version: 66.11
glider: 167
mission: 16
dive: 599
start: 10 10 113 11 10 27
data:
$ID,167
$MISSION,16
$DIVE,599
$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,290
$T_MISSION,320
$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,300
$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,230
$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,-976658.31
$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,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,38
$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,0.0020000001
$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
$GPS1,101013,110200,2037.344,12326.584,69,1.1,69,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-71.3
$GPS2,101013,111001,2037.296,12326.612,9,1.2,9,-3.0
$SPEED_LIMITS,0.197,0.225
$TGT_NAME,HEADING
$TGT_LATLONG,2030.355,12317.780
$TGT_RADIUS,1852.000
$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,233.0,20000,-17.1,-11.379,-26.83,3823
$D_GRID,5030
$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,27,-1.44,-292.0,113,2208,958,819,0.0,0.0,0,95,0.00,0.00,-65.50,0.000,16386,0.000,0.000,111,2208,2502,2477,2528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.44,-292.0,111,2208,2477,2529,3.1,-3.3,12,149,10.60,1.70,-29.88,0.000,18692,0.232,0.055,2562,3267,3907,3901,3914,0,0,0,0,0,0,24.49,25.85,26.34
$GC,323,-1.44,-292.0,2562,3267,3901,3916,63.9,-29.6,37,329,0.00,1.58,0.00,0.000,1030,0.000,0.024,2562,2175,3909,3902,3916,0,0,0,0,0,0,28.83,26.13,28.83
$GC,485,-1.44,-292.0,2562,2174,3902,3916,107.2,-24.3,45,490,0.00,1.50,0.00,0.000,516,0.000,0.031,2562,1130,3909,3902,3916,0,0,0,0,0,0,28.83,26.07,28.83
$GC,539,-1.44,-292.0,2562,1129,3902,3916,117.2,-22.3,47,544,0.00,1.60,0.00,0.000,1030,0.000,0.034,2555,2202,3908,3901,3916,0,0,0,0,0,0,28.83,26.01,28.83
$GC,714,-1.44,-292.0,2555,2202,3902,3917,155.2,-20.7,56,719,0.00,1.58,0.00,0.000,260,0.000,0.037,2547,3268,3909,3902,3917,0,0,0,0,0,0,28.83,26.03,28.83
$GC,749,-1.44,-292.0,2546,3267,3902,3917,160.3,-20.4,57,755,0.08,1.58,0.00,0.000,3078,0.174,0.024,2568,2200,3909,3902,3917,0,0,0,0,0,0,25.77,26.20,28.83
$GC,925,-1.44,-292.0,2568,2200,3903,3917,197.5,-20.0,66,930,0.00,1.50,0.00,0.000,516,0.000,0.031,2568,1145,3910,3903,3917,0,0,0,0,0,0,28.83,26.14,28.83
$GC,954,-1.44,-292.0,2568,1144,3903,3917,202.5,-20.0,67,959,0.00,1.55,0.00,0.000,1030,0.000,0.031,2564,2208,3910,3903,3918,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1115,-1.44,-292.0,2564,2208,3903,3918,234.8,-19.2,75,1120,0.00,1.58,0.00,0.000,260,0.000,0.037,2557,3247,3910,3903,3918,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1149,-1.44,-292.0,2556,3247,3903,3918,239.7,-18.8,76,1155,0.00,1.50,0.00,0.000,1030,0.000,0.021,2556,2194,3910,3903,3918,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1325,-1.44,-292.0,2556,2194,3904,3918,272.4,-17.4,85,1331,0.00,1.50,0.00,0.000,516,0.000,0.031,2556,1138,3911,3904,3918,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1394,-1.44,-292.0,2555,1137,3904,3918,283.7,-17.2,88,1400,0.00,1.60,0.00,0.000,1030,0.000,0.030,2549,2202,3911,3904,3918,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1555,-1.44,-292.0,2549,2202,3904,3919,311.5,-16.7,96,1560,0.00,1.55,0.00,0.000,260,0.000,0.039,2541,3250,3911,3904,3919,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1590,-1.44,-292.0,2541,3251,3904,3919,315.9,-16.7,97,1596,0.15,1.50,0.00,0.000,3078,0.177,0.020,2577,2184,3911,3904,3919,0,0,0,0,0,0,25.72,26.27,28.83
$GC,1766,-1.44,-292.0,2576,2183,3904,3919,347.9,-17.1,106,1771,0.00,1.50,0.00,0.000,516,0.000,0.029,2577,1152,3911,3904,3919,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1800,-1.44,-292.0,2577,1153,3904,3918,352.3,-16.9,107,1805,0.00,1.52,0.00,0.000,1030,0.000,0.030,2572,2197,3911,3904,3919,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1976,-1.44,-292.0,2572,2197,3904,3918,383.8,-17.1,116,1981,0.00,1.58,0.00,0.000,260,0.000,0.039,2565,3258,3911,3904,3919,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2104,-1.44,-292.0,2564,3259,3904,3918,405.1,-16.7,122,2110,0.00,1.55,0.00,0.000,1030,0.000,0.019,2565,2207,3911,3904,3918,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2270,-1.44,-292.0,2565,2207,3904,3918,432.1,-16.0,130,2276,0.00,1.50,0.00,0.000,516,0.000,0.029,2565,1148,3911,3904,3918,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2345,-1.44,-292.0,2565,1147,3904,3918,442.2,-15.3,133,2350,0.00,1.55,0.00,0.000,1030,0.000,0.031,2561,2202,3911,3904,3918,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2521,-1.44,-292.0,2561,2202,3905,3916,471.7,-16.1,142,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2202,3910,3904,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,-1.44,-292.0,2561,2202,3904,3914,498.5,-16.7,150,2685,0.00,1.52,0.00,0.000,516,0.000,0.028,2561,1145,3909,3904,3914,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2740,-1.44,-292.0,2561,1144,3904,3914,506.0,-16.4,152,2747,0.00,1.55,0.00,0.000,1030,0.000,0.031,2554,2202,3909,3904,3914,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2905,-1.44,-292.0,2554,2202,3904,3913,536.7,-16.9,161,2910,0.00,1.58,0.00,0.000,260,0.000,0.051,2548,3254,3908,3904,3912,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2945,-1.44,-292.0,2547,3254,3904,3912,541.0,-17.0,162,2953,0.00,1.50,0.00,0.000,1030,0.000,0.020,2547,2199,3908,3904,3912,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3111,-1.44,-292.0,2547,2198,3904,3909,571.9,-17.2,171,3117,0.12,1.55,0.00,0.000,2564,0.189,0.031,2582,1156,3906,3904,3909,0,0,0,0,0,0,25.97,26.13,28.83
$GC,3146,-1.44,-292.0,2582,1156,3904,3908,576.4,-17.0,172,3151,0.00,1.55,0.00,0.000,1030,0.000,0.032,2577,2200,3906,3904,3908,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3332,-1.44,-292.0,2577,2199,3904,3906,608.3,-17.0,181,3337,0.00,1.58,0.00,0.000,260,0.000,0.040,2570,3259,3905,3904,3906,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3392,-1.44,-292.0,2569,3258,3904,3905,614.4,-17.2,182,3399,0.00,1.52,0.00,0.000,1030,0.000,0.021,2569,2190,3904,3904,3905,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3547,-1.44,-292.0,2569,2190,3904,3903,645.8,-17.3,188,3552,0.00,1.50,0.00,0.000,516,0.000,0.030,2569,1138,3903,3904,3903,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3582,-1.44,-292.0,2569,1138,3904,3903,651.8,-17.3,189,3587,0.00,1.58,0.00,0.000,1030,0.000,0.030,2563,2202,3902,3903,3902,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3769,-1.44,-292.0,2563,2202,3904,3899,683.2,-16.8,195,3774,0.00,1.60,0.00,0.000,260,0.000,0.052,2561,3259,3901,3904,3899,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3878,-1.44,-292.0,2561,3259,3902,3897,699.3,-16.9,198,3883,0.00,1.52,0.00,0.000,1030,0.000,0.021,2561,2192,3900,3903,3897,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4049,-1.44,-292.0,2561,2192,3904,3894,729.7,-16.5,204,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2192,3898,3903,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-1.44,-292.0,2561,2192,3904,3892,753.4,-15.7,209,4203,0.00,1.62,0.00,0.000,260,0.000,0.040,2561,3253,3897,3903,3891,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4222,-1.44,-292.0,2562,3252,3903,3891,753.4,-15.7,209,4227,0.00,1.52,0.00,0.000,1030,0.000,0.021,2561,2189,3897,3903,3891,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4388,-1.44,-292.0,2561,2188,3903,3888,783.9,-16.3,215,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2189,3896,3904,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4537,-1.44,-292.0,2561,2189,3903,3886,807.6,-15.8,220,4542,0.00,1.62,0.00,0.000,260,0.000,0.040,2561,3247,3894,3903,3886,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4688,-1.44,-292.0,2561,3248,3902,3884,829.1,-17.2,224,4695,0.00,1.58,0.00,0.000,1030,0.000,0.034,2561,2203,3893,3902,3884,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4845,-1.44,-292.0,2561,2202,3902,3882,861.9,-17.7,230,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2203,3891,3902,3881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4994,-1.44,-292.0,2561,2203,3902,3879,888.2,-17.5,235,5000,0.00,1.50,0.00,0.000,516,0.000,0.031,2561,1156,3890,3902,3879,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5020,-1.44,-292.0,2561,1156,3902,3879,888.2,-17.5,235,5025,0.00,1.60,0.00,0.000,1030,0.000,0.044,2561,2190,3890,3902,3879,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5185,-1.44,-292.0,2561,2190,3902,3875,922.1,-17.9,241,5190,0.00,1.62,0.00,0.000,260,0.000,0.044,2561,3258,3888,3901,3875,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5327,-1.44,-292.0,2561,3258,3900,3876,944.2,-17.6,245,5332,0.00,1.55,0.00,0.000,1030,0.000,0.021,2561,2185,3887,3900,3874,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5498,-1.44,-292.0,2560,2185,3900,3872,976.0,-17.1,251,5503,0.00,1.65,0.00,0.000,260,0.000,0.041,2561,3255,3885,3899,3872,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5557,-1.44,-292.0,2560,3255,3898,3872,982.3,-16.9,252,5564,0.00,1.58,0.00,0.000,1030,0.000,0.022,2561,2199,3885,3898,3872,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,5589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5589,begin apogee
$GC,5599,-0.25,0.0,2561,1890,3898,3871,993.1,-17.5,254,5964,1.30,0.00,354.95,1.023,10246,0.145,0.000,2950,1890,2711,2798,2625,0,0,0,0,0,0,24.82,28.83,23.51
$STATE,5966,end apogee,CONTROL_FINISHED_OK
$STATE,5966,begin climb
$GC,5970,1.44,292.0,2950,1890,2793,2617,1016.0,0.0,266,6245,1.55,1.65,262.83,1.163,10756,0.064,0.040,3509,880,1511,1595,1427,0,0,0,0,0,0,25.22,25.07,23.47
$GC,6349,1.44,292.0,3509,880,1576,1412,958.0,20.2,279,6355,0.00,1.58,0.00,0.000,1030,0.000,0.031,3508,1915,1493,1575,1412,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6536,1.44,292.0,3509,1915,1574,1407,921.1,20.0,285,6541,0.00,1.60,0.00,0.000,516,0.000,0.038,3517,874,1490,1574,1407,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6574,1.44,292.0,2640,873,1526,1400,913.8,20.1,286,6579,0.00,1.58,0.00,0.000,1030,0.000,0.031,3516,1910,1490,1574,1407,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6754,1.44,292.0,3516,1908,1573,1405,875.4,21.0,292,6759,0.00,1.62,0.00,0.000,516,0.000,0.039,3523,879,1489,1573,1405,0,0,0,0,0,0,28.83,26.03,28.83
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$STATE,12631,end climb,SURFACE_DEPTH_REACHED
$STATE,12631,begin surface coast
$FINISH,1.3,1.021558
$STATE,12651,end surface coast,CONTROL_FINISHED_OK
$STATE,12651,begin surface
$SM_CCo,12735,0.00,0.000,0,0,624,512.92
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$TT8_MAMPS,0.026964,0.026964
$HUMID,59.72
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,25.50
$XPDR_PINGS,64
$SC_FREEKB,7540672
$24V_AH,23.5,99.866
$10V_AH,9.7,62.038
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.052,0.000,0.000,0.000
$MEM,327952
$DATA_FILE_SIZE,23463,579
$CAP_FILE_SIZE,192336,0
$CFSIZE,260034560,196292608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,144408,2036.208,12326.896,41,1.0,41,-3.0