version: 66.11
glider: 167
mission: 16
dive: 547
start: 9 30 113 14 10 55
data:
$ID,167
$MISSION,16
$DIVE,547
$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,-976520.62
$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,65
$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
$GPS1,300913,135923,1956.528,12305.178,42,1.0,42,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.2
$GPS2,300913,141001,1956.610,12305.024,42,1.0,42,-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,334.9,183504,-19.0,-10.312,-28.67,3113
$D_GRID,5177
$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,-175.2,126,2238,894,875,0.0,0.0,0,99,0.00,0.00,-69.32,0.000,16386,0.000,0.000,126,2238,2592,2572,2613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.23,-175.2,126,2238,2572,2614,3.1,-2.7,12,143,10.60,1.30,-18.33,0.000,18692,0.234,0.064,2582,3049,3431,3426,3437,0,0,0,0,0,0,24.79,25.89,26.48
$GC,376,-1.23,-175.2,2582,3049,3427,3439,66.9,-25.7,41,383,0.00,1.27,0.00,0.000,1030,0.000,0.026,2582,2192,3433,3427,3439,0,0,0,0,0,0,28.83,26.18,28.83
$GC,541,-1.23,-175.2,2582,2192,3428,3438,107.9,-21.0,50,546,0.00,1.33,0.00,0.000,260,0.000,0.037,2576,3049,3433,3428,3439,0,0,0,0,0,0,28.83,26.06,28.83
$GC,586,-1.23,-175.2,2577,3048,3428,3439,116.4,-19.3,52,591,0.00,1.27,0.00,0.000,1030,0.000,0.027,2577,2197,3433,3428,3439,0,0,0,0,0,0,28.83,26.21,28.83
$GC,752,-1.23,-175.2,2577,2197,3429,3439,148.8,-19.0,60,757,0.00,1.33,0.00,0.000,260,0.000,0.039,2572,3046,3434,3429,3439,0,0,0,0,0,0,28.83,26.05,28.83
$GC,898,-1.23,-175.2,2573,3046,3429,3439,174.4,-17.2,67,903,0.00,1.27,0.00,0.000,1030,0.000,0.028,2572,2194,3434,3429,3439,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1064,-1.23,-175.2,2573,2194,3430,3439,202.0,-16.5,75,1070,0.00,1.30,0.00,0.000,516,0.000,0.037,2572,1324,3434,3430,3439,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1159,-1.23,-175.2,2571,1324,3430,3440,216.3,-16.5,79,1164,0.00,1.30,0.00,0.000,1030,0.000,0.032,2566,2194,3434,3429,3440,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1335,-1.23,-175.2,2566,2194,3430,3440,246.4,-17.1,88,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2195,3435,3430,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1494,-1.23,-175.2,2566,2195,3430,3440,272.2,-16.1,96,1500,0.00,1.30,0.00,0.000,260,0.000,0.035,2560,3069,3435,3430,3440,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1626,-1.23,-175.2,2560,3069,3430,3440,292.2,-15.8,102,1632,0.10,1.27,0.00,0.000,3078,0.171,0.018,2588,2168,3434,3429,3440,0,0,0,0,0,0,25.83,26.36,28.83
$GC,1787,-1.23,-175.2,2588,2169,3430,3440,317.4,-15.3,110,1792,0.00,1.17,0.00,0.000,516,0.000,0.030,2589,1355,3435,3430,3440,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1873,-1.23,-175.2,2588,1354,3430,3440,329.9,-14.6,114,1878,0.00,1.27,0.00,0.000,1030,0.000,0.030,2585,2205,3435,3430,3440,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2038,-1.23,-175.2,2585,2205,3430,3440,354.8,-14.7,122,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2205,3435,3430,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2198,-1.23,-175.2,2585,2205,3430,3440,377.2,-14.0,130,2203,0.00,1.27,0.00,0.000,516,0.000,0.028,2585,1343,3435,3430,3440,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2278,-1.23,-175.2,2585,1343,3430,3440,385.8,-13.2,133,2285,0.00,1.27,0.00,0.000,1030,0.000,0.030,2579,2202,3435,3430,3440,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2443,-1.23,-175.2,2579,2201,3430,3440,411.3,-14.6,142,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2202,3435,3430,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2604,-1.23,-175.2,2580,2202,3430,3438,434.8,-14.6,150,2609,0.00,1.30,0.00,0.000,260,0.000,0.035,2573,3076,3434,3430,3438,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2672,-1.23,-175.2,1552,3075,3407,3433,444.6,-14.8,153,2677,0.00,1.25,0.00,0.000,1030,0.000,0.019,2572,2200,3433,3430,3437,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2834,-1.23,-175.2,2573,2200,3430,3436,467.2,-14.1,161,2839,0.00,1.25,0.00,0.000,516,0.000,0.030,2573,1340,3432,3430,3435,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3074,-1.23,-175.2,2573,1340,3431,3434,500.0,-14.0,172,3079,0.00,1.27,0.00,0.000,1030,0.000,0.030,2568,2195,3432,3430,3434,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3250,-1.23,-175.2,2568,2195,3430,3432,524.0,-12.8,181,3255,0.00,1.25,0.00,0.000,516,0.000,0.028,2568,1348,3431,3430,3432,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3275,-1.23,-175.2,2567,1348,3430,3432,527.4,-12.7,182,3281,0.10,1.27,0.00,0.000,3078,0.162,0.029,2591,2198,3430,3430,3431,0,0,0,0,0,0,25.77,26.25,28.83
$GC,3442,-1.23,-175.2,2591,2198,3430,3429,546.7,-11.4,190,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2198,3429,3430,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3601,-1.23,-175.2,2592,2198,3430,3427,565.3,-11.9,198,3607,0.00,1.27,0.00,0.000,516,0.000,0.028,2590,1339,3428,3430,3427,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3708,-1.23,-175.2,2591,1340,3430,3426,578.5,-12.6,203,3714,0.00,1.30,0.00,0.000,1030,0.000,0.029,2588,2203,3428,3430,3426,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3874,-1.23,-175.2,2588,2203,3430,3423,600.8,-13.5,211,3879,0.00,1.27,0.00,0.000,516,0.000,0.028,2589,1343,3426,3430,3423,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3943,-1.23,-175.2,1576,1342,3408,3417,610.1,-13.8,213,3949,0.00,1.27,0.00,0.000,1030,0.000,0.031,2583,2195,3426,3430,3422,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4125,-1.23,-175.2,2583,2195,3430,3419,636.8,-14.5,219,4130,0.00,1.27,0.00,0.000,516,0.000,0.028,2583,1337,3424,3430,3419,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4154,-1.23,-175.2,2583,1337,3430,3419,636.8,-14.5,219,4161,0.00,1.30,0.00,0.000,1030,0.000,0.030,2578,2203,3424,3430,3418,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4311,-1.23,-175.2,2577,2203,3430,3415,662.9,-13.8,225,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2203,3423,3431,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,-1.23,-175.2,2577,2203,3430,3413,682.4,-13.0,230,4466,0.00,1.30,0.00,0.000,260,0.000,0.037,2571,3070,3421,3429,3413,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4583,-1.23,-175.2,2571,3071,3430,3410,695.7,-13.8,233,4590,0.00,1.25,0.00,0.000,1030,0.000,0.020,2571,2199,3420,3430,3411,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4737,-1.23,-175.2,2571,2199,3429,3408,720.3,-13.7,239,4742,0.00,1.25,0.00,0.000,516,0.000,0.031,2571,1345,3419,3430,3408,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4822,-1.23,-175.2,2571,1345,3430,3407,729.3,-13.6,241,4828,0.00,1.30,0.00,0.000,1030,0.000,0.031,2567,2207,3419,3429,3409,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4987,-1.23,-175.2,2566,2207,3430,3404,755.9,-14.6,247,4992,0.00,1.30,0.00,0.000,516,0.000,0.029,2566,1339,3417,3430,3404,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5037,-1.23,-175.2,2566,1338,3429,3403,760.9,-14.6,248,5043,0.10,1.30,0.00,0.000,3078,0.167,0.031,2590,2198,3415,3428,3403,0,0,0,0,0,0,25.70,26.18,28.83
$GC,5208,-1.23,-175.2,2589,2199,3429,3401,786.6,-13.5,254,5213,0.00,1.33,0.00,0.000,260,0.000,0.038,2585,3072,3415,3431,3400,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5252,-1.23,-175.2,2585,3072,3429,3399,791.7,-13.7,255,5257,0.00,1.25,0.00,0.000,1030,0.000,0.021,2585,2206,3414,3429,3400,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5428,-1.23,-175.2,2585,2207,3429,3396,818.2,-14.4,261,5434,0.00,1.35,0.00,0.000,260,0.000,0.036,2579,3080,3413,3429,3397,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5487,-1.23,-175.2,2580,3080,3428,3397,823.7,-14.5,262,5494,0.00,1.27,0.00,0.000,1030,0.000,0.021,2580,2203,3413,3430,3397,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5645,-1.23,-175.2,2579,2203,3429,3395,851.3,-15.3,268,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2203,3412,3429,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5794,-1.23,-175.2,2580,2202,3429,3392,873.5,-14.8,273,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2203,3410,3429,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5944,-1.23,-175.2,2579,2203,3427,3391,894.9,-14.1,278,5949,0.00,1.27,0.00,0.000,516,0.000,0.032,2580,1341,3410,3428,3392,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6010,-1.23,-175.2,2579,1341,3426,3391,903.8,-13.8,280,6015,0.00,1.33,0.00,0.000,1030,0.000,0.032,2574,2204,3408,3426,3391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6194,-1.23,-175.2,2574,2204,3425,3389,928.7,-13.5,286,6199,0.00,1.33,0.00,0.000,260,0.000,0.040,2569,3074,3406,3424,3389,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6340,-1.23,-175.2,2569,3073,3423,3389,945.8,-13.7,290,6345,0.00,1.27,0.00,0.000,1030,0.000,0.021,2569,2199,3406,3423,3389,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6506,-1.23,-175.2,2569,2199,3423,3386,971.0,-13.5,296,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2199,3404,3423,3386,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6652,begin apogee
$GC,6660,-0.21,0.0,2569,2020,3423,3385,991.4,-13.5,301,6868,1.17,0.00,200.25,1.063,10246,0.155,0.000,2912,2019,2710,2784,2636,0,0,0,0,0,0,24.83,28.83,23.56
$STATE,6871,end apogee,CONTROL_FINISHED_OK
$STATE,6871,begin climb
$GC,6874,1.23,175.2,2912,2019,2779,2627,999.3,0.0,308,7050,1.35,1.52,165.45,1.151,10500,0.079,0.040,3376,2932,1988,2082,1895,0,0,0,0,0,0,25.13,25.06,23.51
$GC,7110,1.23,175.2,3376,2932,2071,1867,979.1,11.6,315,7118,0.00,1.27,0.00,0.000,1030,0.000,0.029,3381,2107,1969,2073,1866,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7266,1.23,175.2,3381,2107,2071,1860,955.9,12.7,321,7271,0.00,1.35,0.00,0.000,516,0.000,0.040,3388,1234,1965,2071,1860,0,0,0,0,0,0,28.83,25.93,28.83
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$STATE,15502,end climb,SURFACE_DEPTH_REACHED
$STATE,15502,begin surface coast
$FINISH,1.5,1.011007
$STATE,15532,end surface coast,CONTROL_FINISHED_OK
$STATE,15532,begin surface
$SM_CCo,15555,37.15,0.120,0,0,877,450.13
$SM_GC,2.33,8.80,0.20,37.15,0.030,0.044,0.120,136,2201,877,-8.84,-1.47,450.13,0,0,0,0,0,0,26.03,26.42,25.27
$IRIDIUM_FIX,1948.12,12303.26,300913,090917
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.78
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,27.20
$XPDR_PINGS,5
$SC_FREEKB,7560512
$24V_AH,23.5,90.794
$10V_AH,9.8,56.337
$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
$DEVICE_SECS,22.450,135.300,540.625,37.150,0.000,0.000,0.000,318.000,1.250,0.000,43.476,2976.309,8994.713,742.206,2707.442,782.523,0.000,2415.009,0.000,2291.647,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15548.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.273,0.000,0.000,0.000
$MEM,327812
$DATA_FILE_SIZE,26791,712
$CAP_FILE_SIZE,229966,1
$CFSIZE,260034560,201506816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.049,269.0,1
$GPS,300913,183205,1957.527,12304.258,30,1.0,30,-2.8