version: 66.11
glider: 167
mission: 16
dive: 556
start: 10 2 113 8 0 39
data:
$ID,167
$MISSION,16
$DIVE,556
$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,-976532
$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,56
$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
$GPS1,021013,075022,2009.034,12259.021,33,1.4,50,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-69.5
$GPS2,021013,080005,2009.197,12259.079,39,0.9,39,-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,277.9,158904,-19.6,-9.429,-29.54,2779
$D_GRID,5299
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.26,-175.2,110,2212,884,878,0.0,0.0,0,101,0.00,0.00,-70.30,0.000,16386,0.000,0.000,111,2213,2606,2584,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-1.26,-175.2,111,2212,2586,2629,3.2,-2.7,12,145,10.50,1.38,-18.77,0.000,18692,0.229,0.063,2573,3076,3431,3428,3435,0,0,0,0,0,0,24.83,25.88,26.48
$GC,324,-1.26,-175.2,2573,3076,3429,3435,55.1,-23.6,39,329,0.00,1.33,0.00,0.000,1030,0.000,0.026,2573,2199,3431,3428,3435,0,0,0,0,0,0,28.83,26.13,28.83
$GC,490,-1.26,-175.2,2573,2199,3429,3436,94.2,-22.4,47,495,0.00,1.30,0.00,0.000,516,0.000,0.036,2574,1321,3432,3429,3436,0,0,0,0,0,0,28.83,26.04,28.83
$GC,535,-1.26,-175.2,2573,1321,3429,3436,103.4,-21.1,49,540,0.00,1.35,0.00,0.000,1030,0.000,0.031,2568,2214,3432,3429,3436,0,0,0,0,0,0,28.83,26.13,28.83
$GC,701,-1.26,-175.2,2568,2214,3429,3436,135.1,-19.1,57,706,0.00,1.27,0.00,0.000,260,0.000,0.036,2562,3071,3432,3429,3436,0,0,0,0,0,0,28.83,26.12,28.83
$GC,847,-1.26,-175.2,2561,3072,3429,3436,164.7,-19.4,64,852,0.00,1.30,0.00,0.000,1030,0.000,0.021,2562,2182,3432,3429,3435,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1013,-1.26,-175.2,2562,2182,3429,3437,192.6,-16.3,72,1019,0.00,1.23,0.00,0.000,516,0.000,0.031,2562,1339,3433,3430,3436,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1088,-1.26,-175.2,2562,1338,3430,3435,203.1,-15.8,75,1093,0.00,1.27,0.00,0.000,1030,0.000,0.030,2556,2196,3434,3431,3437,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1263,-1.26,-175.2,2556,2195,3430,3440,231.6,-16.3,84,1269,0.12,1.30,0.00,0.000,2308,0.194,0.032,2585,3072,3433,3430,3437,0,0,0,0,0,0,25.98,26.15,28.83
$GC,1355,-1.26,-175.2,2585,3071,3430,3437,245.6,-16.1,88,1360,0.00,1.25,0.00,0.000,1030,0.000,0.020,2585,2199,3433,3430,3437,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1515,-1.26,-175.2,2585,2199,3430,3437,270.3,-14.8,96,1520,0.00,1.25,0.00,0.000,516,0.000,0.030,2585,1334,3434,3431,3437,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1590,-1.26,-175.2,2586,1334,3431,3437,279.7,-14.5,99,1595,0.00,1.27,0.00,0.000,1030,0.000,0.030,2580,2195,3433,3430,3437,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1765,-1.26,-175.2,2580,2195,3430,3437,306.6,-14.8,108,1770,0.00,1.27,0.00,0.000,516,0.000,0.028,2579,1331,3433,3430,3437,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1805,-1.26,-175.2,2580,1330,3430,3437,310.1,-14.6,109,1811,0.00,1.30,0.00,0.000,1030,0.000,0.030,2574,2203,3433,3430,3437,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1970,-1.26,-175.2,2574,2203,3430,3437,337.5,-15.6,118,1975,0.00,1.27,0.00,0.000,260,0.000,0.035,2568,3068,3434,3431,3437,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2055,-1.26,-175.2,2567,3067,3430,3437,351.4,-16.6,122,2060,0.00,1.25,0.00,0.000,1030,0.000,0.020,2568,2200,3434,3431,3437,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2221,-1.26,-175.2,2568,2200,3431,3437,378.2,-15.8,130,2226,0.00,1.25,0.00,0.000,516,0.000,0.029,2568,1335,3434,3431,3437,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2280,-1.26,-175.2,2568,1334,3430,3437,385.3,-15.2,132,2287,0.00,1.30,0.00,0.000,1030,0.000,0.029,2563,2209,3433,3430,3437,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2447,-1.26,-175.2,2563,2210,3430,3437,411.6,-14.9,141,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2210,3433,3430,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2606,-1.26,-175.2,2562,2210,3430,3435,435.4,-14.8,149,2611,0.00,1.27,0.00,0.000,516,0.000,0.028,2563,1344,3432,3430,3435,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2743,-1.26,-175.2,2563,1343,3430,3435,453.9,-15.0,155,2749,0.00,1.27,0.00,0.000,1030,0.000,0.031,2558,2197,3432,3430,3434,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2919,-1.26,-175.2,2557,2197,3431,3433,480.6,-13.9,164,2924,0.00,1.30,0.00,0.000,260,0.000,0.035,2551,3075,3431,3430,3433,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2946,-1.26,-175.2,2551,3075,3431,3433,484.2,-13.7,165,2952,0.10,1.27,0.00,0.000,3078,0.162,0.019,2580,2183,3431,3430,3433,0,0,0,0,0,0,25.84,26.36,28.83
$GC,3113,-1.26,-175.2,2580,2183,3430,3432,506.9,-13.6,173,3118,0.00,1.20,0.00,0.000,516,0.000,0.030,2580,1351,3430,3430,3431,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3285,-1.26,-175.2,1552,1350,3407,3426,530.8,-14.0,181,3291,0.00,1.27,0.00,0.000,1030,0.000,0.030,2577,2206,3429,3430,3429,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3445,-1.26,-175.2,2577,2205,3430,3427,552.9,-13.2,189,3451,0.00,1.27,0.00,0.000,516,0.000,0.028,2576,1344,3428,3430,3427,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3485,-1.26,-175.2,2577,1343,3430,3427,556.1,-12.9,190,3491,0.00,1.27,0.00,0.000,1030,0.000,0.031,2572,2196,3428,3430,3426,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3652,-1.26,-175.2,2572,2196,3430,3424,578.5,-12.5,199,3658,0.00,1.30,0.00,0.000,260,0.000,0.036,2566,3070,3427,3430,3424,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3687,-1.26,-175.2,2565,3070,3429,3423,581.9,-12.6,200,3692,0.00,1.25,0.00,0.000,1030,0.000,0.019,2566,2197,3427,3430,3424,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3852,-1.26,-175.2,2566,2197,3430,3421,604.9,-13.4,208,3857,0.00,1.23,0.00,0.000,516,0.000,0.029,2566,1347,3425,3430,3421,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3897,-1.26,-175.2,2565,1346,3429,3421,609.7,-13.6,209,3902,0.00,1.27,0.00,0.000,1030,0.000,0.030,2560,2196,3425,3430,3420,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4072,-1.26,-175.2,2561,2196,3430,3418,636.5,-14.6,215,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2195,3424,3430,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4224,-1.26,-175.2,2560,2195,3430,3416,659.4,-15.3,220,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2195,3423,3430,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4372,-1.26,-175.2,2560,2195,3430,3413,683.5,-16.0,225,4377,0.00,1.33,0.00,0.000,260,0.000,0.039,2560,3072,3422,3430,3414,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4509,-1.26,-175.2,2560,3072,3429,3411,703.0,-15.6,229,4515,0.00,1.25,0.00,0.000,1030,0.000,0.020,2561,2203,3420,3429,3411,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4686,-1.26,-175.2,2560,2202,3430,3408,730.5,-14.6,235,4691,0.00,1.35,0.00,0.000,260,0.000,0.035,2554,3081,3418,3430,3407,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4843,-1.26,-175.2,2555,3081,3430,3405,754.0,-14.9,240,4848,0.00,1.27,0.00,0.000,1030,0.000,0.020,2555,2205,3417,3430,3405,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5029,-1.26,-175.2,2555,2205,3430,3403,781.3,-14.8,246,5034,0.12,1.27,0.00,0.000,2564,0.185,0.028,2589,1339,3416,3429,3403,0,0,0,0,0,0,25.99,26.17,28.83
$GC,5053,-1.26,-175.2,2589,1339,3430,3403,781.3,-14.8,246,5058,0.00,1.30,0.00,0.000,1030,0.000,0.031,2586,2197,3416,3430,3402,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5219,-1.26,-175.2,2586,2197,3429,3399,807.5,-13.6,252,5224,0.00,1.33,0.00,0.000,260,0.000,0.039,2580,3075,3414,3430,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5455,-1.26,-175.2,2580,3076,3429,3396,839.7,-15.0,259,5460,0.00,1.27,0.00,0.000,1030,0.000,0.021,2580,2198,3413,3430,3396,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5621,-1.26,-175.2,2580,2197,3429,3394,866.7,-14.6,265,5626,0.00,1.25,0.00,0.000,516,0.000,0.031,2580,1344,3411,3429,3394,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5656,-1.26,-175.2,2580,1344,3429,3393,872.1,-14.7,266,5662,0.00,1.30,0.00,0.000,1030,0.000,0.031,2575,2197,3411,3429,3393,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5842,-1.26,-175.2,2575,2197,3428,3391,900.2,-15.4,272,5847,0.00,1.33,0.00,0.000,260,0.000,0.041,2570,3069,3409,3428,3391,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5993,-1.26,-175.2,2569,3069,3426,3390,919.9,-15.8,276,6001,0.00,1.27,0.00,0.000,1030,0.000,0.021,2570,2197,3408,3426,3390,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6149,-1.26,-175.2,2569,2197,3426,3388,947.7,-15.2,282,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2197,3407,3426,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6300,-1.26,-175.2,2569,2197,3424,3387,970.0,-14.9,287,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2197,3405,3424,3387,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6446,begin apogee
$GC,6455,-0.21,0.0,2569,2022,3423,3386,992.2,-14.8,292,6632,1.17,0.00,165.23,1.166,10246,0.151,0.000,2916,2022,2700,2778,2623,0,0,0,0,0,0,24.84,28.83,23.31
$STATE,6635,end apogee,CONTROL_FINISHED_OK
$STATE,6635,begin climb
$GC,6638,1.26,175.2,2916,2022,2779,2616,1000.7,0.0,298,6812,1.35,1.42,161.70,1.160,10500,0.076,0.037,3387,2924,1982,2080,1885,0,0,0,0,0,0,25.18,25.06,23.49
$GC,6873,1.26,175.2,3387,2924,2070,1862,982.3,10.7,305,6881,0.00,1.27,0.00,0.000,1030,0.000,0.029,3391,2098,1966,2070,1862,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7027,1.26,175.2,3391,2098,2070,1858,960.8,11.6,311,7032,0.00,1.42,0.00,0.000,516,0.000,0.038,3398,1177,1963,2070,1856,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7173,1.26,175.2,3397,1177,2066,1856,946.5,11.4,315,7178,0.00,1.35,0.00,0.000,1030,0.000,0.035,3398,2045,1961,2066,1856,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,15817,end climb,SURFACE_DEPTH_REACHED
$STATE,15817,begin surface coast
$FINISH,1.3,1.013619
$STATE,15842,end surface coast,CONTROL_FINISHED_OK
$STATE,15842,begin surface
$SM_CCo,15867,40.03,0.119,0,0,877,450.13
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$TT8_MAMPS,0.026964,0.026964
$HUMID,57.24
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.10
$XPDR_PINGS,5
$SC_FREEKB,7557056
$24V_AH,23.3,92.122
$10V_AH,9.8,57.395
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.525,145.825,485.100,40.025,0.000,0.000,0.000,308.450,1.250,0.000,40.553,3090.408,9041.771,735.680,2803.094,807.414,0.000,2447.468,0.000,2386.100,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.692,0.000,0.000,0.000
$MEM,327824
$DATA_FILE_SIZE,26725,721
$CAP_FILE_SIZE,236587,0
$CFSIZE,260034560,200585216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055, 46.6,1
$GPS,021013,122705,2009.784,12258.522,32,1.1,32,-2.8