version: 66.11
glider: 167
mission: 16
dive: 90
start: 6 30 113 22 8 22
data:
$ID,167
$MISSION,16
$DIVE,90
$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,-975045.06
$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,3073
$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,2100
$C_ROLL_CLIMB,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,40
$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
$GPS1,300613,220100,2128.754,12028.360,39,1.2,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-69.4
$GPS2,300613,220755,2128.878,12028.356,6,1.2,6,-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,173.6,53557,-15.4,-9.167,-18.50,2921
$D_GRID,1617
$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,25,-1.09,-175.2,114,2088,403,508,0.0,0.0,0,128,0.00,0.00,-100.28,0.000,16386,0.000,0.000,112,2088,2923,2904,2942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-1.09,-175.2,113,2089,2904,2943,3.2,-3.8,18,163,10.25,2.08,-9.62,0.000,18948,0.237,0.039,2715,696,3481,3476,3486,0,0,0,0,0,0,25.93,26.20,26.43
$GC,183,-1.09,-175.2,2714,696,3476,3487,25.9,-48.3,25,189,0.00,2.08,0.00,0.000,1030,0.000,0.018,2706,2137,3482,3477,3487,0,0,0,0,0,0,28.83,26.22,28.83
$GC,509,-1.09,-175.2,2705,2149,3480,3488,130.5,-28.8,44,515,0.00,2.10,0.00,0.000,516,0.000,0.027,2705,696,3483,3479,3488,0,0,0,0,0,0,28.83,26.40,28.83
$GC,585,-1.09,-175.2,2705,696,3480,3488,151.0,-31.1,47,590,0.00,2.00,0.00,0.000,1030,0.000,0.016,2696,2115,3484,3480,3488,0,0,0,0,0,0,28.83,26.45,28.83
$GC,899,-1.09,-175.2,2695,2115,3482,3488,243.7,-25.1,63,904,0.00,2.00,0.00,0.000,260,0.000,0.029,2685,3500,3485,3482,3488,0,0,0,0,0,0,28.83,26.51,28.83
$GC,924,-1.09,-175.2,2684,3500,3482,3488,249.5,-24.4,64,930,0.12,2.00,0.00,0.000,3078,0.181,0.016,2714,2079,3485,3482,3488,0,0,0,0,0,0,26.37,26.55,28.83
$GC,1250,-1.09,-175.2,2714,2077,3482,3488,309.7,-17.2,80,1255,0.00,2.08,0.00,0.000,260,0.000,0.029,2706,3496,3485,3482,3488,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1319,-1.09,-175.2,2706,3496,3482,3486,320.5,-16.5,83,1324,0.00,1.95,0.00,0.000,1030,0.000,0.016,2706,2098,3485,3482,3488,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1639,-1.09,-175.2,2705,2096,3486,3481,382.4,-19.5,99,1644,0.00,1.98,0.00,0.000,516,0.000,0.028,2705,719,3484,3487,3481,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1693,-1.09,-175.2,2705,719,3486,3480,391.2,-19.3,101,1698,0.00,1.95,0.00,0.000,1030,0.000,0.018,2697,2100,3483,3487,3480,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2007,-1.09,-175.2,2697,2100,3487,3476,453.1,-18.9,117,2013,0.00,2.03,0.00,0.000,260,0.000,0.031,2687,3497,3481,3487,3475,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2027,-1.09,-175.2,2687,3497,3487,3475,453.1,-18.9,117,2035,0.12,1.98,0.00,0.000,3078,0.179,0.017,2717,2084,3481,3487,3475,0,0,0,0,0,0,26.51,26.68,28.83
$GC,2333,-1.09,-175.2,2717,2084,3486,3471,507.7,-16.5,133,2338,0.00,1.95,0.00,0.000,516,0.000,0.031,2717,726,3477,3486,3469,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2432,-1.09,-175.2,2716,725,3487,3469,523.4,-18.5,137,2438,0.00,1.95,0.00,0.000,1030,0.000,0.018,2710,2100,3477,3487,3468,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2737,-1.09,-175.2,2710,2100,3487,3463,587.6,-19.7,153,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2100,3474,3486,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3058,-1.09,-175.2,2709,2100,3485,3458,648.2,-19.0,165,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2101,3472,3486,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3357,-1.09,-175.2,2709,2100,3486,3453,700.8,-16.8,175,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2100,3469,3486,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3658,-1.09,-175.2,2709,2100,3486,3448,745.6,-14.4,185,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2100,3468,3486,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-1.09,-175.2,2710,2100,3486,3443,794.9,-17.2,195,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2100,3464,3486,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4257,-1.09,-175.2,2709,2100,3486,3439,843.3,-15.6,205,4262,0.00,2.00,0.00,0.000,516,0.000,0.031,2710,735,3462,3486,3438,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4306,-1.09,-175.2,2709,735,3486,3437,848.9,-15.9,206,4311,0.00,1.95,0.00,0.000,1030,0.000,0.021,2701,2098,3461,3486,3437,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4628,-1.09,-175.2,2701,2098,3482,3436,898.8,-14.1,217,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,3458,3481,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4926,-1.09,-175.2,2701,2098,3480,3434,943.1,-14.6,227,4931,0.00,2.00,0.00,0.000,516,0.000,0.032,2701,736,3457,3480,3434,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4961,-1.09,-175.2,2701,736,3480,3434,948.4,-14.8,228,4967,0.00,1.98,0.00,0.000,1030,0.000,0.022,2699,2100,3457,3480,3434,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,5265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5265,begin apogee
$GC,5275,-0.19,0.0,2696,3281,3478,3432,990.7,-13.8,238,5441,0.98,0.00,149.85,1.209,10246,0.145,0.000,3009,3281,2764,2826,2702,0,0,0,0,1,0,26.56,28.83,23.72
$STATE,5443,end apogee,CONTROL_FINISHED_OK
$STATE,5443,begin climb
$GC,5447,1.09,175.2,3008,3281,2827,2710,995.9,0.0,243,5617,1.12,0.73,155.77,1.720,10500,0.041,0.043,3430,3760,2047,2138,1957,0,0,0,0,1,0,25.05,24.34,23.34
$GC,5847,1.09,175.2,2496,3759,2062,1942,918.7,24.8,257,5852,0.00,0.62,0.00,0.000,1030,0.000,0.034,3433,3338,2047,2138,1956,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6180,1.09,175.2,3432,3338,2138,1951,840.5,23.5,268,6185,0.00,2.17,0.00,0.000,516,0.000,0.026,3443,1883,2044,2138,1951,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6229,1.09,175.2,3442,1883,2138,1951,831.6,23.1,269,6235,0.00,2.17,0.00,0.000,1030,0.000,0.036,3443,3298,2044,2138,1951,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6552,1.09,175.2,3443,3298,2138,1949,753.4,23.3,280,6557,0.00,2.10,0.00,0.000,516,0.000,0.026,3452,1882,2043,2138,1949,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6680,1.09,175.2,3452,1881,2138,1948,723.4,23.3,284,6685,0.00,2.17,0.00,0.000,1030,0.000,0.036,3453,3303,2043,2138,1948,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7017,1.09,175.2,3452,3304,2138,1947,647.0,22.3,295,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,3304,2042,2138,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7325,1.09,175.2,3452,3304,2138,1944,575.8,23.2,307,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,3304,2041,2138,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7627,1.09,175.2,3453,3303,2138,1943,509.3,23.4,322,7633,0.00,2.12,0.00,0.000,516,0.000,0.026,3462,1874,2040,2138,1943,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7727,1.09,175.2,3462,1873,2138,1943,490.2,21.7,326,7735,0.15,2.15,0.00,0.000,5126,0.194,0.034,3427,3301,2040,2138,1943,0,0,0,0,0,0,26.36,26.53,28.83
$GC,8033,1.09,175.2,3426,3301,2138,1942,419.5,21.5,342,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,3301,2040,2138,1942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8336,1.09,175.2,3427,3301,2138,1941,358.3,20.0,357,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,3300,2039,2138,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8635,1.09,175.2,3427,3300,2137,1941,300.3,19.5,372,8640,0.00,2.08,0.00,0.000,516,0.000,0.024,3436,1880,2039,2138,1941,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8654,1.09,175.2,3436,1881,2138,1941,300.3,19.5,372,8661,0.00,2.12,0.00,0.000,1030,0.000,0.034,3436,3303,2039,2138,1941,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8960,1.09,175.2,3435,3303,2138,1941,234.9,20.2,388,8965,0.00,0.68,0.00,0.000,260,0.000,0.048,3436,3763,2040,2138,1942,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9033,1.09,175.2,3436,3763,2138,1941,221.6,20.2,391,9039,0.00,0.68,0.00,0.000,1030,0.000,0.032,3440,3281,2039,2138,1941,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9350,1.09,175.2,3440,3280,2138,1940,159.7,17.5,407,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,3281,2039,2138,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9652,1.09,175.2,3439,3280,2137,1941,118.4,11.5,422,9658,0.00,2.00,0.00,0.000,516,0.000,0.022,3451,1876,2039,2138,1941,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9795,1.17,200.6,3450,1875,2138,1940,106.4,8.3,428,9811,0.00,2.12,10.00,0.369,9222,0.000,0.032,3450,3306,1943,2040,1846,0,0,0,0,0,0,28.83,26.63,26.22
$GC,10125,1.20,209.5,3450,3306,2040,1851,65.6,8.9,445,10136,0.00,2.05,4.43,0.274,8708,0.000,0.018,3460,1875,1907,2000,1814,0,0,0,0,0,0,28.83,26.60,26.30
$GC,10370,1.29,241.6,2496,1873,1924,1806,44.1,8.0,460,10392,0.00,2.12,14.57,0.227,9222,0.000,0.032,3460,3309,1775,1868,1682,0,0,0,0,0,0,28.83,26.59,26.31
$GC,10698,1.68,369.4,2496,3307,1799,1675,23.6,4.7,495,10759,0.38,0.70,55.75,0.171,10500,0.047,0.045,3626,3774,1251,1313,1190,0,0,0,0,0,0,26.60,26.37,26.22
$STATE,10808,end climb,SURFACE_DEPTH_REACHED
$STATE,10808,begin surface coast
$FINISH,1.2,1.020653
$STATE,10815,end surface coast,CONTROL_FINISHED_OK
$STATE,10815,begin surface
$SM_CCo,10840,98.18,0.127,0,0,459,564.93
$SM_GC,1.67,8.90,2.50,98.18,0.033,0.018,0.127,135,2098,459,-9.11,1.78,564.93,0,0,0,0,0,0,26.39,26.44,26.08
$IRIDIUM_FIX,2120.26,12028.05,300613,181802
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.49
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.50
$XPDR_PINGS,1
$SC_FREEKB,7681632
$24V_AH,23.3,10.206
$10V_AH,10.3,6.861
$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,22.025,69.125,390.375,98.175,0.000,0.000,0.000,239.750,0.250,0.000,7.888,1619.570,7271.152,572.106,1497.300,393.310,0.000,1535.896,0.000,1229.590,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,48.195,1720.485,126.990,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10828.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.845,0.000,0.000,0.000
$MEM,324164
$DATA_FILE_SIZE,20095,515
$CAP_FILE_SIZE,120217,0
$CFSIZE,260034560,243597312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.111, 67.7,1
$GPS,010713,011205,2127.637,12029.431,39,0.9,39,-3.0