version: 66.11
glider: 167
mission: 16
dive: 47
start: 6 27 113 1 38 6
data:
$ID,167
$MISSION,16
$DIVE,47
$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,2
$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,-974754.38
$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,68
$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
$GPS1,270613,013122,2157.476,12023.015,30,1.2,45,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-72.6
$GPS2,270613,013740,2157.392,12022.931,10,1.1,10,-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,153.6,7219,-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,22,begin dive
$GC,26,-1.14,-175.2,110,1904,408,583,0.0,0.0,0,108,0.00,0.00,-79.78,0.000,16386,0.000,0.000,110,1904,2448,2423,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-1.14,-175.2,110,1904,2423,2474,3.2,-4.1,14,151,10.45,2.15,-19.73,0.000,18692,0.246,0.046,2705,3321,3480,3478,3482,0,0,0,0,0,0,25.94,26.17,26.44
$GC,183,-1.14,-175.2,2704,3321,3478,3483,25.3,-42.7,24,190,0.00,2.10,0.00,0.000,1030,0.000,0.024,2705,1898,3481,3478,3484,0,0,0,0,0,0,28.83,26.22,28.83
$GC,499,-1.14,-175.2,2704,1895,3483,3485,121.8,-23.1,43,505,0.00,2.05,0.00,0.000,516,0.000,0.032,2704,502,3484,3483,3485,0,0,0,0,0,0,28.83,26.36,28.83
$GC,616,-1.14,-175.2,2704,501,3483,3487,150.0,-27.3,48,622,0.00,2.05,0.00,0.000,1030,0.000,0.018,2695,1933,3484,3483,3486,0,0,0,0,0,0,28.83,26.44,28.83
$GC,931,-1.14,-175.2,2695,1933,3484,3487,234.9,-23.6,64,936,0.00,1.98,0.00,0.000,260,0.000,0.033,2685,3288,3485,3484,3487,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1112,-1.14,-175.2,2684,3288,3484,3487,274.0,-23.5,72,1119,0.12,2.00,0.00,0.000,3078,0.185,0.021,2713,1883,3485,3484,3487,0,0,0,0,0,0,26.39,26.55,28.83
$GC,1418,-1.14,-175.2,2713,1882,3483,3487,341.3,-18.5,88,1423,0.00,2.00,0.00,0.000,516,0.000,0.033,2713,517,3485,3484,3487,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1447,-1.14,-175.2,2713,518,3484,3487,345.8,-18.6,89,1452,0.00,1.98,0.00,0.000,1030,0.000,0.019,2710,1905,3485,3483,3487,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1767,-1.14,-175.2,2708,1906,3488,3481,404.3,-17.7,105,1772,0.00,2.08,0.00,0.000,516,0.000,0.032,2708,507,3484,3488,3481,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1821,-1.14,-175.2,2708,507,3488,3480,412.0,-17.0,107,1826,0.00,1.98,0.00,0.000,1030,0.000,0.018,2699,1907,3484,3488,3480,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2135,-1.14,-175.2,2700,1907,3488,3477,470.7,-18.8,123,2141,0.00,2.03,0.00,0.000,260,0.000,0.037,2696,3283,3482,3488,3476,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2195,-1.14,-175.2,2696,3283,3488,3476,479.4,-18.7,125,2201,0.00,1.98,0.00,0.000,1030,0.000,0.020,2696,1893,3481,3488,3475,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2501,-1.14,-175.2,2696,1893,3488,3473,538.6,-17.1,141,2506,0.00,2.00,0.00,0.000,516,0.000,0.034,2696,519,3480,3488,3472,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2559,-1.14,-175.2,2696,519,3488,3472,546.8,-17.8,143,2567,0.12,1.95,0.00,0.000,3078,0.185,0.018,2717,1898,3479,3488,3471,0,0,0,0,0,0,26.52,26.67,28.83
$GC,2866,-1.14,-175.2,2716,1898,3487,3467,593.9,-14.9,159,2871,0.00,2.05,0.00,0.000,260,0.000,0.037,2717,3286,3477,3488,3466,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2910,-1.14,-175.2,2716,3286,3488,3466,600.6,-15.0,161,2916,0.00,1.98,0.00,0.000,1030,0.000,0.020,2717,1901,3477,3488,3466,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3238,-1.14,-175.2,2716,1900,3487,3462,652.4,-16.2,172,3244,0.00,2.03,0.00,0.000,516,0.000,0.034,2717,521,3474,3487,3462,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3277,-1.14,-175.2,2717,520,3487,3461,658.4,-15.7,173,3283,0.00,1.98,0.00,0.000,1030,0.000,0.019,2710,1906,3474,3487,3461,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3611,-1.14,-175.2,2710,1906,3487,3457,709.3,-16.5,184,3616,0.00,2.05,0.00,0.000,260,0.000,0.039,2710,3291,3472,3487,3457,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3676,-1.14,-175.2,2710,3291,3487,3456,721.3,-17.6,186,3681,0.00,2.00,0.00,0.000,1030,0.000,0.021,2710,1895,3471,3487,3456,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4013,-1.14,-175.2,2709,1894,3487,3452,775.5,-15.5,197,4018,0.00,2.10,0.00,0.000,260,0.000,0.037,2710,3300,3470,3488,3452,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4052,-1.14,-175.2,1680,3298,3469,3446,781.4,-15.5,198,4057,0.00,2.00,0.00,0.000,1030,0.000,0.021,2710,1898,3469,3488,3451,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4384,-1.14,-175.2,2710,1896,3487,3448,832.6,-14.7,209,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1896,3468,3488,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4682,-1.14,-175.2,2709,1895,3487,3445,879.2,-15.9,219,4687,0.00,2.03,0.00,0.000,516,0.000,0.037,2710,519,3465,3487,3444,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4706,-1.14,-175.2,2710,519,3487,3444,879.2,-15.9,219,4711,0.00,1.98,0.00,0.000,1030,0.000,0.021,2709,1901,3465,3487,3443,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5020,-1.14,-175.2,2709,1902,3487,3441,936.7,-18.1,230,5025,0.00,2.08,0.00,0.000,260,0.000,0.041,2709,3292,3463,3487,3440,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5100,-1.14,-175.2,2709,3293,3487,3440,941.4,-13.0,232,5105,0.00,2.00,0.00,0.000,1030,0.000,0.022,2709,1888,3463,3487,3440,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,5297,end dive,NO_VERTICAL_VELOCITY
$STATE,5297,begin apogee
$GC,5307,-0.19,0.0,2709,3273,3487,3437,941.9,0.0,239,5482,0.82,0.00,156.60,1.123,10246,0.068,0.000,3023,3273,2758,2816,2700,0,0,0,0,1,0,26.67,28.83,24.15
$STATE,5484,end apogee,CONTROL_FINISHED_OK
$STATE,5484,begin climb
$GC,5488,1.14,175.2,3023,3273,2816,2700,941.9,0.0,245,5655,1.23,0.80,150.93,1.693,10500,0.070,0.047,3450,3758,2047,2139,1955,0,0,0,0,1,0,25.03,24.27,23.30
$GC,5830,1.14,175.2,3450,3759,2138,1956,906.2,16.7,256,5836,0.00,0.65,0.00,0.000,1030,0.000,0.031,3453,3315,2047,2138,1956,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6153,1.14,175.2,3453,3315,2139,1953,848.7,16.8,267,6158,0.00,2.12,0.00,0.000,516,0.000,0.028,3462,1886,2046,2139,1953,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6389,1.14,175.2,3463,1886,2139,1952,814.0,15.9,274,6394,0.00,2.17,0.00,0.000,1030,0.000,0.041,3463,3299,2045,2139,1952,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6704,1.14,175.2,3463,3299,2139,1950,756.7,17.3,285,6709,0.00,2.08,0.00,0.000,516,0.000,0.027,3473,1896,2044,2139,1950,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6940,1.14,175.2,3472,1896,2139,1949,720.0,16.4,292,6945,0.00,2.15,0.00,0.000,1030,0.000,0.039,3473,3304,2044,2139,1949,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7255,1.14,175.2,3472,3305,2139,1948,662.9,17.4,303,7260,0.00,2.08,0.00,0.000,516,0.000,0.028,3482,1896,2043,2139,1948,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7491,1.14,175.2,3482,1896,2139,1947,626.3,16.7,310,7497,0.12,2.15,0.00,0.000,5126,0.187,0.039,3453,3311,2043,2139,1947,0,0,0,0,0,0,26.34,26.47,28.83
$GC,7806,1.14,175.2,3453,3311,2139,1946,567.7,17.1,324,7812,0.00,2.08,0.00,0.000,516,0.000,0.026,3462,1890,2042,2139,1945,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8043,1.14,175.2,3462,1888,2139,1945,533.5,15.0,335,8049,0.00,2.15,0.00,0.000,1030,0.000,0.038,3462,3313,2042,2139,1945,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8358,1.14,175.2,3462,3311,2138,1944,477.9,18.2,351,8364,0.00,2.08,0.00,0.000,516,0.000,0.026,3472,1888,2041,2139,1944,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8594,1.14,175.2,3472,1889,2139,1943,439.4,16.9,362,8600,0.00,2.12,0.00,0.000,1030,0.000,0.037,3472,3296,2041,2139,1944,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8909,1.14,175.2,3472,3296,2139,1943,385.9,16.2,378,8914,0.00,2.05,0.00,0.000,516,0.000,0.027,3481,1887,2040,2138,1942,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9145,1.14,175.2,3481,1887,2139,1943,354.0,13.6,389,9152,0.00,2.15,0.00,0.000,1030,0.000,0.038,3481,3312,2041,2139,1943,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9461,1.14,175.2,3481,3312,2139,1943,308.6,14.5,405,9467,0.00,2.08,0.00,0.000,516,0.000,0.024,3491,1885,2041,2139,1943,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9672,1.14,175.2,3491,1885,2139,1943,275.9,16.2,415,9678,0.15,2.15,0.00,0.000,5126,0.179,0.038,3454,3312,2041,2139,1943,0,0,0,0,0,0,26.49,26.62,28.83
$GC,9993,1.14,175.2,3454,3312,2139,1943,226.6,16.1,431,9999,0.00,2.08,0.00,0.000,516,0.000,0.024,3463,1875,2041,2139,1943,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10023,1.14,175.2,3463,1875,2139,1943,222.7,15.9,432,10028,0.00,2.15,0.00,0.000,1030,0.000,0.037,3463,3304,2041,2139,1943,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10343,1.23,205.1,3462,3304,2139,1943,186.0,8.9,448,10382,0.00,2.15,29.85,0.772,8708,0.000,0.024,3473,1891,1916,2013,1820,0,0,0,0,0,0,28.83,26.20,25.65
$GC,10492,1.23,205.1,2560,1887,1941,1803,168.7,12.8,455,10498,0.00,2.17,0.00,0.000,1030,0.000,0.036,3472,3306,1913,2012,1814,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10813,1.23,205.1,3472,3306,2015,1812,119.4,13.8,471,10818,0.00,2.10,0.00,0.000,516,0.000,0.024,3482,1883,1912,2012,1812,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11049,1.49,293.0,3482,1882,2011,1812,101.4,6.6,482,11093,0.22,2.15,36.22,0.366,11270,0.063,0.036,3580,3306,1568,1651,1485,0,0,0,0,0,0,26.46,26.44,25.86
$GC,11404,1.49,293.0,3580,3306,1650,1485,37.5,16.1,504,11409,0.00,2.08,0.00,0.000,516,0.000,0.023,3590,1890,1567,1651,1484,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11643,1.82,400.7,2752,1887,1597,1477,14.9,5.9,540,11698,0.22,2.12,48.25,0.159,11270,0.063,0.034,3691,3302,1124,1162,1086,0,0,0,0,0,0,26.43,26.41,26.13
$STATE,11732,end climb,SURFACE_DEPTH_REACHED
$STATE,11732,begin surface coast
$FINISH,1.1,1.020635
$STATE,11749,end surface coast,CONTROL_FINISHED_OK
$STATE,11750,begin surface
$SM_CCo,11774,79.05,0.133,0,0,497,555.11
$SM_GC,1.63,9.15,2.12,79.05,0.035,0.023,0.133,138,1898,497,-9.15,1.58,555.11,0,0,0,0,0,0,26.28,26.32,26.00
$IRIDIUM_FIX,2150.42,12006.02,260613,232322
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.73
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,7698144
$24V_AH,23.3,5.610
$10V_AH,10.3,4.543
$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,22.625,104.875,421.850,79.050,0.000,0.000,0.000,208.350,0.500,0.000,11.082,2111.471,7155.646,605.653,1930.208,433.443,0.000,1756.553,0.000,1695.527,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,47.430,1692.945,133.110,0.000,0.000,0.000,112.455,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11743.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.739,0.000,0.000,0.000
$MEM,324340
$DATA_FILE_SIZE,20054,558
$CAP_FILE_SIZE,143397,0
$CFSIZE,260034560,245948416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.098,318.1,1
$GPS,270613,045705,2156.731,12022.404,39,1.2,39,-3.1