version: 66.11
glider: 167
mission: 16
dive: 521
start: 9 25 113 14 24 26
data:
$ID,167
$MISSION,16
$DIVE,521
$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,-976468.56
$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,76
$R_STBD_OVSHOOT,45
$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
$GPS1,250913,141223,1934.442,12319.083,59,1.0,59,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-73.3
$GPS2,250913,142337,1934.414,12319.170,36,1.0,36,-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,326.4,231034,-19.0,-10.312,-28.67,3113
$D_GRID,4920
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.23,-175.2,135,2169,891,878,0.0,0.0,0,101,0.00,0.00,-70.80,0.000,16386,0.000,0.000,135,2169,2636,2616,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.23,-175.2,135,2169,2617,2658,3.3,-3.3,13,143,10.55,1.45,-16.92,0.000,18692,0.234,0.064,2582,3078,3432,3428,3436,0,0,0,0,0,0,24.87,25.89,26.48
$GC,377,-1.23,-175.2,2582,3078,3428,3438,70.9,-25.5,42,382,0.00,1.27,0.00,0.000,1030,0.000,0.024,2582,2206,3433,3428,3438,0,0,0,0,0,0,28.83,26.23,28.83
$GC,552,-1.23,-175.2,2582,2205,3427,3438,108.9,-18.4,51,557,0.00,1.25,0.00,0.000,516,0.000,0.027,2582,1326,3433,3429,3438,0,0,0,0,0,0,28.83,26.23,28.83
$GC,571,-1.23,-175.2,2581,1325,3429,3438,108.9,-18.4,51,578,0.00,1.30,0.00,0.000,1030,0.000,0.028,2577,2202,3433,3428,3438,0,0,0,0,0,0,28.83,26.19,28.83
$GC,736,-1.23,-175.2,2576,2202,3429,3438,140.6,-16.2,60,741,0.00,1.30,0.00,0.000,260,0.000,0.038,2570,3068,3433,3429,3438,0,0,0,0,0,0,28.83,26.14,28.83
$GC,919,-1.23,-175.2,2570,3068,3430,3438,169.4,-17.1,68,925,0.00,1.25,0.00,0.000,1030,0.000,0.021,2570,2198,3434,3430,3438,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1083,-1.23,-175.2,2570,2198,3430,3439,199.9,-16.2,77,1088,0.00,1.23,0.00,0.000,516,0.000,0.027,2570,1331,3434,3430,3439,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1162,-1.23,-175.2,2570,1331,3431,3439,210.1,-15.9,80,1169,0.08,1.27,0.00,0.000,3078,0.173,0.028,2586,2196,3434,3430,3439,0,0,0,0,0,0,25.86,26.25,28.83
$GC,1327,-1.23,-175.2,2586,2196,3430,3439,237.1,-14.9,89,1333,0.00,1.30,0.00,0.000,260,0.000,0.038,2582,3065,3435,3431,3439,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1376,-1.23,-175.2,1552,3063,3407,3435,244.0,-15.2,91,1381,0.00,1.25,0.00,0.000,1030,0.000,0.022,2582,2191,3434,3430,3439,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1537,-1.23,-175.2,2582,2191,3431,3439,269.9,-16.1,99,1542,0.00,1.23,0.00,0.000,516,0.000,0.027,2582,1328,3435,3431,3439,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1595,-1.23,-175.2,2581,1327,3431,3439,277.4,-16.5,101,1602,0.00,1.30,0.00,0.000,1030,0.000,0.028,2577,2206,3435,3431,3439,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1763,-1.23,-175.2,2576,2206,3431,3439,306.2,-16.4,110,1768,0.00,1.27,0.00,0.000,516,0.000,0.026,2577,1329,3435,3431,3439,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1841,-1.23,-175.2,2576,1329,3431,3439,316.9,-16.2,113,1848,0.00,1.30,0.00,0.000,1030,0.000,0.029,2571,2202,3435,3431,3439,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2007,-1.23,-175.2,2571,2202,3431,3438,345.2,-15.6,122,2012,0.00,1.30,0.00,0.000,260,0.000,0.037,2565,3073,3435,3431,3439,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2190,-1.23,-175.2,2565,3072,3431,3439,370.7,-14.8,130,2197,0.00,1.25,0.00,0.000,1030,0.000,0.021,2565,2200,3435,3431,3439,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2356,-1.23,-175.2,2565,2201,3431,3439,395.9,-14.6,139,2362,0.12,1.25,0.00,0.000,2564,0.183,0.024,2599,1327,3434,3431,3438,0,0,0,0,0,0,26.05,26.29,28.83
$GC,2441,-1.23,-175.2,2599,1327,3431,3437,407.3,-13.3,143,2447,0.00,1.33,0.00,0.000,1030,0.000,0.028,2596,2210,3434,3431,3437,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2607,-1.23,-175.2,2596,2210,3431,3436,429.8,-13.9,151,2613,0.00,1.27,0.00,0.000,516,0.000,0.026,2596,1334,3433,3431,3435,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2661,-1.23,-175.2,2596,1334,3431,3435,436.2,-13.9,153,2666,0.00,1.30,0.00,0.000,1030,0.000,0.029,2590,2204,3433,3431,3436,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2836,-1.23,-175.2,2590,2204,3430,3434,461.7,-13.9,162,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2204,3432,3430,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2997,-1.23,-175.2,2590,2204,3430,3432,483.3,-13.5,170,3002,0.00,1.27,0.00,0.000,516,0.000,0.027,2590,1331,3432,3431,3433,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3091,-1.23,-175.2,2590,1331,3430,3432,494.9,-13.4,174,3096,0.00,1.30,0.00,0.000,1030,0.000,0.029,2587,2197,3431,3431,3432,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3267,-1.23,-175.2,2587,2197,3431,3429,518.0,-12.6,183,3272,0.00,1.33,0.00,0.000,260,0.000,0.039,2583,3077,3430,3431,3429,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3315,-1.23,-175.2,1568,3075,3408,3424,523.8,-12.7,185,3320,0.00,1.25,0.00,0.000,1030,0.000,0.020,2582,2202,3429,3431,3428,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3475,-1.23,-175.2,2582,2202,3431,3426,544.5,-12.9,193,3480,0.00,1.25,0.00,0.000,516,0.000,0.028,2582,1328,3427,3429,3426,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3604,-1.23,-175.2,2582,1328,3431,3425,561.4,-13.5,199,3610,0.00,1.33,0.00,0.000,1030,0.000,0.029,2577,2207,3427,3430,3425,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3769,-1.23,-175.2,2576,2207,3431,3422,584.7,-13.9,207,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2207,3426,3431,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3920,-1.23,-175.2,2577,2207,3430,3420,605.1,-13.6,214,3925,0.00,1.27,0.00,0.000,516,0.000,0.027,2577,1337,3425,3431,3419,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3974,-1.23,-175.2,2577,1337,3430,3419,610.0,-13.6,215,3980,0.00,1.30,0.00,0.000,1030,0.000,0.030,2571,2202,3424,3431,3418,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4140,-1.23,-175.2,2571,2202,3431,3416,635.1,-13.7,221,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2202,3423,3430,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4290,-1.23,-175.2,2571,2202,3430,3414,655.6,-13.7,226,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2202,3422,3430,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4440,-1.23,-175.2,2571,2202,3429,3412,676.1,-14.0,231,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2202,3421,3430,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4590,-1.23,-175.2,2571,2202,3430,3409,698.6,-15.0,236,4595,0.00,1.27,0.00,0.000,516,0.000,0.028,2571,1337,3419,3430,3408,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4609,-1.23,-175.2,2571,1336,3430,3408,698.6,-15.0,236,4614,0.00,1.30,0.00,0.000,1030,0.000,0.031,2566,2200,3419,3430,3408,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4779,-1.23,-175.2,2566,2201,3430,3405,726.8,-15.0,242,4784,0.00,1.33,0.00,0.000,260,0.000,0.039,2560,3074,3418,3431,3405,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4878,-1.23,-175.2,2560,3073,3430,3404,742.0,-15.7,245,4884,0.10,1.25,0.00,0.000,3078,0.168,0.021,2588,2201,3416,3429,3404,0,0,0,0,0,0,25.83,26.35,28.83
$GC,5059,-1.23,-175.2,2588,2201,3430,3402,769.3,-14.5,251,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2201,3416,3430,3402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5209,-1.23,-175.2,2588,2202,3430,3399,790.5,-14.1,256,5214,0.00,1.25,0.00,0.000,516,0.000,0.030,2588,1340,3414,3430,3398,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5238,-1.23,-175.2,2588,1340,3430,3398,790.5,-14.1,256,5245,0.00,1.30,0.00,0.000,1030,0.000,0.031,2588,2193,3413,3430,3397,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5393,-1.23,-175.2,2587,2193,3430,3397,816.2,-13.9,262,5398,0.00,1.35,0.00,0.000,260,0.000,0.042,2587,3073,3413,3430,3396,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5564,-1.23,-175.2,2587,3074,3430,3395,838.4,-14.4,267,5570,0.00,1.27,0.00,0.000,1030,0.000,0.021,2586,2195,3412,3430,3395,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5735,-1.23,-175.2,2587,2195,3430,3391,865.0,-14.4,273,5740,0.00,1.38,0.00,0.000,260,0.000,0.038,2582,3083,3411,3430,3392,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5843,-1.23,-175.2,2582,3083,3429,3391,879.4,-15.0,276,5848,0.00,1.30,0.00,0.000,1030,0.000,0.022,2582,2192,3410,3429,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6014,-1.23,-175.2,2582,2192,3428,3390,907.1,-15.3,282,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2192,3409,3428,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6163,-1.23,-175.2,2581,2191,3427,3389,929.3,-14.8,287,6168,0.00,1.38,0.00,0.000,260,0.000,0.037,2576,3077,3407,3427,3388,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6228,-1.23,-175.2,2576,3076,3425,3388,939.0,-15.0,289,6233,0.00,1.30,0.00,0.000,1030,0.000,0.022,2576,2194,3406,3425,3388,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6414,-1.23,-175.2,2576,2194,3424,3386,965.9,-14.4,295,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2194,3405,3424,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6563,-1.23,-175.2,2576,2194,3423,3385,987.5,-14.5,300,6568,0.00,1.38,0.00,0.000,260,0.000,0.040,2571,3072,3404,3423,3385,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,6594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6594,begin apogee
$GC,6605,-0.21,0.0,2570,2056,3423,3385,992.6,-14.4,301,6815,1.17,0.00,200.50,1.046,10246,0.157,0.000,2913,2056,2707,2785,2630,0,0,0,0,0,0,24.91,28.83,23.65
$STATE,6817,end apogee,CONTROL_FINISHED_OK
$STATE,6817,begin climb
$GC,6822,1.23,175.2,2913,2056,2783,2623,1001.5,0.0,308,6997,1.35,1.45,165.20,1.135,10500,0.080,0.041,3377,2927,1987,2085,1890,0,0,0,0,0,0,25.18,25.03,23.53
$GC,7080,1.23,175.2,3376,2927,2071,1860,978.4,12.3,316,7087,0.00,1.33,0.00,0.000,1030,0.000,0.030,3382,2069,1965,2071,1860,0,0,0,0,0,0,28.83,25.78,28.83
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$STATE,15721,end climb,SURFACE_DEPTH_REACHED
$STATE,15722,begin surface coast
$FINISH,1.3,1.011916
$STATE,15748,end surface coast,CONTROL_FINISHED_OK
$STATE,15748,begin surface
$SM_CCo,15772,42.95,0.119,0,0,879,450.13
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$IRIDIUM_FIX,1925.22,12319.84,250913,090947
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.67
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.00
$XPDR_PINGS,4
$SC_FREEKB,7570496
$24V_AH,23.5,86.698
$10V_AH,9.8,53.275
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.550,146.600,551.925,42.950,0.000,0.000,0.000,351.800,1.000,0.000,37.398,2825.429,9333.186,750.421,2753.344,787.319,0.000,2480.960,0.000,2315.693,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15767.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.289,0.000,0.000,0.000
$MEM,327820
$DATA_FILE_SIZE,26734,724
$CAP_FILE_SIZE,236294,1
$CFSIZE,260034560,204132352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250913,184929,1935.746,12317.887,42,1.1,42,-2.7