version: 66.11
glider: 167
mission: 16
dive: 566
start: 10 4 113 6 17 53
data:
$ID,167
$MISSION,16
$DIVE,566
$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,-976547.88
$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,53
$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
$GPS1,041013,060627,2020.838,12255.847,26,3.3,45,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-67.6
$GPS2,041013,061659,2020.880,12255.869,44,1.9,44,-2.9
$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,274.0,139088,-19.0,-10.312,-28.67,3113
$D_GRID,4444
$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,27,-1.23,-175.2,109,2228,935,842,0.0,0.0,0,98,0.00,0.00,-68.35,0.000,16386,0.000,0.000,109,2228,2561,2537,2585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-1.23,-175.2,110,2228,2541,2585,3.1,-3.2,12,141,10.55,1.27,-20.20,0.000,18692,0.230,0.057,2585,3074,3431,3429,3434,0,0,0,0,0,0,24.70,25.91,26.48
$GC,377,-1.23,-175.2,2584,3074,3429,3435,70.2,-24.4,42,382,0.00,1.30,0.00,0.000,1030,0.000,0.021,2585,2179,3432,3429,3435,0,0,0,0,0,0,28.83,26.20,28.83
$GC,542,-1.23,-175.2,2586,2179,3430,3435,109.2,-20.9,50,549,0.00,1.38,0.00,0.000,260,0.000,0.037,2579,3068,3432,3429,3435,0,0,0,0,0,0,28.83,26.03,28.83
$GC,613,-1.23,-175.2,2579,3068,3430,3436,121.8,-19.1,53,618,0.00,1.27,0.00,0.000,1030,0.000,0.025,2579,2207,3432,3429,3435,0,0,0,0,0,0,28.83,26.22,28.83
$GC,774,-1.23,-175.2,2578,2207,3430,3435,149.5,-15.8,61,779,0.00,1.27,0.00,0.000,516,0.000,0.032,2579,1329,3432,3430,3435,0,0,0,0,0,0,28.83,26.15,28.83
$GC,914,-1.23,-175.2,2579,1329,3430,3436,169.8,-16.0,67,921,0.00,1.30,0.00,0.000,1030,0.000,0.029,2573,2205,3433,3430,3437,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1081,-1.23,-175.2,2573,2204,3430,3437,198.8,-15.6,76,1086,0.00,1.30,0.00,0.000,516,0.000,0.028,2573,1326,3433,3430,3437,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1156,-1.23,-175.2,2573,1326,3431,3437,208.8,-15.3,79,1161,0.00,1.30,0.00,0.000,1030,0.000,0.030,2568,2200,3434,3431,3437,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1332,-1.23,-175.2,2568,2200,3431,3438,236.5,-15.1,88,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2200,3434,3431,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1491,-1.23,-175.2,2568,2200,3431,3438,262.2,-16.2,96,1496,0.00,1.30,0.00,0.000,516,0.000,0.028,2568,1323,3435,3431,3439,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1566,-1.23,-175.2,2567,1322,3432,3439,272.5,-15.8,99,1572,0.08,1.30,0.00,0.000,3078,0.167,0.029,2584,2201,3435,3432,3439,0,0,0,0,0,0,25.81,26.22,28.83
$GC,1742,-1.23,-175.2,2584,2201,3432,3439,300.6,-14.9,108,1747,0.00,1.30,0.00,0.000,516,0.000,0.028,2585,1321,3435,3431,3439,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1816,-1.23,-175.2,2585,1321,3431,3439,310.3,-14.9,111,1822,0.00,1.30,0.00,0.000,1030,0.000,0.029,2582,2199,3435,3431,3439,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1992,-1.23,-175.2,2581,2198,3430,3439,335.6,-13.6,120,1997,0.00,1.30,0.00,0.000,516,0.000,0.027,2582,1320,3435,3431,3439,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2031,-1.23,-175.2,2581,1320,3432,3439,339.0,-13.4,121,2038,0.00,1.30,0.00,0.000,1030,0.000,0.029,2576,2197,3435,3432,3439,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2198,-1.23,-175.2,2576,2197,3432,3439,363.8,-13.6,130,2204,0.00,1.30,0.00,0.000,260,0.000,0.035,2570,3074,3435,3432,3439,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2243,-1.23,-175.2,2569,3074,3433,3439,369.8,-13.3,132,2249,0.00,1.30,0.00,0.000,1030,0.000,0.018,2569,2167,3435,3431,3439,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2409,-1.23,-175.2,2568,2167,3431,3438,391.7,-13.8,140,2414,0.00,1.20,0.00,0.000,516,0.000,0.029,2569,1338,3435,3432,3438,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2504,-1.23,-175.2,2569,1338,3430,3438,403.6,-14.1,144,2510,0.08,1.27,0.00,0.000,3078,0.168,0.029,2587,2194,3434,3431,3437,0,0,0,0,0,0,25.81,26.22,28.83
$GC,2680,-1.23,-175.2,2587,2195,3431,3436,429.6,-14.1,153,2685,0.00,1.30,0.00,0.000,260,0.000,0.036,2582,3068,3433,3431,3436,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2712,-1.23,-175.2,2582,3068,3431,3436,433.0,-13.8,154,2717,0.00,1.25,0.00,0.000,1030,0.000,0.019,2582,2187,3434,3432,3437,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2872,-1.23,-175.2,2582,2187,3431,3435,455.0,-13.1,162,2877,0.00,1.35,0.00,0.000,260,0.000,0.033,2578,3075,3433,3431,3435,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2940,-1.23,-175.2,2576,3075,3431,3434,463.8,-13.1,165,2945,0.00,1.25,0.00,0.000,1030,0.000,0.018,2577,2205,3432,3430,3434,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3106,-1.23,-175.2,2577,2206,3431,3433,485.9,-13.4,173,3112,0.00,1.25,0.00,0.000,516,0.000,0.030,2577,1347,3432,3431,3433,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3315,-1.23,-175.2,2576,1347,3431,3431,513.4,-13.1,183,3321,0.00,1.27,0.00,0.000,1030,0.000,0.030,2571,2196,3430,3431,3430,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3481,-1.23,-175.2,2571,2196,3431,3427,536.1,-13.4,191,3486,0.00,1.30,0.00,0.000,260,0.000,0.035,2566,3069,3429,3431,3427,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3577,-1.23,-175.2,2565,3069,3431,3427,548.1,-14.2,195,3582,0.00,1.25,0.00,0.000,1030,0.000,0.018,2565,2193,3428,3431,3426,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3752,-1.23,-175.2,2564,2193,3431,3425,574.9,-14.5,204,3758,0.12,1.25,0.00,0.000,2564,0.177,0.028,2600,1342,3428,3431,3425,0,0,0,0,0,0,26.03,26.16,28.83
$GC,3972,-1.23,-175.2,2599,1343,3431,3421,602.8,-12.4,215,3977,0.00,1.30,0.00,0.000,1030,0.000,0.030,2597,2202,3425,3431,3420,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4157,-1.23,-175.2,2597,2202,3431,3418,625.8,-12.5,221,4163,0.00,1.30,0.00,0.000,260,0.000,0.037,2590,3069,3424,3431,3418,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4218,-1.23,-175.2,2590,3069,3431,3417,630.3,-12.5,222,4224,0.00,1.25,0.00,0.000,1030,0.000,0.020,2590,2194,3424,3431,3417,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4373,-1.23,-175.2,2590,2193,3431,3414,653.1,-12.6,228,4378,0.00,1.23,0.00,0.000,516,0.000,0.030,2590,1354,3422,3431,3414,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4440,-1.23,-175.2,2590,1354,3431,3413,661.3,-12.4,230,4445,0.00,1.27,0.00,0.000,1030,0.000,0.031,2587,2188,3422,3431,3413,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4625,-1.23,-175.2,2587,2188,3431,3411,686.4,-13.7,236,4631,0.00,1.35,0.00,0.000,260,0.000,0.039,2587,3077,3420,3431,3410,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4767,-1.23,-175.2,2586,3077,3431,3408,705.2,-15.0,240,4772,0.00,1.25,0.00,0.000,1030,0.000,0.020,2587,2204,3419,3431,3408,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4937,-1.23,-175.2,2587,2205,3430,3406,733.3,-15.1,246,4942,0.00,1.25,0.00,0.000,516,0.000,0.031,2587,1351,3418,3431,3406,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5023,-1.23,-175.2,2587,1351,3431,3405,742.5,-14.5,248,5028,0.00,1.30,0.00,0.000,1030,0.000,0.031,2583,2210,3417,3431,3404,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5189,-1.23,-175.2,2583,2210,3431,3402,768.9,-14.2,254,5194,0.00,1.30,0.00,0.000,516,0.000,0.028,2583,1342,3416,3431,3402,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5248,-1.23,-175.2,2583,1343,3431,3401,773.9,-14.2,255,5255,0.00,1.30,0.00,0.000,1030,0.000,0.031,2578,2200,3416,3431,3401,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5404,-1.23,-175.2,2577,2200,3431,3398,799.0,-13.9,261,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2200,3414,3430,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5555,-1.23,-175.2,2577,2199,3430,3397,820.0,-13.8,266,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2200,3413,3430,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5704,-1.23,-175.2,2577,2200,3430,3395,840.8,-13.8,271,5709,0.00,1.33,0.00,0.000,260,0.000,0.038,2571,3071,3413,3431,3395,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5789,-1.23,-175.2,2571,3071,3428,3395,850.5,-14.4,273,5794,0.00,1.25,0.00,0.000,1030,0.000,0.021,2571,2204,3412,3429,3395,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5955,-1.23,-175.2,2571,2204,3429,3392,877.9,-14.7,279,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2204,3410,3429,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6104,-1.23,-175.2,2571,2204,3428,3391,900.1,-14.9,284,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2204,3409,3428,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6254,-1.23,-175.2,2571,2204,3427,3389,922.0,-14.6,289,6259,0.00,1.27,0.00,0.000,516,0.000,0.031,2571,1343,3408,3427,3389,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6284,-1.23,-175.2,2571,1343,3429,3389,922.0,-14.6,289,6290,0.00,1.30,0.00,0.000,1030,0.000,0.032,2566,2199,3407,3426,3389,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6439,-1.23,-175.2,2566,2199,3425,3388,950.4,-15.5,295,6444,0.00,1.33,0.00,0.000,260,0.000,0.040,2560,3067,3406,3425,3388,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6563,-1.23,-175.2,2560,3066,3423,3387,965.5,-15.6,298,6571,0.10,1.25,0.00,0.000,3078,0.165,0.021,2589,2192,3405,3424,3387,0,0,0,0,0,0,25.72,26.27,28.83
$STATE,6711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6711,begin apogee
$GC,6720,-0.21,0.0,2588,2036,3423,3385,992.5,-14.4,304,6896,1.08,0.00,164.35,1.180,10246,0.147,0.000,2912,2036,2702,2781,2623,0,0,0,0,0,0,24.81,28.83,22.96
$STATE,6899,end apogee,CONTROL_FINISHED_OK
$STATE,6899,begin climb
$GC,6902,1.23,175.2,2912,2036,2781,2618,1000.9,0.0,310,7077,1.35,1.40,162.35,1.164,10500,0.076,0.037,3380,2919,1983,2081,1886,0,0,0,0,0,0,25.13,25.01,23.15
$GC,7132,1.23,175.2,3380,2919,2074,1868,981.8,11.2,317,7137,0.00,1.27,0.00,0.000,1030,0.000,0.027,3385,2094,1970,2074,1866,0,0,0,0,0,0,28.83,25.67,28.83
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$STATE,15652,end climb,SURFACE_DEPTH_REACHED
$STATE,15653,begin surface coast
$FINISH,1.3,1.009549
$STATE,15674,end surface coast,CONTROL_FINISHED_OK
$STATE,15674,begin surface
$SM_CCo,15697,4.22,0.135,0,0,879,450.13
$SM_GC,2.28,8.77,0.20,4.22,0.026,0.060,0.135,138,2205,879,-8.83,-1.33,450.13,0,0,0,0,0,0,26.02,26.27,25.08
$IRIDIUM_FIX,2013.37,12254.88,041013,010112
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.26
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.10
$XPDR_PINGS,4
$SC_FREEKB,7553216
$24V_AH,23.0,93.681
$10V_AH,9.7,58.542
$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,22.625,140.700,538.975,4.225,0.000,0.000,0.000,310.300,1.000,0.000,45.453,3030.305,9001.194,715.636,2746.444,810.846,0.000,2405.077,0.000,2329.435,0.000,0.542,0.000
$DEVICE_MAMPS,229.500,70.380,1179.630,135.405,0.000,0.000,0.000,118.575,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15682.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.195,0.000,0.000,0.000
$MEM,327796
$DATA_FILE_SIZE,26729,710
$CAP_FILE_SIZE,233612,1
$CFSIZE,260034560,199569408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200, 60.2,1
$GPS,041013,104105,2021.830,12256.427,42,1.1,42,-2.9