version: 66.11
glider: 167
mission: 16
dive: 529
start: 9 27 113 3 13 54
data:
$ID,167
$MISSION,16
$DIVE,529
$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,2
$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,4096
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-976490.56
$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,65
$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
$GPS1,270913,030234,1942.097,12316.225,39,0.9,42,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-72.3
$GPS2,270913,031300,1942.076,12316.402,66,1.0,66,-2.8
$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,296.2,216813,-19.0,-10.312,-28.67,3113
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.23,-175.2,112,2177,916,852,0.0,0.0,0,96,0.00,0.00,-66.03,0.000,16386,0.000,0.000,111,2177,2496,2481,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.23,-175.2,111,2177,2482,2513,3.1,-3.1,11,140,10.52,1.45,-22.90,0.000,18692,0.230,0.060,2581,3082,3430,3426,3435,0,0,0,0,0,0,24.69,25.93,26.51
$GC,375,-1.23,-175.2,2581,3082,3427,3437,68.7,-25.8,42,380,0.00,1.30,0.00,0.000,1030,0.000,0.022,2581,2181,3431,3427,3435,0,0,0,0,0,0,28.83,26.24,28.83
$GC,540,-1.23,-175.2,2581,2180,3428,3437,103.6,-19.1,50,546,0.00,1.23,0.00,0.000,516,0.000,0.031,2581,1338,3432,3428,3437,0,0,0,0,0,0,28.83,26.17,28.83
$GC,575,-1.23,-175.2,2581,1338,3429,3437,108.5,-18.9,51,580,0.00,1.30,0.00,0.000,1030,0.000,0.034,2576,2191,3432,3428,3437,0,0,0,0,0,0,28.83,26.11,28.83
$GC,751,-1.23,-175.2,2576,2191,3429,3436,138.0,-15.9,60,757,0.00,1.33,0.00,0.000,260,0.000,0.038,2569,3074,3433,3429,3437,0,0,0,0,0,0,28.83,26.12,28.83
$GC,857,-1.23,-175.2,2569,3074,3429,3437,156.1,-17.4,65,863,0.00,1.27,0.00,0.000,1030,0.000,0.025,2569,2198,3433,3429,3437,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1023,-1.23,-175.2,2569,2198,3430,3437,186.4,-18.6,73,1029,0.00,1.25,0.00,0.000,516,0.000,0.029,2569,1328,3433,3430,3437,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1135,-1.23,-175.2,2568,1328,3430,3437,203.9,-16.3,78,1141,0.00,1.30,0.00,0.000,1030,0.000,0.028,2564,2204,3433,3430,3437,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1297,-1.23,-175.2,2563,2204,3429,3437,231.2,-15.9,86,1299,0.12,0.00,0.00,0.000,2054,0.190,0.000,2592,2205,3433,3430,3437,0,0,0,0,0,0,26.09,28.83,28.83
$GC,1456,-1.23,-175.2,2592,2204,3430,3438,255.3,-15.2,94,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2204,3434,3430,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1616,-1.23,-175.2,2592,2205,3430,3439,279.5,-15.0,102,1621,0.00,1.27,0.00,0.000,516,0.000,0.027,2592,1332,3434,3430,3438,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1657,-1.23,-175.2,2592,1332,3429,3439,283.1,-14.6,103,1664,0.00,1.30,0.00,0.000,1030,0.000,0.030,2589,2206,3435,3431,3439,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1821,-1.23,-175.2,2589,2206,3430,3438,310.8,-15.2,112,1826,0.00,1.30,0.00,0.000,260,0.000,0.037,2582,3077,3434,3431,3438,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1926,-1.23,-175.2,2582,3077,3430,3438,327.2,-15.8,117,1932,0.00,1.27,0.00,0.000,1030,0.000,0.021,2582,2196,3434,3430,3438,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2092,-1.23,-175.2,2581,2196,3429,3439,351.8,-15.0,125,2097,0.00,1.23,0.00,0.000,516,0.000,0.028,2582,1339,3434,3430,3438,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2187,-1.23,-175.2,2582,1338,3430,3438,364.4,-15.0,129,2192,0.00,1.27,0.00,0.000,1030,0.000,0.028,2577,2199,3434,3430,3438,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2362,-1.23,-175.2,2576,2199,3430,3438,391.0,-14.0,138,2368,0.00,1.30,0.00,0.000,260,0.000,0.037,2570,3067,3434,3430,3438,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2388,-1.23,-175.2,2570,3067,3431,3437,394.7,-14.3,139,2393,0.00,1.25,0.00,0.000,1030,0.000,0.021,2570,2204,3434,3430,3438,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2553,-1.23,-175.2,2569,2204,3430,3437,419.8,-15.2,147,2559,0.00,1.25,0.00,0.000,516,0.000,0.028,2570,1332,3433,3430,3436,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2715,-1.23,-175.2,2570,1331,3430,3436,443.1,-15.6,154,2721,0.00,1.30,0.00,0.000,1030,0.000,0.029,2565,2205,3432,3430,3435,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2882,-1.23,-175.2,2565,2205,3430,3435,470.7,-15.6,163,2888,0.12,1.30,0.00,0.000,2308,0.189,0.034,2595,3069,3432,3430,3435,0,0,0,0,0,0,26.04,26.18,28.83
$GC,2965,-1.23,-175.2,2595,3069,3430,3434,480.6,-14.5,166,2971,0.00,1.25,0.00,0.000,1030,0.000,0.021,2595,2201,3432,3430,3434,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3130,-1.23,-175.2,2596,2200,3430,3433,506.3,-14.0,175,3136,0.00,1.25,0.00,0.000,516,0.000,0.028,2594,1329,3431,3430,3432,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3199,-1.23,-175.2,1568,1328,3408,3428,515.6,-14.0,178,3204,0.00,1.30,0.00,0.000,1030,0.000,0.028,2589,2203,3431,3430,3432,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3360,-1.23,-175.2,2589,2203,3430,3430,537.7,-13.7,186,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2203,3430,3430,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3519,-1.23,-175.2,2588,2203,3430,3427,558.9,-13.3,194,3524,0.00,1.27,0.00,0.000,516,0.000,0.027,2589,1333,3428,3430,3427,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3578,-1.23,-175.2,2589,1332,3430,3427,564.6,-12.8,196,3585,0.00,1.30,0.00,0.000,1030,0.000,0.030,2584,2197,3428,3430,3426,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3745,-1.23,-175.2,2584,2197,3430,3425,588.0,-13.0,205,3750,0.00,1.33,0.00,0.000,260,0.000,0.038,2577,3078,3427,3429,3425,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3887,-1.23,-175.2,2577,3078,3430,3422,605.1,-13.6,211,3892,0.00,1.27,0.00,0.000,1030,0.000,0.021,2576,2192,3426,3430,3422,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4057,-1.23,-175.2,2577,2192,3430,3420,630.3,-13.5,217,4062,0.00,1.23,0.00,0.000,516,0.000,0.029,2577,1341,3425,3431,3420,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4137,-1.23,-175.2,2576,1341,3430,3419,639.5,-13.6,219,4142,0.00,1.30,0.00,0.000,1030,0.000,0.030,2571,2204,3424,3430,3418,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4308,-1.23,-175.2,2571,2204,3430,3415,665.0,-13.8,225,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2204,3422,3430,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4457,-1.23,-175.2,2571,2204,3430,3413,685.7,-13.9,230,4462,0.00,1.27,0.00,0.000,516,0.000,0.028,2571,1340,3421,3430,3413,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4536,-1.23,-175.2,2571,1339,3430,3412,694.8,-14.1,232,4541,0.00,1.30,0.00,0.000,1030,0.000,0.030,2566,2200,3421,3430,3412,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4707,-1.23,-175.2,2566,2200,3430,3408,721.8,-14.6,238,4712,0.00,1.33,0.00,0.000,260,0.000,0.039,2560,3072,3419,3430,3408,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4840,-1.23,-175.2,1512,3070,3406,3402,741.0,-15.2,242,4845,0.10,1.27,0.00,0.000,3078,0.159,0.020,2589,2184,3418,3429,3407,0,0,0,0,0,0,25.86,26.35,28.83
$GC,5021,-1.23,-175.2,2589,2184,3430,3404,769.6,-15.3,248,5027,0.00,1.23,0.00,0.000,516,0.000,0.029,2589,1340,3417,3430,3404,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5061,-1.23,-175.2,2588,1339,3430,3403,775.5,-15.4,249,5066,0.00,1.30,0.00,0.000,1030,0.000,0.031,2586,2197,3417,3430,3404,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5242,-1.23,-175.2,2586,2197,3430,3400,803.6,-15.5,255,5247,0.00,1.27,0.00,0.000,516,0.000,0.028,2586,1338,3414,3429,3400,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5277,-1.23,-175.2,2586,1338,3430,3400,809.2,-15.4,256,5283,0.00,1.33,0.00,0.000,1030,0.000,0.031,2581,2205,3414,3429,3399,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5462,-1.23,-175.2,2581,2205,3430,3397,837.6,-15.0,262,5468,0.00,1.33,0.00,0.000,260,0.000,0.040,2574,3073,3413,3430,3397,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5567,-1.23,-175.2,2574,3073,3430,3396,852.2,-15.4,265,5573,0.00,1.25,0.00,0.000,1030,0.000,0.021,2574,2213,3412,3429,3396,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5742,-1.23,-175.2,2574,2212,3429,3393,880.1,-14.9,271,5747,0.00,1.27,0.00,0.000,516,0.000,0.031,2574,1341,3410,3428,3393,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5801,-1.23,-175.2,2574,1341,3429,3393,885.1,-14.7,272,5808,0.00,1.30,0.00,0.000,1030,0.000,0.032,2569,2194,3411,3429,3393,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5958,-1.23,-175.2,2569,2194,3428,3392,911.2,-14.4,278,5964,0.00,1.35,0.00,0.000,260,0.000,0.041,2562,3079,3409,3428,3391,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6033,-1.23,-175.2,2562,3079,3426,3391,920.8,-14.2,280,6039,0.10,1.27,0.00,0.000,3078,0.159,0.021,2591,2196,3408,3426,3391,0,0,0,0,0,0,25.80,26.32,28.83
$GC,6209,-1.23,-175.2,2591,2196,3426,3389,945.3,-12.9,286,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2196,3407,3426,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6358,-1.23,-175.2,2591,2196,3425,3387,964.7,-13.0,291,6364,0.00,1.38,0.00,0.000,260,0.000,0.038,2588,3077,3405,3424,3387,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6394,-1.23,-175.2,2587,3077,3424,3387,969.4,-13.1,292,6399,0.00,1.27,0.00,0.000,1030,0.000,0.022,2587,2209,3405,3424,3387,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,6576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6576,begin apogee
$GC,6586,-0.21,0.0,2589,2018,3423,3385,993.3,-12.8,298,6801,1.10,0.00,207.32,1.043,10246,0.151,0.000,2913,2018,2711,2787,2635,0,0,0,0,0,0,24.94,28.83,23.57
$STATE,6803,end apogee,CONTROL_FINISHED_OK
$STATE,6803,begin climb
$GC,6808,1.23,175.2,2913,2017,2784,2625,1001.4,0.0,305,6981,1.35,1.52,164.43,1.160,10500,0.079,0.041,3377,2924,1991,2088,1895,0,0,0,0,0,0,25.15,25.03,23.50
$GC,7056,1.23,175.2,3377,2923,2071,1862,979.7,11.7,313,7061,0.00,1.27,0.00,0.000,1030,0.000,0.030,3382,2098,1966,2071,1862,0,0,0,0,0,0,28.83,25.75,28.83
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$STATE,15737,end climb,SURFACE_DEPTH_REACHED
$STATE,15737,begin surface coast
$FINISH,1.4,1.021460
$STATE,15763,end surface coast,CONTROL_FINISHED_OK
$STATE,15763,begin surface
$SM_CCo,15787,19.52,0.122,0,0,877,450.13
$SM_GC,2.15,8.73,1.60,19.52,0.028,0.030,0.122,142,2209,877,-8.84,-1.19,450.13,0,0,0,0,0,0,25.94,26.11,25.24
$IRIDIUM_FIX,1934.38,12314.10,260913,222217
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.38
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.10
$XPDR_PINGS,4
$SC_FREEKB,7567424
$24V_AH,23.5,87.940
$10V_AH,10.0,54.213
$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
$DEVICE_SECS,22.550,149.000,580.175,19.525,0.000,0.000,0.000,285.950,1.000,0.000,68.033,3007.819,9101.659,786.998,2737.261,770.934,0.000,2460.357,0.000,2310.002,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15786.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.241,0.000,0.000,0.000
$MEM,327828
$DATA_FILE_SIZE,26764,717
$CAP_FILE_SIZE,236155,1
$CFSIZE,260034560,203317248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.056, 31.3,1
$GPS,270913,073851,1942.947,12315.761,28,0.9,45,-2.8