version: 66.11
glider: 167
mission: 16
dive: 46
start: 6 26 113 23 19 35
data:
$ID,167
$MISSION,16
$DIVE,46
$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,-974753.12
$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,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$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
$GPS1,260613,230922,2157.758,12023.125,38,1.7,54,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.3
$GPS2,260613,231906,2157.582,12023.146,35,1.9,35,-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,157.5,7358,-16.6,-10.000,-19.50,2680
$D_GRID,1032
$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,-175.2,111,1919,428,571,0.0,0.0,0,115,0.00,0.00,-87.70,0.000,16386,0.000,0.000,110,1919,2689,2667,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.14,-175.2,110,1919,2667,2713,3.8,-6.0,16,154,10.52,2.10,-13.05,0.000,19204,0.247,0.039,2710,488,3479,3478,3481,0,0,0,0,0,0,25.93,26.17,26.41
$GC,386,-1.14,-175.2,2710,487,3478,3485,96.0,-32.1,38,391,0.00,2.05,0.00,0.000,1030,0.000,0.015,2701,1944,3482,3479,3485,0,0,0,0,0,0,28.83,26.36,28.83
$GC,700,-1.14,-175.2,2701,1946,3480,3485,184.2,-26.3,54,706,0.00,2.12,0.00,0.000,516,0.000,0.029,2701,497,3482,3480,3485,0,0,0,0,0,0,28.83,26.44,28.83
$GC,754,-1.14,-175.2,2701,497,3481,3485,196.3,-27.1,56,760,0.00,1.98,0.00,0.000,1030,0.000,0.018,2692,1889,3482,3480,3485,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1069,-1.14,-175.2,2692,1890,3480,3485,275.5,-21.7,72,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1890,3482,3480,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1372,-1.14,-175.2,2692,1890,3480,3484,337.2,-20.4,87,1377,0.00,2.05,0.00,0.000,260,0.000,0.033,2682,3293,3481,3480,3482,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1488,-1.14,-175.2,2681,3293,3478,3481,360.6,-22.0,92,1494,0.15,2.00,0.00,0.000,3078,0.177,0.018,2719,1877,3481,3480,3482,0,0,0,0,0,0,26.46,26.63,28.83
$GC,1804,-1.14,-175.2,2719,1875,3483,3475,421.0,-19.2,108,1809,0.00,1.98,0.00,0.000,516,0.000,0.034,2719,518,3478,3483,3474,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1933,-1.14,-175.2,2719,519,3483,3473,447.7,-21.9,114,1939,0.00,1.95,0.00,0.000,1030,0.000,0.020,2712,1895,3477,3483,3472,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2253,-1.14,-175.2,2711,1896,3484,3466,506.2,-17.0,130,2258,0.00,2.05,0.00,0.000,260,0.000,0.035,2701,3293,3474,3483,3466,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2464,-1.14,-175.2,2701,3293,3483,3463,543.8,-18.4,140,2469,0.00,1.98,0.00,0.000,1030,0.000,0.018,2702,1899,3473,3483,3463,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2784,-1.14,-175.2,2701,1898,3483,3457,598.4,-15.3,156,2789,0.00,2.03,0.00,0.000,516,0.000,0.034,2701,511,3470,3483,3457,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2832,-1.14,-175.2,2701,511,3483,3456,603.9,-15.4,158,2838,0.00,2.00,0.00,0.000,1030,0.000,0.021,2697,1908,3469,3483,3456,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3155,-1.14,-175.2,2697,1908,3483,3451,662.1,-17.8,169,3160,0.00,2.03,0.00,0.000,260,0.000,0.037,2688,3289,3466,3483,3450,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3220,-1.14,-175.2,2687,3290,3483,3449,675.6,-19.0,171,3226,0.12,2.00,0.00,0.000,3078,0.184,0.019,2716,1884,3466,3483,3449,0,0,0,0,0,0,26.55,26.72,28.83
$GC,3555,-1.14,-175.2,2717,1884,3483,3445,740.8,-19.7,182,3560,0.00,2.00,0.00,0.000,516,0.000,0.035,2717,516,3464,3483,3445,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3624,-1.14,-175.2,2717,516,3483,3443,753.1,-19.0,184,3629,0.00,1.98,0.00,0.000,1030,0.000,0.020,2712,1899,3463,3483,3443,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3956,-1.14,-175.2,2712,1900,3483,3437,806.9,-14.3,195,3961,0.00,2.08,0.00,0.000,260,0.000,0.037,2702,3293,3460,3483,3438,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4106,-1.14,-175.2,2702,3293,3483,3436,823.1,-12.6,199,4113,0.00,1.98,0.00,0.000,1030,0.000,0.019,2702,1901,3459,3483,3436,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4412,-1.14,-175.2,2701,1902,3480,3436,872.5,-16.1,210,4417,0.00,2.08,0.00,0.000,260,0.000,0.037,2697,3287,3457,3480,3434,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4456,-1.14,-175.2,2697,3287,3479,3434,878.5,-16.8,211,4461,0.00,1.98,0.00,0.000,1030,0.000,0.020,2697,1901,3456,3479,3434,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4784,-1.14,-175.2,2697,1900,3478,3432,936.3,-16.7,222,4790,0.00,2.05,0.00,0.000,516,0.000,0.046,2697,510,3455,3478,3432,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5020,-1.14,-175.2,2697,510,3477,3429,936.7,-0.2,229,5025,0.00,2.00,0.00,0.000,1030,0.000,0.024,2697,1896,3452,3477,3428,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5031,end dive,NO_VERTICAL_VELOCITY
$STATE,5031,begin apogee
$GC,5041,-0.19,0.0,2697,3276,3478,3427,936.7,0.0,230,5200,0.85,0.00,150.77,1.142,10246,0.061,0.000,3026,3276,2762,2824,2700,0,0,0,0,0,0,26.69,28.83,24.08
$STATE,5202,end apogee,CONTROL_FINISHED_OK
$STATE,5202,begin climb
$GC,5206,1.14,175.2,3026,3276,2812,2677,936.7,0.0,235,5376,1.17,2.17,155.12,1.073,10756,0.055,0.022,3449,1907,2045,2145,1946,0,0,0,0,1,0,24.91,24.72,23.84
$GC,5606,1.93,436.9,3448,1908,2145,1964,936.6,-0.0,248,5851,0.68,2.20,231.15,1.683,11270,0.033,0.039,3729,3311,979,972,986,0,0,0,0,1,0,25.82,25.77,23.24
$GC,6151,1.93,436.9,3729,3311,981,986,711.2,48.8,267,6156,0.00,0.68,0.00,0.000,260,0.000,0.044,3729,3765,983,981,986,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6386,1.93,436.9,3729,3766,979,985,606.0,50.0,274,6392,0.08,0.68,0.00,0.000,5126,0.204,0.028,3712,3290,982,979,985,0,0,0,0,0,0,25.86,26.06,28.83
$GC,6701,1.93,436.9,3711,3283,978,983,452.0,45.9,290,6707,0.00,0.75,0.00,0.000,260,0.000,0.043,3712,3780,981,979,983,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6800,1.93,436.9,3711,3780,979,982,412.7,46.4,294,6807,0.00,0.68,0.00,0.000,1030,0.000,0.028,3714,3287,980,979,982,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7106,1.93,436.9,3714,3287,979,981,257.3,50.3,310,7111,0.00,2.00,0.00,0.000,516,0.000,0.031,3724,1925,980,979,981,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7165,1.93,436.9,3723,1923,979,981,235.5,49.5,312,7172,0.00,2.10,0.00,0.000,1030,0.000,0.032,3724,3314,979,979,980,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7471,1.93,436.9,3724,3314,978,979,90.2,47.4,328,7476,0.00,0.65,0.00,0.000,260,0.000,0.043,3724,3770,978,979,978,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7641,1.93,436.9,3724,3769,978,977,28.8,36.8,338,7647,0.00,0.62,0.00,0.000,1030,0.000,0.026,3728,3296,977,978,977,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,7722,end climb,SURFACE_DEPTH_REACHED
$STATE,7722,begin surface coast
$FINISH,1.0,1.008536
$STATE,7727,end surface coast,CONTROL_FINISHED_OK
$STATE,7727,begin surface
$SM_CCo,7752,64.57,0.139,0,0,496,555.11
$SM_GC,1.87,9.18,2.05,64.57,0.034,0.024,0.139,142,1907,496,-9.14,2.26,555.11,0,0,0,0,0,0,26.46,26.51,26.17
$IRIDIUM_FIX,2148.09,12008.03,260613,232313
$TT8_MAMPS,0.025466,0.025466
$HUMID,63.58
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,22.30
$XPDR_PINGS,3
$SC_FREEKB,7698528
$24V_AH,23.2,5.467
$10V_AH,10.3,4.463
$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,22.750,61.125,537.050,64.575,0.000,0.000,0.000,318.175,0.750,0.000,36.871,1298.330,4581.281,610.908,1565.006,347.892,0.000,1650.680,0.000,1189.150,0.000,0.538,0.000
$DEVICE_MAMPS,247.095,45.900,1683.000,139.230,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7735.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.284,0.000,0.000,0.000
$MEM,324392
$DATA_FILE_SIZE,13472,354
$CAP_FILE_SIZE,101244,0
$CFSIZE,260034560,246063104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,270613,013122,2157.476,12023.015,30,1.2,45,-3.1