version: 66.11
glider: 167
mission: 16
dive: 587
start: 10 8 113 5 28 38
data:
$ID,167
$MISSION,16
$DIVE,587
$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,-976643.31
$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,54
$R_STBD_OVSHOOT,43
$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
$GPS1,081013,051805,2036.496,12310.335,30,0.8,30,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-73.8
$GPS2,081013,052805,2036.436,12310.426,42,0.9,42,-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,329.8,325643,-15.5,-9.706,-26.33,3713
$D_GRID,5419
$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,24,begin dive
$GC,28,-1.25,-243.3,143,2200,902,868,0.0,0.0,0,101,0.00,0.00,-71.00,0.000,16386,0.000,0.000,142,2200,2636,2611,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.25,-243.3,142,2200,2612,2661,3.1,-2.6,13,149,10.50,1.30,-23.35,0.000,18948,0.235,0.048,2577,1311,3707,3700,3714,0,0,0,0,0,0,24.66,25.97,26.49
$GC,247,-1.25,-243.3,2577,1312,3700,3716,38.2,-26.3,33,252,0.00,1.35,0.00,0.000,1030,0.000,0.031,2574,2202,3708,3700,3716,0,0,0,0,0,0,28.83,26.02,28.83
$GC,423,-1.25,-243.3,2573,2202,3700,3716,82.5,-24.9,44,428,0.00,1.33,0.00,0.000,516,0.000,0.030,2574,1316,3708,3700,3716,0,0,0,0,0,0,28.83,26.10,28.83
$GC,472,-1.25,-243.3,2573,1316,3700,3716,93.9,-24.4,46,477,0.00,1.33,0.00,0.000,1030,0.000,0.031,2568,2199,3708,3700,3716,0,0,0,0,0,0,28.83,26.11,28.83
$GC,632,-1.25,-243.3,2568,2199,3700,3716,129.0,-20.7,54,637,0.00,1.30,0.00,0.000,260,0.000,0.036,2562,3070,3708,3700,3717,0,0,0,0,0,0,28.83,26.08,28.83
$GC,702,-1.25,-243.3,2562,3070,3700,3716,141.4,-19.3,57,707,0.00,1.27,0.00,0.000,1030,0.000,0.022,2562,2189,3707,3698,3716,0,0,0,0,0,0,28.83,26.26,28.83
$GC,862,-1.25,-243.3,2562,2189,3701,3716,171.2,-18.1,65,868,0.00,1.23,0.00,0.000,516,0.000,0.029,2562,1335,3708,3701,3716,0,0,0,0,0,0,28.83,26.20,28.83
$GC,948,-1.25,-243.3,2561,1335,3701,3716,186.7,-18.2,69,954,0.00,1.30,0.00,0.000,1030,0.000,0.031,2556,2198,3708,3701,3716,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1114,-1.25,-243.3,2556,2198,3703,3716,219.4,-20.0,77,1119,0.12,1.27,0.00,0.000,2564,0.194,0.024,2591,1329,3709,3702,3716,0,0,0,0,0,0,25.96,26.20,28.83
$GC,1134,-1.25,-243.3,2590,1329,3703,3716,219.4,-20.0,77,1140,0.00,1.30,0.00,0.000,1030,0.000,0.030,2586,2197,3709,3702,3717,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1300,-1.25,-243.3,2586,2197,3703,3716,253.0,-17.7,86,1305,0.00,1.30,0.00,0.000,260,0.000,0.037,2580,3069,3709,3703,3716,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1345,-1.25,-243.3,2580,3069,3702,3716,260.8,-17.0,88,1350,0.00,1.27,0.00,0.000,1030,0.000,0.020,2580,2186,3710,3703,3717,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1511,-1.25,-243.3,2579,2186,3703,3716,287.3,-15.8,96,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2186,3709,3703,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1670,-1.25,-243.3,2580,2186,3703,3717,311.7,-15.4,104,1675,0.00,1.23,0.00,0.000,516,0.000,0.029,2580,1338,3708,3701,3716,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1789,-1.25,-243.3,2580,1338,3703,3716,327.5,-15.0,109,1794,0.00,1.30,0.00,0.000,1030,0.000,0.030,2574,2205,3709,3702,3717,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1965,-1.25,-243.3,2574,2206,3703,3716,355.3,-14.7,118,1970,0.00,1.30,0.00,0.000,260,0.000,0.038,2569,3072,3709,3702,3716,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2030,-1.25,-243.3,2569,3072,3703,3716,365.5,-15.2,121,2035,0.00,1.25,0.00,0.000,1030,0.000,0.021,2569,2203,3709,3703,3716,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2196,-1.25,-243.3,2569,2203,3702,3716,391.3,-16.1,129,2201,0.00,1.25,0.00,0.000,516,0.000,0.029,2569,1336,3710,3703,3717,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2387,-1.25,-243.3,2569,1338,3703,3716,423.2,-17.0,138,2392,0.00,1.30,0.00,0.000,1030,0.000,0.030,2564,2203,3709,3703,3715,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2548,-1.25,-243.3,2564,2203,3702,3714,451.2,-16.3,146,2553,0.00,1.27,0.00,0.000,516,0.000,0.028,2564,1336,3708,3702,3714,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2587,-1.25,-243.3,2564,1336,3701,3713,455.4,-16.0,147,2594,0.00,1.30,0.00,0.000,1030,0.000,0.030,2558,2203,3707,3702,3713,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2754,-1.25,-243.3,2559,2203,3703,3712,482.9,-14.9,156,2759,0.00,1.27,0.00,0.000,516,0.000,0.027,2559,1335,3707,3702,3712,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2813,-1.25,-243.3,2559,1335,3704,3711,489.9,-15.1,158,2821,0.10,1.30,0.00,0.000,3078,0.164,0.030,2582,2200,3707,3703,3711,0,0,0,0,0,0,25.71,26.17,28.83
$GC,2979,-1.25,-243.3,2582,2200,3702,3709,514.6,-13.5,167,2984,0.00,1.27,0.00,0.000,516,0.000,0.028,2583,1336,3706,3703,3709,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3065,-1.25,-243.3,2583,1335,3702,3707,526.4,-13.8,171,3070,0.00,1.30,0.00,0.000,1030,0.000,0.030,2580,2196,3704,3702,3707,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3230,-1.25,-243.3,2579,2196,3703,3705,550.8,-14.8,179,3235,0.00,1.33,0.00,0.000,260,0.000,0.037,2573,3077,3703,3702,3705,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3250,-1.25,-243.3,2573,3077,3703,3705,550.8,-14.8,179,3257,0.00,1.27,0.00,0.000,1030,0.000,0.020,2573,2189,3704,3703,3705,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3416,-1.25,-243.3,2573,2187,3702,3703,579.7,-15.6,188,3421,0.00,1.23,0.00,0.000,516,0.000,0.029,2573,1342,3702,3702,3702,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3502,-1.25,-243.3,2573,1341,3702,3702,592.9,-15.4,192,3507,0.00,1.30,0.00,0.000,1030,0.000,0.031,2568,2195,3701,3702,3701,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3687,-1.25,-243.3,2567,2195,3702,3698,621.9,-15.8,199,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2195,3699,3702,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3837,-1.25,-243.3,2568,2194,3702,3694,645.4,-15.7,204,3842,0.00,1.27,0.00,0.000,516,0.000,0.028,2569,1338,3698,3702,3694,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3867,-1.25,-243.3,2568,1338,3702,3694,645.4,-15.7,204,3874,0.00,1.30,0.00,0.000,1030,0.000,0.031,2563,2197,3697,3702,3693,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4022,-1.25,-243.3,2562,2197,3702,3692,675.5,-16.1,210,4027,0.00,1.33,0.00,0.000,260,0.000,0.040,2556,3072,3697,3703,3691,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4117,-1.25,-243.3,2556,3072,3702,3689,691.5,-16.8,213,4123,0.08,1.27,0.00,0.000,3078,0.168,0.021,2578,2195,3695,3702,3689,0,0,0,0,0,0,25.86,26.30,28.83
$GC,4304,-1.25,-243.3,2578,2195,3702,3685,720.3,-15.4,219,4309,0.00,1.25,0.00,0.000,516,0.000,0.031,2578,1341,3693,3702,3685,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4373,-1.25,-243.3,2578,1340,3702,3684,730.5,-15.3,221,4378,0.00,1.30,0.00,0.000,1030,0.000,0.031,2575,2198,3693,3702,3684,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4555,-1.25,-243.3,2575,2198,3702,3680,756.9,-14.2,227,4560,0.00,1.33,0.00,0.000,260,0.000,0.040,2569,3070,3691,3702,3681,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4603,-1.25,-243.3,2569,3069,3702,3680,761.9,-14.0,228,4609,0.00,1.25,0.00,0.000,1030,0.000,0.021,2570,2210,3691,3702,3680,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4774,-1.25,-243.3,2569,2210,3702,3677,787.2,-13.6,234,4779,0.00,1.27,0.00,0.000,516,0.000,0.030,2569,1338,3689,3702,3677,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4834,-1.25,-243.3,2569,1337,3702,3676,792.0,-13.7,235,4841,0.00,1.30,0.00,0.000,1030,0.000,0.031,2564,2190,3689,3702,3676,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4989,-1.25,-243.3,2564,2190,3702,3673,818.3,-15.0,241,4994,0.00,1.35,0.00,0.000,260,0.000,0.041,2561,3071,3687,3702,3673,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5057,-1.25,-243.3,1568,3069,3695,3669,828.6,-15.6,243,5062,0.00,1.27,0.00,0.000,1030,0.000,0.021,2560,2195,3686,3701,3672,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5240,-1.25,-243.3,2560,2195,3701,3670,857.4,-15.9,249,5245,0.00,1.25,0.00,0.000,516,0.000,0.031,2561,1341,3685,3701,3669,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5269,-1.25,-243.3,2561,1341,3701,3669,857.4,-15.9,249,5276,0.08,1.33,0.00,0.000,3078,0.176,0.033,2577,2205,3684,3700,3669,0,0,0,0,0,0,25.68,26.09,28.83
$GC,5426,-1.25,-243.3,2577,2205,3698,3668,887.6,-16.0,255,5431,0.00,1.30,0.00,0.000,516,0.000,0.029,2577,1340,3683,3698,3668,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5465,-1.25,-243.3,2577,1340,3698,3668,893.5,-16.1,256,5470,0.00,1.33,0.00,0.000,1030,0.000,0.032,2574,2204,3683,3699,3667,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5645,-1.25,-243.3,2574,2205,3696,3665,924.3,-16.9,262,5650,0.00,1.33,0.00,0.000,260,0.000,0.043,2574,3069,3680,3696,3665,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5851,-1.25,-243.3,2574,3069,3694,3663,956.4,-17.0,268,5857,0.00,1.27,0.00,0.000,1030,0.000,0.022,2574,2201,3679,3694,3664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6017,-1.25,-243.3,2574,2201,3693,3661,987.3,-16.8,274,6022,0.00,1.38,0.00,0.000,260,0.000,0.040,2568,3079,3677,3693,3661,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,6048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6048,begin apogee
$GC,6059,-0.21,0.0,2569,2050,3692,3661,993.2,-16.9,275,6373,1.15,0.00,298.67,1.021,10246,0.147,0.000,2913,2050,2708,2792,2624,0,0,0,0,0,0,24.84,28.83,23.59
$STATE,6375,end apogee,CONTROL_FINISHED_OK
$STATE,6375,begin climb
$GC,6379,1.25,243.3,2913,2050,2788,2616,1010.8,0.0,285,6618,1.38,1.45,225.50,1.150,10500,0.077,0.041,3391,2926,1710,1799,1621,0,0,0,0,0,0,25.24,25.09,23.58
$GC,6638,1.25,243.3,3390,2926,1782,1603,985.5,13.2,294,6643,0.00,1.35,0.00,0.000,1030,0.000,0.030,3396,2064,1692,1782,1602,0,0,0,0,0,0,28.83,25.51,28.83
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$STATE,15060,end climb,SURFACE_DEPTH_REACHED
$STATE,15060,begin surface coast
$FINISH,1.2,1.007361
$STATE,15085,end surface coast,CONTROL_FINISHED_OK
$STATE,15085,begin surface
$SM_CCo,15111,24.45,0.122,0,0,877,450.13
$SM_GC,2.05,8.62,1.60,24.45,0.026,0.031,0.122,136,2199,877,-8.83,-1.30,450.13,0,0,0,0,0,0,26.03,26.01,25.19
$IRIDIUM_FIX,2027.17,12310.12,081013,010112
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.15
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,25.80
$XPDR_PINGS,4
$SC_FREEKB,7545152
$24V_AH,23.6,97.364
$10V_AH,9.6,60.795
$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
$DEVICE_SECS,22.800,149.100,641.800,24.450,0.000,0.000,0.000,325.025,1.000,0.000,44.079,2689.351,8751.427,845.225,2617.362,822.694,0.000,2503.815,0.000,2201.132,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15106.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.181,0.000,0.000,0.000
$MEM,327988
$DATA_FILE_SIZE,26750,698
$CAP_FILE_SIZE,228512,0
$CFSIZE,260034560,197476352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081013,094224,2037.232,12311.548,43,0.9,43,-3.0