version: 66.11
glider: 167
mission: 16
dive: 511
start: 9 23 113 16 30 35
data:
$ID,167
$MISSION,16
$DIVE,511
$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,-976456.06
$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,53
$R_STBD_OVSHOOT,55
$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
$GPS1,230913,162035,1925.589,12325.629,30,1.1,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-71.9
$GPS2,230913,163006,1925.689,12325.575,39,1.0,39,-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,326.6,250603,-18.3,-10.312,-23.85,2851
$D_GRID,5049
$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,-194.6,131,2235,961,909,0.0,0.0,0,101,0.00,0.00,-70.90,0.000,16386,0.000,0.000,131,2236,2674,2655,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.25,-194.6,131,2235,2656,2695,3.2,-2.9,13,148,10.62,2.12,-23.12,0.000,18692,0.237,0.054,2574,3591,3765,3758,3772,0,0,0,0,0,0,24.77,25.85,26.48
$GC,289,-1.25,-194.6,2573,3591,3759,3774,50.7,-28.9,36,296,0.00,2.08,0.00,0.000,1030,0.000,0.024,2574,2179,3766,3759,3773,0,0,0,0,0,0,28.83,26.12,28.83
$GC,456,-1.25,-194.6,2573,2179,3760,3773,97.7,-24.0,45,462,0.00,2.15,0.00,0.000,260,0.000,0.037,2564,3596,3766,3759,3774,0,0,0,0,0,0,28.83,26.07,28.83
$GC,622,-1.25,-194.6,2564,3597,3760,3774,133.4,-20.7,53,627,0.00,2.03,0.00,0.000,1030,0.000,0.019,2563,2191,3766,3760,3773,0,0,0,0,0,0,28.83,26.28,28.83
$GC,788,-1.25,-194.6,2564,2190,3761,3774,166.2,-20.3,61,793,0.00,2.00,0.00,0.000,516,0.000,0.030,2564,803,3767,3761,3774,0,0,0,0,0,0,28.83,26.20,28.83
$GC,833,-1.25,-194.6,2564,803,3761,3774,175.3,-20.4,63,839,0.12,2.05,0.00,0.000,3078,0.190,0.029,2582,2202,3767,3761,3774,0,0,0,0,0,0,25.79,26.19,28.83
$GC,998,-1.25,-194.6,2582,2202,3762,3774,207.1,-19.3,71,1004,0.00,2.08,0.00,0.000,260,0.000,0.037,2574,3604,3768,3762,3774,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1084,-1.25,-194.6,2574,3604,3762,3774,223.9,-19.9,75,1090,0.00,2.03,0.00,0.000,1030,0.000,0.018,2574,2187,3768,3762,3774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1249,-1.25,-194.6,2574,2188,3763,3774,254.9,-18.0,83,1254,0.00,1.98,0.00,0.000,516,0.000,0.028,2574,807,3768,3763,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1289,-1.25,-194.6,2574,807,3763,3774,259.3,-17.8,84,1295,0.00,2.05,0.00,0.000,1030,0.000,0.027,2565,2212,3768,3763,3774,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1454,-1.25,-194.6,2565,2212,3763,3774,291.4,-18.0,93,1460,0.00,2.08,0.00,0.000,260,0.000,0.037,2554,3605,3768,3763,3774,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1540,-1.25,-194.6,2554,3605,3763,3774,308.1,-19.7,97,1546,0.12,2.03,0.00,0.000,3078,0.184,0.018,2582,2193,3768,3763,3774,0,0,0,0,0,0,25.89,26.35,28.83
$GC,1706,-1.25,-194.6,2581,2193,3763,3774,338.8,-18.3,105,1711,0.00,1.98,0.00,0.000,516,0.000,0.028,2581,812,3767,3761,3774,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1745,-1.25,-194.6,2582,810,3763,3774,343.3,-18.1,106,1751,0.00,2.03,0.00,0.000,1030,0.000,0.028,2575,2200,3768,3763,3774,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1912,-1.25,-194.6,2575,2200,3763,3775,375.5,-17.9,115,1917,0.00,2.10,0.00,0.000,260,0.000,0.038,2565,3607,3767,3761,3774,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1977,-1.25,-194.6,2564,3608,3762,3774,387.4,-18.1,118,1982,0.00,2.03,0.00,0.000,1030,0.000,0.018,2566,2197,3768,3763,3774,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2143,-1.25,-194.6,2564,2197,3762,3774,416.2,-17.5,126,2148,0.00,2.00,0.00,0.000,516,0.000,0.028,2565,798,3768,3762,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2182,-1.25,-194.6,2564,797,3762,3774,420.7,-17.8,127,2188,0.00,2.08,0.00,0.000,1030,0.000,0.028,2561,2209,3768,3763,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2347,-1.25,-194.6,2560,2208,3762,3773,451.0,-16.9,136,2353,0.00,2.10,0.00,0.000,260,0.000,0.040,2561,3607,3767,3762,3773,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2422,-1.25,-194.6,2560,3608,3762,3772,462.2,-17.4,139,2427,0.00,2.03,0.00,0.000,1030,0.000,0.018,2561,2190,3767,3762,3772,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2597,-1.25,-194.6,2560,2190,3762,3770,492.5,-15.9,148,2602,0.00,2.00,0.00,0.000,516,0.000,0.029,2560,807,3766,3763,3770,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2626,-1.25,-194.6,2560,806,3763,3770,496.7,-16.0,149,2632,0.15,2.05,0.00,0.000,3078,0.182,0.028,2586,2206,3766,3762,3770,0,0,0,0,0,0,25.77,26.23,28.83
$GC,2788,-1.25,-194.6,2586,2206,3762,3768,522.2,-15.4,157,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2206,3765,3763,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2947,-1.25,-194.6,2586,2206,3762,3767,546.4,-15.0,165,2952,0.00,2.05,0.00,0.000,516,0.000,0.028,2586,799,3765,3763,3767,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2967,-1.25,-194.6,2585,799,3762,3767,546.4,-15.0,165,2974,0.00,2.08,0.00,0.000,1030,0.000,0.029,2586,2202,3764,3762,3766,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3131,-1.25,-194.6,2586,2202,3763,3764,574.6,-15.5,174,3137,0.00,2.12,0.00,0.000,260,0.000,0.041,2582,3613,3763,3762,3764,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3210,-1.25,-194.6,2582,3612,3762,3762,584.7,-15.5,177,3217,0.00,2.03,0.00,0.000,1030,0.000,0.018,2582,2199,3762,3762,3762,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3387,-1.25,-194.6,2581,2198,3762,3759,614.9,-15.8,185,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2198,3760,3762,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3536,-1.25,-194.6,2581,2198,3762,3757,639.3,-16.3,190,3541,0.00,2.03,0.00,0.000,516,0.000,0.029,2582,799,3760,3763,3757,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3560,-1.25,-194.6,2581,799,3762,3757,639.3,-16.3,190,3565,0.00,2.08,0.00,0.000,1030,0.000,0.028,2574,2204,3760,3763,3757,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3726,-1.25,-194.6,2573,2203,3763,3753,670.6,-16.7,196,3731,0.00,2.12,0.00,0.000,260,0.000,0.041,2574,3605,3758,3763,3753,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3761,-1.25,-194.6,2574,3605,3762,3752,676.4,-16.6,197,3766,0.00,2.05,0.00,0.000,1030,0.000,0.019,2574,2185,3757,3762,3752,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3947,-1.25,-194.6,2574,2185,3762,3749,706.9,-16.4,203,3952,0.00,2.17,0.00,0.000,260,0.000,0.040,2570,3602,3755,3761,3749,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3975,-1.25,-194.6,2570,3602,3762,3749,706.9,-16.4,203,3983,0.00,2.05,0.00,0.000,1030,0.000,0.020,2570,2191,3756,3762,3750,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4132,-1.25,-194.6,2570,2191,3762,3747,738.4,-16.9,209,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2191,3754,3762,3747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4282,-1.25,-194.6,2570,2190,3762,3745,763.9,-17.0,214,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2191,3753,3762,3745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4433,-1.25,-194.6,2570,2191,3762,3742,789.6,-17.2,219,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2191,3752,3762,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4582,-1.25,-194.6,2569,2191,3762,3738,816.2,-17.9,224,4587,0.00,2.17,0.00,0.000,260,0.000,0.039,2561,3605,3750,3762,3739,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4650,-1.25,-194.6,1568,3605,3756,3736,828.3,-18.3,226,4655,0.00,2.03,0.00,0.000,1030,0.000,0.020,2561,2203,3749,3761,3738,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4831,-1.25,-194.6,2560,2202,3761,3735,861.1,-17.6,232,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2203,3748,3761,3735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4980,-1.25,-194.6,2560,2203,3761,3732,887.4,-17.6,237,4985,0.00,2.17,0.00,0.000,260,0.000,0.041,2560,3607,3746,3760,3732,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5095,-1.25,-194.6,2560,3607,3757,3732,904.3,-17.6,240,5100,0.00,2.05,0.00,0.000,1030,0.000,0.021,2561,2196,3745,3757,3733,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5260,-1.25,-194.6,2560,2196,3757,3730,937.2,-17.5,246,5265,0.00,2.17,0.00,0.000,260,0.000,0.041,2551,3605,3743,3757,3730,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5289,-1.25,-194.6,2551,3605,3756,3730,937.2,-17.5,246,5296,0.15,2.05,0.00,0.000,3078,0.183,0.021,2586,2190,3743,3756,3730,0,0,0,0,0,0,25.72,26.30,28.83
$GC,5446,-1.25,-194.6,2585,2190,3756,3729,968.5,-16.5,252,5451,0.00,2.03,0.00,0.000,516,0.000,0.031,2586,806,3743,3758,3729,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5464,-1.25,-194.6,2586,806,3756,3728,968.5,-16.5,252,5469,0.00,2.08,0.00,0.000,1030,0.000,0.031,2580,2200,3741,3755,3728,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,5600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5600,begin apogee
$GC,5609,-0.21,0.0,2579,2044,3754,3727,994.9,-16.5,257,5843,1.12,0.00,222.88,1.034,10246,0.148,0.000,2915,2043,2961,3029,2894,0,0,0,0,0,0,25.11,28.83,23.69
$STATE,5845,end apogee,CONTROL_FINISHED_OK
$STATE,5845,begin climb
$GC,5848,1.25,194.6,2916,2044,3027,2886,1008.6,0.0,265,6036,1.35,2.17,178.55,1.147,10756,0.069,0.035,3402,672,2168,2254,2082,0,0,0,0,0,0,25.21,25.04,23.58
$GC,6144,1.25,194.6,3402,672,2218,2059,986.9,12.5,275,6149,0.00,2.12,0.00,0.000,1030,0.000,0.031,3401,2053,2137,2216,2058,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6329,1.25,194.6,3401,2053,2217,2052,963.2,12.7,281,6334,0.00,2.17,0.00,0.000,260,0.000,0.044,3402,3458,2134,2217,2052,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6353,1.25,194.6,3402,3458,2217,2051,963.2,12.7,281,6358,0.00,2.08,0.00,0.000,1030,0.000,0.026,3411,2075,2133,2217,2050,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6519,1.25,194.6,3411,2075,2217,2047,938.2,13.0,287,6524,0.00,2.15,0.00,0.000,516,0.000,0.037,3422,649,2132,2217,2048,0,0,0,0,0,0,28.83,26.07,28.83
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$STATE,14918,end climb,SURFACE_DEPTH_REACHED
$STATE,14918,begin surface coast
$FINISH,1.3,1.015687
$STATE,14942,end surface coast,CONTROL_FINISHED_OK
$STATE,14942,begin surface
$SM_CCo,14965,34.80,0.122,0,0,928,500.17
$SM_GC,2.37,8.82,0.20,34.80,0.030,0.061,0.122,137,2206,928,-8.84,-1.30,500.17,0,0,0,0,0,0,26.06,26.29,25.30
$IRIDIUM_FIX,1916.08,12328.73,230913,121249
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.99
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.80
$XPDR_PINGS,5
$SC_FREEKB,7574368
$24V_AH,23.6,85.128
$10V_AH,9.9,52.106
$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
$DEVICE_SECS,23.925,227.800,601.100,34.800,0.000,0.000,0.000,312.025,1.250,0.000,40.453,2494.377,9042.627,818.592,2471.482,730.870,0.000,2424.253,0.000,2059.423,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14948.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.096,0.000,0.000,0.000
$MEM,327876
$DATA_FILE_SIZE,26742,682
$CAP_FILE_SIZE,224973,0
$CFSIZE,260034560,205148160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,230913,204200,1926.131,12325.163,39,0.9,39,-2.7