,144,2524,0.00,2.03,0.00,0.000,1030,0.000,0.028,2578,2207,3767,3764,3770,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2695,-1.25,-194.6,2578,2207,3763,3769,499.9,-16.6,153,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2206,3766,3763,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2854,-1.25,-194.6,2578,2207,3763,3768,526.8,-16.7,161,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2207,3766,3763,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3014,-1.25,-194.6,2578,2207,3763,3766,553.0,-17.0,169,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2207,3764,3763,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,-1.25,-194.6,2577,2207,3763,3764,578.9,-16.2,177,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2207,3763,3763,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3344,-1.25,-194.6,2578,2207,3763,3761,607.3,-16.9,185,3349,0.00,2.05,0.00,0.000,516,0.000,0.030,2578,816,3761,3763,3760,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3379,-1.25,-194.6,2577,816,3763,3760,613.2,-17.1,186,3384,0.00,2.05,0.00,0.000,1030,0.000,0.029,2574,2197,3761,3763,3759,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3565,-1.25,-194.6,2574,2197,3763,3757,644.9,-17.2,192,3570,0.00,2.12,0.00,0.000,260,0.000,0.042,2573,3597,3760,3763,3757,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3664,-1.25,-194.6,2574,3597,3763,3755,661.7,-17.6,195,3669,0.00,2.00,0.00,0.000,1030,0.000,0.018,2574,2186,3759,3763,3756,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3845,-1.25,-194.6,2574,2186,3763,3751,692.9,-16.8,201,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2186,3757,3763,3751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3994,-1.25,-194.6,2573,2185,3763,3749,717.6,-16.6,206,3999,0.00,1.98,0.00,0.000,516,0.000,0.031,2574,830,3756,3763,3749,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4018,-1.25,-194.6,2574,830,3763,3749,717.6,-16.6,206,4023,0.00,2.03,0.00,0.000,1030,0.000,0.030,2566,2202,3756,3763,3749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4183,-1.25,-194.6,2565,2202,3763,3746,748.4,-16.2,212,4189,0.00,2.12,0.00,0.000,260,0.000,0.041,2559,3598,3754,3763,3746,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4242,-1.25,-194.6,2560,3598,3762,3746,754.4,-16.2,213,4249,0.00,2.00,0.00,0.000,1030,0.000,0.018,2560,2196,3754,3763,3745,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4399,-1.25,-194.6,2559,2196,3763,3742,784.6,-16.8,219,4404,0.00,2.15,0.00,0.000,260,0.000,0.041,2558,3592,3752,3763,3742,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4473,-1.25,-194.6,2557,3592,3763,3740,796.2,-17.3,221,4479,0.12,1.98,0.00,0.000,3078,0.182,0.018,2585,2199,3751,3763,3740,0,0,0,0,0,0,25.88,26.36,28.83
$GC,4649,-1.25,-194.6,2584,2198,3763,3738,826.6,-16.3,227,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2198,3750,3762,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4799,-1.25,-194.6,2585,2198,3763,3735,851.1,-16.4,232,4804,0.00,2.15,0.00,0.000,260,0.000,0.041,2578,3594,3748,3762,3735,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4836,-1.25,-194.6,2578,3594,3763,3735,856.9,-16.3,233,4841,0.00,2.00,0.00,0.000,1030,0.000,0.019,2578,2202,3748,3762,3735,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5021,-1.25,-194.6,2578,2203,3761,3732,888.4,-16.7,239,5026,0.00,2.15,0.00,0.000,260,0.000,0.041,2574,3591,3746,3760,3732,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5045,-1.25,-194.6,2574,3591,3760,3732,888.4,-16.7,239,5050,0.00,2.00,0.00,0.000,1030,0.000,0.020,2574,2200,3746,3760,3732,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5211,-1.25,-194.6,2574,2200,3758,3731,920.9,-17.2,245,5216,0.00,2.17,0.00,0.000,260,0.000,0.043,2574,3599,3744,3758,3731,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5249,-1.25,-194.6,1584,3598,3752,3729,927.1,-17.2,246,5254,0.00,2.03,0.00,0.000,1030,0.000,0.020,2574,2193,3744,3758,3731,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5430,-1.25,-194.6,2573,2193,3757,3730,958.2,-16.8,252,5435,0.00,2.17,0.00,0.000,260,0.000,0.043,2574,3593,3742,3757,3728,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5474,-1.25,-194.6,2574,3593,3756,3729,964.1,-16.7,253,5479,0.00,2.00,0.00,0.000,1030,0.000,0.020,2573,2201,3742,3756,3729,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,5645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5645,begin apogee
$GC,5654,-0.21,0.0,2573,2013,3755,3727,994.8,-16.7,259,5901,1.12,0.00,239.02,1.004,10246,0.148,0.000,2912,2013,2966,3033,2899,0,0,0,0,0,0,25.13,28.83,23.61
$STATE,5903,end apogee,CONTROL_FINISHED_OK
$STATE,5903,begin climb
$GC,5907,1.25,194.6,2912,2013,3026,2886,1008.2,0.0,267,6095,1.35,2.12,178.07,1.144,10756,0.069,0.038,3396,710,2164,2251,2077,0,0,0,0,0,0,25.16,25.03,23.58
$GC,6156,1.25,194.6,3396,709,2221,2059,995.9,10.6,275,6163,0.00,2.05,0.00,0.000,1030,0.000,0.032,3396,2043,2138,2220,2057,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6311,1.25,194.6,3396,2043,2220,2050,972.3,13.0,281,6316,0.00,2.20,0.00,0.000,260,0.000,0.044,3396,3458,2134,2220,2049,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6340,1.25,194.6,3395,3458,2219,2049,972.3,13.0,281,6346,0.00,2.03,0.00,0.000,1030,0.000,0.025,3406,2102,2134,2220,2048,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,14923,end climb,SURFACE_DEPTH_REACHED
$STATE,14923,begin surface coast
$FINISH,1.3,1.021060
$STATE,14944,end surface coast,CONTROL_FINISHED_OK
$STATE,14944,begin surface
$SM_CCo,14968,34.15,0.121,0,0,926,500.17
$SM_GC,2.12,8.88,0.17,34.15,0.031,0.066,0.121,143,2220,926,-8.83,-1.44,500.17,0,0,0,0,0,0,26.02,26.33,25.32
$IRIDIUM_FIX,1906.95,12032.34,220913,191931
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.99
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.00
$XPDR_PINGS,4
$SC_FREEKB,7575904
$24V_AH,23.6,84.449
$10V_AH,9.8,51.673
$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,23.575,217.725,623.775,34.150,0.000,0.000,0.000,303.700,1.000,0.000,42.838,2423.425,9219.686,835.448,2352.946,721.314,0.000,2378.614,0.000,1948.904,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,65.790,1143.675,120.870,0.000,0.000,0.000,120.105,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14961.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.165,0.000,0.000,0.000
$MEM,327788
$DATA_FILE_SIZE,26740,683
$CAP_FILE_SIZE,222486,0
$CFSIZE,260034560,205541376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,230913,033530,1923.015,12326.699,43,1.3,43,-2.7