version: 66.11
glider: 167
mission: 16
dive: 581
start: 10 7 113 3 20 26
data:
$ID,167
$MISSION,16
$DIVE,581
$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,-976635.81
$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,50
$R_STBD_OVSHOOT,59
$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
$GPS1,071013,031106,2031.314,12303.905,43,1.0,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-71.4
$GPS2,071013,031954,2031.270,12303.957,44,1.1,44,-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,264.2,136916,-15.5,-9.706,-26.33,3713
$D_GRID,5252
$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,28,-1.25,-243.3,126,2242,898,757,0.0,0.0,0,106,0.00,0.00,-75.22,0.000,16386,0.000,0.000,125,2240,2707,2686,2729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-1.25,-243.3,125,2240,2687,2730,3.5,-3.8,13,148,10.98,0.00,-20.70,0.000,19206,0.244,0.000,2581,2238,3708,3703,3714,0,0,0,0,0,0,24.72,28.83,26.48
$GC,320,-1.25,-243.3,2581,2238,3703,3716,56.1,-25.3,39,326,0.00,1.27,0.00,0.000,260,0.000,0.044,2577,3058,3709,3703,3716,0,0,0,0,0,0,28.83,25.94,28.83
$GC,493,-1.25,-243.3,1536,3056,3696,3714,101.0,-27.3,47,498,0.00,1.27,0.00,0.000,1030,0.000,0.022,2577,2175,3709,3703,3716,0,0,0,0,0,0,28.83,26.24,28.83
$GC,652,-1.25,-243.3,2576,2174,3703,3716,135.6,-19.4,55,658,0.00,1.20,0.00,0.000,516,0.000,0.027,2577,1336,3710,3704,3716,0,0,0,0,0,0,28.83,26.20,28.83
$GC,687,-1.25,-243.3,2577,1335,3703,3717,140.0,-18.5,56,692,0.00,1.27,0.00,0.000,1030,0.000,0.028,2570,2193,3710,3703,3717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,863,-1.25,-243.3,2571,2193,3703,3717,176.6,-20.3,65,868,0.00,1.33,0.00,0.000,260,0.000,0.037,2565,3074,3710,3704,3717,0,0,0,0,0,0,28.83,26.09,28.83
$GC,980,-1.25,-243.3,2564,3074,3704,3718,199.2,-21.6,70,986,0.00,1.25,0.00,0.000,1030,0.000,0.021,2566,2200,3711,3704,3718,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1156,-1.25,-243.3,2565,2200,3704,3718,236.8,-19.3,79,1161,0.00,1.33,0.00,0.000,260,0.000,0.034,2559,3066,3711,3704,3718,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1211,-1.25,-243.3,2560,3066,3704,3718,244.3,-17.3,81,1216,0.00,1.25,0.00,0.000,1030,0.000,0.021,2559,2192,3710,3704,3717,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1387,-1.25,-243.3,2559,2193,3704,3718,274.0,-15.8,90,1392,0.00,1.23,0.00,0.000,516,0.000,0.026,2560,1333,3711,3704,3718,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1446,-1.25,-243.3,2559,1333,3704,3718,281.0,-15.6,92,1453,0.08,1.27,0.00,0.000,3078,0.174,0.028,2576,2193,3711,3704,3718,0,0,0,0,0,0,25.79,26.22,28.83
$GC,1612,-1.25,-243.3,2576,2194,3704,3718,308.8,-15.4,101,1617,0.00,1.25,0.00,0.000,516,0.000,0.026,2576,1337,3711,3704,3718,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1632,-1.25,-243.3,2576,1336,3704,3718,308.8,-15.4,101,1638,0.00,1.27,0.00,0.000,1030,0.000,0.028,2573,2192,3711,3704,3718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1797,-1.25,-243.3,2573,2191,3704,3718,338.8,-16.9,110,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2192,3711,3704,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1958,-1.25,-243.3,2573,2192,3704,3718,364.8,-16.1,118,1963,0.00,1.25,0.00,0.000,516,0.000,0.027,2573,1339,3711,3704,3718,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1986,-1.25,-243.3,1552,1338,3697,3716,369.0,-16.1,119,1992,0.00,1.27,0.00,0.000,1030,0.000,0.029,2568,2192,3711,3704,3718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2147,-1.25,-243.3,2568,2192,3706,3718,396.3,-16.7,127,2152,0.00,1.33,0.00,0.000,260,0.000,0.037,2561,3074,3711,3704,3718,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2259,-1.25,-243.3,1488,3073,3697,3716,412.3,-15.0,132,2264,0.00,1.25,0.00,0.000,1030,0.000,0.021,2561,2204,3712,3706,3718,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2420,-1.25,-243.3,2561,2203,3704,3717,437.1,-15.0,140,2425,0.00,1.25,0.00,0.000,516,0.000,0.028,2561,1331,3710,3704,3717,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2500,-1.25,-243.3,2561,1332,3705,3716,446.9,-15.0,143,2507,0.00,1.30,0.00,0.000,1030,0.000,0.029,2556,2202,3709,3704,3715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2665,-1.25,-243.3,2556,2201,3706,3715,473.2,-14.5,152,2671,0.12,1.33,0.00,0.000,2308,0.194,0.036,2585,3072,3709,3704,3714,0,0,0,0,0,0,25.98,26.09,28.83
$GC,2824,-1.25,-243.3,2585,3072,3704,3713,494.1,-13.9,159,2829,0.00,1.25,0.00,0.000,1030,0.000,0.021,2585,2203,3708,3704,3713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3000,-1.25,-243.3,2585,2203,3704,3711,521.2,-15.1,168,3005,0.00,1.25,0.00,0.000,516,0.000,0.028,2585,1335,3707,3704,3711,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3118,-1.25,-243.3,2585,1335,3703,3710,537.5,-15.4,173,3123,0.00,1.30,0.00,0.000,1030,0.000,0.029,2580,2202,3707,3704,3710,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3293,-1.25,-243.3,2580,2201,3704,3707,568.4,-16.8,182,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2201,3705,3704,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3453,-1.25,-243.3,2580,2201,3704,3705,594.8,-16.4,190,3458,0.00,1.30,0.00,0.000,260,0.000,0.038,2573,3061,3704,3704,3705,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3503,-1.25,-243.3,1552,3060,3697,3702,602.3,-16.3,192,3508,0.00,1.25,0.00,0.000,1030,0.000,0.021,2573,2187,3704,3704,3704,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3674,-1.25,-243.3,2573,2186,3704,3702,629.9,-15.7,198,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2186,3702,3704,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3825,-1.25,-243.3,2573,2186,3704,3699,653.0,-15.2,203,3830,0.00,1.23,0.00,0.000,516,0.000,0.028,2573,1337,3701,3704,3698,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3848,-1.25,-243.3,2573,1338,3704,3698,653.0,-15.2,203,3854,0.00,1.30,0.00,0.000,1030,0.000,0.030,2568,2198,3701,3704,3698,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4013,-1.25,-243.3,2568,2198,3704,3694,680.8,-14.6,209,4019,0.00,1.27,0.00,0.000,516,0.000,0.027,2568,1335,3699,3704,3694,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4048,-1.25,-243.3,2568,1335,3704,3694,685.9,-14.6,210,4054,0.00,1.33,0.00,0.000,1030,0.000,0.029,2563,2207,3699,3704,3694,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4235,-1.25,-243.3,2563,2207,3704,3690,713.4,-14.9,216,4240,0.00,1.33,0.00,0.000,260,0.000,0.041,2556,3075,3697,3704,3690,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4279,-1.25,-243.3,2556,3075,3703,3690,719.0,-14.9,217,4284,0.00,1.25,0.00,0.000,1030,0.000,0.021,2556,2206,3697,3704,3690,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4455,-1.25,-243.3,2555,2206,3704,3686,749.0,-16.6,223,4457,0.12,0.00,0.00,0.000,2054,0.186,0.000,2585,2206,3694,3702,3686,0,0,0,0,0,0,26.06,28.83,28.83
$GC,4605,-1.25,-243.3,2585,2205,3704,3684,772.4,-15.5,228,4610,0.00,1.25,0.00,0.000,516,0.000,0.028,2585,1342,3694,3704,3684,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4634,-1.25,-243.3,2585,1341,3704,3683,772.4,-15.5,228,4640,0.00,1.30,0.00,0.000,1030,0.000,0.031,2582,2199,3692,3702,3683,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4791,-1.25,-243.3,2582,2199,3704,3681,802.3,-16.2,234,4797,0.00,1.33,0.00,0.000,260,0.000,0.041,2576,3067,3692,3704,3680,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4937,-1.25,-243.3,2576,3066,3704,3677,823.7,-16.8,238,4943,0.00,1.25,0.00,0.000,1030,0.000,0.021,2576,2206,3690,3704,3677,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5104,-1.25,-243.3,2575,2206,3704,3674,853.6,-16.1,244,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2206,3689,3704,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5253,-1.25,-243.3,2576,2206,3704,3672,878.0,-16.3,249,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2206,3688,3704,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5403,-1.25,-243.3,2576,2206,3703,3670,902.7,-16.5,254,5408,0.00,1.35,0.00,0.000,260,0.000,0.039,2572,3066,3686,3703,3669,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5483,-1.25,-243.3,2571,3066,3701,3669,913.8,-16.7,256,5489,0.00,1.27,0.00,0.000,1030,0.000,0.022,2572,2191,3685,3702,3669,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5654,-1.25,-243.3,2571,2192,3700,3668,944.9,-16.8,262,5660,0.00,1.38,0.00,0.000,260,0.000,0.040,2566,3070,3684,3700,3668,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5729,-1.25,-243.3,2566,3069,3697,3668,956.3,-17.0,264,5734,0.00,1.27,0.00,0.000,1030,0.000,0.022,2568,2199,3683,3698,3668,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5905,-1.25,-243.3,2566,2199,3697,3665,988.0,-17.3,270,5911,0.00,1.38,0.00,0.000,260,0.000,0.039,2561,3074,3681,3698,3664,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,5937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5937,begin apogee
$GC,5948,-0.21,0.0,2561,2052,3698,3664,994.3,-17.4,271,6243,1.20,0.00,288.00,1.025,10246,0.153,0.000,2913,2052,2714,2797,2631,0,0,0,0,0,0,24.76,28.83,23.56
$STATE,6248,end apogee,CONTROL_FINISHED_OK
$STATE,6249,begin climb
$GC,6252,1.25,243.3,2913,2052,2790,2617,1009.0,0.0,281,6481,1.38,1.45,218.85,1.167,11012,0.077,0.041,3390,2918,1711,1802,1621,0,0,0,0,0,0,25.20,25.06,23.49
$GC,6500,1.25,243.3,3389,2917,1787,1606,985.0,12.9,289,6506,0.00,1.33,0.00,0.000,1030,0.000,0.031,3396,2073,1695,1786,1605,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6671,1.25,243.3,3395,2073,1782,1599,956.3,15.2,295,6676,0.00,1.38,0.00,0.000,516,0.000,0.037,3401,1180,1690,1782,1599,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6700,1.25,243.3,3401,1179,1781,1599,956.3,15.2,295,6707,0.00,1.35,0.00,0.000,1030,0.000,0.033,3401,2049,1690,1781,1599,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6857,1.25,243.3,3401,2048,1780,1598,927.5,15.6,301,6862,0.00,1.38,0.00,0.000,260,0.000,0.044,3401,2932,1688,1780,1596,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,14737,end climb,SURFACE_DEPTH_REACHED
$STATE,14737,begin surface coast
$FINISH,1.3,1.021634
$STATE,14767,end surface coast,CONTROL_FINISHED_OK
$STATE,14767,begin surface
$SM_CCo,14791,25.20,0.121,0,0,878,450.13
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$IRIDIUM_FIX,2022.56,12300.56,061013,222246
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.23
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.80
$XPDR_PINGS,3
$SC_FREEKB,7547456
$24V_AH,23.5,96.227
$10V_AH,9.8,60.171
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.050,140.600,639.350,25.200,0.000,0.000,0.000,253.200,0.750,0.000,45.559,2720.572,8550.564,826.376,2453.339,783.962,0.000,2368.951,0.000,2080.022,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.155,0.000,0.000,0.000
$MEM,327808
$DATA_FILE_SIZE,26756,682
$CAP_FILE_SIZE,221200,0
$CFSIZE,260034560,198070272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164, 79.6,1
$GPS,071013,072837,2031.675,12304.130,27,1.2,27,-2.9