version: 66.11
glider: 167
mission: 16
dive: 43
start: 6 26 113 13 38 34
data:
$ID,167
$MISSION,16
$DIVE,43
$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,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,-7
$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,0
$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,554.9259
$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,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-974749.12
$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,3085
$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,1900
$C_ROLL_CLIMB,3100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,42
$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
$GPS1,260613,132923,2200.393,12023.456,45,1.1,45,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-73.1
$GPS2,260613,133805,2200.426,12023.475,37,0.9,37,-3.1
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,T1
$TGT_LATLONG,2200.000,12024.000
$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,134.2,1198,-27.8,-10.000,-30.00,969
$D_GRID,948
$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,-1.22,-63.1,111,1913,436,559,0.0,0.0,0,109,0.00,0.00,-81.62,0.000,16386,0.000,0.000,112,1913,2523,2502,2544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.36,-108.0,111,1913,2502,2545,3.6,-5.2,15,145,10.15,2.10,-12.60,0.000,18692,0.242,0.038,2636,3330,3204,3200,3208,0,0,0,0,0,0,25.87,26.12,26.37
$GC,376,-1.36,-108.0,2635,3330,3201,3212,89.5,-24.3,38,381,0.00,2.10,0.00,0.000,1030,0.000,0.018,2636,1868,3206,3201,3212,0,0,0,0,0,0,28.83,26.32,28.83
$GC,696,-1.36,-108.0,2635,1868,3203,3213,164.2,-22.5,54,701,0.00,2.12,0.00,0.000,260,0.000,0.029,2625,3314,3208,3203,3214,0,0,0,0,0,0,28.83,26.42,28.83
$GC,910,-1.36,-108.0,2626,3315,3202,3213,211.3,-21.7,64,915,0.00,2.03,0.00,0.000,1030,0.000,0.018,2625,1893,3208,3203,3213,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1225,-1.36,-108.0,2625,1892,3202,3213,281.6,-24.2,80,1230,0.00,2.03,0.00,0.000,516,0.000,0.033,2624,502,3207,3202,3213,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1314,-1.36,-108.0,2625,502,3202,3212,301.9,-23.9,84,1320,0.12,2.03,0.00,0.000,3078,0.206,0.019,2643,1924,3207,3203,3212,0,0,0,0,0,0,26.40,26.58,28.83
$GC,1635,-1.36,-108.0,2643,1924,3202,3209,364.7,-18.2,100,1640,0.00,2.00,0.00,0.000,260,0.000,0.033,2635,3294,3206,3203,3209,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1870,-1.36,-108.0,2634,3294,3202,3206,401.4,-15.9,111,1876,0.00,2.00,0.00,0.000,1030,0.000,0.018,2634,1884,3203,3202,3205,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2185,-1.36,-108.0,2633,1884,3206,3200,464.3,-21.5,127,2190,0.00,2.00,0.00,0.000,516,0.000,0.033,2634,506,3202,3205,3199,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2224,-1.36,-108.0,2633,506,3205,3199,469.4,-20.9,128,2230,0.00,2.00,0.00,0.000,1030,0.000,0.020,2626,1905,3201,3205,3198,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2531,-1.36,-108.0,2626,1905,3204,3193,537.7,-20.4,144,2536,0.00,2.03,0.00,0.000,260,0.000,0.033,2616,3295,3198,3205,3192,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2555,-1.36,-108.0,2615,3295,3205,3192,542.7,-20.2,145,2561,0.12,1.98,0.00,0.000,3078,0.200,0.018,2643,1898,3198,3205,3192,0,0,0,0,0,0,26.51,26.69,28.83
$GC,2881,-1.36,-108.0,2643,1897,3205,3187,603.9,-20.8,161,2886,0.00,2.08,0.00,0.000,260,0.000,0.033,2635,3308,3195,3204,3187,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3008,-1.36,-108.0,2635,3308,3205,3184,630.2,-21.3,165,3013,0.00,2.00,0.00,0.000,1030,0.000,0.018,2635,1904,3194,3205,3184,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3346,-1.36,-108.0,2635,1904,3205,3179,696.6,-19.1,176,3351,0.00,2.08,0.00,0.000,260,0.000,0.034,2627,3304,3192,3205,3179,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3384,-1.36,-108.0,1616,3302,3163,3170,703.7,-18.9,177,3389,0.00,2.00,0.00,0.000,1030,0.000,0.019,2627,1900,3191,3205,3178,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3717,-1.36,-108.0,2627,1899,3205,3173,763.6,-16.7,188,3722,0.00,2.03,0.00,0.000,516,0.000,0.034,2627,509,3188,3205,3172,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3766,-1.36,-108.0,2628,509,3205,3172,769.9,-16.6,189,3772,0.12,2.00,0.00,0.000,3078,0.207,0.020,2645,1908,3188,3204,3172,0,0,0,0,0,0,26.55,26.72,28.83
$GC,4089,-1.36,-108.0,2645,1907,3204,3167,817.8,-14.2,200,4094,0.00,2.05,0.00,0.000,260,0.000,0.036,2637,3294,3186,3205,3167,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4143,-1.36,-108.0,2637,3294,3205,3166,823.4,-14.3,201,4148,0.00,2.00,0.00,0.000,1030,0.000,0.020,2637,1893,3185,3205,3166,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4458,-1.36,-108.0,2637,1892,3204,3162,873.5,-13.9,212,4463,0.00,2.08,0.00,0.000,260,0.000,0.034,2628,3291,3183,3204,3162,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4516,-1.36,-108.0,2627,3291,3205,3161,878.6,-14.1,213,4523,0.00,2.00,0.00,0.000,1030,0.000,0.019,2628,1899,3183,3205,3161,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4822,-1.36,-108.0,2627,1898,3205,3158,929.5,-15.0,224,4828,0.00,2.10,0.00,0.000,260,0.000,0.037,2627,3300,3181,3205,3158,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4897,-1.36,-108.0,2627,3300,3205,3157,932.8,-10.2,226,4902,0.00,2.00,0.00,0.000,1030,0.000,0.020,2627,1896,3181,3205,3157,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5098,end dive,NO_VERTICAL_VELOCITY
$STATE,5099,begin apogee
$GC,5108,-0.19,0.0,2627,3083,3205,3154,932.6,0.0,233,5209,1.10,0.00,94.50,1.164,10246,0.091,0.000,3021,3085,2758,2813,2703,0,0,0,0,0,0,26.64,28.83,24.24
$STATE,5214,end apogee,CONTROL_FINISHED_OK
$STATE,5214,begin climb
$GC,5217,1.36,108.0,3021,3083,2807,2688,932.5,0.0,236,5329,1.38,2.22,101.82,1.117,11012,0.057,0.028,3529,1725,2308,2377,2239,0,0,0,0,0,0,25.09,24.70,23.96
$GC,5401,1.36,108.0,3529,1726,2369,2220,918.5,10.7,242,5408,0.00,2.17,0.00,0.000,1030,0.000,0.035,3529,3104,2294,2369,2219,0,0,0,0,0,0,28.83,25.38,28.83
$GC,5707,1.36,108.0,3529,3104,2368,2210,847.5,21.8,253,5712,0.00,1.02,0.00,0.000,260,0.000,0.048,3529,3759,2289,2368,2210,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5942,1.36,108.0,3530,3759,2365,2207,798.8,22.5,260,5947,0.00,0.95,0.00,0.000,1030,0.000,0.028,3534,3111,2286,2365,2207,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6256,1.36,108.0,3534,3111,2365,2204,731.0,19.3,271,6262,0.00,1.02,0.00,0.000,260,0.000,0.047,3534,3764,2284,2365,2204,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6491,1.36,108.0,3534,3764,2364,2202,686.5,21.0,278,6496,0.00,0.98,0.00,0.000,1030,0.000,0.029,3539,3094,2284,2365,2203,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6806,1.36,108.0,3539,3094,2365,2201,618.1,20.3,289,6811,0.00,2.05,0.00,0.000,516,0.000,0.028,3549,1691,2283,2365,2201,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7021,1.36,108.0,3549,1690,2365,2198,578.6,20.0,297,7026,0.00,2.12,0.00,0.000,1030,0.000,0.034,3549,3109,2281,2365,2198,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7336,1.36,108.0,3549,3109,2365,2197,517.5,17.2,313,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,3109,2281,2365,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7639,1.36,108.0,3549,3109,2365,2195,467.3,16.8,328,7644,0.00,2.08,0.00,0.000,516,0.000,0.025,3559,1688,2280,2365,2195,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7712,1.36,108.0,3559,1687,2365,2195,457.1,15.4,331,7718,0.15,2.10,0.00,0.000,5126,0.208,0.033,3524,3099,2279,2365,2194,0,0,0,0,0,0,26.39,26.57,28.83
$GC,8028,1.36,108.0,3524,3099,2365,2194,406.5,15.2,347,8033,0.00,0.98,0.00,0.000,260,0.000,0.046,3524,3753,2279,2365,2194,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8263,1.36,108.0,3524,3753,2365,2194,366.7,19.3,358,8269,0.00,0.95,0.00,0.000,1030,0.000,0.028,3529,3084,2279,2365,2194,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8578,1.36,108.0,3528,3084,2364,2193,310.0,16.1,374,8583,0.00,1.05,0.00,0.000,260,0.000,0.046,3529,3762,2279,2365,2193,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8794,1.36,108.0,3529,3762,2365,2192,271.3,19.7,384,8799,0.00,0.93,0.00,0.000,1030,0.000,0.028,3534,3109,2279,2365,2193,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9108,1.36,108.0,3534,3109,2365,2192,217.8,15.7,400,9113,0.00,1.00,0.00,0.000,260,0.000,0.046,3534,3759,2278,2365,2192,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9345,1.36,108.0,3534,3758,2365,2192,184.1,12.3,411,9350,0.00,0.93,0.00,0.000,1030,0.000,0.027,3539,3099,2278,2365,2192,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9660,1.36,108.0,3539,3099,2365,2192,144.5,12.3,427,9665,0.00,2.00,0.00,0.000,516,0.000,0.023,3550,1704,2278,2365,2192,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9685,1.36,108.0,3549,1704,2365,2191,142.1,11.5,428,9690,0.00,2.08,0.00,0.000,1030,0.000,0.031,3549,3114,2277,2364,2191,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10010,1.46,143.1,3549,3114,2365,2191,121.1,6.3,444,10042,0.00,2.08,20.42,0.656,8708,0.000,0.023,3559,1695,2177,2257,2098,0,0,0,0,1,0,28.83,26.41,25.77
$GC,10072,1.47,145.9,3558,1695,2257,2106,114.8,9.7,447,10082,0.00,2.10,2.47,0.174,9222,0.000,0.031,3558,3107,2166,2244,2089,0,0,0,0,0,0,28.83,26.40,26.25
$GC,10396,1.63,200.9,3558,3107,2245,2110,85.5,4.2,463,10429,0.12,0.98,25.33,0.312,10500,0.086,0.045,3616,3749,1945,2028,1862,0,0,0,0,0,0,26.51,26.32,26.02
$GC,10543,1.63,200.9,2816,3748,1955,1866,68.3,15.2,470,10549,0.00,0.93,1.30,0.178,9222,0.000,0.024,3620,3082,1940,2024,1856,0,0,0,0,0,0,28.83,26.44,26.23
$GC,10854,1.76,244.0,3619,3083,2024,1877,43.5,5.4,491,10879,0.00,1.95,19.75,0.226,8708,0.000,0.018,3630,1709,1765,1851,1680,0,0,0,0,0,0,28.83,26.40,26.15
$GC,10893,1.92,296.3,3630,1710,1851,1693,42.1,4.4,494,10924,0.20,2.08,23.05,0.224,11270,0.069,0.030,3714,3110,1551,1631,1471,0,0,0,0,0,0,26.39,26.39,26.06
$STATE,11196,end climb,SURFACE_DEPTH_REACHED
$STATE,11196,begin surface coast
$FINISH,0.8,1.010413
$STATE,11215,end surface coast,CONTROL_FINISHED_OK
$STATE,11216,begin surface
$SM_CCo,11240,122.65,0.130,0,0,496,555.11
$SM_GC,1.75,9.12,1.77,122.65,0.035,0.021,0.130,144,1941,496,-9.13,2.40,555.11,0,0,0,0,0,0,26.39,26.42,26.01
$IRIDIUM_FIX,2150.42,12024.75,260613,090916
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.86
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,7699680
$24V_AH,24.0,4.969
$10V_AH,10.2,4.256
$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,22.600,89.125,288.650,122.650,0.000,0.000,0.000,300.275,0.000,0.000,38.529,1936.748,7018.008,533.462,1973.012,424.221,0.000,1699.686,0.000,1608.765,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,48.195,1163.565,130.050,0.000,0.000,0.000,117.810,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11239.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.457,0.000,0.000,0.000
$MEM,324596
$DATA_FILE_SIZE,20107,542
$CAP_FILE_SIZE,139392,0
$CFSIZE,260034560,246235136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,260613,164928,2200.085,12023.907,45,1.5,45,-3.1