version: 66.11
glider: 167
mission: 16
dive: 585
start: 10 7 113 20 39 38
data:
$ID,167
$MISSION,16
$DIVE,585
$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,0
$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,-976640.81
$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,52
$R_STBD_OVSHOOT,74
$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
$GPS1,071013,202905,2034.196,12306.437,29,0.8,29,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.2
$GPS2,071013,203905,2034.326,12306.506,27,1.6,27,-3.0
$SPEED_LIMITS,0.168,0.196
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,331.2,325350,-15.5,-9.706,-26.33,3713
$D_GRID,5494
$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,-1.25,-243.3,133,2235,930,845,0.0,0.0,0,101,0.00,0.00,-70.93,0.000,16386,0.000,0.000,133,2235,2639,2616,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.25,-243.3,133,2235,2617,2663,3.3,-3.5,13,149,10.73,1.38,-22.75,0.000,18948,0.239,0.048,2578,1321,3706,3700,3713,0,0,0,0,0,0,24.64,25.92,26.46
$GC,267,-1.25,-243.3,2577,1321,3700,3715,43.6,-25.6,35,272,0.00,1.33,0.00,0.000,1030,0.000,0.034,2574,2174,3708,3701,3715,0,0,0,0,0,0,28.83,25.96,28.83
$GC,443,-1.25,-243.3,2574,2175,3700,3715,88.5,-25.5,45,448,0.00,1.38,0.00,0.000,260,0.000,0.038,2568,3085,3707,3700,3715,0,0,0,0,0,0,28.83,26.01,28.83
$GC,678,-1.25,-243.3,2567,3085,3700,3715,139.0,-20.4,56,683,0.00,1.33,0.00,0.000,1030,0.000,0.024,2568,2177,3708,3701,3715,0,0,0,0,0,0,28.83,26.23,28.83
$GC,854,-1.25,-243.3,2567,2178,3702,3716,178.4,-21.7,65,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2177,3709,3702,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1013,-1.25,-243.3,2567,2177,3702,3716,210.0,-18.8,73,1018,0.00,1.23,0.00,0.000,516,0.000,0.030,2568,1333,3709,3702,3716,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1053,-1.25,-243.3,2567,1333,3702,3716,214.6,-18.7,74,1060,0.00,1.30,0.00,0.000,1030,0.000,0.030,2562,2207,3709,3702,3717,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1218,-1.25,-243.3,2562,2207,3702,3717,246.0,-17.4,83,1223,0.00,1.30,0.00,0.000,516,0.000,0.028,2562,1332,3709,3702,3717,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1272,-1.25,-243.3,2562,1331,3702,3716,253.3,-16.8,85,1278,0.00,1.30,0.00,0.000,1030,0.000,0.031,2557,2198,3709,3702,3717,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1449,-1.25,-243.3,2557,2198,3702,3718,285.1,-17.8,94,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2198,3709,3702,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1607,-1.25,-243.3,2557,2197,3703,3718,315.4,-19.6,102,1612,0.00,1.30,0.00,0.000,260,0.000,0.035,2550,3075,3710,3703,3718,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1621,-1.25,-243.3,2550,3075,3703,3718,315.4,-19.6,102,1627,0.10,1.27,0.00,0.000,3078,0.165,0.021,2579,2187,3710,3703,3718,0,0,0,0,0,0,25.78,26.30,28.83
$GC,1798,-1.25,-243.3,2578,2187,3703,3718,346.8,-15.5,111,1803,0.00,1.23,0.00,0.000,516,0.000,0.030,2579,1342,3710,3703,3718,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1843,-1.25,-243.3,2580,1342,3703,3717,353.7,-15.4,113,1848,0.00,1.30,0.00,0.000,1030,0.000,0.030,2576,2205,3710,3703,3717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2009,-1.25,-243.3,2576,2205,3703,3717,377.7,-14.1,121,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2205,3710,3703,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2168,-1.25,-243.3,2576,2205,3703,3718,401.6,-14.9,129,2173,0.00,1.27,0.00,0.000,516,0.000,0.028,2575,1343,3710,3703,3717,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2257,-1.25,-243.3,1536,1342,3696,3715,414.6,-15.2,133,2262,0.00,1.27,0.00,0.000,1030,0.000,0.031,2571,2193,3710,3703,3717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2417,-1.25,-243.3,2571,2193,3703,3717,440.2,-16.1,141,2422,0.00,1.30,0.00,0.000,260,0.000,0.036,2565,3066,3709,3702,3717,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2446,-1.25,-243.3,2565,3066,3702,3717,444.6,-16.5,142,2451,0.00,1.25,0.00,0.000,1030,0.000,0.020,2565,2195,3709,3703,3716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2607,-1.25,-243.3,2564,2195,3702,3715,472.6,-16.7,150,2613,0.00,1.25,0.00,0.000,516,0.000,0.030,2564,1339,3709,3703,3715,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2764,-1.25,-243.3,2564,1339,3703,3713,496.9,-16.0,157,2769,0.00,1.30,0.00,0.000,1030,0.000,0.031,2560,2199,3707,3701,3713,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2941,-1.25,-243.3,2560,2199,3703,3711,526.3,-15.7,166,2946,0.00,1.27,0.00,0.000,516,0.000,0.028,2560,1342,3706,3702,3711,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2960,-1.25,-243.3,2560,1342,3703,3711,526.3,-15.7,166,2967,0.08,1.30,0.00,0.000,3078,0.173,0.031,2577,2204,3707,3703,3711,0,0,0,0,0,0,25.76,26.17,28.83
$GC,3127,-1.25,-243.3,2577,2204,3703,3709,553.6,-14.5,175,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2204,3706,3703,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3286,-1.25,-243.3,2577,2204,3702,3706,577.5,-14.8,183,3291,0.00,1.27,0.00,0.000,516,0.000,0.028,2577,1346,3704,3703,3706,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3305,-1.25,-243.3,2577,1346,3703,3706,577.5,-14.8,183,3312,0.00,1.30,0.00,0.000,1030,0.000,0.031,2574,2208,3704,3702,3706,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3462,-1.25,-243.3,2574,2207,3702,3704,604.9,-15.9,191,3468,0.00,1.30,0.00,0.000,516,0.000,0.028,2574,1339,3703,3703,3704,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3518,-1.25,-243.3,2574,1339,3703,3703,610.7,-15.8,192,3523,0.00,1.30,0.00,0.000,1030,0.000,0.031,2569,2201,3703,3703,3703,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3683,-1.25,-243.3,2569,2200,3703,3700,640.1,-16.0,198,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2201,3701,3703,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3834,-1.25,-243.3,2569,2201,3703,3697,663.3,-15.5,203,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2201,3699,3702,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3983,-1.25,-243.3,2569,2201,3703,3694,686.3,-15.4,208,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2200,3698,3703,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4133,-1.25,-243.3,2569,2201,3703,3692,708.9,-15.0,213,4138,0.00,1.33,0.00,0.000,260,0.000,0.037,2562,3078,3697,3703,3691,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4177,-1.25,-243.3,2562,3079,3702,3691,714.5,-15.3,214,4182,0.00,1.27,0.00,0.000,1030,0.000,0.021,2563,2199,3697,3703,3691,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4353,-1.25,-243.3,2562,2199,3703,3687,744.5,-16.4,220,4358,0.00,1.25,0.00,0.000,516,0.000,0.032,2562,1348,3695,3703,3687,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4382,-1.25,-243.3,2562,1348,3702,3686,744.5,-16.4,220,4389,0.00,1.30,0.00,0.000,1030,0.000,0.033,2561,2200,3693,3702,3685,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4539,-1.25,-243.3,2560,2200,3701,3684,775.5,-16.9,226,4544,0.00,1.33,0.00,0.000,260,0.000,0.038,2555,3075,3693,3702,3684,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4604,-1.25,-243.3,2555,3075,3702,3683,787.2,-17.6,228,4610,0.08,1.27,0.00,0.000,3078,0.169,0.021,2577,2194,3692,3701,3683,0,0,0,0,0,0,25.84,26.29,28.83
$GC,4790,-1.25,-243.3,2577,2194,3702,3678,818.6,-16.9,234,4795,0.00,1.25,0.00,0.000,516,0.000,0.032,2577,1349,3690,3702,3679,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4850,-1.25,-243.3,2577,1349,3702,3678,824.5,-17.0,235,4857,0.00,1.30,0.00,0.000,1030,0.000,0.032,2574,2203,3689,3702,3677,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5006,-1.25,-243.3,2573,2203,3702,3675,853.8,-16.3,241,5011,0.00,1.33,0.00,0.000,260,0.000,0.041,2574,3068,3688,3702,3675,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5121,-1.25,-243.3,2574,3068,3701,3673,868.6,-15.5,244,5126,0.00,1.25,0.00,0.000,1030,0.000,0.022,2574,2209,3687,3702,3673,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5288,-1.25,-243.3,2574,2209,3702,3670,895.7,-14.3,250,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2209,3685,3701,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5436,-1.25,-243.3,2574,2207,3700,3669,916.6,-13.9,255,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2209,3684,3700,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5587,-1.25,-243.3,2575,2209,3698,3668,937.5,-13.9,260,5592,0.00,1.35,0.00,0.000,260,0.000,0.039,2576,3069,3682,3698,3667,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5646,-1.25,-243.3,2574,3069,3697,3667,942.6,-13.9,261,5653,0.00,1.27,0.00,0.000,1030,0.000,0.022,2574,2201,3682,3697,3667,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5802,-1.25,-243.3,2573,2201,3697,3664,968.2,-14.4,267,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2201,3680,3697,3664,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5948,begin apogee
$GC,5958,-0.21,0.0,2574,2012,3696,3663,991.2,-15.4,272,6190,1.15,0.00,222.00,1.200,10246,0.149,0.000,2915,2012,2705,2789,2621,0,0,0,0,0,0,24.78,28.83,23.27
$STATE,6192,end apogee,CONTROL_FINISHED_OK
$STATE,6192,begin climb
$GC,6197,1.25,243.3,2915,2012,2785,2610,1002.6,0.0,280,6431,1.38,1.30,223.88,1.161,10756,0.076,0.040,3396,1219,1714,1804,1624,0,0,0,0,0,0,25.13,25.06,23.46
$GC,6503,1.25,243.3,3397,1218,1776,1606,969.5,13.9,290,6508,0.00,1.30,0.00,0.000,1030,0.000,0.035,3397,2043,1690,1776,1605,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6683,1.25,243.3,3397,2043,1774,1600,943.5,14.0,296,6689,0.00,1.30,0.00,0.000,516,0.000,0.038,3402,1220,1687,1774,1601,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6739,1.25,243.3,3402,1220,1775,1600,938.6,14.0,297,6744,0.00,1.30,0.00,0.000,1030,0.000,0.035,3402,2051,1687,1774,1601,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6904,1.25,243.3,3402,2052,1772,1599,912.1,14.3,303,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2052,1685,1772,1599,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15051,end climb,SURFACE_DEPTH_REACHED
$STATE,15051,begin surface coast
$FINISH,1.3,1.009692
$STATE,15079,end surface coast,CONTROL_FINISHED_OK
$STATE,15079,begin surface
$SM_CCo,15103,21.27,0.121,0,0,878,450.13
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$TT8_MAMPS,0.026964,0.026964
$HUMID,58.70
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.00
$XPDR_PINGS,5
$SC_FREEKB,7545920
$24V_AH,23.3,96.979
$10V_AH,9.8,60.582
$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
$DEVICE_SECS,22.525,135.525,588.350,21.275,0.000,0.000,0.000,340.500,1.250,0.000,28.389,2543.360,9153.273,741.202,2468.102,809.491,0.000,2358.613,0.000,2067.305,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.202,0.000,0.000,0.000
$MEM,328008
$DATA_FILE_SIZE,26765,697
$CAP_FILE_SIZE,222663,0
$CFSIZE,260034560,197677056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081013,005306,2035.722,12308.247,36,0.8,36,-3.0