version: 66.11
glider: 167
mission: 16
dive: 646
start: 10 21 113 8 32 47
data:
$ID,167
$MISSION,16
$DIVE,646
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,210
$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,120
$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,-976717.06
$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,3050
$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,52
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$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,0
$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
$GPS1,211013,082435,2021.733,12344.470,34,0.8,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-66.8
$GPS2,211013,083155,2021.746,12344.601,44,1.1,44,-2.9
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,PICKUP
$TGT_LATLONG,2018.000,12336.000
$TGT_RADIUS,5000.000
$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,248.0,16471,-18.7,-10.000,-28.63,3078
$D_GRID,5474
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.17,-116.8,113,2232,872,887,0.0,0.0,0,95,0.00,0.00,-69.47,0.000,16386,0.000,0.000,113,2233,2591,2583,2600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.17,-116.8,113,2233,2583,2600,3.0,-2.1,7,133,10.82,1.60,-14.38,0.000,18692,0.231,0.054,2655,3239,3193,3193,3193,0,0,0,0,0,0,24.77,25.92,26.53
$GC,282,-1.17,-116.8,1608,3237,3149,3189,36.9,-19.3,24,289,0.00,1.55,0.00,0.000,1030,0.000,0.018,2655,2170,3195,3194,3196,0,0,0,0,0,0,28.83,26.20,28.83
$GC,600,-1.17,-116.8,2655,2170,3194,3197,94.9,-17.1,44,605,0.00,1.48,0.00,0.000,516,0.000,0.028,2655,1163,3195,3194,3197,0,0,0,0,0,0,28.83,26.10,28.83
$GC,625,-1.17,-116.8,2655,1163,3194,3197,99.1,-16.6,45,630,0.00,1.52,0.00,0.000,1030,0.000,0.029,2648,2210,3195,3194,3197,0,0,0,0,0,0,28.83,26.10,28.83
$GC,950,-1.17,-116.8,2648,2210,3196,3197,146.4,-13.2,61,955,0.00,1.52,0.00,0.000,516,0.000,0.028,2648,1157,3196,3196,3197,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1020,-1.17,-116.8,2648,1157,3196,3198,154.9,-13.2,64,1026,0.12,1.50,0.00,0.000,3078,0.183,0.028,2671,2199,3197,3196,3198,0,0,0,0,0,0,25.68,26.12,28.83
$GC,1342,-1.17,-116.8,2670,2199,3197,3198,192.5,-10.9,80,1347,0.00,1.50,0.00,0.000,516,0.000,0.028,2671,1160,3197,3197,3198,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1422,-1.17,-116.8,2670,1160,3197,3199,199.4,-10.4,83,1429,0.00,1.48,0.00,0.000,1030,0.000,0.028,2666,2153,3198,3197,3199,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1727,-1.17,-116.8,2666,2153,3197,3199,235.3,-11.6,99,1733,0.00,1.48,0.00,0.000,516,0.000,0.028,2666,1164,3198,3197,3199,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1881,-1.17,-116.8,2666,1164,3197,3199,251.2,-10.5,106,1887,0.00,1.42,0.00,0.000,1030,0.000,0.028,2661,2125,3198,3197,3199,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2183,-1.17,-116.8,2660,2125,3197,3199,282.4,-10.0,117,2188,0.00,1.42,0.00,0.000,516,0.000,0.028,2660,1169,3198,3197,3199,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2343,-1.17,-116.8,2660,1169,3197,3199,297.4,-9.5,122,2348,0.00,1.40,0.00,0.000,1030,0.000,0.028,2656,2099,3197,3196,3199,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2678,-1.17,-116.8,2656,2099,3197,3199,330.4,-10.4,133,2683,0.00,1.40,0.00,0.000,516,0.000,0.028,2656,1161,3197,3196,3199,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2762,-1.17,-116.8,2656,1162,3197,3199,337.7,-10.7,135,2767,0.00,1.40,0.00,0.000,1030,0.000,0.029,2650,2098,3197,3196,3198,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3078,-1.17,-116.8,2650,2098,3197,3196,374.0,-10.8,146,3083,0.00,1.67,0.00,0.000,260,0.000,0.035,2642,3242,3196,3196,3196,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3117,-1.17,-116.8,2641,3242,3197,3196,377.9,-10.8,147,3123,0.12,1.62,0.00,0.000,3078,0.175,0.017,2670,2078,3196,3196,3196,0,0,0,0,0,0,25.79,26.27,28.83
$GC,3450,-1.17,-116.8,2670,2078,3197,3194,410.9,-9.5,158,3455,0.00,1.33,0.00,0.000,516,0.000,0.031,2671,1173,3194,3196,3193,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3565,-1.17,-116.8,2670,1173,3197,3193,419.9,-9.2,161,3570,0.00,1.35,0.00,0.000,1030,0.000,0.029,2669,2071,3194,3196,3193,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3880,-1.17,-116.8,2669,2071,3197,3191,448.8,-8.5,172,3885,0.00,1.73,0.00,0.000,260,0.000,0.036,2662,3242,3193,3196,3191,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3911,-1.17,-116.8,2661,3242,3196,3190,448.8,-8.5,172,3918,0.00,1.67,0.00,0.000,1030,0.000,0.018,2661,2085,3193,3196,3190,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4215,-1.17,-116.8,2661,2085,3197,3188,482.8,-10.4,183,4221,0.00,1.35,0.00,0.000,516,0.000,0.031,2662,1169,3191,3196,3187,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4393,-1.17,-116.8,2661,1169,3197,3186,498.8,-10.3,188,4398,0.00,1.35,0.00,0.000,1030,0.000,0.028,2656,2066,3190,3196,3185,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4709,-1.17,-116.8,2656,2066,3197,3182,530.2,-8.4,199,4714,0.00,1.35,0.00,0.000,516,0.000,0.029,2656,1169,3189,3197,3182,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4794,-1.17,-116.8,2656,1169,3196,3181,535.3,-7.9,201,4799,0.00,1.33,0.00,0.000,1030,0.000,0.030,2656,2048,3189,3197,3181,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,4865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4865,begin apogee
$GC,4875,-0.25,0.0,2656,1883,3197,3180,542.0,-7.2,204,5018,1.00,0.00,138.07,0.781,10244,0.138,0.000,2960,1883,2714,2777,2651,0,0,0,0,0,0,24.89,28.83,23.87
$STATE,5023,end apogee,CONTROL_FINISHED_OK
$STATE,5023,begin climb
$GC,5028,1.17,116.8,2960,1882,2772,2638,545.3,0.0,209,5138,1.27,0.00,99.88,0.861,11270,0.063,0.000,3426,1883,2223,2302,2144,0,0,0,0,0,0,25.42,28.83,23.84
$GC,5440,1.31,187.4,3426,1882,2297,2122,514.3,7.6,223,5502,0.12,0.00,59.60,0.842,10502,0.080,0.000,3504,1883,1951,2048,1854,0,0,0,0,0,0,26.27,28.83,24.01
$GC,5838,1.31,187.4,3503,1882,2024,1818,461.0,14.7,236,5844,0.12,1.60,0.00,0.000,4356,0.182,0.033,3469,2953,1921,2024,1818,0,0,0,0,0,0,25.86,26.01,28.83
$GC,5873,1.31,187.4,3469,2952,2024,1817,455.3,14.4,237,5879,0.00,1.48,0.00,0.000,1030,0.000,0.026,3475,1975,1920,2024,1816,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6210,1.31,187.4,3475,1975,2024,1813,415.4,10.9,248,6215,0.00,1.50,0.00,0.000,260,0.000,0.036,3475,2945,1918,2024,1813,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6305,1.31,187.4,3475,2944,2024,1812,404.7,11.2,251,6310,0.00,1.42,0.00,0.000,1030,0.000,0.025,3481,1996,1918,2024,1812,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6640,1.31,187.4,3481,1995,2025,1810,368.5,10.8,262,6645,0.00,1.48,0.00,0.000,260,0.000,0.037,3481,2944,1917,2024,1810,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6685,1.31,187.4,3481,2944,2024,1809,364.7,10.8,263,6690,0.00,1.40,0.00,0.000,1030,0.000,0.025,3486,2004,1916,2024,1809,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7010,1.31,187.4,3486,2004,2024,1807,327.4,11.1,274,7015,0.00,1.45,0.00,0.000,260,0.000,0.036,3486,2941,1915,2024,1806,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7132,1.31,187.4,3486,2941,2017,1809,316.8,11.0,277,7138,0.00,1.42,0.00,0.000,1030,0.000,0.025,3492,1984,1913,2017,1809,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7436,1.31,188.5,3492,1984,2017,1808,282.7,10.0,288,7441,0.00,1.48,0.00,0.000,260,0.000,0.036,3493,2939,1912,2017,1808,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7550,1.31,188.5,3492,2939,2017,1808,272.9,10.1,291,7555,0.00,1.38,0.00,0.000,1030,0.000,0.024,3498,2012,1911,2016,1807,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7876,1.31,188.5,3498,2012,2016,1806,237.2,10.6,304,7881,0.00,1.70,0.00,0.000,516,0.000,0.036,3507,877,1911,2016,1807,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7952,1.31,188.5,3506,877,2016,1806,230.1,10.8,307,7958,0.12,1.60,0.00,0.000,5126,0.175,0.031,3477,1959,1911,2017,1806,0,0,0,0,0,0,25.62,26.06,28.83
$GC,8270,1.37,217.6,3477,1959,2016,1805,201.2,9.0,323,8301,0.00,1.65,25.12,0.682,8964,0.000,0.044,3483,883,1816,1912,1721,0,0,0,0,0,0,28.83,25.82,24.28
$GC,8456,1.37,217.6,3484,883,1888,1704,180.3,12.3,332,8462,0.00,1.67,0.00,0.000,1030,0.000,0.031,3483,1976,1796,1888,1704,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8778,1.52,291.8,3483,1976,1888,1700,150.7,7.5,348,8850,0.12,1.52,65.15,0.628,10500,0.076,0.036,3556,2948,1516,1602,1430,0,0,0,0,0,0,26.38,25.60,24.18
$GC,8935,1.52,291.8,3556,2947,1573,1404,134.5,12.1,355,8941,0.00,1.35,0.00,0.000,1030,0.000,0.024,3562,2043,1488,1573,1404,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9242,1.52,291.8,3562,2043,1572,1401,99.5,10.7,371,9247,0.00,1.77,0.00,0.000,516,0.000,0.037,3570,885,1487,1572,1402,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9307,1.52,291.8,3571,884,1572,1402,92.5,10.6,374,9313,0.12,1.60,0.00,0.000,5126,0.171,0.030,3541,1966,1487,1572,1402,0,0,0,0,0,0,25.66,26.07,28.83
$GC,9638,1.62,343.8,3541,1966,1571,1401,64.1,8.3,390,9668,0.00,1.62,24.40,0.221,8708,0.000,0.031,3548,884,1314,1396,1232,0,0,0,0,0,0,28.83,26.00,24.89
$GC,9770,1.62,343.8,3548,884,1413,1245,51.9,10.3,396,9777,0.00,1.70,2.10,0.144,9222,0.000,0.036,3548,2000,1312,1393,1231,0,0,0,0,0,0,28.83,25.62,25.08
$GC,10087,1.63,345.8,3548,2000,1413,1243,19.8,9.9,427,10094,0.00,0.00,3.03,0.155,8198,0.000,0.000,3548,2000,1306,1389,1224,0,0,0,0,0,0,28.83,28.83,24.74
$STATE,10263,end climb,SURFACE_DEPTH_REACHED
$STATE,10263,begin surface coast
$FINISH,1.4,1.013116
$STATE,10297,end surface coast,CONTROL_FINISHED_OK
$STATE,10297,begin surface
$SM_CCo,10322,50.20,0.116,0,0,875,450.13
$SM_GC,2.22,8.57,0.25,50.20,0.021,0.048,0.116,140,2207,875,-9.02,-1.67,450.13,0,0,0,0,0,0,25.98,26.34,25.32
$IRIDIUM_FIX,2013.37,12339.49,211013,050510
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,25.80
$XPDR_PINGS,282
$24V_AH,23.8,106.291
$10V_AH,10.1,65.904
$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,22.550,66.650,417.350,50.200,0.000,0.000,0.000,237.650,70.500,0.000,45.144,1602.526,6723.401,525.812,1540.634,406.497,0.000,1530.601,0.000,1265.602,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,54.315,860.625,116.280,0.000,0.000,0.000,109.395,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327352
$DATA_FILE_SIZE,16790,448
$CAP_FILE_SIZE,100147,1
$CFSIZE,260034560,192565248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,211013,112731,2021.464,12345.148,65,0.9,65,-2.9