version: 66.11
glider: 167
mission: 16
dive: 44
start: 6 26 113 16 58 35
data:
$ID,167
$MISSION,16
$DIVE,44
$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,-974750.5
$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,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,44
$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
$GPS1,260613,164928,2200.085,12023.907,45,1.5,45,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.0
$GPS2,260613,165806,2200.172,12024.047,39,1.0,39,-3.1
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,T2
$TGT_LATLONG,2154.000,12025.000
$TGT_RADIUS,3000.000
$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,174.9,11547,-16.6,-10.000,-19.50,2680
$D_GRID,929
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.14,-175.2,111,1935,439,562,0.0,0.0,0,116,0.00,0.00,-87.53,0.000,16386,0.000,0.000,111,1935,2695,2676,2715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.14,-175.2,111,1935,2676,2716,3.9,-7.0,16,154,10.50,2.05,-12.35,0.000,18692,0.244,0.040,2700,3315,3479,3476,3483,0,0,0,0,0,0,25.89,26.15,26.39
$GC,250,-1.14,-175.2,2700,3315,3476,3484,50.7,-33.3,30,257,0.00,2.10,0.00,0.000,1030,0.000,0.025,2700,1888,3480,3476,3484,0,0,0,0,0,0,28.83,26.24,28.83
$GC,556,-1.14,-175.2,2700,1887,3479,3485,145.8,-29.1,46,561,0.00,2.10,0.00,0.000,260,0.000,0.029,2691,3320,3481,3478,3485,0,0,0,0,0,0,28.83,26.38,28.83
$GC,755,-1.14,-175.2,2692,3320,3478,3485,193.0,-25.6,55,762,0.00,2.05,0.00,0.000,1030,0.000,0.019,2691,1881,3481,3478,3485,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1061,-1.14,-175.2,2690,1881,3478,3485,274.0,-22.8,71,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1881,3481,3478,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1364,-1.14,-175.2,2690,1881,3478,3485,340.9,-19.3,86,1369,0.00,2.00,0.00,0.000,516,0.000,0.034,2691,509,3480,3478,3483,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1481,-1.14,-175.2,2690,509,3478,3482,361.7,-19.6,91,1487,0.15,2.00,0.00,0.000,3078,0.184,0.019,2718,1921,3479,3478,3481,0,0,0,0,0,0,26.45,26.62,28.83
$GC,1796,-1.14,-175.2,2718,1922,3481,3475,420.8,-17.7,107,1802,0.00,2.00,0.00,0.000,260,0.000,0.033,2710,3283,3478,3482,3474,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1901,-1.14,-175.2,2710,3283,3482,3472,441.9,-20.6,112,1907,0.00,1.98,0.00,0.000,1030,0.000,0.018,2710,1897,3477,3482,3472,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2226,-1.14,-175.2,2710,1896,3482,3466,514.6,-22.6,128,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1896,3473,3481,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-1.14,-175.2,2710,1896,3481,3461,577.9,-18.8,143,2534,0.00,2.03,0.00,0.000,516,0.000,0.035,2710,510,3470,3481,3460,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2578,-1.14,-175.2,2709,510,3481,3460,586.7,-18.8,145,2583,0.00,1.98,0.00,0.000,1030,0.000,0.021,2701,1900,3470,3481,3459,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2901,-1.14,-175.2,2700,1900,3481,3453,637.3,-14.2,157,2906,0.00,2.03,0.00,0.000,260,0.000,0.035,2697,3281,3467,3481,3453,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2930,-1.14,-175.2,2697,3281,3481,3453,637.3,-14.2,157,2937,0.00,1.98,0.00,0.000,1030,0.000,0.018,2697,1890,3467,3481,3453,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3236,-1.14,-175.2,2697,1891,3481,3448,693.7,-17.3,168,3241,0.00,2.08,0.00,0.000,260,0.000,0.033,2687,3286,3464,3481,3448,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3279,-1.14,-175.2,2687,3286,3481,3448,699.6,-17.0,169,3286,0.12,1.98,0.00,0.000,3078,0.186,0.018,2717,1890,3464,3481,3448,0,0,0,0,0,0,26.55,26.72,28.83
$GC,3608,-1.14,-175.2,2716,1890,3481,3442,752.8,-16.2,180,3613,0.00,2.00,0.00,0.000,516,0.000,0.035,2717,521,3461,3481,3442,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3691,-1.14,-175.2,2717,522,3481,3441,763.5,-16.3,182,3697,0.00,1.98,0.00,0.000,1030,0.000,0.021,2712,1899,3461,3481,3441,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4006,-1.14,-175.2,2712,1899,3481,3435,818.8,-16.6,193,4012,0.00,2.05,0.00,0.000,260,0.000,0.037,2709,3291,3458,3481,3435,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4110,-1.14,-175.2,2709,3291,3481,3434,835.6,-17.7,196,4115,0.00,1.98,0.00,0.000,1030,0.000,0.018,2709,1898,3457,3481,3434,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4438,-1.14,-175.2,2709,1898,3480,3430,888.5,-15.4,207,4443,0.00,2.03,0.00,0.000,516,0.000,0.036,2709,519,3454,3479,3430,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4467,-1.14,-175.2,2709,519,3479,3430,888.5,-15.4,207,4473,0.00,1.98,0.00,0.000,1030,0.000,0.022,2700,1905,3454,3478,3430,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4680,begin apogee
$GC,4690,-0.19,0.0,2697,3274,3476,3430,931.1,-17.7,215,4848,1.02,0.00,143.80,1.649,10246,0.153,0.000,3019,3274,2761,2826,2697,0,0,0,0,1,0,26.57,28.83,23.49
$STATE,4850,end apogee,CONTROL_FINISHED_OK
$STATE,4850,begin climb
$GC,4854,1.14,175.2,3019,3274,2826,2705,938.7,0.0,220,5028,1.17,2.25,156.12,1.678,11012,0.041,0.025,3465,1917,2048,2137,1960,0,0,0,0,1,0,24.77,24.38,23.37
$GC,5078,1.14,175.2,3465,1916,2137,1958,907.4,20.9,228,5083,0.00,2.25,0.00,0.000,1030,0.000,0.036,3465,3307,2047,2137,1957,0,0,0,0,0,0,28.83,25.12,28.83
$GC,5416,1.14,175.2,3465,3307,2137,1951,824.4,25.5,239,5421,0.00,2.10,0.00,0.000,516,0.000,0.025,3475,1904,2044,2137,1951,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5455,1.14,175.2,3474,1904,2137,1951,815.8,24.5,240,5460,0.00,2.15,0.00,0.000,1030,0.000,0.036,3475,3302,2044,2137,1951,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5788,1.14,175.2,3475,3301,2137,1948,741.2,22.1,251,5794,0.00,2.08,0.00,0.000,516,0.000,0.025,3484,1899,2042,2137,1948,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5828,1.14,175.2,3484,1899,2137,1948,732.6,22.3,252,5834,0.12,2.15,0.00,0.000,5126,0.198,0.035,3457,3309,2042,2137,1948,0,0,0,0,0,0,26.10,26.25,28.83
$GC,6161,1.14,175.2,3457,3310,2137,1945,657.2,23.0,263,6167,0.00,2.08,0.00,0.000,516,0.000,0.025,3465,1905,2041,2137,1945,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6245,1.14,175.2,3465,1905,2137,1944,641.4,23.3,265,6250,0.00,2.12,0.00,0.000,1030,0.000,0.036,3465,3305,2040,2137,1944,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6573,1.14,175.2,3465,3305,2137,1941,558.5,23.9,279,6578,0.00,2.08,0.00,0.000,516,0.000,0.025,3475,1896,2040,2137,1943,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6617,1.14,175.2,3475,1896,2137,1942,547.6,23.1,281,6623,0.00,2.15,0.00,0.000,1030,0.000,0.034,3475,3312,2039,2137,1942,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6942,1.14,175.2,3474,3311,2137,1941,475.8,20.7,297,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,3312,2039,2137,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7245,1.14,175.2,3475,3312,2138,1940,408.1,23.8,312,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,3312,2038,2137,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7545,1.14,175.2,3475,3312,2137,1939,338.7,22.4,327,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,3312,2038,2136,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7846,1.14,175.2,3475,3312,2137,1938,281.2,18.4,342,7851,0.00,2.05,0.00,0.000,516,0.000,0.023,3484,1902,2037,2137,1938,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7973,1.14,175.2,3484,1902,2137,1938,258.3,18.9,348,7979,0.12,2.10,0.00,0.000,5126,0.197,0.034,3456,3301,2037,2137,1938,0,0,0,0,0,0,26.46,26.60,28.83
$GC,8299,1.14,175.2,3456,3301,2137,1938,194.9,17.2,364,8304,0.00,0.70,0.00,0.000,260,0.000,0.050,3456,3773,2037,2137,1937,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8415,1.14,175.2,3456,3773,2137,1938,178.8,15.4,369,8421,0.00,0.65,0.00,0.000,1030,0.000,0.028,3458,3289,2037,2137,1938,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8730,1.14,175.2,3458,3289,2137,1937,130.9,14.0,385,8735,0.00,0.73,0.00,0.000,260,0.000,0.050,3458,3764,2037,2137,1938,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8967,1.22,203.1,3458,3764,2137,1937,110.0,8.9,396,8982,0.00,0.62,10.60,0.384,9222,0.000,0.028,3462,3294,1932,2029,1836,0,0,0,0,0,0,28.83,26.70,26.23
$GC,9302,1.25,210.9,3462,3294,2028,1836,78.9,9.7,413,9312,0.00,1.98,3.33,0.307,8708,0.000,0.021,3472,1899,1902,1996,1809,0,0,0,0,0,0,28.83,26.61,26.32
$GC,9542,1.33,238.1,3471,1898,1996,1810,57.2,9.0,424,9561,0.12,2.10,11.90,0.259,11270,0.082,0.033,3530,3315,1788,1880,1697,0,0,0,0,0,0,26.61,26.60,26.32
$GC,9874,1.53,305.2,3530,3315,1880,1699,32.7,7.4,453,9908,0.12,0.60,28.67,0.196,10500,0.081,0.044,3604,3763,1513,1599,1428,0,0,0,0,0,0,26.63,26.46,26.30
$GC,9954,1.53,305.2,3604,3762,1599,1431,21.7,17.0,462,9962,0.10,0.62,0.00,0.000,5126,0.196,0.024,3579,3269,1515,1599,1431,0,0,0,0,0,0,26.33,26.56,28.83
$STATE,10079,end climb,SURFACE_DEPTH_REACHED
$STATE,10079,begin surface coast
$FINISH,0.8,1.008008
$STATE,10104,end surface coast,CONTROL_FINISHED_OK
$STATE,10104,begin surface
$SM_CCo,10128,118.28,0.128,0,0,497,555.11
$SM_GC,1.66,8.70,1.95,118.28,0.032,0.020,0.128,138,1941,497,-9.13,2.97,555.11,0,0,0,0,0,0,26.53,26.55,26.14
$IRIDIUM_FIX,2152.74,12015.55,260613,131336
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.25
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.70
$XPDR_PINGS,1
$SC_FREEKB,7699296
$24V_AH,23.4,5.127
$10V_AH,10.4,4.326
$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,22.275,77.925,354.425,118.275,0.000,0.000,0.000,296.850,0.250,0.000,40.285,1588.211,6545.032,569.487,1653.442,410.577,0.000,1605.637,0.000,1289.777,0.000,0.541,0.000
$DEVICE_MAMPS,244.035,49.725,1678.410,127.755,0.000,0.000,0.000,114.750,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10121.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.885,0.000,0.000,0.000
$MEM,324400
$DATA_FILE_SIZE,16781,490
$CAP_FILE_SIZE,122552,0
$CFSIZE,260034560,246177792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,260613,195037,2159.046,12023.775,30,1.7,30,-3.1