version: 66.11
glider: 167
mission: 16
dive: 589
start: 10 8 113 14 12 41
data:
$ID,167
$MISSION,16
$DIVE,589
$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,-976645.81
$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,47
$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
$GPS1,081013,140207,2038.210,12312.868,38,1.7,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-73.5
$GPS2,081013,141208,2038.242,12312.903,37,1.2,37,-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,328.9,325198,-15.5,-9.706,-26.33,3713
$D_GRID,5351
$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,-243.3,131,2198,895,870,0.0,0.0,0,101,0.00,0.00,-70.88,0.000,16386,0.000,0.000,131,2198,2630,2608,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.25,-243.3,131,2198,2608,2653,3.2,-2.9,13,149,10.57,1.35,-22.88,0.000,18692,0.235,0.056,2575,3076,3708,3703,3714,0,0,0,0,0,0,24.72,25.90,26.48
$GC,325,-1.25,-243.3,2575,3076,3701,3715,59.9,-26.7,40,330,0.00,1.30,0.00,0.000,1030,0.000,0.021,2575,2176,3708,3701,3715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,491,-1.25,-243.3,2576,2176,3702,3714,100.9,-23.9,48,496,0.00,1.38,0.00,0.000,260,0.000,0.035,2569,3071,3708,3702,3715,0,0,0,0,0,0,28.83,26.04,28.83
$GC,620,-1.25,-243.3,2569,3071,3702,3715,126.5,-20.3,54,625,0.00,1.27,0.00,0.000,1030,0.000,0.021,2569,2194,3708,3703,3714,0,0,0,0,0,0,28.83,26.27,28.83
$GC,786,-1.25,-243.3,2569,2194,3704,3715,158.8,-19.3,62,791,0.00,1.23,0.00,0.000,516,0.000,0.028,2570,1341,3709,3703,3715,0,0,0,0,0,0,28.83,26.19,28.83
$GC,874,-1.25,-243.3,1536,1340,3696,3713,175.0,-18.8,66,879,0.00,1.30,0.00,0.000,1030,0.000,0.029,2564,2211,3709,3703,3715,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1035,-1.25,-243.3,2564,2210,3703,3715,205.3,-18.1,74,1040,0.00,1.30,0.00,0.000,260,0.000,0.037,2558,3076,3709,3703,3715,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1054,-1.25,-243.3,2558,3076,3703,3715,205.3,-18.1,74,1061,0.00,1.27,0.00,0.000,1030,0.000,0.021,2558,2191,3709,3703,3715,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1221,-1.25,-243.3,2557,2191,3704,3715,236.1,-16.3,83,1226,0.00,1.35,0.00,0.000,260,0.000,0.034,2552,3075,3709,3704,3715,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1240,-1.25,-243.3,2552,3075,3704,3715,236.1,-16.3,83,1249,0.10,1.27,0.00,0.000,3078,0.158,0.022,2582,2187,3709,3703,3715,0,0,0,0,0,0,25.79,26.29,28.83
$GC,1406,-1.25,-243.3,2582,2188,3704,3715,267.7,-17.3,92,1411,0.00,1.23,0.00,0.000,516,0.000,0.029,2582,1338,3709,3703,3715,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1614,-1.25,-243.3,2581,1338,3704,3716,302.0,-16.1,102,1619,0.00,1.30,0.00,0.000,1030,0.000,0.029,2579,2199,3709,3704,3715,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1779,-1.25,-243.3,2578,2199,3704,3715,325.5,-13.8,110,1784,0.00,1.27,0.00,0.000,516,0.000,0.027,2578,1329,3710,3704,3716,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1814,-1.25,-243.3,2578,1329,3704,3716,329.4,-14.3,111,1819,0.00,1.30,0.00,0.000,1030,0.000,0.030,2573,2198,3709,3703,3716,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1989,-1.25,-243.3,2573,2199,3704,3716,358.5,-16.5,120,1994,0.00,1.33,0.00,0.000,260,0.000,0.039,2566,3078,3710,3704,3716,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2131,-1.25,-243.3,2566,3078,3704,3715,380.2,-17.6,126,2138,0.00,1.25,0.00,0.000,1030,0.000,0.021,2567,2210,3709,3704,3715,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2297,-1.25,-243.3,2566,2210,3704,3715,411.1,-16.4,135,2302,0.00,1.27,0.00,0.000,516,0.000,0.028,2567,1324,3709,3704,3715,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2403,-1.25,-243.3,2567,1324,3704,3715,427.6,-15.6,140,2409,0.00,1.33,0.00,0.000,1030,0.000,0.030,2561,2200,3709,3704,3714,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2569,-1.25,-243.3,2561,2200,3704,3713,452.6,-15.1,148,2574,0.00,1.27,0.00,0.000,516,0.000,0.028,2562,1336,3708,3704,3713,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2607,-1.25,-243.3,2561,1336,3704,3713,456.4,-15.4,149,2614,0.00,1.30,0.00,0.000,1030,0.000,0.030,2556,2203,3708,3704,3712,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2775,-1.25,-243.3,2556,2203,3704,3711,485.5,-16.3,158,2777,0.12,0.00,0.00,0.000,2054,0.189,0.000,2585,2204,3708,3704,3712,0,0,0,0,0,0,26.06,28.83,28.83
$GC,2935,-1.25,-243.3,2584,2204,3704,3710,511.0,-15.8,166,2940,0.00,1.27,0.00,0.000,516,0.000,0.028,2585,1337,3706,3704,3709,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2969,-1.25,-243.3,2585,1336,3704,3710,515.4,-16.0,167,2974,0.00,1.30,0.00,0.000,1030,0.000,0.030,2582,2201,3706,3704,3709,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3146,-1.25,-243.3,2581,2200,3704,3706,543.6,-14.9,176,3151,0.00,1.30,0.00,0.000,260,0.000,0.037,2575,3065,3705,3704,3706,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3219,-1.25,-243.3,2575,3065,3704,3705,553.4,-14.7,179,3224,0.00,1.25,0.00,0.000,1030,0.000,0.021,2575,2199,3705,3704,3706,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3395,-1.25,-243.3,2575,2199,3704,3703,581.2,-15.1,188,3400,0.00,1.25,0.00,0.000,516,0.000,0.030,2575,1339,3704,3704,3704,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3543,-1.25,-243.3,2575,1339,3704,3701,600.3,-15.1,194,3548,0.00,1.30,0.00,0.000,1030,0.000,0.031,2570,2198,3702,3704,3701,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3709,-1.25,-243.3,2569,2199,3704,3698,628.5,-15.3,200,3714,0.00,1.33,0.00,0.000,260,0.000,0.039,2563,3076,3701,3704,3698,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3763,-1.25,-243.3,2563,3076,3704,3697,634.1,-15.4,201,3768,0.00,1.27,0.00,0.000,1030,0.000,0.021,2564,2199,3700,3704,3697,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3928,-1.25,-243.3,2563,2198,3704,3694,662.7,-15.6,207,3933,0.00,1.25,0.00,0.000,516,0.000,0.030,2563,1336,3698,3704,3693,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3994,-1.25,-243.3,2563,1336,3704,3692,673.0,-15.7,209,3999,0.00,1.33,0.00,0.000,1030,0.000,0.032,2561,2199,3698,3704,3692,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4179,-1.25,-243.3,2561,2198,3704,3690,701.5,-15.2,215,4184,0.00,1.33,0.00,0.000,260,0.000,0.041,2561,3068,3696,3704,3689,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4254,-1.25,-243.3,2561,3068,3704,3687,711.2,-15.0,217,4259,0.00,1.27,0.00,0.000,1030,0.000,0.021,2561,2192,3695,3703,3687,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4429,-1.25,-243.3,2560,2192,3704,3684,738.6,-14.6,223,4434,0.00,1.25,0.00,0.000,516,0.000,0.030,2561,1334,3694,3704,3684,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4478,-1.25,-243.3,2561,1335,3704,3684,743.6,-14.6,224,4483,0.00,1.33,0.00,0.000,1030,0.000,0.031,2555,2205,3694,3704,3684,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4649,-1.25,-243.3,2555,2204,3704,3681,771.0,-15.1,230,4655,0.12,1.33,0.00,0.000,2308,0.191,0.037,2585,3072,3692,3703,3681,0,0,0,0,0,0,25.96,26.04,28.83
$GC,4704,-1.25,-243.3,2585,3070,3703,3679,776.4,-15.0,231,4709,0.00,1.27,0.00,0.000,1030,0.000,0.021,2586,2195,3691,3703,3679,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4871,-1.25,-243.3,2585,2195,3703,3677,802.4,-13.9,237,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2195,3690,3703,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5020,-1.25,-243.3,2585,2195,3703,3674,822.9,-13.7,242,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2195,3688,3703,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5170,-1.25,-243.3,2585,2195,3703,3672,844.2,-14.3,247,5175,0.00,1.38,0.00,0.000,260,0.000,0.038,2580,3075,3687,3703,3671,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5199,-1.25,-243.3,2580,3075,3703,3671,844.2,-14.3,247,5205,0.00,1.27,0.00,0.000,1030,0.000,0.022,2580,2202,3687,3703,3671,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5356,-1.25,-243.3,2580,2202,3702,3669,871.9,-14.9,253,5361,0.00,1.35,0.00,0.000,260,0.000,0.037,2574,3068,3685,3702,3669,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5421,-1.25,-243.3,2574,3068,3701,3669,882.5,-15.6,255,5426,0.00,1.27,0.00,0.000,1030,0.000,0.022,2574,2204,3685,3701,3669,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5607,-1.25,-243.3,2575,2202,3700,3667,912.0,-15.9,261,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2202,3683,3699,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5756,-1.25,-243.3,2574,2202,3698,3665,936.2,-16.3,266,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2202,3681,3698,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5906,-1.25,-243.3,2574,2202,3698,3664,960.7,-16.4,271,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2202,3680,3697,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6056,-1.25,-243.3,2574,2202,3696,3662,985.7,-16.6,276,6061,0.00,1.35,0.00,0.000,260,0.000,0.038,2569,3066,3678,3696,3661,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,6087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6088,begin apogee
$GC,6099,-0.21,0.0,2568,2051,3696,3661,991.6,-16.6,277,6338,1.15,0.00,230.88,1.166,10246,0.145,0.000,2913,2050,2709,2795,2624,0,0,0,0,0,0,24.83,28.83,23.27
$STATE,6340,end apogee,CONTROL_FINISHED_OK
$STATE,6340,begin climb
$GC,6345,1.25,243.3,2913,2050,2786,2610,1005.2,0.0,285,6582,1.38,1.33,225.27,1.153,10756,0.076,0.036,3395,1188,1713,1803,1623,0,0,0,0,0,0,25.13,25.08,23.47
$GC,6611,1.25,243.3,2432,1188,1718,1598,980.4,12.1,294,6616,0.00,1.35,0.00,0.000,1030,0.000,0.033,3395,2040,1692,1778,1607,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6791,1.25,243.3,3395,2040,1774,1601,956.6,12.8,300,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2040,1688,1775,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6941,1.25,243.3,3395,2040,1773,1599,936.7,13.3,305,6946,0.00,1.33,0.00,0.000,516,0.000,0.037,3400,1194,1686,1773,1599,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,14721,end climb,SURFACE_DEPTH_REACHED
$STATE,14721,begin surface coast
$FINISH,1.4,1.021543
$STATE,14747,end surface coast,CONTROL_FINISHED_OK
$STATE,14748,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,61.10
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,25.60
$XPDR_PINGS,6
$SC_FREEKB,7544384
$24V_AH,23.3,97.744
$10V_AH,9.7,60.999
$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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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.156,0.000,0.000,0.000
$MEM,327988
$DATA_FILE_SIZE,26723,678
$CAP_FILE_SIZE,221716,0
$CFSIZE,260034560,197283840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081013,182030,2039.243,12314.419,46,1.8,46,-3.0