version: 66.11
glider: 167
mission: 16
dive: 87
start: 6 30 113 12 37 3
data:
$ID,167
$MISSION,16
$DIVE,87
$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,360
$T_MISSION,380
$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,564.9259
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-975041.31
$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,51
$R_STBD_OVSHOOT,55
$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
$GPS1,300613,122610,2132.447,12029.367,15,1.2,17,-3.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.8
$GPS2,300613,123636,2132.585,12029.560,35,2.0,35,-3.0
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,T4
$TGT_LATLONG,2100.000,12030.000
$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,214.6,60353,-15.4,-9.167,-18.50,2921
$D_GRID,1427
$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,-1.09,-175.2,134,1891,403,519,0.0,0.0,0,129,0.00,0.00,-100.97,0.000,16386,0.000,0.000,118,1888,2936,2911,2961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.09,-175.2,118,1888,2911,2962,3.3,-5.2,18,164,10.18,2.12,-9.55,0.000,18692,0.236,0.039,2718,3317,3481,3475,3488,0,0,0,0,0,0,26.06,26.32,26.55
$GC,393,-1.09,-175.2,2718,3317,3477,3489,89.1,-23.5,38,399,0.00,2.03,0.00,0.000,1030,0.000,0.017,2718,1883,3482,3476,3488,0,0,0,0,0,0,28.83,26.46,28.83
$GC,708,-1.09,-175.2,2718,1882,3477,3489,164.2,-23.1,54,713,0.00,2.08,0.00,0.000,260,0.000,0.025,2708,3322,3483,3477,3489,0,0,0,0,0,0,28.83,26.53,28.83
$GC,883,-1.09,-175.2,2708,3321,3477,3489,201.0,-21.5,62,889,0.00,2.00,0.00,0.000,1030,0.000,0.017,2707,1895,3483,3477,3489,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1199,-1.09,-175.2,2707,1895,3477,3486,268.8,-18.8,78,1204,0.00,2.05,0.00,0.000,260,0.000,0.027,2698,3315,3481,3477,3486,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1268,-1.09,-175.2,2698,3315,3476,3485,281.4,-19.6,81,1274,0.12,2.00,0.00,0.000,3078,0.181,0.016,2727,1879,3481,3477,3485,0,0,0,0,0,0,26.48,26.65,28.83
$GC,1589,-1.09,-175.2,2727,1879,3477,3479,342.1,-19.3,97,1595,0.00,1.95,0.00,0.000,516,0.000,0.032,2727,526,3478,3477,3479,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1614,-1.09,-175.2,2727,526,3477,3479,347.2,-19.4,98,1620,0.00,1.95,0.00,0.000,1030,0.000,0.017,2722,1918,3477,3477,3478,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1939,-1.09,-175.2,2719,1919,3479,3469,405.7,-16.8,114,1945,0.00,1.98,0.00,0.000,260,0.000,0.030,2711,3293,3474,3480,3469,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1974,-1.09,-175.2,2711,3293,3479,3468,409.6,-16.5,115,1979,0.00,1.95,0.00,0.000,1030,0.000,0.017,2711,1898,3473,3479,3468,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2289,-1.09,-175.2,2711,1898,3480,3461,463.0,-16.7,131,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1898,3470,3480,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,-1.09,-175.2,2711,1898,3479,3454,513.8,-16.8,146,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1898,3466,3479,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-1.09,-175.2,2711,1898,3479,3448,563.6,-16.6,161,2898,0.00,2.05,0.00,0.000,260,0.000,0.031,2701,3294,3463,3479,3448,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3014,-1.09,-175.2,2701,3294,3479,3444,581.5,-16.1,166,3022,0.12,1.98,0.00,0.000,3078,0.181,0.018,2732,1889,3461,3479,3444,0,0,0,0,0,0,26.57,26.73,28.83
$GC,3327,-1.09,-175.2,2732,1889,3479,3437,628.2,-13.0,179,3333,0.00,2.00,0.00,0.000,516,0.000,0.033,2732,518,3458,3479,3437,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3397,-1.09,-175.2,2732,518,3479,3435,637.2,-13.2,181,3403,0.00,1.95,0.00,0.000,1030,0.000,0.018,2725,1899,3457,3479,3435,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3730,-1.09,-175.2,2724,1900,3477,3430,682.4,-13.3,192,3736,0.00,2.05,0.00,0.000,260,0.000,0.034,2718,3297,3454,3478,3431,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3858,-1.09,-175.2,2718,3297,3475,3431,702.0,-15.3,196,3864,0.00,1.98,0.00,0.000,1030,0.000,0.019,2718,1905,3453,3475,3431,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4198,-1.09,-175.2,2718,1904,3472,3426,756.7,-16.3,207,4204,0.00,2.03,0.00,0.000,516,0.000,0.034,2718,517,3449,3472,3426,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4233,-1.09,-175.2,2718,517,3472,3426,763.7,-16.9,208,4239,0.00,1.98,0.00,0.000,1030,0.000,0.019,2709,1898,3449,3472,3426,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4571,-1.09,-175.2,2710,1898,3469,3423,818.5,-16.2,219,4576,0.00,2.05,0.00,0.000,260,0.000,0.034,2709,3296,3445,3469,3422,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4731,-1.09,-175.2,2709,3295,3467,3422,843.9,-16.0,224,4737,0.00,2.00,0.00,0.000,1030,0.000,0.019,2709,1896,3444,3467,3421,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5064,-1.09,-175.2,2709,1896,3466,3418,895.8,-15.3,235,5070,0.00,2.05,0.00,0.000,260,0.000,0.034,2709,3285,3441,3465,3418,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5094,-1.09,-175.2,2709,3285,3465,3418,895.8,-15.3,235,5101,0.00,1.98,0.00,0.000,1030,0.000,0.019,2709,1891,3441,3465,3418,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5400,-1.09,-175.2,2709,1892,3463,3416,942.9,-13.5,246,5406,0.00,2.08,0.00,0.000,260,0.000,0.034,2709,3292,3439,3463,3416,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5430,-1.09,-175.2,2709,3292,3463,3416,942.9,-13.5,246,5437,0.00,1.98,0.00,0.000,1030,0.000,0.020,2709,1901,3438,3461,3415,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5733,begin apogee
$GC,5745,-0.19,0.0,2709,3280,3461,3413,992.1,-14.9,257,5897,0.98,0.00,137.75,1.727,10246,0.143,0.000,3021,3279,2762,2827,2698,0,0,0,0,1,0,26.58,28.83,23.63
$STATE,5899,end apogee,CONTROL_FINISHED_OK
$STATE,5899,begin climb
$GC,5903,1.09,175.2,3021,3280,2827,2706,998.1,0.0,262,6073,1.12,0.70,155.82,1.717,10500,0.037,0.043,3446,3756,2047,2138,1956,0,0,0,0,1,0,24.94,24.37,23.38
$GC,6165,1.09,175.2,3446,3756,2138,1954,950.8,25.1,271,6171,0.00,0.68,0.00,0.000,1030,0.000,0.032,3450,3311,2046,2138,1954,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6503,1.09,175.2,3449,3312,2137,1948,870.9,23.7,282,6508,0.00,2.10,0.00,0.000,516,0.000,0.026,3459,1895,2043,2138,1948,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6592,1.09,175.2,3459,1894,2137,1947,855.4,23.4,284,6600,0.00,2.15,0.00,0.000,1030,0.000,0.035,3459,3302,2042,2137,1947,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6898,1.09,175.2,3459,3301,2136,1944,778.4,23.4,295,6903,0.00,2.10,0.00,0.000,516,0.000,0.026,3469,1877,2041,2138,1944,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6972,1.09,175.2,3469,1876,2138,1943,763.3,23.4,297,6978,0.12,2.17,0.00,0.000,5126,0.197,0.035,3442,3301,2040,2138,1943,0,0,0,0,0,0,26.17,26.32,28.83
$GC,7301,1.09,175.2,3442,3301,2138,1942,690.8,21.2,308,7306,0.00,2.10,0.00,0.000,516,0.000,0.025,3451,1875,2039,2138,1941,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7365,1.09,175.2,3451,1875,2137,1941,676.3,21.3,310,7371,0.00,2.17,0.00,0.000,1030,0.000,0.035,3451,3306,2039,2137,1941,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7703,1.09,175.2,3451,3306,2137,1940,597.4,23.9,321,7708,0.00,2.10,0.00,0.000,516,0.000,0.026,3461,1881,2039,2138,1941,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7762,1.09,175.2,3460,1881,2138,1940,586.7,23.1,323,7769,0.00,2.15,0.00,0.000,1030,0.000,0.034,3461,3303,2039,2138,1940,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8068,1.09,175.2,3460,3303,2137,1939,513.1,23.6,339,8073,0.00,2.08,0.00,0.000,516,0.000,0.026,3470,1892,2038,2138,1939,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8102,1.09,175.2,3469,1891,2138,1938,507.4,23.5,340,8108,0.12,2.12,0.00,0.000,5126,0.199,0.034,3443,3312,2038,2138,1938,0,0,0,0,0,0,26.38,26.54,28.83
$GC,8419,1.09,175.2,3443,3312,2138,1937,439.3,20.6,356,8424,0.00,2.10,0.00,0.000,516,0.000,0.025,3451,1881,2037,2138,1937,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8655,1.09,175.2,3451,1881,2138,1936,394.7,19.3,367,8660,0.00,2.15,0.00,0.000,1030,0.000,0.034,3452,3311,2037,2138,1936,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8970,1.09,175.2,3451,3311,2138,1936,330.0,19.8,383,8976,0.00,2.08,0.00,0.000,516,0.000,0.024,3461,1879,2037,2138,1936,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9029,1.09,175.2,3461,1880,2137,1935,321.2,19.3,385,9036,0.00,2.15,0.00,0.000,1030,0.000,0.034,3461,3312,2036,2137,1935,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9335,1.09,175.2,3461,3311,2138,1935,255.9,19.8,401,9340,0.00,0.68,0.00,0.000,260,0.000,0.049,3461,3770,2036,2137,1935,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9394,1.09,175.2,3461,3770,2138,1935,246.6,20.3,403,9401,0.00,0.68,0.00,0.000,1030,0.000,0.031,3465,3286,2036,2138,1934,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9700,1.09,175.2,3464,3286,2137,1935,178.8,20.0,419,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,3286,2036,2138,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10003,1.09,175.2,3464,3286,2138,1935,124.6,17.2,434,10008,0.00,0.73,0.00,0.000,260,0.000,0.047,3465,3765,2036,2138,1935,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10238,1.09,175.2,3464,3766,2137,1935,92.4,16.0,445,10244,0.08,0.65,0.00,0.000,5126,0.200,0.028,3447,3283,2037,2138,1936,0,0,0,0,0,0,26.48,26.70,28.83
$GC,10553,1.34,258.5,3447,3283,2137,1935,64.9,6.2,461,10593,0.17,0.75,33.70,0.282,10500,0.067,0.047,3525,3762,1705,1798,1612,0,0,0,0,0,0,26.69,26.44,26.20
$GC,10827,1.34,258.5,3524,3761,1797,1611,24.1,12.6,482,10834,0.00,0.62,0.00,0.000,1030,0.000,0.026,3529,3286,1704,1797,1611,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,10986,end climb,SURFACE_DEPTH_REACHED
$STATE,10986,begin surface coast
$FINISH,1.1,1.020722
$STATE,11000,end surface coast,CONTROL_FINISHED_OK
$STATE,11000,begin surface
$SM_CCo,11025,146.93,0.129,0,0,458,564.93
$SM_GC,1.74,8.68,2.00,146.93,0.038,0.019,0.129,146,1945,458,-9.13,2.40,564.93,0,0,0,0,0,0,26.53,26.58,26.10
$IRIDIUM_FIX,2124.90,12027.23,300613,121208
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.11
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.60
$XPDR_PINGS,2
$SC_FREEKB,7682784
$24V_AH,23.4,9.786
$10V_AH,10.3,6.651
$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,21.700,87.550,327.275,146.925,0.000,0.000,0.000,0.000,0.500,0.000,36.425,1839.826,7003.781,604.564,1495.447,329.995,0.000,1414.521,0.000,1429.824,0.000,0.542,0.000
$DEVICE_MAMPS,235.620,48.960,1726.605,129.285,0.000,0.000,0.000,0.000,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,7.679,0.000,0.000,0.000
$MEM,324148
$DATA_FILE_SIZE,20070,515
$CAP_FILE_SIZE,144976,0
$CFSIZE,260034560,243785728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.106,113.8,1
$GPS,300613,154435,2131.306,12029.092,35,1.0,35,-3.0