version: 66.11
glider: 167
mission: 16
dive: 519
start: 9 25 113 5 5 18
data:
$ID,167
$MISSION,16
$DIVE,519
$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,180
$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,-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,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,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-976466.06
$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,25
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2715
$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,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
$GPS1,250913,045224,1933.024,12320.888,43,0.9,43,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-72.6
$GPS2,250913,050429,1933.179,12320.873,41,0.9,41,-2.7
$SPEED_LIMITS,0.179,0.189
$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,326.2,234619,-19.0,-10.312,-28.67,3113
$D_GRID,4921
$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,-1.23,-175.2,130,2192,896,874,0.0,0.0,0,100,0.00,0.00,-70.80,0.000,16386,0.000,0.000,130,2193,2623,2602,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.23,-175.2,130,2192,2603,2644,3.2,-2.5,13,143,10.73,1.35,-17.92,0.000,18692,0.239,0.061,2587,3073,3429,3424,3435,0,0,0,0,0,0,24.81,25.91,26.48
$GC,335,-1.23,-175.2,2585,3074,3424,3436,55.8,-24.7,40,342,0.00,1.30,0.00,0.000,1030,0.000,0.023,2586,2172,3430,3424,3436,0,0,0,0,0,0,28.83,26.22,28.83
$GC,501,-1.23,-175.2,2585,2171,3425,3435,96.6,-20.4,49,506,0.00,1.38,0.00,0.000,260,0.000,0.035,2580,3068,3430,3425,3435,0,0,0,0,0,0,28.83,26.10,28.83
$GC,526,-1.23,-175.2,2579,3068,3425,3437,101.5,-19.5,50,531,0.00,1.25,0.00,0.000,1030,0.000,0.020,2580,2177,3430,3425,3436,0,0,0,0,0,0,28.83,26.33,28.83
$GC,692,-1.23,-175.2,2580,2177,3426,3436,133.3,-19.1,58,697,0.00,1.17,0.00,0.000,516,0.000,0.026,2580,1350,3431,3426,3436,0,0,0,0,0,0,28.83,26.25,28.83
$GC,776,-1.23,-175.2,2580,1350,3426,3436,148.3,-17.5,62,781,0.00,1.27,0.00,0.000,1030,0.000,0.027,2575,2213,3431,3426,3436,0,0,0,0,0,0,28.83,26.26,28.83
$GC,942,-1.23,-175.2,2574,2213,3428,3436,175.3,-15.8,70,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2213,3431,3427,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1101,-1.23,-175.2,2574,2213,3428,3436,201.9,-16.7,78,1106,0.00,1.27,0.00,0.000,260,0.000,0.037,2568,3061,3432,3428,3436,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1339,-1.23,-175.2,2568,3062,3428,3437,239.2,-17.2,89,1344,0.00,1.20,0.00,0.000,1030,0.000,0.022,2569,2208,3432,3428,3437,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1514,-1.23,-175.2,2568,2208,3429,3437,271.0,-17.3,98,1519,0.00,1.23,0.00,0.000,516,0.000,0.026,2568,1346,3432,3428,3437,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1579,-1.23,-175.2,2567,1346,3428,3437,282.0,-17.0,101,1585,0.10,1.25,0.00,0.000,3078,0.166,0.026,2592,2194,3432,3428,3437,0,0,0,0,0,0,25.83,26.31,28.83
$GC,1745,-1.23,-175.2,2592,2195,3428,3437,307.1,-14.3,109,1750,0.00,1.23,0.00,0.000,516,0.000,0.026,2592,1350,3433,3428,3438,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1814,-1.23,-175.2,1552,1350,3403,3433,316.3,-14.2,112,1819,0.00,1.25,0.00,0.000,1030,0.000,0.027,2589,2203,3432,3428,3437,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1974,-1.23,-175.2,2588,2204,3428,3437,338.9,-14.2,120,1979,0.00,1.25,0.00,0.000,516,0.000,0.025,2588,1343,3432,3428,3437,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2079,-1.23,-175.2,2588,1343,3428,3435,354.2,-14.8,125,2085,0.00,1.27,0.00,0.000,1030,0.000,0.028,2583,2198,3432,3428,3437,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2244,-1.23,-175.2,2583,2198,3428,3436,380.2,-16.0,133,2249,0.00,1.30,0.00,0.000,260,0.000,0.038,2577,3065,3432,3428,3436,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2339,-1.23,-175.2,2577,3065,3428,3436,394.3,-16.6,137,2344,0.00,1.23,0.00,0.000,1030,0.000,0.022,2577,2208,3432,3428,3436,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2514,-1.23,-175.2,2576,2208,3428,3436,423.5,-15.2,146,2519,0.00,1.25,0.00,0.000,516,0.000,0.027,2577,1333,3431,3428,3435,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2573,-1.23,-175.2,2576,1332,3428,3435,430.3,-15.2,148,2579,0.00,1.27,0.00,0.000,1030,0.000,0.028,2571,2193,3431,3428,3435,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2740,-1.23,-175.2,2571,2196,3428,3434,455.6,-13.8,157,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2193,3431,3428,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2899,-1.23,-175.2,2571,2193,3428,3433,476.6,-13.0,165,2904,0.00,1.25,0.00,0.000,516,0.000,0.026,2572,1335,3430,3428,3433,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2924,-1.23,-175.2,2571,1336,3428,3432,479.8,-13.0,166,2929,0.00,1.30,0.00,0.000,1030,0.000,0.028,2566,2202,3430,3428,3432,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3089,-1.23,-175.2,2566,2202,3428,3431,502.5,-14.1,174,3094,0.00,1.27,0.00,0.000,516,0.000,0.026,2566,1329,3429,3428,3430,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3134,-1.23,-175.2,2566,1330,3428,3430,508.9,-14.4,176,3140,0.10,1.30,0.00,0.000,3078,0.167,0.027,2589,2198,3429,3428,3430,0,0,0,0,0,0,25.81,26.27,28.83
$GC,3300,-1.23,-175.2,2589,2198,3428,3427,530.3,-13.2,184,3305,0.00,1.25,0.00,0.000,516,0.000,0.027,2590,1343,3427,3428,3427,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3436,-1.23,-175.2,2589,1343,3428,3426,547.5,-13.7,190,3442,0.00,1.27,0.00,0.000,1030,0.000,0.029,2586,2195,3427,3428,3426,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3612,-1.23,-175.2,2586,2195,3428,3424,573.4,-14.0,199,3617,0.00,1.25,0.00,0.000,516,0.000,0.026,2586,1340,3426,3428,3424,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3642,-1.23,-175.2,2586,1340,3428,3423,577.0,-13.9,200,3647,0.00,1.30,0.00,0.000,1030,0.000,0.029,2581,2206,3425,3428,3423,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3802,-1.23,-175.2,2581,2206,3428,3421,599.4,-13.5,208,3807,0.00,1.30,0.00,0.000,260,0.000,0.039,2574,3066,3424,3428,3421,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3897,-1.23,-175.2,2574,3067,3427,3419,613.0,-14.4,212,3902,0.00,1.25,0.00,0.000,1030,0.000,0.021,2574,2204,3423,3427,3419,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4082,-1.23,-175.2,2575,2204,3428,3418,639.5,-14.5,218,4087,0.00,1.25,0.00,0.000,516,0.000,0.028,2574,1334,3422,3427,3417,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4141,-1.23,-175.2,2574,1334,3428,3415,644.7,-14.5,219,4148,0.00,1.30,0.00,0.000,1030,0.000,0.031,2574,2194,3420,3426,3415,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4296,-1.23,-175.2,2574,2195,3428,3413,671.8,-15.1,225,4302,0.00,1.27,0.00,0.000,516,0.000,0.028,2574,1328,3420,3428,3413,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4320,-1.23,-175.2,2574,1328,3428,3413,671.8,-15.1,225,4325,0.00,1.33,0.00,0.000,1030,0.000,0.031,2569,2207,3420,3428,3412,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4486,-1.23,-175.2,2569,2207,3428,3410,700.6,-15.3,231,4491,0.00,1.30,0.00,0.000,260,0.000,0.039,2563,3068,3418,3428,3409,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4613,-1.23,-175.2,2563,3068,3428,3407,720.2,-15.6,235,4619,0.10,1.27,0.00,0.000,3078,0.165,0.021,2591,2186,3417,3428,3407,0,0,0,0,0,0,25.84,26.36,28.83
$GC,4800,-1.23,-175.2,2591,2186,3428,3405,746.5,-13.8,241,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2186,3416,3428,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4949,-1.23,-175.2,2591,2186,3428,3403,766.0,-13.1,246,4954,0.00,1.23,0.00,0.000,516,0.000,0.030,2591,1339,3415,3428,3402,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5034,-1.23,-175.2,2591,1338,3428,3401,774.4,-12.9,248,5039,0.00,1.30,0.00,0.000,1030,0.000,0.031,2588,2199,3414,3427,3401,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5198,-1.23,-175.2,2588,2198,3428,3397,798.2,-13.1,254,5203,0.00,1.35,0.00,0.000,260,0.000,0.042,2588,3077,3411,3426,3397,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5374,-1.23,-175.2,2588,3077,3427,3396,819.8,-13.8,259,5379,0.00,1.25,0.00,0.000,1030,0.000,0.021,2588,2213,3411,3427,3396,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5539,-1.23,-175.2,2588,2213,3427,3394,846.4,-14.6,265,5544,0.00,1.27,0.00,0.000,516,0.000,0.029,2588,1335,3410,3428,3393,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5593,-1.23,-175.2,2588,1335,3427,3393,851.5,-14.5,266,5598,0.00,1.33,0.00,0.000,1030,0.000,0.034,2588,2200,3410,3429,3392,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5758,-1.23,-175.2,2588,2200,3427,3390,878.4,-14.7,272,5764,0.00,1.35,0.00,0.000,260,0.000,0.042,2588,3079,3408,3427,3390,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5895,-1.23,-175.2,2587,3079,3424,3390,896.8,-14.6,276,5900,0.00,1.27,0.00,0.000,1030,0.000,0.022,2588,2203,3407,3424,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6071,-1.23,-175.2,2588,2204,3424,3387,921.8,-13.2,282,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,3405,3424,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6220,-1.23,-175.2,2588,2204,3423,3386,941.4,-12.9,287,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,3404,3423,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,-1.23,-175.2,2588,2204,3423,3386,960.4,-12.9,292,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,3403,3422,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6521,-1.23,-175.2,2588,2204,3421,3384,980.4,-13.5,297,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2204,3403,3422,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6606,begin apogee
$GC,6615,-0.21,0.0,2589,2010,3421,3382,992.8,-13.7,300,6791,1.10,0.00,164.12,1.157,10246,0.151,0.000,2914,2010,2700,2779,2622,0,0,0,0,0,0,25.01,28.83,23.37
$STATE,6793,end apogee,CONTROL_FINISHED_OK
$STATE,6793,begin climb
$GC,6798,1.23,175.2,2914,2010,2778,2613,1001.2,0.0,306,6970,1.35,1.55,163.70,1.131,10500,0.080,0.041,3378,2934,1993,2090,1897,0,0,0,0,0,0,25.15,25.06,23.58
$GC,7015,1.23,176.1,3378,2934,2072,1864,984.0,10.3,313,7020,0.00,1.30,0.00,0.000,1030,0.000,0.030,3382,2098,1968,2072,1864,0,0,0,0,0,0,28.83,25.63,28.83
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$STATE,15746,end climb,SURFACE_DEPTH_REACHED
$STATE,15746,begin surface coast
$FINISH,1.4,0.997766
$STATE,15780,end surface coast,CONTROL_FINISHED_OK
$STATE,15780,begin surface
$SM_CCo,15804,42.72,0.119,0,0,877,450.13
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$IRIDIUM_FIX,1927.51,12323.01,250913,000056
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.93
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,27.60
$XPDR_PINGS,5
$SC_FREEKB,7571264
$24V_AH,23.4,86.383
$10V_AH,9.8,53.038
$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
$DEVICE_SECS,22.700,134.750,482.775,42.725,0.000,0.000,0.000,398.200,1.250,0.000,42.274,2856.150,9381.827,689.334,2816.539,789.085,0.000,2450.396,0.000,2321.330,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.295,0.000,0.000,0.000
$MEM,327848
$DATA_FILE_SIZE,26729,728
$CAP_FILE_SIZE,233939,1
$CFSIZE,260034560,204333056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250913,093054,1933.527,12320.040,42,0.9,42,-2.7