version: 66.11
glider: 167
mission: 16
dive: 550
start: 10 1 113 4 6 34
data:
$ID,167
$MISSION,16
$DIVE,550
$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,350
$T_MISSION,380
$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,-976524.5
$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,54
$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
$GPS1,011013,035637,2000.943,12302.736,39,1.2,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-71.7
$GPS2,011013,040600,2001.019,12302.696,45,1.2,45,-2.8
$SPEED_LIMITS,0.163,0.166
$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,294.8,174596,-19.6,-9.429,-29.54,2779
$D_GRID,5191
$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,24,begin dive
$GC,28,-1.26,-175.2,114,2233,885,881,0.0,0.0,0,96,0.00,0.00,-65.47,0.000,16386,0.000,0.000,114,2234,2482,2463,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.26,-175.2,114,2233,2466,2503,3.0,-2.4,11,139,10.48,1.35,-22.67,0.000,18692,0.230,0.065,2575,3058,3431,3427,3435,0,0,0,0,0,0,24.79,25.84,26.48
$GC,374,-1.26,-175.2,2574,3059,3428,3437,66.1,-23.7,41,379,0.00,1.27,0.00,0.000,1030,0.000,0.028,2575,2205,3432,3428,3436,0,0,0,0,0,0,28.83,26.15,28.83
$GC,549,-1.26,-175.2,2574,2205,3428,3437,103.2,-19.0,50,554,0.00,1.33,0.00,0.000,260,0.000,0.038,2569,3055,3432,3428,3437,0,0,0,0,0,0,28.83,26.03,28.83
$GC,787,-1.26,-175.2,2569,3055,3429,3437,148.0,-20.2,61,792,0.00,1.27,0.00,0.000,1030,0.000,0.026,2569,2196,3432,3428,3437,0,0,0,0,0,0,28.83,26.25,28.83
$GC,962,-1.26,-175.2,2569,2195,3429,3437,179.1,-16.0,70,967,0.00,1.27,0.00,0.000,516,0.000,0.037,2569,1340,3434,3431,3437,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1199,-1.26,-175.2,2569,1340,3430,3439,214.1,-14.7,81,1204,0.00,1.30,0.00,0.000,1030,0.000,0.034,2564,2192,3434,3429,3439,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1374,-1.26,-175.2,2564,2192,3430,3439,241.2,-14.4,90,1379,0.00,1.30,0.00,0.000,516,0.000,0.030,2564,1317,3435,3430,3440,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1487,-1.26,-175.2,2564,1317,3430,3439,256.8,-15.1,95,1493,0.00,1.33,0.00,0.000,1030,0.000,0.030,2559,2205,3434,3429,3439,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1648,-1.26,-175.2,2560,2206,3430,3439,282.5,-15.6,103,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2205,3434,3429,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1808,-1.26,-175.2,2558,2205,3430,3439,307.7,-15.7,111,1813,0.00,1.30,0.00,0.000,516,0.000,0.027,2559,1320,3435,3430,3440,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1827,-1.26,-175.2,2559,1320,3430,3439,307.7,-15.7,111,1835,0.08,1.33,0.00,0.000,3078,0.177,0.030,2575,2206,3435,3430,3440,0,0,0,0,0,0,25.81,26.22,28.83
$GC,1994,-1.26,-175.2,2575,2206,3430,3439,335.1,-14.7,120,1999,0.00,1.30,0.00,0.000,516,0.000,0.028,2575,1324,3434,3430,3439,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2079,-1.26,-175.2,2574,1323,3430,3439,347.5,-14.4,124,2084,0.00,1.33,0.00,0.000,1030,0.000,0.030,2572,2205,3434,3430,3439,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2244,-1.26,-175.2,2572,2205,3430,3439,372.9,-15.5,132,2249,0.00,1.30,0.00,0.000,516,0.000,0.028,2571,1324,3434,3430,3439,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2293,-1.26,-175.2,1536,1323,3406,3435,379.6,-15.4,134,2299,0.00,1.30,0.00,0.000,1030,0.000,0.030,2566,2199,3433,3429,3438,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2454,-1.26,-175.2,2566,2199,3429,3439,403.0,-13.9,142,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2199,3435,3432,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2614,-1.26,-175.2,2566,2199,3429,3437,426.7,-14.6,150,2620,0.00,1.30,0.00,0.000,516,0.000,0.028,2566,1319,3433,3430,3436,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2762,-1.26,-175.2,2566,1319,3429,3436,447.3,-13.8,157,2768,0.00,1.33,0.00,0.000,1030,0.000,0.029,2561,2198,3433,3429,3437,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2929,-1.26,-175.2,2561,2198,3429,3435,469.8,-13.6,165,2934,0.00,1.30,0.00,0.000,260,0.000,0.036,2555,3074,3432,3429,3435,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3042,-1.26,-175.2,2554,3073,3429,3434,484.6,-14.1,170,3048,0.08,1.27,0.00,0.000,3078,0.172,0.020,2576,2177,3431,3429,3434,0,0,0,0,0,0,25.92,26.36,28.83
$GC,3204,-1.26,-175.2,2576,2177,3429,3432,506.9,-13.2,178,3209,0.00,1.20,0.00,0.000,516,0.000,0.030,2576,1347,3430,3430,3431,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3332,-1.26,-175.2,2576,1347,3429,3430,523.8,-13.3,184,3337,0.00,1.30,0.00,0.000,1030,0.000,0.030,2573,2207,3429,3429,3430,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3498,-1.26,-175.2,2573,2207,3429,3427,547.6,-14.5,192,3503,0.00,1.27,0.00,0.000,516,0.000,0.028,2573,1343,3428,3429,3427,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3517,-1.26,-175.2,2573,1342,3429,3427,547.6,-14.5,192,3525,0.00,1.27,0.00,0.000,1030,0.000,0.031,2568,2194,3428,3429,3427,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3684,-1.26,-175.2,2568,2194,3429,3425,574.0,-14.1,201,3689,0.00,1.30,0.00,0.000,260,0.000,0.036,2562,3066,3427,3429,3425,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3773,-1.26,-175.2,1544,3064,3406,3420,586.5,-14.6,205,3778,0.00,1.25,0.00,0.000,1030,0.000,0.019,2562,2195,3426,3429,3424,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3933,-1.26,-175.2,2561,2194,3430,3422,609.7,-13.9,212,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2195,3425,3429,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4084,-1.26,-175.2,2562,2195,3429,3420,630.3,-13.9,217,4090,0.00,1.25,0.00,0.000,516,0.000,0.030,2562,1336,3424,3429,3419,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4123,-1.26,-175.2,2562,1336,3429,3417,635.6,-14.1,218,4129,0.00,1.30,0.00,0.000,1030,0.000,0.031,2557,2198,3424,3430,3418,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4304,-1.26,-175.2,2556,2198,3429,3415,662.9,-15.0,224,4310,0.12,1.33,0.00,0.000,2308,0.194,0.035,2586,3072,3422,3429,3415,0,0,0,0,0,0,25.98,26.12,28.83
$GC,4385,-1.26,-175.2,2586,3072,3429,3414,672.4,-14.5,226,4391,0.00,1.25,0.00,0.000,1030,0.000,0.020,2586,2203,3421,3429,3414,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4555,-1.26,-175.2,2586,2203,3429,3412,697.7,-13.3,232,4561,0.00,1.25,0.00,0.000,516,0.000,0.030,2586,1343,3420,3429,3412,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4610,-1.26,-175.2,2586,1343,3429,3411,702.3,-13.3,233,4615,0.00,1.30,0.00,0.000,1030,0.000,0.031,2581,2205,3420,3429,3411,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4776,-1.26,-175.2,2580,2205,3429,3408,725.0,-12.2,239,4781,0.00,1.30,0.00,0.000,260,0.000,0.038,2574,3069,3418,3429,3407,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4926,-1.26,-175.2,2574,3068,3431,3405,741.5,-13.2,243,4933,0.00,1.25,0.00,0.000,1030,0.000,0.021,2574,2204,3417,3430,3405,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5084,-1.26,-175.2,2574,2204,3429,3403,764.3,-12.6,249,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2204,3416,3430,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5233,-1.26,-175.2,2574,2204,3427,3400,783.4,-12.7,254,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2205,3415,3429,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5382,-1.26,-175.2,2574,2204,3429,3398,803.2,-13.0,259,5388,0.00,1.35,0.00,0.000,260,0.000,0.036,2569,3079,3413,3429,3398,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5463,-1.26,-175.2,2569,3079,3429,3397,812.6,-14.0,261,5468,0.00,1.27,0.00,0.000,1030,0.000,0.021,2569,2202,3412,3429,3396,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5634,-1.26,-175.2,2569,2202,3429,3396,839.8,-14.7,267,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2202,3412,3429,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5783,-1.26,-175.2,2569,2202,3429,3393,861.9,-14.6,272,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2202,3411,3429,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5934,-1.26,-175.2,2569,2202,3428,3392,884.2,-14.8,277,5939,0.00,1.35,0.00,0.000,260,0.000,0.037,2564,3073,3409,3428,3391,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5978,-1.26,-175.2,2563,3074,3427,3391,889.7,-14.8,278,5983,0.00,1.27,0.00,0.000,1030,0.000,0.021,2564,2199,3409,3427,3391,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6152,-1.26,-175.2,2564,2199,3425,3390,916.8,-14.6,284,6159,0.00,1.25,0.00,0.000,516,0.000,0.031,2563,1347,3408,3426,3390,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6209,-1.26,-175.2,2564,1347,3425,3390,922.1,-14.7,285,6214,0.00,1.30,0.00,0.000,1030,0.000,0.032,2559,2200,3407,3425,3390,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6374,-1.26,-175.2,2558,2200,3422,3388,949.5,-14.7,291,6379,0.00,1.33,0.00,0.000,260,0.000,0.040,2552,3072,3405,3423,3388,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6489,-1.26,-175.2,2552,3071,3426,3387,963.7,-14.9,294,6495,0.10,1.27,0.00,0.000,3078,0.175,0.022,2580,2190,3405,3423,3387,0,0,0,0,0,0,25.72,26.29,28.83
$GC,6655,-1.26,-175.2,2580,2190,3422,3385,989.9,-13.9,300,6660,0.00,1.38,0.00,0.000,260,0.000,0.038,2577,3074,3403,3422,3385,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,6686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6686,begin apogee
$GC,6697,-0.21,0.0,2577,2060,3422,3385,995.0,-14.1,301,6928,1.15,0.00,221.57,1.002,10246,0.157,0.000,2911,2059,2708,2786,2631,0,0,0,0,0,0,24.79,28.83,23.58
$STATE,6931,end apogee,CONTROL_FINISHED_OK
$STATE,6931,begin climb
$GC,6935,1.26,175.2,2911,2059,2784,2624,1005.9,0.0,309,7111,1.38,1.45,166.85,1.136,10500,0.080,0.041,3385,2927,1990,2086,1894,0,0,0,0,0,0,25.18,25.06,23.52
$GC,7219,1.26,175.2,3385,2927,2068,1858,980.4,12.0,318,7224,0.00,1.33,0.00,0.000,1030,0.000,0.030,3388,2070,1964,2068,1860,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7394,1.26,175.2,3388,2070,2068,1855,958.2,11.7,324,7399,0.00,1.40,0.00,0.000,516,0.000,0.041,3393,1164,1961,2068,1855,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,15867,end climb,SURFACE_DEPTH_REACHED
$STATE,15867,begin surface coast
$FINISH,1.3,1.009130
$STATE,15891,end surface coast,CONTROL_FINISHED_OK
$STATE,15891,begin surface
$SM_CCo,15914,39.20,0.120,0,0,878,450.13
$SM_GC,2.26,8.62,0.20,39.20,0.022,0.063,0.120,137,2212,878,-8.83,-1.10,450.13,0,0,0,0,0,0,26.09,26.32,25.25
$IRIDIUM_FIX,1952.70,12301.34,300913,232314
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.34
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.00
$XPDR_PINGS,5
$SC_FREEKB,7559360
$24V_AH,23.5,91.258
$10V_AH,9.9,56.693
$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
$DEVICE_SECS,22.450,141.400,561.825,39.200,0.000,0.000,0.000,285.075,1.250,0.000,46.054,3057.316,9121.129,765.466,2766.580,794.692,0.000,2451.717,0.000,2379.653,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.645,0.000,0.000,0.000
$MEM,327784
$DATA_FILE_SIZE,26721,720
$CAP_FILE_SIZE,234318,0
$CFSIZE,260034560,201199616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.124, 34.7,1
$GPS,011013,083354,2002.302,12302.467,39,1.0,39,-2.8