version: 66.11
glider: 167
mission: 16
dive: 97
start: 7 1 113 20 38 58
data:
$ID,167
$MISSION,16
$DIVE,97
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,360
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,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,-975053.81
$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,3073
$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,2100
$C_ROLL_CLIMB,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2763
$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,4
$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
$GPS1,010713,202436,2122.782,12029.890,38,1.0,38,-3.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.3
$GPS2,010713,203830,2122.772,12029.868,44,1.2,44,-3.0
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,T4
$TGT_LATLONG,2100.000,12030.000
$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,170.9,42175,-15.4,-9.167,-18.50,2921
$D_GRID,1390
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.09,-175.2,113,2103,406,520,0.0,0.0,0,126,0.00,0.00,-98.40,0.000,16386,0.000,0.000,112,2104,2865,2840,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.09,-175.2,113,2103,2840,2890,3.2,-4.8,17,161,10.48,2.15,-11.10,0.000,18948,0.244,0.041,2715,681,3480,3476,3484,0,0,0,0,0,0,25.98,26.23,26.48
$GC,197,-1.09,-175.2,2715,673,3475,3485,28.3,-48.0,26,204,0.00,2.08,0.00,0.000,1030,0.000,0.015,2707,2154,3480,3476,3485,0,0,0,0,0,0,28.83,26.31,28.83
$GC,503,-1.09,-175.2,2706,2155,3476,3485,142.9,-26.0,44,508,0.00,2.15,0.00,0.000,516,0.000,0.028,2707,678,3481,3477,3485,0,0,0,0,0,0,28.83,26.43,28.83
$GC,531,-1.09,-175.2,1664,678,3458,3482,149.9,-27.0,45,538,0.00,2.05,0.00,0.000,1030,0.000,0.018,2697,2128,3481,3477,3485,0,0,0,0,0,0,28.83,26.46,28.83
$GC,852,-1.09,-175.2,2696,2128,3476,3485,229.9,-24.5,61,857,0.00,1.98,0.00,0.000,260,0.000,0.030,2686,3500,3481,3478,3485,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1007,-1.09,-175.2,2686,3500,3478,3485,263.5,-22.9,68,1014,0.12,2.03,0.00,0.000,3078,0.182,0.016,2715,2053,3481,3478,3485,0,0,0,0,0,0,26.41,26.59,28.83
$GC,1324,-1.09,-175.2,2715,2052,3478,3484,325.3,-18.2,84,1329,0.00,1.90,0.00,0.000,516,0.000,0.029,2715,720,3480,3478,3483,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1413,-1.09,-175.2,1664,720,3458,3479,341.0,-18.4,88,1419,0.00,1.95,0.00,0.000,1030,0.000,0.018,2708,2111,3479,3478,3481,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1733,-1.09,-175.2,2706,2112,3481,3475,401.6,-17.2,104,1739,0.00,2.00,0.00,0.000,260,0.000,0.031,2698,3487,3478,3482,3475,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1803,-1.09,-175.2,2698,3487,3482,3473,413.5,-17.7,107,1809,0.00,1.95,0.00,0.000,1030,0.000,0.017,2698,2090,3477,3482,3473,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2123,-1.09,-175.2,2698,2089,3482,3467,476.5,-20.4,123,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2089,3474,3481,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2426,-1.09,-175.2,2698,2089,3481,3460,533.7,-17.5,138,2431,0.00,2.05,0.00,0.000,260,0.000,0.031,2688,3484,3470,3481,3460,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2505,-1.09,-175.2,2688,3484,3481,3458,545.9,-17.7,141,2512,0.12,1.95,0.00,0.000,3078,0.181,0.017,2717,2086,3470,3482,3458,0,0,0,0,0,0,26.53,26.71,28.83
$GC,2811,-1.09,-175.2,2717,2086,3481,3452,601.1,-17.2,157,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2086,3467,3481,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3110,-1.09,-175.2,2717,2086,3481,3447,650.9,-16.3,167,3116,0.00,1.98,0.00,0.000,516,0.000,0.031,2717,725,3463,3481,3446,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3271,-1.09,-175.2,2717,725,3481,3443,676.2,-15.9,172,3276,0.00,1.95,0.00,0.000,1030,0.000,0.020,2711,2096,3461,3481,3442,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3604,-1.09,-175.2,2710,2096,3481,3436,724.7,-14.3,183,3609,0.00,2.00,0.00,0.000,516,0.000,0.029,2711,723,3458,3481,3436,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3623,-1.09,-175.2,2710,722,3481,3436,724.7,-14.3,183,3629,0.00,1.98,0.00,0.000,1030,0.000,0.021,2708,2102,3458,3481,3436,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3946,-1.09,-175.2,2708,2102,3481,3431,776.9,-15.7,194,3951,0.00,2.00,0.00,0.000,516,0.000,0.029,2708,727,3456,3481,3431,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3995,-1.09,-175.2,2708,727,3480,3431,783.1,-15.9,195,4001,0.00,1.98,0.00,0.000,1030,0.000,0.019,2700,2112,3455,3479,3431,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4318,-1.09,-175.2,2700,2113,3477,3429,836.4,-15.5,206,4323,0.00,2.03,0.00,0.000,260,0.000,0.036,2697,3488,3452,3477,3428,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4457,-1.09,-175.2,2696,3487,3474,3428,856.5,-15.9,210,4463,0.00,1.95,0.00,0.000,1030,0.000,0.019,2697,2103,3451,3474,3428,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4780,-1.09,-175.2,2696,2102,3472,3425,906.9,-15.4,221,4785,0.00,2.00,0.00,0.000,516,0.000,0.031,2697,718,3448,3472,3425,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4834,-1.09,-175.2,2698,718,3472,3425,912.8,-15.8,222,4840,0.12,2.00,0.00,0.000,3078,0.187,0.020,2718,2111,3448,3472,3425,0,0,0,0,0,0,26.55,26.72,28.83
$GC,5154,-1.09,-175.2,2718,2111,3470,3422,962.7,-14.8,233,5159,0.00,2.03,0.00,0.000,516,0.000,0.030,2718,726,3446,3470,3422,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5198,-1.09,-175.2,2718,726,3470,3422,968.5,-14.7,234,5204,0.00,1.98,0.00,0.000,1030,0.000,0.022,2718,2099,3445,3469,3421,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,5340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5340,begin apogee
$GC,5351,-0.19,0.0,2718,3292,3468,3420,990.6,-14.3,239,5504,0.90,0.00,137.35,1.736,10246,0.142,0.000,3007,3293,2763,2827,2700,0,0,0,0,1,0,26.55,28.83,23.61
$STATE,5506,end apogee,CONTROL_FINISHED_OK
$STATE,5506,begin climb
$GC,5510,1.09,175.2,3007,3292,2827,2705,997.2,0.0,244,5679,1.12,0.00,155.75,1.721,10502,0.039,0.000,3431,3292,2047,2139,1956,0,0,0,0,1,0,24.95,28.83,23.35
$GC,5973,1.09,175.2,3430,3293,2139,1950,917.4,20.9,260,5979,0.00,2.08,0.00,0.000,516,0.000,0.024,3441,1906,2044,2139,1950,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6032,1.09,175.2,3441,1905,2139,1949,910.2,20.7,261,6039,0.00,2.17,0.00,0.000,1030,0.000,0.035,3441,3301,2044,2139,1949,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6339,1.09,175.2,3441,3301,2139,1947,841.3,20.2,272,6344,0.00,2.08,0.00,0.000,516,0.000,0.025,3451,1907,2043,2139,1947,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6398,1.09,175.2,3450,1906,2137,1946,834.4,19.9,273,6405,0.00,2.12,0.00,0.000,1030,0.000,0.035,3450,3303,2042,2139,1945,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6704,1.09,175.2,3450,3303,2139,1944,760.9,24.1,284,6709,0.00,0.68,0.00,0.000,260,0.000,0.048,3450,3764,2041,2139,1944,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6763,1.09,175.2,3450,3764,2139,1944,751.8,24.8,285,6769,0.00,0.62,0.00,0.000,1030,0.000,0.034,3454,3326,2041,2139,1944,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7069,1.09,175.2,3453,3327,2139,1943,664.2,26.6,296,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,3326,2040,2139,1942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7378,1.09,175.2,3453,3327,2139,1941,588.2,23.1,307,7384,0.00,2.10,0.00,0.000,516,0.000,0.026,3464,1885,2040,2139,1941,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7502,1.09,175.2,3464,1885,2138,1940,565.0,21.7,312,7509,0.15,2.12,0.00,0.000,5126,0.193,0.034,3429,3302,2039,2139,1940,0,0,0,0,0,0,26.35,26.51,28.83
$GC,7804,1.09,175.2,3429,3302,2139,1940,497.5,20.9,328,7809,0.00,0.68,0.00,0.000,260,0.000,0.048,3429,3762,2039,2139,1940,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7970,1.09,175.2,3429,3762,2139,1939,461.6,21.3,336,7975,0.00,0.68,0.00,0.000,1030,0.000,0.034,3431,3293,2039,2139,1939,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8295,1.09,175.2,3431,3293,2139,1938,395.7,20.9,352,8300,0.00,2.05,0.00,0.000,516,0.000,0.024,3441,1883,2038,2139,1938,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8349,1.09,175.2,3441,1883,2139,1938,386.4,20.9,354,8355,0.00,2.12,0.00,0.000,1030,0.000,0.034,3441,3304,2038,2138,1938,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8665,1.09,175.2,3441,3304,2139,1937,318.9,21.1,370,8670,0.00,0.68,0.00,0.000,260,0.000,0.048,3441,3763,2038,2139,1937,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8902,1.09,175.2,3441,3763,2139,1936,272.0,20.3,381,8907,0.00,0.65,0.00,0.000,1030,0.000,0.031,3445,3296,2038,2139,1937,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9217,1.09,175.2,3444,3295,2139,1936,214.3,13.5,397,9223,0.00,0.70,0.00,0.000,260,0.000,0.045,3444,3764,2037,2139,1936,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9453,1.09,175.2,3444,3764,2139,1936,179.6,17.0,408,9458,0.00,0.65,0.00,0.000,1030,0.000,0.031,3448,3293,2037,2139,1936,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9768,1.09,175.2,3448,3293,2139,1936,126.6,16.0,424,9773,0.00,0.70,0.00,0.000,260,0.000,0.046,3448,3760,2037,2139,1936,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10004,1.09,175.2,3448,3760,2139,1936,95.3,10.4,435,10010,0.00,0.62,0.00,0.000,1030,0.000,0.029,3452,3293,2037,2139,1936,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10319,1.23,220.8,3451,3293,2139,1936,68.5,7.6,451,10343,0.00,0.70,18.58,0.289,8452,0.000,0.041,3452,3764,1859,1956,1763,0,0,0,0,0,0,28.83,26.53,26.27
$GC,10459,1.23,220.8,3451,3764,1956,1765,55.4,12.9,457,10466,0.00,0.62,0.00,0.000,1030,0.000,0.028,3455,3289,1860,1956,1765,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10765,1.62,349.3,3455,3289,1956,1765,32.8,4.6,486,10828,0.32,2.05,55.25,0.199,10756,0.051,0.021,3616,1901,1335,1407,1263,0,0,0,0,0,0,26.63,26.41,26.20
$STATE,10928,end climb,SURFACE_DEPTH_REACHED
$STATE,10928,begin surface coast
$FINISH,1.0,1.008459
$STATE,10939,end surface coast,CONTROL_FINISHED_OK
$STATE,10939,begin surface
$SM_CCo,10962,105.70,0.129,0,0,457,564.93
$SM_GC,1.62,8.77,0.30,105.70,0.027,0.037,0.129,141,2185,457,-9.10,-1.10,564.93,0,0,0,0,0,0,26.41,26.48,26.09
$IRIDIUM_FIX,2115.63,12028.05,010713,202049
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.44
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.40
$XPDR_PINGS,1
$SC_FREEKB,7678944
$24V_AH,23.4,11.197
$10V_AH,10.3,7.375
$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,22.125,77.075,366.925,105.700,0.000,0.000,0.000,439.475,0.250,0.000,45.680,1818.161,7158.027,586.648,1923.157,416.956,0.000,1834.625,0.000,1414.864,0.000,0.541,0.000
$DEVICE_MAMPS,244.035,48.195,1735.785,128.520,0.000,0.000,0.000,114.750,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10941.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.750,0.000,0.000,0.000
$MEM,322972
$DATA_FILE_SIZE,20092,512
$CAP_FILE_SIZE,131804,0
$CFSIZE,260034560,243093504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.115, 25.8,1
$GPS,010713,234455,2122.015,12030.717,43,1.6,43,-3.0