version: 66.11
glider: 167
mission: 16
dive: 586
start: 10 8 113 1 7 38
data:
$ID,167
$MISSION,16
$DIVE,586
$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,-976642.06
$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,59
$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
$GPS1,081013,005306,2035.722,12308.247,36,0.8,36,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-72.9
$GPS2,081013,010705,2035.768,12308.516,30,1.1,30,-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,330.4,324915,-15.5,-9.706,-26.33,3713
$D_GRID,5511
$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,-243.3,128,2242,905,861,0.0,0.0,0,101,0.00,0.00,-70.80,0.000,16386,0.000,0.000,127,2243,2618,2598,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.25,-243.3,128,2242,2596,2640,3.2,-2.7,13,149,10.77,1.35,-23.77,0.000,19204,0.239,0.047,2580,1320,3706,3699,3713,0,0,0,0,0,0,24.72,25.95,26.47
$GC,271,-1.25,-243.3,1536,1318,3692,3712,42.7,-25.7,36,277,0.00,1.33,0.00,0.000,1030,0.000,0.034,2578,2186,3706,3699,3714,0,0,0,0,0,0,28.83,25.99,28.83
$GC,438,-1.25,-243.3,2577,2186,3699,3714,87.2,-26.0,46,443,0.00,1.33,0.00,0.000,260,0.000,0.036,2571,3075,3706,3698,3714,0,0,0,0,0,0,28.83,26.06,28.83
$GC,451,-1.25,-243.3,2571,3075,3699,3715,87.2,-26.0,46,456,0.00,1.27,0.00,0.000,1030,0.000,0.021,2571,2193,3706,3699,3714,0,0,0,0,0,0,28.83,26.22,28.83
$GC,627,-1.25,-243.3,2570,2193,3699,3715,129.9,-21.1,55,632,0.00,1.25,0.00,0.000,516,0.000,0.032,2571,1338,3706,3699,3714,0,0,0,0,0,0,28.83,26.14,28.83
$GC,686,-1.25,-243.3,2570,1338,3700,3714,140.3,-22.1,57,692,0.00,1.30,0.00,0.000,1030,0.000,0.031,2565,2206,3706,3699,3714,0,0,0,0,0,0,28.83,26.14,28.83
$GC,853,-1.25,-243.3,2565,2206,3699,3714,178.6,-21.0,66,858,0.00,1.30,0.00,0.000,260,0.000,0.037,2560,3076,3707,3700,3714,0,0,0,0,0,0,28.83,26.10,28.83
$GC,927,-1.25,-243.3,2559,3075,3699,3714,191.2,-19.3,69,932,0.00,1.27,0.00,0.000,1030,0.000,0.022,2559,2194,3707,3699,3715,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1103,-1.25,-243.3,2559,2194,3700,3715,223.8,-17.6,78,1108,0.00,1.25,0.00,0.000,516,0.000,0.031,2559,1333,3706,3699,3714,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1202,-1.25,-243.3,2559,1336,3700,3715,238.9,-17.6,82,1210,0.10,1.30,0.00,0.000,3078,0.165,0.031,2581,2199,3707,3700,3715,0,0,0,0,0,0,25.69,26.18,28.83
$GC,1368,-1.25,-243.3,2582,2199,3700,3715,269.3,-16.6,91,1373,0.00,1.30,0.00,0.000,260,0.000,0.037,2578,3071,3707,3700,3715,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1388,-1.25,-243.3,2578,3071,3700,3715,269.3,-16.6,91,1394,0.00,1.25,0.00,0.000,1030,0.000,0.021,2578,2202,3707,3700,3715,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1553,-1.25,-243.3,2578,2202,3700,3715,302.9,-18.9,100,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2202,3707,3700,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1714,-1.25,-243.3,2578,2202,3700,3715,332.8,-18.6,108,1719,0.00,1.25,0.00,0.000,516,0.000,0.031,2578,1338,3707,3700,3715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1799,-1.25,-243.3,2578,1338,3699,3715,347.4,-16.9,112,1804,0.00,1.30,0.00,0.000,1030,0.000,0.030,2573,2199,3707,3700,3715,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1963,-1.25,-243.3,2572,2199,3700,3714,374.5,-16.3,120,1969,0.00,1.30,0.00,0.000,260,0.000,0.037,2566,3068,3707,3700,3715,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2043,-1.25,-243.3,2566,3068,3700,3714,385.9,-17.2,123,2050,0.00,1.25,0.00,0.000,1030,0.000,0.021,2566,2202,3707,3700,3714,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2208,-1.25,-243.3,2566,2202,3700,3715,415.6,-15.9,132,2214,0.00,1.25,0.00,0.000,516,0.000,0.029,2566,1336,3707,3700,3715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2304,-1.25,-243.3,2566,1335,3699,3715,428.9,-15.7,136,2309,0.00,1.30,0.00,0.000,1030,0.000,0.030,2561,2201,3707,3700,3714,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2479,-1.25,-243.3,2561,2201,3700,3713,456.9,-15.0,145,2484,0.00,1.30,0.00,0.000,260,0.000,0.039,2561,3067,3706,3700,3713,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2559,-1.25,-243.3,2561,3066,3700,3712,467.2,-15.5,148,2566,0.00,1.25,0.00,0.000,1030,0.000,0.021,2561,2201,3705,3699,3712,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2724,-1.25,-243.3,2561,2201,3700,3711,495.0,-15.4,157,2729,0.00,1.25,0.00,0.000,516,0.000,0.029,2561,1333,3705,3700,3711,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2789,-1.25,-243.3,2561,1333,3700,3710,505.2,-15.6,160,2794,0.00,1.33,0.00,0.000,1030,0.000,0.032,2560,2200,3705,3700,3710,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2954,-1.25,-243.3,2560,2200,3700,3708,531.1,-15.4,168,2960,0.00,1.27,0.00,0.000,516,0.000,0.028,2560,1337,3703,3700,3707,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3033,-1.25,-243.3,2560,1336,3700,3707,541.6,-15.8,171,3041,0.08,1.30,0.00,0.000,3078,0.172,0.031,2577,2199,3703,3700,3706,0,0,0,0,0,0,25.78,26.17,28.83
$GC,3201,-1.25,-243.3,2577,2199,3700,3704,568.1,-14.2,180,3206,0.00,1.33,0.00,0.000,260,0.000,0.038,2573,3077,3701,3699,3704,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3275,-1.25,-243.3,2572,3078,3700,3703,577.8,-14.5,183,3280,0.00,1.27,0.00,0.000,1030,0.000,0.021,2572,2194,3701,3700,3703,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3462,-1.25,-243.3,2571,2195,3699,3700,605.8,-14.4,192,3467,0.00,1.25,0.00,0.000,516,0.000,0.029,2572,1332,3700,3700,3700,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3481,-1.25,-243.3,2571,1331,3700,3700,605.8,-14.4,192,3486,0.00,1.30,0.00,0.000,1030,0.000,0.031,2567,2195,3700,3700,3700,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3651,-1.25,-243.3,2567,2195,3700,3697,633.2,-14.7,198,3656,0.00,1.27,0.00,0.000,516,0.000,0.028,2567,1337,3697,3699,3696,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3706,-1.25,-243.3,2567,1337,3700,3695,638.3,-14.6,199,3711,0.00,1.30,0.00,0.000,1030,0.000,0.031,2562,2199,3697,3699,3695,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3871,-1.25,-243.3,2562,2199,3700,3692,666.6,-15.5,205,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2199,3695,3699,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4021,-1.25,-243.3,2562,2199,3700,3690,690.3,-16.0,210,4026,0.00,1.33,0.00,0.000,260,0.000,0.039,2556,3077,3694,3699,3690,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4060,-1.25,-243.3,1536,3074,3694,3686,696.2,-16.4,211,4065,0.00,1.27,0.00,0.000,1030,0.000,0.021,2556,2201,3694,3699,3689,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4240,-1.25,-243.3,2554,2202,3700,3685,727.8,-17.2,217,4246,0.12,1.27,0.00,0.000,2564,0.184,0.027,2590,1333,3692,3700,3684,0,0,0,0,0,0,25.98,26.15,28.83
$GC,4270,-1.25,-243.3,2590,1333,3700,3684,727.8,-17.2,217,4277,0.00,1.30,0.00,0.000,1030,0.000,0.031,2587,2187,3691,3700,3683,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4427,-1.25,-243.3,2588,2186,3699,3682,756.7,-15.5,223,4432,0.00,1.35,0.00,0.000,260,0.000,0.041,2583,3078,3690,3699,3682,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4496,-1.25,-243.3,2583,3077,3699,3680,767.4,-15.8,225,4501,0.00,1.27,0.00,0.000,1030,0.000,0.021,2582,2196,3689,3699,3680,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4678,-1.25,-243.3,2582,2197,3699,3677,796.2,-15.5,231,4683,0.00,1.25,0.00,0.000,516,0.000,0.031,2583,1340,3687,3699,3676,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4716,-1.25,-243.3,1584,1339,3691,3674,801.7,-15.3,232,4721,0.00,1.30,0.00,0.000,1030,0.000,0.031,2578,2198,3687,3699,3676,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4896,-1.25,-243.3,2576,2197,3699,3672,829.5,-14.9,238,4901,0.00,1.33,0.00,0.000,260,0.000,0.041,2571,3066,3685,3698,3672,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5001,-1.25,-243.3,2571,3066,3699,3670,844.4,-15.5,241,5006,0.00,1.27,0.00,0.000,1030,0.000,0.021,2571,2193,3684,3698,3670,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5176,-1.25,-243.3,2571,2192,3699,3668,874.5,-16.5,247,5181,0.00,1.25,0.00,0.000,516,0.000,0.031,2571,1340,3683,3699,3668,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5207,-1.25,-243.3,2571,1340,3698,3667,874.5,-16.5,247,5213,0.00,1.30,0.00,0.000,1030,0.000,0.032,2566,2194,3682,3698,3667,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5362,-1.25,-243.3,2566,2194,3697,3667,906.0,-17.1,253,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2194,3681,3697,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,-1.25,-243.3,2566,2194,3695,3664,930.3,-16.1,258,5516,0.00,1.35,0.00,0.000,260,0.000,0.041,2560,3071,3679,3695,3664,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5652,-1.25,-243.3,2560,3070,3693,3663,951.0,-16.5,262,5657,0.00,1.27,0.00,0.000,1030,0.000,0.022,2560,2201,3678,3693,3663,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5822,-1.25,-243.3,2559,2201,3693,3660,980.6,-15.8,268,5827,0.00,1.35,0.00,0.000,260,0.000,0.039,2556,3066,3676,3693,3659,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5861,-1.25,-243.3,2556,3066,3692,3659,986.1,-15.7,269,5866,0.00,1.27,0.00,0.000,1030,0.000,0.022,2556,2194,3675,3692,3659,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,5887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5888,begin apogee
$GC,5898,-0.21,0.0,2556,2020,3692,3659,991.4,-15.6,270,6203,1.20,0.00,296.25,1.025,10246,0.151,0.000,2911,2020,2710,2795,2625,0,0,0,0,0,0,24.79,28.83,23.60
$STATE,6210,end apogee,CONTROL_FINISHED_OK
$STATE,6210,begin climb
$GC,6213,1.25,243.3,2911,2019,2790,2615,1002.6,0.0,280,6444,1.38,1.30,222.12,1.154,10756,0.079,0.039,3392,1221,1718,1808,1629,0,0,0,0,0,0,25.22,25.10,23.56
$GC,6636,1.25,243.3,3392,1222,1773,1605,952.1,14.2,294,6641,0.00,1.27,0.00,0.000,1030,0.000,0.034,3392,2040,1688,1773,1604,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,14866,end climb,SURFACE_DEPTH_REACHED
$STATE,14867,begin surface coast
$FINISH,1.3,0.997391
$STATE,14893,end surface coast,CONTROL_FINISHED_OK
$STATE,14897,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,58.07
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.00
$XPDR_PINGS,7
$SC_FREEKB,7545536
$24V_AH,22.5,97.175
$10V_AH,9.7,60.689
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,327988
$DATA_FILE_SIZE,26775,691
$CAP_FILE_SIZE,230701,0
$CFSIZE,260034560,197570560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081013,051805,2036.496,12310.335,30,0.8,30,-3.0