version: 66.11
glider: 167
mission: 16
dive: 134
start: 7 8 113 2 59 36
data:
$ID,167
$MISSION,16
$DIVE,134
$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,280
$T_MISSION,310
$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,250
$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,8
$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,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-975118
$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,3060
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,68
$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,0.0015
$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,49
$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
$GPS1,080713,025235,2121.483,12055.184,24,1.5,24,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.9
$GPS2,080713,025905,2121.582,12055.317,30,0.7,30,-3.0
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,T5
$TGT_LATLONG,2112.000,12148.000
$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,149.0,92680,-16.1,-11.786,-18.84,3159
$D_GRID,691
$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,-1.10,-243.3,138,2081,402,536,0.0,0.0,0,133,0.00,0.00,-105.62,0.000,16386,0.000,0.000,138,2081,3088,3066,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,142,-1.10,-243.3,137,2081,3066,3110,3.5,-5.9,19,168,10.05,2.05,-11.07,0.000,18948,0.236,0.044,2700,708,3758,3752,3765,0,0,0,0,0,0,26.09,26.42,26.68
$GC,245,-0.79,-243.3,2700,707,3752,3765,55.9,-54.0,31,252,0.40,1.98,0.00,0.000,3078,0.194,0.018,2799,2109,3758,3752,3765,0,0,0,0,0,0,26.24,26.50,28.83
$GC,567,-0.68,-243.3,2799,2109,3752,3765,151.2,-25.2,47,572,0.12,2.00,0.00,0.000,2564,0.187,0.024,2837,718,3758,3752,3765,0,0,0,0,0,0,26.41,26.58,28.83
$GC,607,-0.57,-243.3,2837,717,3753,3765,158.4,-25.8,48,614,0.17,1.95,0.00,0.000,3078,0.151,0.018,2879,2111,3759,3753,3765,0,0,0,0,0,0,26.44,26.61,28.83
$GC,913,-0.55,-243.3,2879,2111,3753,3765,210.6,-13.5,64,918,0.00,2.00,0.00,0.000,516,0.000,0.025,2879,707,3759,3753,3765,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1030,-0.53,-243.3,2878,707,3753,3765,228.2,-17.5,69,1035,0.00,1.95,0.00,0.000,1030,0.000,0.019,2877,2096,3759,3753,3765,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1346,-0.55,-243.3,2877,2096,3753,3765,259.6,-10.7,85,1352,0.00,2.03,0.00,0.000,260,0.000,0.033,2875,3503,3759,3753,3765,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1439,-0.58,-243.3,1744,3502,3748,3763,268.0,-9.7,89,1444,0.00,1.95,0.00,0.000,1030,0.000,0.015,2875,2075,3759,3753,3765,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1759,-0.62,-243.3,2875,2075,3753,3762,299.4,-10.4,105,1764,0.00,1.90,0.00,0.000,516,0.000,0.028,2875,732,3758,3754,3762,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1838,-0.65,-243.3,2875,732,3753,3761,308.0,-12.8,108,1845,0.00,1.95,0.00,0.000,1030,0.000,0.020,2875,2108,3757,3753,3762,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2144,-0.69,-243.3,2875,2108,3753,3759,344.7,-9.1,124,2150,0.12,1.98,0.00,0.000,4612,0.080,0.025,2793,736,3756,3754,3758,0,0,0,0,0,0,26.74,26.67,28.83
$GC,2200,-0.70,-243.3,2793,736,3753,3758,350.5,-10.9,126,2207,0.17,1.92,0.00,0.000,3078,0.147,0.020,2835,2109,3755,3753,3758,0,0,0,0,0,0,26.53,26.71,28.83
$GC,2517,-0.71,-243.3,2836,2109,3754,3753,393.7,-14.7,142,2522,0.00,2.00,0.00,0.000,260,0.000,0.033,2834,3490,3753,3753,3753,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2586,-0.74,-243.3,1792,3488,3748,3750,403.9,-15.3,145,2591,0.00,1.92,0.00,0.000,1030,0.000,0.017,2834,2104,3753,3753,3753,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2906,-0.75,-243.3,2834,2104,3753,3748,451.5,-13.8,161,2912,0.00,1.98,0.00,0.000,516,0.000,0.030,2834,722,3750,3753,3748,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2936,-0.77,-243.3,2834,722,3753,3747,455.0,-13.5,162,2942,0.00,1.95,0.00,0.000,1030,0.000,0.021,2834,2097,3750,3753,3747,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3257,-0.78,-243.3,2834,2098,3753,3742,491.7,-10.7,178,3262,0.00,2.03,0.00,0.000,260,0.000,0.035,2833,3492,3747,3753,3741,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3292,-0.80,-243.3,2833,3492,3753,3741,494.5,-10.7,179,3297,0.00,1.92,0.00,0.000,1030,0.000,0.017,2833,2098,3747,3753,3741,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3608,-0.83,-243.3,2833,2097,3753,3736,521.9,-7.7,195,3613,0.12,2.05,0.00,0.000,4356,0.081,0.031,2753,3490,3744,3753,3735,0,0,0,0,0,0,26.72,26.66,28.83
$GC,3654,-0.83,-243.3,2752,3489,3753,3735,526.6,-8.9,197,3660,0.15,1.95,0.00,0.000,3078,0.145,0.017,2794,2092,3744,3753,3735,0,0,0,0,0,0,26.53,26.72,28.83
$GC,3980,-0.83,-243.3,2794,2092,3753,3730,557.7,-9.2,213,3985,0.00,1.95,0.00,0.000,516,0.000,0.031,2794,732,3741,3753,3730,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4034,-0.83,-243.3,2794,731,3753,3729,562.6,-9.9,215,4040,0.00,1.95,0.00,0.000,1030,0.000,0.020,2792,2105,3741,3753,3729,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4349,-0.83,-243.3,2792,2105,3753,3724,599.9,-13.9,231,4355,0.00,2.00,0.00,0.000,516,0.000,0.029,2793,726,3738,3752,3724,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4381,-0.83,-243.3,2791,725,3750,3724,604.1,-14.5,232,4387,0.00,1.95,0.00,0.000,1030,0.000,0.021,2791,2099,3737,3750,3725,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4688,-0.82,-243.3,2791,2099,3750,3720,650.4,-15.0,243,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2099,3735,3750,3720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4982,begin apogee
$GC,4990,-0.23,0.0,2791,2310,3750,3715,691.0,-12.4,253,5217,0.57,0.00,218.07,0.947,10246,0.122,0.000,2982,2310,2755,2832,2679,0,0,0,0,0,0,26.51,28.83,24.56
$STATE,5220,end apogee,CONTROL_FINISHED_OK
$STATE,5220,begin climb
$GC,5224,1.10,243.3,2983,2310,2828,2670,697.0,0.0,260,5440,1.17,2.17,206.02,0.939,10500,0.060,0.036,3409,3680,1760,1852,1668,0,0,0,0,0,0,25.34,25.12,24.45
$GC,5642,0.98,243.3,3409,3680,1834,1638,617.3,26.4,274,5648,0.17,2.00,0.00,0.000,5126,0.176,0.023,3376,2322,1735,1833,1638,0,0,0,0,0,0,25.89,26.10,28.83
$GC,5959,0.88,243.3,3376,2319,1834,1634,549.5,18.6,289,5965,0.12,2.08,0.00,0.000,4356,0.188,0.037,3340,3682,1734,1834,1634,0,0,0,0,0,0,26.19,26.34,28.83
$GC,6099,0.81,243.3,3340,3682,1834,1632,527.3,17.4,295,6107,0.00,2.00,0.00,0.000,1030,0.000,0.023,3347,2298,1732,1834,1631,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6405,0.74,243.3,3347,2298,1834,1630,476.2,16.1,311,6412,0.15,2.10,0.00,0.000,4356,0.174,0.035,3303,3683,1732,1834,1630,0,0,0,0,0,0,26.34,26.48,28.83
$GC,6504,0.69,243.3,3303,3683,1834,1628,463.3,14.8,315,6509,0.00,2.00,0.00,0.000,1030,0.000,0.023,3309,2294,1730,1833,1628,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6819,0.65,243.3,3309,2293,1834,1627,414.7,14.7,331,6825,0.12,2.00,0.00,0.000,4612,0.168,0.031,3279,920,1730,1834,1627,0,0,0,0,0,0,26.42,26.55,28.83
$GC,6885,0.63,243.3,3279,919,1834,1627,406.3,13.4,334,6890,0.00,1.98,0.00,0.000,1030,0.000,0.022,3280,2296,1730,1833,1627,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7210,0.71,305.5,3280,2296,1834,1625,372.2,9.8,350,7263,0.00,2.22,42.85,1.003,8452,0.000,0.037,3280,3688,1518,1612,1425,0,0,0,0,1,0,28.83,25.76,24.72
$GC,7398,0.71,307.4,2272,3689,1570,1442,352.1,11.7,359,7409,0.00,2.05,3.25,0.624,9222,0.000,0.023,3280,2295,1510,1599,1421,0,0,0,0,0,0,28.83,26.17,25.07
$GC,7719,0.72,313.8,3280,2294,1614,1439,311.6,11.6,375,7739,0.00,2.12,15.80,0.819,8708,0.000,0.031,3283,908,1476,1567,1386,0,0,0,0,0,0,28.83,26.13,25.44
$GC,7778,0.72,313.8,3282,909,1555,1378,306.1,12.1,377,7785,0.00,2.03,0.00,0.000,1030,0.000,0.021,3283,2304,1466,1555,1377,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8085,0.90,423.7,3283,2304,1554,1375,276.3,8.2,393,8190,0.17,0.00,102.60,0.723,10246,0.060,0.000,3379,2304,1034,1057,1012,0,0,0,0,0,0,26.46,28.83,24.79
$GC,8485,0.88,423.7,3379,2304,1010,996,219.2,16.5,413,8492,0.12,2.08,0.00,0.000,4612,0.149,0.028,3349,910,1003,1010,996,0,0,0,0,0,0,26.10,26.21,28.83
$GC,8522,0.87,423.7,3349,910,1010,995,215.1,16.3,414,8527,0.00,2.03,0.00,0.000,1030,0.000,0.020,3349,2313,1002,1010,994,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8837,0.88,423.7,3348,2321,1009,993,172.1,11.9,430,8843,0.00,2.08,0.00,0.000,260,0.000,0.034,3349,3698,1001,1009,994,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8852,0.90,423.7,3349,3699,1010,994,172.1,11.9,430,8857,0.00,2.03,0.00,0.000,1030,0.000,0.019,3356,2278,1001,1010,993,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9168,1.13,564.0,3356,2275,1010,992,140.5,7.2,446,9313,0.17,2.20,130.02,0.597,11012,0.061,0.031,3468,3685,459,395,524,0,0,0,0,1,0,26.58,25.49,24.84
$GC,9444,1.13,564.0,3467,3686,400,530,98.7,17.8,459,9451,0.17,2.00,0.00,0.000,5126,0.132,0.020,3426,2315,465,400,531,0,0,0,0,0,0,25.90,26.05,28.83
$GC,9761,1.32,658.7,3424,2314,399,530,62.6,8.7,475,9768,0.12,2.08,1.23,0.155,10500,0.073,0.031,3516,3693,456,393,520,0,0,0,0,0,0,26.41,26.33,26.20
$GC,9871,1.30,658.7,3515,3693,397,530,46.1,16.0,481,9878,0.17,2.03,0.85,0.208,13318,0.145,0.019,3473,2281,458,393,523,0,0,0,0,0,0,26.26,26.43,26.26
$STATE,10158,end climb,SURFACE_DEPTH_REACHED
$STATE,10158,begin surface coast
$FINISH,0.9,1.020857
$STATE,10174,end surface coast,CONTROL_FINISHED_OK
$STATE,10174,begin surface
$SM_CCo,10196,0.88,0.206,0,0,458,564.93
$SM_GC,2.04,8.32,0.20,0.88,0.024,0.041,0.206,136,2060,458,-9.06,2.01,564.93,0,0,0,0,0,0,26.48,26.58,26.35
$IRIDIUM_FIX,2111.01,12053.86,080713,010144
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.56
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.30
$XPDR_PINGS,1
$SC_FREEKB,7665472
$24V_AH,24.4,16.661
$10V_AH,10.3,10.645
$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,22.925,89.000,720.700,0.875,0.000,0.000,0.000,201.350,0.250,0.000,31.869,1700.564,6129.741,743.491,1617.199,404.925,0.000,1779.671,0.000,1364.451,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,48.960,1002.915,205.785,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10186.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.868,0.000,0.000,0.000
$MEM,322868
$DATA_FILE_SIZE,20171,526
$CAP_FILE_SIZE,133066,0
$CFSIZE,260034560,240144384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.490, 63.2,1
$GPS,080713,055059,2121.766,12058.893,40,1.0,40,-3.0