version: 66.11
glider: 167
mission: 16
dive: 580
start: 10 6 113 23 5 38
data:
$ID,167
$MISSION,16
$DIVE,580
$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,340
$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,250
$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,-976634.56
$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,55
$R_STBD_OVSHOOT,58
$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
$GPS1,061013,225553,2031.019,12302.522,40,1.2,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.4
$GPS2,061013,230506,2031.041,12302.688,39,1.1,39,-2.9
$SPEED_LIMITS,0.168,0.196
$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,264.9,135411,-15.5,-9.706,-26.33,3713
$D_GRID,5342
$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,-1.25,-243.3,111,2228,909,855,0.0,0.0,0,99,0.00,0.00,-69.55,0.000,16386,0.000,0.000,111,2228,2579,2560,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.25,-243.3,110,2227,2560,2599,3.2,-3.4,12,150,11.30,1.33,-24.02,0.000,18692,0.252,0.062,2573,3063,3710,3703,3717,0,0,0,0,0,0,24.65,25.87,26.47
$GC,319,-1.25,-243.3,2572,3063,3703,3718,55.1,-27.7,38,325,0.00,1.30,0.00,0.000,1030,0.000,0.025,2573,2183,3710,3703,3718,0,0,0,0,0,0,28.83,26.12,28.83
$GC,483,-1.25,-243.3,2571,2182,3703,3718,101.0,-24.1,47,488,0.00,1.35,0.00,0.000,260,0.000,0.035,2567,3065,3710,3703,3718,0,0,0,0,0,0,28.83,26.05,28.83
$GC,542,-1.25,-243.3,2567,3065,3703,3718,111.6,-22.8,49,548,0.00,1.27,0.00,0.000,1030,0.000,0.025,2567,2198,3710,3703,3717,0,0,0,0,0,0,28.83,26.21,28.83
$GC,708,-1.25,-243.3,2567,2198,3707,3718,147.4,-19.3,58,713,0.00,1.27,0.00,0.000,516,0.000,0.031,2567,1322,3711,3703,3719,0,0,0,0,0,0,28.83,26.15,28.83
$GC,754,-1.25,-243.3,2567,1322,3704,3719,156.1,-19.4,60,759,0.00,1.33,0.00,0.000,1030,0.000,0.034,2562,2190,3711,3704,3719,0,0,0,0,0,0,28.83,26.11,28.83
$GC,919,-1.25,-243.3,2562,2191,3704,3719,187.1,-17.9,68,924,0.00,1.33,0.00,0.000,260,0.000,0.038,2555,3072,3711,3704,3719,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1052,-1.25,-243.3,2555,3072,3704,3719,210.7,-18.5,74,1058,0.08,1.27,0.00,0.000,3078,0.173,0.024,2577,2190,3711,3704,3719,0,0,0,0,0,0,25.84,26.27,28.83
$GC,1215,-1.25,-243.3,2577,2190,3703,3719,241.0,-18.0,82,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2190,3711,3704,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-1.25,-243.3,2577,2190,3705,3719,267.7,-16.2,90,1379,0.00,1.23,0.00,0.000,516,0.000,0.030,2576,1343,3712,3705,3719,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1473,-1.25,-243.3,2577,1343,3705,3719,281.3,-15.7,94,1481,0.00,1.27,0.00,0.000,1030,0.000,0.030,2574,2196,3712,3705,3719,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1641,-1.25,-243.3,2574,2196,3705,3719,309.8,-16.5,103,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2196,3712,3705,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,-1.25,-243.3,2574,2196,3705,3719,337.7,-17.4,111,1805,0.00,1.27,0.00,0.000,516,0.000,0.028,2574,1335,3712,3705,3719,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1839,-1.25,-243.3,2574,1335,3705,3720,341.9,-17.1,112,1846,0.00,1.30,0.00,0.000,1030,0.000,0.031,2569,2203,3711,3703,3719,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2006,-1.25,-243.3,2568,2204,3705,3719,371.9,-16.6,121,2011,0.00,1.30,0.00,0.000,260,0.000,0.035,2562,3078,3712,3705,3719,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2060,-1.25,-243.3,2562,3078,3705,3719,379.1,-15.9,123,2066,0.00,1.27,0.00,0.000,1030,0.000,0.020,2562,2192,3712,3705,3719,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2236,-1.25,-243.3,2562,2192,3705,3719,405.7,-14.4,132,2241,0.00,1.23,0.00,0.000,516,0.000,0.028,2562,1339,3712,3705,3719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2271,-1.25,-243.3,2562,1338,3705,3719,409.3,-14.2,133,2276,0.00,1.30,0.00,0.000,1030,0.000,0.031,2557,2203,3712,3705,3720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2447,-1.25,-243.3,2557,2202,3705,3719,436.2,-15.1,142,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2203,3712,3705,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2608,-1.25,-243.3,2557,2202,3705,3718,460.4,-14.9,150,2613,0.00,1.27,0.00,0.000,516,0.000,0.028,2557,1340,3711,3704,3718,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2662,-1.25,-243.3,2557,1339,3705,3718,467.4,-15.2,152,2667,0.10,1.30,0.00,0.000,3078,0.167,0.031,2581,2204,3710,3704,3717,0,0,0,0,0,0,25.70,26.19,28.83
$GC,2838,-1.25,-243.3,2580,2204,3704,3716,494.6,-15.1,161,2843,0.00,1.30,0.00,0.000,260,0.000,0.037,2576,3074,3710,3705,3716,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2907,-1.25,-243.3,1544,3072,3698,3713,505.1,-15.8,164,2912,0.00,1.25,0.00,0.000,1030,0.000,0.020,2576,2200,3710,3705,3715,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3067,-1.25,-243.3,2576,2200,3705,3713,532.8,-17.0,172,3073,0.00,1.25,0.00,0.000,516,0.000,0.030,2576,1340,3709,3705,3713,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3093,-1.25,-243.3,2576,1340,3705,3713,537.2,-16.9,173,3099,0.00,1.30,0.00,0.000,1030,0.000,0.031,2572,2195,3708,3705,3712,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3260,-1.25,-243.3,2572,2195,3705,3711,564.8,-16.4,181,3265,0.00,1.27,0.00,0.000,516,0.000,0.028,2572,1335,3707,3705,3710,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3294,-1.25,-243.3,2572,1335,3705,3710,569.0,-16.3,182,3299,0.00,1.30,0.00,0.000,1030,0.000,0.030,2567,2201,3707,3705,3710,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3471,-1.25,-243.3,2566,2201,3705,3707,598.3,-15.6,191,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2201,3706,3705,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-1.25,-243.3,2566,2200,3705,3705,624.6,-15.5,197,3646,0.00,1.27,0.00,0.000,516,0.000,0.028,2566,1343,3705,3705,3705,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3685,-1.25,-243.3,2566,1343,3705,3704,630.3,-15.6,198,3690,0.00,1.30,0.00,0.000,1030,0.000,0.031,2561,2205,3703,3703,3704,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3861,-1.25,-243.3,2561,2204,3704,3701,660.0,-16.1,204,3866,0.00,1.30,0.00,0.000,260,0.000,0.038,2555,3069,3702,3704,3701,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4006,-1.25,-243.3,2555,3069,3704,3698,681.7,-17.2,208,4012,0.08,1.25,0.00,0.000,3078,0.171,0.020,2577,2196,3701,3704,3698,0,0,0,0,0,0,25.87,26.32,28.83
$GC,4174,-1.25,-243.3,2577,2195,3704,3695,711.1,-15.5,214,4179,0.00,1.25,0.00,0.000,516,0.000,0.030,2577,1340,3699,3703,3695,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4239,-1.25,-243.3,2577,1340,3704,3694,720.9,-15.0,216,4244,0.00,1.30,0.00,0.000,1030,0.000,0.031,2574,2192,3698,3704,3693,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4425,-1.25,-243.3,2574,2190,3704,3690,748.6,-14.9,222,4431,0.00,1.33,0.00,0.000,260,0.000,0.039,2569,3067,3697,3704,3690,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4583,-1.25,-243.3,2568,3066,3704,3687,773.4,-15.9,227,4588,0.00,1.25,0.00,0.000,1030,0.000,0.021,2569,2207,3694,3702,3687,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4769,-1.25,-243.3,2568,2207,3704,3684,802.1,-15.5,233,4775,0.00,1.27,0.00,0.000,516,0.000,0.031,2569,1337,3695,3704,3686,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4818,-1.25,-243.3,2568,1337,3704,3684,807.8,-15.4,234,4824,0.00,1.30,0.00,0.000,1030,0.000,0.031,2563,2192,3693,3704,3683,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4988,-1.25,-243.3,2564,2192,3704,3680,837.4,-16.4,240,4994,0.00,1.35,0.00,0.000,260,0.000,0.040,2558,3079,3692,3704,3680,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5095,-1.25,-243.3,2557,3078,3704,3678,854.2,-17.4,243,5100,0.00,1.27,0.00,0.000,1030,0.000,0.021,2558,2202,3690,3703,3678,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5270,-1.25,-243.3,2557,2202,3703,3675,887.3,-17.7,249,5275,0.00,1.27,0.00,0.000,516,0.000,0.031,2558,1334,3689,3704,3675,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5299,-1.25,-243.3,2557,1335,3704,3675,887.3,-17.7,249,5307,0.10,1.33,0.00,0.000,3078,0.171,0.031,2580,2201,3689,3703,3675,0,0,0,0,0,0,25.60,26.11,28.83
$GC,5456,-1.25,-243.3,2582,2202,3704,3672,918.3,-16.6,255,5461,0.00,1.33,0.00,0.000,260,0.000,0.039,2576,3072,3688,3704,3672,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5627,-1.25,-243.3,2576,3072,3702,3670,944.7,-16.7,260,5632,0.00,1.27,0.00,0.000,1030,0.000,0.021,2576,2200,3686,3702,3670,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5797,-1.25,-243.3,2576,2200,3701,3669,974.9,-16.4,266,5802,0.00,1.27,0.00,0.000,516,0.000,0.031,2576,1337,3685,3701,3669,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5826,-1.25,-243.3,2576,1337,3701,3669,974.9,-16.4,266,5833,0.00,1.33,0.00,0.000,1030,0.000,0.034,2573,2197,3684,3700,3668,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,5918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5918,begin apogee
$GC,5928,-0.21,0.0,2572,2040,3699,3668,994.5,-15.8,270,6221,1.15,0.00,284.58,1.040,10246,0.148,0.000,2915,2040,2712,2796,2629,0,0,0,0,0,0,24.84,28.83,23.37
$STATE,6227,end apogee,CONTROL_FINISHED_OK
$STATE,6227,begin climb
$GC,6231,1.25,243.3,2915,2040,2785,2612,1007.7,0.0,280,6467,1.35,1.38,226.40,1.136,10756,0.076,0.040,3392,1204,1716,1807,1626,0,0,0,0,0,0,25.18,25.10,23.54
$GC,6548,1.25,243.3,3392,1204,1778,1606,971.1,14.8,290,6553,0.00,1.33,0.00,0.000,1030,0.000,0.034,3393,2043,1691,1778,1605,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6713,1.25,243.3,3392,2043,1776,1601,942.6,15.4,296,6720,0.00,1.33,0.00,0.000,516,0.000,0.037,3398,1204,1688,1776,1601,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6814,1.25,243.3,2432,1203,1714,1592,927.8,15.4,299,6819,0.00,1.33,0.00,0.000,1030,0.000,0.034,3398,2052,1688,1775,1601,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6995,1.25,243.3,3398,2051,1774,1599,900.5,14.6,305,7000,0.00,1.33,0.00,0.000,516,0.000,0.037,3403,1207,1686,1774,1599,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,14533,end climb,SURFACE_DEPTH_REACHED
$STATE,14534,begin surface coast
$FINISH,1.2,1.021619
$STATE,14555,end surface coast,CONTROL_FINISHED_OK
$STATE,14559,begin surface
$SM_CCo,14643,0.00,0.000,0,0,827,463.13
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$IRIDIUM_FIX,2020.26,12300.56,061013,181835
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.50
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.80
$XPDR_PINGS,4
$SC_FREEKB,7547840
$24V_AH,23.4,96.041
$10V_AH,9.7,60.069
$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
$DEVICE_SECS,23.800,129.425,676.550,0.000,0.000,0.000,0.000,282.650,1.000,0.000,40.773,2690.483,8444.358,793.570,2490.142,761.784,0.000,2372.725,0.000,2087.873,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.136,0.000,0.000,0.000
$MEM,327828
$DATA_FILE_SIZE,26749,667
$CAP_FILE_SIZE,215078,0
$CFSIZE,260034560,198172672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.265, 88.0,1
$GPS,071013,031106,2031.314,12303.905,43,1.0,43,-2.9