version: 66.11
glider: 167
mission: 16
dive: 407
start: 9 2 113 19 40 55
data:
$ID,167
$MISSION,16
$DIVE,407
$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,330
$T_MISSION,350
$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,190
$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,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$HEADING,135
$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,564.9259
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975726.44
$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,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,40
$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,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,22
$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
$GPS1,020913,193107,1948.224,12343.373,36,0.9,36,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-72.6
$GPS2,020913,194024,1948.280,12343.324,42,1.5,42,-2.8
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,HEADING
$TGT_LATLONG,1940.643,12351.434
$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,137.8,20000,-18.3,-10.000,-23.91,2793
$D_GRID,5195
$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,-1.23,-184.9,128,2230,667,677,0.0,0.0,0,111,0.00,0.00,-82.00,0.000,16386,0.000,0.000,129,2230,2708,2684,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.23,-184.9,128,2230,2684,2734,3.0,-2.7,15,161,10.45,2.15,-21.40,0.000,18692,0.236,0.054,2590,3585,3726,3722,3730,0,0,0,0,0,0,25.10,26.01,26.50
$GC,375,-1.23,-184.9,2590,3585,3721,3731,69.3,-28.1,42,382,0.00,2.05,0.00,0.000,1030,0.000,0.025,2591,2185,3726,3721,3731,0,0,0,0,0,0,28.83,26.19,28.83
$GC,680,-1.23,-184.9,2590,2183,3722,3731,145.2,-20.5,58,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2184,3726,3722,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,984,-1.23,-184.9,2590,2185,3722,3732,202.2,-18.6,73,989,0.00,2.03,0.00,0.000,516,0.000,0.033,2591,793,3726,3722,3731,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1018,-1.23,-184.9,2590,793,3721,3732,207.4,-18.6,74,1023,0.00,2.05,0.00,0.000,1030,0.000,0.033,2581,2176,3727,3722,3732,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1333,-1.23,-184.9,2581,2176,3722,3732,265.7,-18.3,90,1339,0.00,2.05,0.00,0.000,516,0.000,0.034,2582,796,3727,3722,3732,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1352,-1.23,-184.9,2581,796,3722,3733,265.7,-18.3,90,1360,0.12,2.08,0.00,0.000,3078,0.189,0.032,2600,2212,3727,3722,3733,0,0,0,0,0,0,25.93,26.31,28.83
$GC,1658,-1.23,-184.9,2599,2213,3722,3733,319.9,-16.6,106,1664,0.00,2.08,0.00,0.000,260,0.000,0.038,2591,3602,3727,3722,3733,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1698,-1.23,-184.9,2591,3602,3723,3733,324.1,-16.8,107,1705,0.00,2.03,0.00,0.000,1030,0.000,0.019,2591,2194,3727,3722,3732,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2003,-1.23,-184.9,2591,2194,3722,3733,376.1,-16.0,123,2008,0.00,2.00,0.00,0.000,516,0.000,0.030,2591,799,3727,3722,3733,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2078,-1.23,-184.9,2591,799,3722,3732,385.8,-15.2,126,2083,0.00,2.05,0.00,0.000,1030,0.000,0.029,2582,2203,3727,3722,3732,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2393,-1.23,-184.9,2581,2203,3721,3730,434.9,-15.0,142,2398,0.00,2.10,0.00,0.000,260,0.000,0.037,2571,3614,3725,3721,3730,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2427,-1.23,-184.9,2570,3614,3722,3730,438.8,-15.0,143,2433,0.12,2.05,0.00,0.000,3078,0.176,0.019,2600,2184,3726,3722,3730,0,0,0,0,0,0,26.01,26.41,28.83
$GC,2743,-1.23,-184.9,2600,2184,3722,3727,490.2,-16.1,159,2748,0.00,2.00,0.00,0.000,516,0.000,0.031,2600,799,3724,3721,3727,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2822,-1.23,-184.9,2600,799,3722,3726,500.9,-16.4,162,2829,0.00,2.05,0.00,0.000,1030,0.000,0.029,2593,2198,3724,3722,3726,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3128,-1.23,-184.9,2592,2198,3722,3722,551.7,-14.8,178,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2198,3721,3722,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3431,-1.23,-184.9,2592,2199,3723,3718,595.2,-14.2,193,3436,0.00,2.10,0.00,0.000,260,0.000,0.040,2588,3602,3720,3722,3718,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3480,-1.23,-184.9,2588,3602,3722,3717,602.2,-14.5,195,3485,0.00,2.03,0.00,0.000,1030,0.000,0.020,2588,2199,3719,3722,3717,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3803,-1.23,-184.9,2588,2199,3722,3712,649.0,-14.8,206,3808,0.00,2.03,0.00,0.000,516,0.000,0.031,2588,799,3716,3722,3711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3857,-1.23,-184.9,2587,799,3722,3711,654.9,-15.1,207,3862,0.00,2.08,0.00,0.000,1030,0.000,0.029,2579,2211,3716,3722,3710,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4172,-1.23,-184.9,2579,2211,3722,3706,705.1,-14.8,218,4177,0.00,2.10,0.00,0.000,260,0.000,0.041,2574,3604,3713,3722,3705,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4237,-1.23,-184.9,2574,3603,3722,3705,715.4,-15.2,220,4243,0.00,2.05,0.00,0.000,1030,0.000,0.020,2574,2191,3712,3721,3704,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4576,-1.23,-184.9,2574,2191,3722,3699,766.7,-15.5,231,4581,0.12,2.15,0.00,0.000,2308,0.189,0.036,2600,3603,3710,3722,3698,0,0,0,0,0,0,26.09,26.22,28.83
$GC,4605,-1.23,-184.9,2600,3603,3721,3699,766.7,-15.5,231,4612,0.00,2.05,0.00,0.000,1030,0.000,0.021,2600,2187,3709,3721,3698,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4911,-1.23,-184.9,2599,2188,3722,3692,817.9,-15.3,242,4916,0.00,2.17,0.00,0.000,260,0.000,0.038,2591,3612,3706,3721,3692,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4980,-1.23,-184.9,2591,3612,3721,3691,828.4,-16.0,244,4986,0.00,2.05,0.00,0.000,1030,0.000,0.021,2591,2201,3706,3721,3691,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5313,-1.23,-184.9,2591,2200,3719,3686,882.1,-16.0,255,5318,0.00,2.15,0.00,0.000,260,0.000,0.040,2588,3602,3702,3719,3685,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5393,-1.23,-184.9,2588,3602,3717,3685,893.5,-16.4,257,5399,0.00,2.05,0.00,0.000,1030,0.000,0.021,2588,2197,3701,3717,3685,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5716,-1.23,-184.9,2587,2197,3715,3683,948.1,-16.3,268,5721,0.00,2.17,0.00,0.000,260,0.000,0.041,2588,3608,3698,3715,3682,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5770,-1.23,-184.9,2587,3608,3714,3683,954.2,-16.5,269,5775,0.00,2.08,0.00,0.000,1030,0.000,0.023,2588,2192,3698,3714,3682,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,5991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5991,begin apogee
$GC,6000,-0.19,0.0,2589,2013,3713,3678,993.1,-15.6,277,6177,1.12,0.00,164.20,1.219,10246,0.147,0.000,2929,2013,2955,3022,2889,0,0,0,0,0,0,25.32,28.83,23.54
$STATE,6180,end apogee,CONTROL_FINISHED_OK
$STATE,6180,begin climb
$GC,6184,1.23,184.9,2929,2013,3022,2882,1001.7,0.0,283,6358,1.33,2.42,162.90,1.216,10500,0.066,0.042,3397,3450,2201,2290,2113,0,0,0,0,0,0,25.08,24.73,23.48
$GC,6383,1.32,213.6,3395,3450,2281,2098,991.6,8.9,289,6417,0.00,2.12,27.00,1.143,9222,0.000,0.027,3406,2088,2091,2183,1999,0,0,0,0,0,0,28.83,25.24,23.70
$GC,6718,1.32,213.6,3406,2089,2166,1967,936.0,15.2,301,6723,0.00,2.20,0.00,0.000,516,0.000,0.039,3417,640,2066,2165,1967,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6792,1.32,213.6,3417,640,2160,1967,925.6,15.5,303,6797,0.00,2.12,0.00,0.000,1030,0.000,0.031,3417,2047,2064,2161,1967,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7120,1.32,213.6,3417,2047,2160,1964,875.1,14.8,314,7125,0.00,2.17,0.00,0.000,260,0.000,0.044,3417,3462,2062,2160,1964,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7164,1.32,213.6,3417,3462,2158,1964,869.4,14.8,315,7169,0.00,2.12,0.00,0.000,1030,0.000,0.027,3427,2039,2060,2157,1964,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7493,1.32,213.6,3427,2039,2157,1962,822.0,13.8,326,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2039,2060,2157,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7789,1.32,213.6,3425,2038,2154,1962,782.7,12.7,336,7794,0.00,2.22,0.00,0.000,260,0.000,0.043,3426,3460,2058,2154,1962,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7833,1.32,213.6,3427,3460,2151,1962,777.8,12.8,337,7838,0.00,2.10,0.00,0.000,1030,0.000,0.028,3436,2050,2057,2152,1962,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8161,1.32,213.6,3437,2050,2152,1961,736.2,12.5,348,8166,0.00,2.10,0.00,0.000,516,0.000,0.038,3447,645,2056,2152,1961,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8175,1.32,213.6,3447,645,2152,1964,736.2,12.5,348,8180,0.00,2.12,0.00,0.000,1030,0.000,0.031,3447,2063,2056,2150,1962,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8502,1.32,213.6,3447,2063,2149,1961,693.1,12.3,359,8507,0.00,2.15,0.00,0.000,260,0.000,0.044,3447,3460,2055,2149,1961,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8567,1.32,213.6,3447,3460,2148,1961,684.4,12.5,361,8573,0.12,2.12,0.00,0.000,5126,0.199,0.028,3430,2038,2055,2150,1961,0,0,0,0,0,0,25.81,26.29,28.83
$GC,8902,1.32,213.6,3430,2038,2150,1960,645.8,11.5,372,8908,0.00,2.10,0.00,0.000,516,0.000,0.038,3439,647,2054,2149,1960,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9025,1.32,213.6,3439,647,2147,1960,633.9,12.5,375,9031,0.00,2.10,0.00,0.000,1030,0.000,0.031,3439,2052,2053,2147,1960,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9337,1.32,213.6,3439,2052,2145,1960,591.2,12.7,387,9343,0.00,2.17,0.00,0.000,260,0.000,0.044,3439,3465,2053,2146,1960,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9432,1.32,213.6,3439,3465,2145,1960,579.5,13.9,391,9437,0.00,2.10,0.00,0.000,1030,0.000,0.027,3449,2050,2053,2146,1960,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9747,1.32,213.6,3449,2049,2146,1960,541.6,11.1,407,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2049,2053,2146,1960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10050,1.33,217.2,3449,2049,2146,1959,511.7,9.9,422,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2049,2052,2146,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10351,1.33,217.2,3449,2049,2146,1958,480.2,10.7,437,10356,0.00,2.10,0.00,0.000,516,0.000,0.037,3459,650,2052,2146,1958,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10419,1.33,217.2,2560,650,2070,1945,472.9,10.7,440,10425,0.12,2.10,0.00,0.000,5126,0.185,0.031,3432,2053,2052,2146,1958,0,0,0,0,0,0,25.76,26.20,28.83
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$STATE,14953,end climb,SURFACE_DEPTH_REACHED
$STATE,14953,begin surface coast
$FINISH,1.2,1.009719
$STATE,14980,end surface coast,CONTROL_FINISHED_OK
$STATE,14981,begin surface
$SM_CCo,15004,86.85,0.117,0,0,665,564.93
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$IRIDIUM_FIX,1941.24,12343.31,020913,151503
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.84
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.50
$XPDR_PINGS,3
$SC_FREEKB,7576992
$24V_AH,23.5,65.799
$10V_AH,10.1,40.613
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.950,135.425,482.375,86.850,0.000,0.000,0.000,308.850,0.750,0.000,43.472,2161.047,10108.711,675.154,2110.915,587.202,0.000,1992.963,0.000,1717.019,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.806,0.000,0.000,0.000
$MEM,328204
$DATA_FILE_SIZE,26777,709
$CAP_FILE_SIZE,171799,0
$CFSIZE,260034560,214675456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020913,235354,1947.682,12343.140,42,1.0,42,-2.8