version: 66.11
glider: 167
mission: 16
dive: 45
start: 6 26 113 20 3 2
data:
$ID,167
$MISSION,16
$DIVE,45
$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,-974751.75
$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,59
$R_STBD_OVSHOOT,38
$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
$GPS1,260613,195037,2159.046,12023.775,30,1.7,30,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.2
$GPS2,260613,200236,2158.939,12023.909,42,1.0,42,-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,171.5,9337,-16.6,-10.000,-19.50,2680
$D_GRID,984
$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,-1.14,-175.2,111,1934,430,561,0.0,0.0,0,110,0.00,0.00,-81.75,0.000,16386,0.000,0.000,112,1935,2501,2483,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-1.14,-175.2,112,1934,2482,2522,3.2,-4.7,15,154,10.35,2.10,-17.27,0.000,18692,0.241,0.048,2702,3308,3482,3480,3484,0,0,0,0,0,0,25.97,26.20,26.45
$GC,368,-1.14,-175.2,2702,3309,3480,3486,93.6,-32.0,36,375,0.00,2.03,0.00,0.000,1030,0.000,0.021,2702,1895,3483,3480,3486,0,0,0,0,0,0,28.83,26.38,28.83
$GC,675,-1.14,-175.2,2702,1894,3483,3486,177.4,-22.9,52,680,0.00,2.10,0.00,0.000,260,0.000,0.031,2694,3320,3484,3483,3486,0,0,0,0,0,0,28.83,26.46,28.83
$GC,909,-1.14,-175.2,2692,3320,3483,3486,223.0,-20.6,63,914,0.00,2.03,0.00,0.000,1030,0.000,0.018,2692,1887,3484,3483,3486,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1224,-1.14,-175.2,2692,1887,3483,3486,295.3,-23.2,79,1229,0.00,2.00,0.00,0.000,516,0.000,0.034,2692,512,3484,3483,3486,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1252,-1.14,-175.2,1664,512,3464,3482,301.0,-22.8,80,1258,0.12,2.00,0.00,0.000,3078,0.189,0.018,2711,1932,3484,3483,3485,0,0,0,0,0,0,26.46,26.63,28.83
$GC,1572,-1.14,-175.2,2711,1932,3483,3480,367.9,-21.0,96,1578,0.00,1.98,0.00,0.000,260,0.000,0.033,2703,3291,3482,3483,3481,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1742,-1.14,-175.2,1680,3289,3464,3474,405.2,-23.1,104,1748,0.00,1.98,0.00,0.000,1030,0.000,0.018,2703,1894,3480,3483,3477,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2063,-1.14,-175.2,2701,1894,3485,3470,477.9,-21.0,120,2068,0.00,2.00,0.00,0.000,516,0.000,0.034,2702,519,3476,3484,3469,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2122,-1.14,-175.2,2702,519,3485,3468,487.8,-21.7,122,2128,0.00,1.95,0.00,0.000,1030,0.000,0.019,2698,1894,3475,3484,3467,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2429,-1.14,-175.2,2697,1894,3484,3462,552.7,-18.7,138,2434,0.00,2.05,0.00,0.000,260,0.000,0.034,2687,3298,3473,3485,3462,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2474,-1.14,-175.2,2687,3297,3484,3461,561.5,-19.0,140,2480,0.12,2.00,0.00,0.000,3078,0.183,0.018,2717,1884,3472,3484,3461,0,0,0,0,0,0,26.56,26.72,28.83
$GC,2789,-1.14,-175.2,2716,1884,3484,3455,616.7,-17.6,154,2794,0.00,2.00,0.00,0.000,516,0.000,0.035,2716,521,3470,3485,3455,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2813,-1.14,-175.2,2716,522,3484,3455,616.7,-17.6,154,2818,0.00,1.98,0.00,0.000,1030,0.000,0.019,2710,1911,3469,3484,3454,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3128,-1.14,-175.2,2709,1912,3484,3449,680.7,-18.5,165,3133,0.00,2.03,0.00,0.000,260,0.000,0.035,2700,3294,3467,3485,3449,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3202,-1.14,-175.2,2700,3294,3484,3448,692.8,-18.5,167,3207,0.00,1.98,0.00,0.000,1030,0.000,0.019,2700,1900,3466,3484,3448,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3529,-1.14,-175.2,2699,1899,3484,3441,752.3,-17.3,178,3535,0.00,2.03,0.00,0.000,516,0.000,0.035,2700,513,3463,3485,3441,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3603,-1.14,-175.2,2699,514,3484,3441,763.6,-16.7,180,3609,0.00,2.00,0.00,0.000,1030,0.000,0.023,2696,1905,3462,3484,3440,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3931,-1.14,-175.2,2696,1907,3484,3435,819.5,-16.8,191,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1906,3460,3485,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4228,-1.14,-175.2,2696,1908,3481,3434,869.8,-17.2,201,4233,0.00,2.05,0.00,0.000,260,0.000,0.037,2686,3298,3457,3480,3434,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4287,-1.14,-175.2,2686,3298,3479,3434,875.9,-17.3,202,4294,0.12,2.00,0.00,0.000,3078,0.182,0.020,2716,1888,3456,3480,3433,0,0,0,0,0,0,26.60,26.75,28.83
$GC,4595,-1.14,-175.2,2716,1887,3478,3431,925.0,-14.7,213,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1887,3454,3478,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4893,-1.14,-175.2,2716,1887,3476,3428,966.9,-13.7,223,4898,0.00,2.10,0.00,0.000,260,0.000,0.037,2710,3293,3452,3476,3428,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4971,-1.14,-175.2,2710,3293,3475,3427,975.6,-13.3,225,4977,0.00,2.00,0.00,0.000,1030,0.000,0.021,2710,1892,3450,3474,3427,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,5018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5018,begin apogee
$GC,5028,-0.19,0.0,2710,3278,3475,3427,984.7,-14.0,227,5191,0.88,0.00,152.77,1.170,10246,0.091,0.000,3022,3279,2754,2819,2689,0,0,0,0,0,0,26.66,28.83,24.08
$STATE,5194,end apogee,CONTROL_FINISHED_OK
$STATE,5194,begin climb
$GC,5197,1.14,175.2,3022,3278,2817,2679,984.5,0.0,232,5372,1.25,2.25,164.27,1.118,11012,0.089,0.024,3448,1912,2040,2139,1942,0,0,0,0,0,0,24.95,24.68,23.96
$GC,5452,1.20,194.4,3448,1903,2124,1922,968.6,9.3,241,5476,0.00,2.22,13.75,1.035,9222,0.000,0.037,3447,3307,1965,2064,1866,0,0,0,0,1,0,28.83,25.40,24.46
$GC,5778,1.20,194.4,3447,3306,2063,1860,925.2,12.8,252,5783,0.00,2.12,0.00,0.000,516,0.000,0.024,3456,1891,1961,2063,1860,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6013,1.20,194.4,3456,1891,2063,1858,896.1,14.2,259,6018,0.00,2.17,0.00,0.000,1030,0.000,0.038,3456,3303,1960,2063,1858,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6328,1.20,194.4,3455,3303,2063,1856,830.2,19.9,270,6333,0.00,2.10,0.00,0.000,516,0.000,0.026,3465,1891,1959,2063,1856,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6544,1.20,194.4,3465,1891,2063,1855,789.1,19.4,277,6549,0.00,2.17,0.00,0.000,1030,0.000,0.038,3465,3310,1959,2063,1855,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6882,1.20,194.4,3465,3311,2063,1853,718.1,20.9,288,6887,0.00,2.08,0.00,0.000,516,0.000,0.026,3475,1905,1958,2063,1853,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7061,1.20,194.4,3475,1905,2062,1852,686.5,19.8,293,7068,0.00,2.15,0.00,0.000,1030,0.000,0.038,3475,3307,1957,2063,1852,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7367,1.20,194.4,3475,3308,2063,1851,619.8,19.7,304,7373,0.00,2.10,0.00,0.000,516,0.000,0.027,3485,1894,1957,2063,1851,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7579,1.20,194.4,3483,1894,2063,1851,577.2,20.9,312,7584,0.00,2.12,0.00,0.000,1030,0.000,0.037,3484,3302,1957,2063,1851,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7898,1.20,194.4,3484,3302,2063,1851,505.9,21.6,328,7904,0.00,2.08,0.00,0.000,516,0.000,0.026,3494,1898,1957,2063,1851,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7943,1.20,194.4,3494,1898,2063,1850,496.3,21.5,330,7949,0.00,2.12,0.00,0.000,1030,0.000,0.037,3494,3302,1956,2063,1850,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8268,1.20,194.4,3494,3302,2063,1850,423.3,22.2,346,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,3302,1956,2063,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8571,1.20,194.4,3493,3301,2063,1849,360.9,20.8,361,8576,0.00,2.05,0.00,0.000,516,0.000,0.025,3503,1901,1956,2063,1849,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8687,1.20,194.4,3503,1901,2063,1849,338.4,21.1,366,8693,0.12,2.10,0.00,0.000,5126,0.195,0.036,3475,3300,1956,2063,1849,0,0,0,0,0,0,26.48,26.62,28.83
$GC,9003,1.20,194.4,3475,3299,2063,1849,275.3,17.4,382,9008,0.00,2.05,0.00,0.000,516,0.000,0.024,3483,1900,1956,2063,1849,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9169,1.20,194.4,3483,1900,2063,1849,246.8,17.4,390,9175,0.00,2.12,0.00,0.000,1030,0.000,0.036,3483,3311,1956,2063,1849,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9494,1.20,194.4,3483,3310,2063,1849,191.9,15.8,406,9499,0.00,0.68,0.00,0.000,260,0.000,0.052,3483,3766,1956,2064,1849,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9705,1.20,194.4,3483,3766,2063,1849,158.0,16.0,416,9710,0.00,0.65,0.00,0.000,1030,0.000,0.030,3486,3290,1956,2063,1849,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10024,1.20,194.4,3487,3290,2063,1849,101.0,17.2,432,10030,0.00,2.00,0.00,0.000,516,0.000,0.023,3496,1894,1956,2064,1848,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10180,1.20,194.4,3496,1893,2063,1849,80.7,13.2,439,10186,0.00,2.10,0.00,0.000,1030,0.000,0.034,3496,3304,1956,2063,1849,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10495,1.20,194.4,3496,3304,2063,1849,46.0,12.0,456,10500,0.00,0.68,0.00,0.000,260,0.000,0.051,3496,3763,1956,2064,1849,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10712,1.66,350.0,3496,3763,2063,1849,32.8,4.0,477,10786,0.28,0.62,66.82,0.200,11270,0.037,0.028,3625,3286,1333,1409,1257,0,0,0,0,0,0,26.70,26.74,26.22
$STATE,10932,end climb,SURFACE_DEPTH_REACHED
$STATE,10932,begin surface coast
$FINISH,0.9,1.007819
$STATE,10953,end surface coast,CONTROL_FINISHED_OK
$STATE,10953,begin surface
$SM_CCo,10978,102.25,0.134,0,0,497,555.11
$SM_GC,1.63,8.82,2.03,102.25,0.029,0.023,0.134,138,1925,497,-9.14,2.40,555.11,0,0,0,0,0,0,26.46,26.49,26.10
$IRIDIUM_FIX,2150.42,12022.75,260613,191925
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.94
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,7698912
$24V_AH,24.0,5.252
$10V_AH,10.3,4.404
$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,22.075,89.275,397.625,102.250,0.000,0.000,0.000,384.825,0.000,0.000,43.809,1836.573,6950.604,586.498,2006.650,419.239,0.000,1836.747,0.000,1556.794,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,52.020,1169.685,133.875,0.000,0.000,0.000,111.690,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10964.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.715,0.000,0.000,0.000
$MEM,324356
$DATA_FILE_SIZE,20073,516
$CAP_FILE_SIZE,134677,0
$CFSIZE,260034560,246095872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,260613,230922,2157.758,12023.125,38,1.7,54,-3.1