version: 66.11
glider: 167
mission: 16
dive: 552
start: 10 1 113 13 24 8
data:
$ID,167
$MISSION,16
$DIVE,552
$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,-976527
$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,62
$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
$GPS1,011013,131359,2002.915,12301.320,58,1.2,58,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-73.6
$GPS2,011013,132334,2002.966,12301.206,28,1.4,28,-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,322.0,170172,-19.6,-9.429,-29.54,2779
$D_GRID,5205
$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,-175.2,112,2244,881,881,0.0,0.0,0,101,0.00,0.00,-70.95,0.000,16386,0.000,0.000,112,2244,2641,2621,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.26,-175.2,112,2244,2621,2663,3.3,-3.5,13,140,10.52,1.33,-17.10,0.000,18692,0.230,0.061,2573,3061,3431,3426,3436,0,0,0,0,0,0,24.77,25.89,26.48
$GC,373,-1.26,-175.2,2573,3061,3427,3439,67.0,-24.6,41,379,0.00,1.27,0.00,0.000,1030,0.000,0.024,2573,2199,3432,3426,3439,0,0,0,0,0,0,28.83,26.19,28.83
$GC,540,-1.26,-175.2,2573,2199,3427,3438,109.2,-23.1,50,545,0.00,1.33,0.00,0.000,260,0.000,0.037,2568,3053,3433,3427,3439,0,0,0,0,0,0,28.83,26.05,28.83
$GC,695,-1.26,-175.2,2568,3053,3427,3439,140.6,-20.7,57,700,0.00,1.27,0.00,0.000,1030,0.000,0.026,2568,2201,3432,3425,3439,0,0,0,0,0,0,28.83,26.22,28.83
$GC,870,-1.26,-175.2,2568,2201,3429,3439,170.5,-16.1,66,876,0.00,1.33,0.00,0.000,260,0.000,0.038,2563,3053,3434,3429,3439,0,0,0,0,0,0,28.83,26.07,28.83
$GC,970,-1.26,-175.2,2563,3052,3429,3439,184.6,-16.3,70,976,0.00,1.27,0.00,0.000,1030,0.000,0.027,2563,2201,3434,3430,3439,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1136,-1.26,-175.2,2564,2201,3429,3439,214.4,-16.8,79,1142,0.00,1.30,0.00,0.000,516,0.000,0.035,2564,1314,3434,3429,3439,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1298,-1.26,-175.2,2563,1314,3429,3438,236.8,-14.9,86,1305,0.00,1.30,0.00,0.000,1030,0.000,0.030,2558,2188,3434,3429,3439,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1465,-1.26,-175.2,2558,2187,3429,3439,263.1,-15.0,95,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2187,3434,3429,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1624,-1.26,-175.2,2558,2188,3429,3439,287.6,-15.3,103,1629,0.00,1.27,0.00,0.000,516,0.000,0.028,2558,1321,3434,3429,3439,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1654,-1.26,-175.2,2558,1321,3429,3440,291.4,-15.4,104,1660,0.10,1.30,0.00,0.000,3078,0.168,0.030,2581,2197,3434,3429,3440,0,0,0,0,0,0,25.75,26.25,28.83
$GC,1815,-1.26,-175.2,2581,2199,3429,3439,315.6,-14.4,112,1820,0.00,1.30,0.00,0.000,516,0.000,0.028,2582,1316,3434,3429,3439,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1855,-1.26,-175.2,2581,1316,3430,3439,319.3,-14.5,113,1861,0.00,1.30,0.00,0.000,1030,0.000,0.029,2578,2195,3434,3429,3439,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2021,-1.26,-175.2,2577,2194,3429,3439,347.7,-16.1,122,2026,0.00,1.30,0.00,0.000,260,0.000,0.034,2571,3076,3435,3431,3439,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2075,-1.26,-175.2,2571,3076,3429,3439,355.3,-16.5,124,2081,0.00,1.27,0.00,0.000,1030,0.000,0.018,2570,2173,3434,3430,3439,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2252,-1.26,-175.2,2571,2173,3429,3439,383.1,-14.2,133,2257,0.00,1.35,0.00,0.000,260,0.000,0.033,2566,3069,3434,3429,3439,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2369,-1.26,-175.2,2565,3069,3429,3439,398.8,-14.8,138,2375,0.00,1.23,0.00,0.000,1030,0.000,0.018,2565,2204,3434,3429,3439,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2546,-1.26,-175.2,2565,2203,3431,3438,425.7,-15.0,147,2551,0.00,1.23,0.00,0.000,516,0.000,0.028,2566,1351,3433,3429,3437,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2634,-1.26,-175.2,1552,1349,3406,3432,438.3,-14.6,151,2639,0.00,1.25,0.00,0.000,1030,0.000,0.030,2561,2192,3432,3429,3436,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2794,-1.26,-175.2,2560,2192,3428,3435,460.9,-13.8,159,2800,0.00,1.25,0.00,0.000,516,0.000,0.028,2561,1347,3432,3429,3435,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2864,-1.26,-175.2,1536,1346,3405,3431,469.8,-13.4,162,2869,0.00,1.27,0.00,0.000,1030,0.000,0.030,2555,2204,3432,3429,3435,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3024,-1.26,-175.2,2555,2204,3429,3434,491.5,-12.9,170,3030,0.12,1.30,0.00,0.000,2308,0.190,0.032,2585,3073,3431,3429,3433,0,0,0,0,0,0,26.01,26.18,28.83
$GC,3167,-1.26,-175.2,2585,3073,3429,3432,507.6,-12.4,176,3173,0.00,1.25,0.00,0.000,1030,0.000,0.018,2585,2194,3431,3429,3433,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3333,-1.26,-175.2,2585,2193,3429,3431,530.3,-12.7,185,3339,0.00,1.23,0.00,0.000,516,0.000,0.029,2585,1347,3429,3429,3429,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3433,-1.26,-175.2,2585,1347,3429,3429,541.4,-13.0,189,3440,0.00,1.27,0.00,0.000,1030,0.000,0.030,2580,2202,3428,3429,3428,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3599,-1.26,-175.2,2579,2202,3428,3426,565.8,-13.9,198,3605,0.00,1.30,0.00,0.000,260,0.000,0.036,2573,3072,3427,3429,3426,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3691,-1.26,-175.2,2573,3072,3429,3426,578.3,-14.6,202,3696,0.00,1.25,0.00,0.000,1030,0.000,0.019,2573,2195,3427,3429,3426,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3852,-1.26,-175.2,2573,2195,3429,3423,602.8,-14.5,210,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2195,3426,3429,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4002,-1.26,-175.2,2573,2195,3429,3421,624.3,-14.4,215,4008,0.00,1.33,0.00,0.000,260,0.000,0.034,2568,3066,3425,3429,3421,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4072,-1.26,-175.2,1536,3064,3406,3415,633.9,-14.4,217,4078,0.00,1.25,0.00,0.000,1030,0.000,0.019,2568,2193,3423,3427,3420,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4252,-1.26,-175.2,2567,2193,3429,3417,659.1,-13.4,223,4257,0.00,1.23,0.00,0.000,516,0.000,0.031,2568,1352,3423,3430,3417,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4321,-1.26,-175.2,1552,1350,3406,3412,667.8,-13.4,225,4327,0.00,1.27,0.00,0.000,1030,0.000,0.031,2563,2203,3422,3429,3415,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4502,-1.26,-175.2,2562,2202,3429,3413,691.6,-13.0,231,4507,0.00,1.30,0.00,0.000,260,0.000,0.037,2556,3068,3421,3429,3413,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4567,-1.26,-175.2,2556,3068,3429,3411,700.5,-13.3,233,4572,0.00,1.25,0.00,0.000,1030,0.000,0.020,2556,2205,3420,3429,3412,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4754,-1.26,-175.2,2556,2205,3429,3408,726.8,-14.3,239,4760,0.12,1.35,0.00,0.000,2308,0.187,0.032,2586,3076,3418,3429,3408,0,0,0,0,0,0,26.01,26.12,28.83
$GC,4921,-1.26,-175.2,2586,3076,3429,3406,749.6,-14.5,244,4926,0.00,1.27,0.00,0.000,1030,0.000,0.020,2587,2197,3417,3429,3405,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5098,-1.26,-175.2,2586,2196,3429,3403,775.5,-14.0,250,5103,0.00,1.25,0.00,0.000,516,0.000,0.031,2586,1344,3416,3430,3403,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5177,-1.26,-175.2,2586,1343,3429,3402,785.3,-14.4,252,5182,0.00,1.30,0.00,0.000,1030,0.000,0.031,2581,2206,3415,3429,3402,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5349,-1.26,-175.2,2581,2206,3429,3398,813.6,-15.4,258,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2206,3413,3429,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5497,-1.26,-175.2,2581,2206,3429,3397,835.8,-14.6,263,5502,0.00,1.30,0.00,0.000,260,0.000,0.037,2575,3068,3413,3429,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5648,-1.26,-175.2,2574,3068,3429,3396,854.2,-14.8,267,5655,0.00,1.27,0.00,0.000,1030,0.000,0.021,2575,2191,3412,3429,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5805,-1.26,-175.2,2575,2191,3428,3392,879.1,-13.4,273,5810,0.00,1.38,0.00,0.000,260,0.000,0.037,2570,3078,3410,3429,3392,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5981,-1.26,-175.2,2569,3078,3425,3392,900.8,-13.6,278,5986,0.00,1.27,0.00,0.000,1030,0.000,0.021,2569,2202,3409,3426,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6146,-1.26,-175.2,2569,2202,3425,3390,924.4,-12.5,284,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2202,3407,3425,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6296,-1.26,-175.2,2569,2202,3425,3389,943.1,-12.4,289,6301,0.00,1.27,0.00,0.000,516,0.000,0.031,2569,1340,3406,3423,3389,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6316,-1.26,-175.2,2569,1340,3424,3389,943.1,-12.4,289,6321,0.00,1.30,0.00,0.000,1030,0.000,0.032,2564,2195,3405,3423,3388,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6486,-1.26,-175.2,2563,2195,3423,3386,966.4,-12.4,295,6491,0.00,1.35,0.00,0.000,260,0.000,0.040,2561,3076,3405,3423,3387,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,6668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6668,begin apogee
$GC,6679,-0.21,0.0,2560,2054,3421,3385,990.4,-13.1,301,6854,1.23,0.00,165.82,1.164,10246,0.157,0.000,2916,2054,2705,2780,2631,0,0,0,0,0,0,24.79,28.83,23.34
$STATE,6856,end apogee,CONTROL_FINISHED_OK
$STATE,6856,begin climb
$GC,6861,1.26,175.2,2915,2054,2778,2617,995.7,0.0,307,7034,1.38,1.45,163.18,1.144,10500,0.077,0.039,3392,2923,1987,2082,1892,0,0,0,0,0,0,25.15,25.08,23.52
$GC,7089,1.26,175.2,3391,2923,2070,1867,974.8,11.9,314,7095,0.00,1.33,0.00,0.000,1030,0.000,0.028,3396,2067,1968,2070,1866,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7255,1.26,175.2,3396,2067,2070,1860,950.7,12.7,320,7260,0.00,1.38,0.00,0.000,516,0.000,0.041,3402,1175,1964,2069,1860,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7345,1.26,175.2,3402,1175,2066,1860,942.5,12.7,322,7351,0.00,1.35,0.00,0.000,1030,0.000,0.035,3402,2042,1962,2066,1859,0,0,0,0,0,0,28.83,26.02,28.83
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$STATE,15787,end climb,SURFACE_DEPTH_REACHED
$STATE,15787,begin surface coast
$FINISH,1.2,1.011899
$STATE,15817,end surface coast,CONTROL_FINISHED_OK
$STATE,15817,begin surface
$SM_CCo,15841,35.45,0.119,0,0,877,450.13
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$IRIDIUM_FIX,1955.00,12304.51,011013,080849
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.44
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.10
$XPDR_PINGS,6
$SC_FREEKB,7558592
$24V_AH,23.3,91.537
$10V_AH,9.7,56.928
$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
$DEVICE_SECS,22.925,145.925,479.825,35.450,0.000,0.000,0.000,312.400,1.500,0.000,29.718,3068.906,9090.101,715.979,2759.821,804.716,0.000,2409.000,0.000,2346.110,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.724,0.000,0.000,0.000
$MEM,327828
$DATA_FILE_SIZE,26706,732
$CAP_FILE_SIZE,235897,0
$CFSIZE,260034560,200994816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,346.5,1
$GPS,011013,175005,2004.417,12300.527,34,1.3,34,-2.8