version: 66.11
glider: 167
mission: 16
dive: 537
start: 9 28 113 16 4 28
data:
$ID,167
$MISSION,16
$DIVE,537
$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,-976507.5
$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,53
$R_STBD_OVSHOOT,54
$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
$GPS1,280913,155329,1947.503,12312.321,39,1.1,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.3
$GPS2,280913,160334,1947.472,12312.236,41,1.1,43,-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,322.8,204509,-19.0,-10.312,-28.67,3113
$D_GRID,5013
$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,28,-1.23,-175.2,137,2225,902,865,0.0,0.0,0,100,0.00,0.00,-69.55,0.000,16386,0.000,0.000,137,2226,2591,2573,2609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.23,-175.2,137,2225,2573,2610,3.1,-3.0,12,143,10.57,1.33,-18.88,0.000,18692,0.235,0.061,2585,3056,3432,3428,3437,0,0,0,0,0,0,24.69,25.86,26.48
$GC,378,-1.23,-175.2,2585,3056,3429,3439,66.1,-23.8,41,385,0.00,1.27,0.00,0.000,1030,0.000,0.027,2585,2206,3434,3429,3439,0,0,0,0,0,0,28.83,26.15,28.83
$GC,542,-1.23,-175.2,2585,2205,3429,3438,105.7,-22.6,50,548,0.00,1.33,0.00,0.000,260,0.000,0.039,2580,3061,3434,3429,3439,0,0,0,0,0,0,28.83,26.04,28.83
$GC,779,-1.23,-175.2,2579,3060,3430,3439,147.9,-17.6,61,785,0.00,1.30,0.00,0.000,1030,0.000,0.026,2580,2185,3434,3430,3439,0,0,0,0,0,0,28.83,26.24,28.83
$GC,955,-1.23,-175.2,2579,2186,3431,3439,178.4,-16.6,70,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2186,3435,3431,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1116,-1.23,-175.2,2580,2186,3432,3438,203.5,-15.3,78,1121,0.00,1.25,0.00,0.000,516,0.000,0.032,2579,1323,3435,3432,3439,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1210,-1.23,-175.2,2579,1322,3432,3439,216.3,-14.9,82,1216,0.00,1.30,0.00,0.000,1030,0.000,0.029,2574,2199,3435,3432,3439,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1387,-1.23,-175.2,2574,2199,3432,3439,242.6,-14.1,91,1392,0.00,1.30,0.00,0.000,260,0.000,0.035,2567,3078,3436,3433,3439,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1498,-1.23,-175.2,1504,3076,3408,3435,258.0,-14.6,96,1503,0.00,1.27,0.00,0.000,1030,0.000,0.019,2568,2179,3436,3433,3439,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1659,-1.23,-175.2,2567,2179,3433,3440,282.4,-15.2,104,1664,0.00,1.20,0.00,0.000,516,0.000,0.029,2568,1344,3436,3433,3440,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1727,-1.23,-175.2,1552,1343,3410,3437,292.5,-15.4,107,1733,0.10,1.27,0.00,0.000,3078,0.167,0.029,2591,2203,3436,3432,3440,0,0,0,0,0,0,25.76,26.25,28.83
$GC,1888,-1.23,-175.2,2591,2203,3433,3440,317.7,-15.4,115,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2203,3436,3432,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,-1.23,-175.2,2592,2203,3433,3440,342.3,-15.3,123,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2202,3436,3432,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2208,-1.23,-175.2,2591,2203,3432,3440,365.9,-14.7,131,2214,0.00,1.27,0.00,0.000,516,0.000,0.028,2591,1337,3436,3432,3440,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2255,-1.23,-175.2,2591,1337,3434,3440,372.4,-14.4,133,2261,0.00,1.30,0.00,0.000,1030,0.000,0.029,2588,2205,3436,3432,3440,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2421,-1.23,-175.2,2588,2205,3432,3440,395.8,-14.0,141,2426,0.00,1.27,0.00,0.000,516,0.000,0.028,2587,1338,3436,3433,3439,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2475,-1.23,-175.2,2587,1338,3432,3440,402.2,-14.1,143,2481,0.00,1.27,0.00,0.000,1030,0.000,0.030,2582,2197,3435,3432,3439,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2651,-1.23,-175.2,2582,2197,3432,3438,426.9,-12.8,152,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2197,3435,3432,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2810,-1.23,-175.2,2582,2197,3432,3437,447.2,-13.0,160,2815,0.00,1.25,0.00,0.000,516,0.000,0.028,2583,1347,3434,3432,3436,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2865,-1.23,-175.2,2582,1347,3432,3436,453.1,-13.0,162,2870,0.00,1.27,0.00,0.000,1030,0.000,0.029,2577,2205,3434,3432,3436,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3040,-1.23,-175.2,2577,2206,3432,3435,477.9,-13.4,171,3045,0.00,1.30,0.00,0.000,260,0.000,0.036,2571,3079,3433,3432,3435,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3232,-1.23,-175.2,2571,3079,3432,3433,504.7,-14.5,180,3238,0.00,1.25,0.00,0.000,1030,0.000,0.018,2571,2196,3432,3432,3433,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3393,-1.23,-175.2,2570,2196,3432,3430,528.3,-14.3,188,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2197,3432,3432,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3554,-1.23,-175.2,2570,2196,3432,3430,550.9,-14.1,196,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2196,3431,3432,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3713,-1.23,-175.2,2570,2196,3432,3427,572.9,-13.8,204,3718,0.00,1.23,0.00,0.000,516,0.000,0.030,2570,1349,3429,3432,3427,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3777,-1.23,-175.2,2570,1350,3431,3426,582.0,-13.8,207,3783,0.00,1.27,0.00,0.000,1030,0.000,0.029,2566,2201,3429,3432,3426,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3954,-1.23,-175.2,2565,2201,3432,3424,606.8,-14.2,215,3956,0.12,0.00,0.00,0.000,2054,0.190,0.000,2594,2201,3428,3432,3424,0,0,0,0,0,0,26.08,28.83,28.83
$GC,4103,-1.23,-175.2,2594,2202,3432,3422,626.4,-12.9,220,4108,0.00,1.27,0.00,0.000,516,0.000,0.028,2594,1341,3428,3432,3424,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4141,-1.23,-175.2,1572,1340,3410,3417,630.9,-12.8,221,4146,0.00,1.27,0.00,0.000,1030,0.000,0.029,2591,2193,3426,3432,3420,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4322,-1.23,-175.2,2591,2193,3432,3418,653.7,-12.5,227,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2193,3425,3432,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4471,-1.23,-175.2,2590,2193,3432,3416,672.3,-12.3,232,4477,0.00,1.33,0.00,0.000,260,0.000,0.037,2584,3073,3423,3432,3415,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4521,-1.23,-175.2,2584,3074,3432,3414,677.0,-12.4,233,4526,0.00,1.25,0.00,0.000,1030,0.000,0.020,2584,2196,3423,3432,3414,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4693,-1.23,-175.2,2584,2196,3432,3412,700.8,-13.0,239,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2196,3422,3432,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4841,-1.23,-175.2,2584,2196,3432,3410,720.4,-13.0,244,4846,0.00,1.23,0.00,0.000,516,0.000,0.031,2583,1354,3421,3432,3410,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4880,-1.23,-175.2,2584,1353,3432,3409,725.2,-13.2,245,4885,0.00,1.27,0.00,0.000,1030,0.000,0.031,2579,2200,3420,3432,3409,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5061,-1.23,-175.2,2578,2200,3432,3406,751.2,-14.2,251,5066,0.00,1.27,0.00,0.000,516,0.000,0.029,2579,1344,3419,3432,3406,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5120,-1.23,-175.2,2579,1344,3431,3405,756.3,-14.3,252,5129,0.00,1.30,0.00,0.000,1030,0.000,0.031,2574,2203,3417,3430,3405,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5277,-1.23,-175.2,2573,2203,3432,3403,784.2,-15.5,258,5283,0.00,1.33,0.00,0.000,260,0.000,0.040,2573,3075,3417,3431,3403,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5313,-1.23,-175.2,2573,3076,3431,3403,790.1,-15.6,259,5318,0.00,1.27,0.00,0.000,1030,0.000,0.021,2573,2195,3417,3432,3403,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5498,-1.23,-175.2,2573,2195,3432,3400,818.7,-15.4,265,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2195,3415,3431,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5649,-1.23,-175.2,2574,2195,3431,3397,841.8,-15.4,270,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2195,3414,3431,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5798,-1.23,-175.2,2573,2195,3431,3396,863.6,-14.4,275,5803,0.00,1.25,0.00,0.000,516,0.000,0.031,2573,1343,3413,3431,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5817,-1.23,-175.2,2573,1344,3431,3396,863.6,-14.4,275,5822,0.00,1.30,0.00,0.000,1030,0.000,0.032,2569,2201,3413,3431,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5987,-1.23,-175.2,2568,2201,3429,3394,890.3,-14.1,281,5992,0.00,1.33,0.00,0.000,260,0.000,0.038,2562,3076,3411,3429,3393,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6124,-1.23,-175.2,2562,3076,3428,3393,908.6,-14.6,285,6131,0.10,1.27,0.00,0.000,3078,0.164,0.021,2591,2187,3410,3428,3393,0,0,0,0,0,0,25.78,26.32,28.83
$GC,6303,-1.23,-175.2,2591,2187,3428,3390,932.9,-12.7,291,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2187,3409,3428,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6451,-1.23,-175.2,2591,2187,3428,3389,951.9,-12.7,296,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2186,3408,3427,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6601,-1.23,-175.2,2591,2187,3426,3389,970.6,-12.5,301,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2187,3407,3426,3388,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6747,begin apogee
$GC,6757,-0.21,0.0,2591,2037,3424,3387,990.1,-13.0,306,6933,1.08,0.00,166.43,1.166,10246,0.151,0.000,2912,2037,2703,2780,2626,0,0,0,0,0,0,24.91,28.83,23.31
$STATE,6935,end apogee,CONTROL_FINISHED_OK
$STATE,6935,begin climb
$GC,6939,1.23,175.2,2912,2037,2778,2617,997.4,0.0,312,7114,1.35,1.48,164.52,1.147,10500,0.080,0.040,3377,2921,1987,2083,1891,0,0,0,0,0,0,25.10,25.03,23.47
$GC,7201,1.23,175.2,3376,2921,2072,1863,973.2,12.3,320,7207,0.00,1.27,0.00,0.000,1030,0.000,0.028,3381,2089,1967,2072,1863,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7367,1.23,175.2,3382,2089,2072,1858,949.4,12.6,326,7374,0.00,1.40,0.00,0.000,516,0.000,0.040,3388,1181,1965,2072,1858,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,15627,end climb,SURFACE_DEPTH_REACHED
$STATE,15627,begin surface coast
$FINISH,1.2,1.009414
$STATE,15649,end surface coast,CONTROL_FINISHED_OK
$STATE,15649,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,58.11
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.90
$XPDR_PINGS,6
$SC_FREEKB,7564352
$24V_AH,23.3,89.203
$10V_AH,9.8,55.154
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.228,0.000,0.000,0.000
$MEM,327824
$DATA_FILE_SIZE,26751,712
$CAP_FILE_SIZE,226637,1
$CFSIZE,260034560,202518528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.094,297.1,1
$GPS,280913,202736,1948.689,12310.865,43,0.9,43,-2.8