version: 66.11
glider: 167
mission: 16
dive: 92
start: 7 1 113 4 28 15
data:
$ID,167
$MISSION,16
$DIVE,92
$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,-975047.56
$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,80
$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
$GPS1,010713,042059,2126.740,12029.492,41,1.4,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-67.8
$GPS2,010713,042748,2126.818,12029.636,8,1.3,9,-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,203.4,49671,-15.4,-9.167,-18.50,2921
$D_GRID,1718
$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,-175.2,111,2070,410,521,0.0,0.0,0,127,0.00,0.00,-98.25,0.000,16386,0.000,0.000,110,2071,2889,2867,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-1.09,-175.2,110,2071,2867,2912,3.5,-4.7,17,161,10.18,2.05,-10.32,0.000,18948,0.234,0.039,2711,696,3481,3477,3485,0,0,0,0,0,0,25.94,26.20,26.44
$GC,192,-1.09,-175.2,2710,696,3477,3487,29.6,-47.0,25,197,0.00,2.05,0.00,0.000,1030,0.000,0.019,2702,2124,3482,3477,3487,0,0,0,0,0,0,28.83,26.23,28.83
$GC,506,-1.09,-175.2,2702,2125,3479,3488,135.7,-29.4,43,512,0.00,1.98,0.00,0.000,260,0.000,0.028,2692,3499,3483,3479,3487,0,0,0,0,0,0,28.83,26.39,28.83
$GC,629,-1.09,-175.2,2692,3500,3480,3487,163.9,-26.4,48,636,0.00,1.98,0.00,0.000,1030,0.000,0.016,2692,2097,3483,3480,3486,0,0,0,0,0,0,28.83,26.48,28.83
$GC,932,-1.09,-175.2,2692,2096,3481,3487,240.8,-25.3,64,937,0.00,1.98,0.00,0.000,516,0.000,0.027,2692,715,3484,3481,3487,0,0,0,0,0,0,28.83,26.52,28.83
$GC,977,-1.09,-175.2,2692,715,3481,3487,251.1,-23.7,66,983,0.15,1.98,0.00,0.000,3078,0.184,0.017,2719,2112,3484,3482,3487,0,0,0,0,0,0,26.38,26.55,28.83
$GC,1303,-1.09,-175.2,2719,2113,3481,3487,321.1,-19.7,82,1308,0.00,2.00,0.00,0.000,260,0.000,0.030,2711,3496,3484,3481,3487,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1373,-1.09,-175.2,2710,3496,3481,3487,334.2,-20.0,85,1378,0.00,1.95,0.00,0.000,1030,0.000,0.017,2710,2102,3484,3481,3487,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1693,-1.09,-175.2,2709,2101,3487,3479,398.8,-18.6,101,1698,0.00,2.00,0.00,0.000,516,0.000,0.030,2709,718,3482,3486,3479,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1779,-1.09,-175.2,2709,718,3486,3477,416.5,-20.9,105,1784,0.00,1.95,0.00,0.000,1030,0.000,0.018,2701,2106,3481,3486,3476,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2103,-1.09,-175.2,2701,2106,3486,3472,483.1,-21.1,121,2109,0.00,2.00,0.00,0.000,260,0.000,0.031,2691,3485,3479,3486,3472,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2149,-1.09,-175.2,2690,3486,3485,3471,492.7,-21.2,123,2155,0.00,1.95,0.00,0.000,1030,0.000,0.016,2691,2094,3478,3486,3470,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2475,-1.09,-175.2,2690,2094,3485,3465,558.8,-20.2,139,2480,0.00,1.98,0.00,0.000,516,0.000,0.030,2691,720,3475,3486,3464,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2625,-1.09,-175.2,1664,719,3467,3459,587.5,-19.3,146,2631,0.15,1.95,0.00,0.000,3078,0.182,0.020,2721,2089,3473,3485,3462,0,0,0,0,0,0,26.53,26.68,28.83
$GC,2946,-1.09,-175.2,2721,2089,3486,3456,638.4,-14.9,158,2951,0.00,2.08,0.00,0.000,260,0.000,0.034,2713,3497,3471,3485,3457,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3000,-1.09,-175.2,2712,3497,3485,3456,643.5,-15.0,159,3006,0.00,1.98,0.00,0.000,1030,0.000,0.018,2712,2092,3471,3486,3457,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3316,-1.09,-175.2,2712,2092,3485,3451,696.9,-15.7,170,3322,0.00,1.98,0.00,0.000,516,0.000,0.031,2712,723,3468,3485,3451,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3426,-1.09,-175.2,2712,723,3485,3449,712.4,-16.1,173,3431,0.00,1.98,0.00,0.000,1030,0.000,0.020,2704,2108,3467,3486,3449,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3745,-1.09,-175.2,2704,2108,3485,3444,764.7,-13.9,184,3751,0.00,2.03,0.00,0.000,260,0.000,0.034,2696,3487,3464,3485,3443,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3860,-1.09,-175.2,2696,3488,3485,3442,778.9,-15.0,187,3866,0.00,1.95,0.00,0.000,1030,0.000,0.018,2696,2099,3463,3485,3441,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4176,-1.09,-175.2,2696,2099,3485,3437,826.1,-13.6,198,4182,0.00,2.00,0.00,0.000,516,0.000,0.031,2696,716,3461,3485,3437,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4245,-1.09,-175.2,1664,716,3467,3431,835.2,-13.7,200,4251,0.12,2.00,0.00,0.000,3078,0.186,0.021,2717,2108,3460,3485,3436,0,0,0,0,0,0,26.55,26.71,28.83
$GC,4579,-1.09,-175.2,2717,2108,3482,3434,876.9,-12.8,211,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2108,3458,3482,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4876,-1.09,-175.2,2718,2108,3480,3432,917.2,-13.3,221,4881,0.00,2.05,0.00,0.000,260,0.000,0.037,2709,3496,3456,3480,3432,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4915,-1.09,-175.2,2710,3496,3480,3432,922.3,-13.6,222,4920,0.00,1.98,0.00,0.000,1030,0.000,0.020,2709,2100,3455,3480,3431,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5248,-1.09,-175.2,2709,2100,3477,3429,973.6,-15.3,233,5254,0.00,2.00,0.00,0.000,516,0.000,0.032,2709,723,3453,3477,3429,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5317,-1.09,-175.2,1680,723,3458,3423,984.1,-15.4,235,5322,0.00,1.98,0.00,0.000,1030,0.000,0.021,2700,2103,3452,3476,3428,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,5374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5374,begin apogee
$GC,5384,-0.19,0.0,2697,3280,3477,3427,994.2,-15.6,237,5542,0.98,0.00,142.12,1.747,10246,0.145,0.000,3007,3280,2764,2828,2701,0,0,0,0,1,0,26.55,28.83,23.54
$STATE,5544,end apogee,CONTROL_FINISHED_OK
$STATE,5544,begin climb
$GC,5548,1.09,175.2,3007,3280,2827,2706,1001.4,0.0,242,5718,1.15,0.77,156.68,1.724,10500,0.041,0.043,3436,3758,2047,2138,1957,0,0,0,0,1,0,24.87,24.24,23.26
$GC,5949,1.09,175.2,3436,3757,2138,1951,927.4,25.8,255,5956,0.00,0.65,0.00,0.000,1030,0.000,0.034,3439,3319,2044,2138,1951,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6254,1.09,175.2,3439,3318,2138,1947,845.7,23.9,266,6260,0.00,0.68,0.00,0.000,260,0.000,0.047,3439,3761,2043,2138,1948,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6490,1.09,175.2,3439,3762,2138,1946,792.9,24.6,273,6496,0.00,0.68,0.00,0.000,1030,0.000,0.034,3443,3296,2041,2137,1946,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6806,1.09,175.2,3442,3296,2138,1944,719.1,21.8,284,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,3296,2040,2138,1943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7105,1.09,175.2,3442,3296,2137,1942,658.8,19.7,294,7110,0.00,2.08,0.00,0.000,516,0.000,0.026,3453,1883,2040,2138,1942,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7220,1.09,175.2,3452,1883,2138,1941,639.2,20.3,297,7225,0.00,2.15,0.00,0.000,1030,0.000,0.034,3453,3306,2039,2137,1941,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7548,1.09,175.2,3452,3306,2137,1941,559.0,23.5,311,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,3306,2039,2138,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7849,1.09,175.2,3452,3306,2138,1939,489.0,23.6,326,7854,0.00,2.10,0.00,0.000,516,0.000,0.026,3462,1882,2038,2138,1939,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7960,1.09,175.2,3462,1882,2138,1939,464.6,22.1,331,7967,0.15,2.15,0.00,0.000,5126,0.189,0.034,3427,3313,2038,2138,1939,0,0,0,0,0,0,26.37,26.53,28.83
$GC,8281,1.09,175.2,3426,3313,2137,1938,402.7,18.0,347,8287,0.00,2.10,0.00,0.000,516,0.000,0.025,3435,1880,2038,2138,1938,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8417,1.09,175.2,3435,1879,2138,1937,381.7,16.5,353,8423,0.00,2.12,0.00,0.000,1030,0.000,0.034,3435,3299,2037,2138,1937,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8733,1.09,175.2,3435,3300,2137,1937,316.4,22.6,369,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,3300,2037,2138,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9035,1.09,175.2,3435,3299,2137,1937,258.4,19.4,384,9041,0.00,2.05,0.00,0.000,516,0.000,0.024,3445,1887,2037,2138,1937,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9172,1.09,175.2,3444,1886,2137,1936,234.7,17.6,390,9177,0.00,2.12,0.00,0.000,1030,0.000,0.033,3445,3311,2037,2138,1936,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9487,1.09,175.2,3445,3312,2138,1936,171.3,21.5,406,9492,0.00,0.65,0.00,0.000,260,0.000,0.048,3445,3756,2037,2138,1936,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9555,1.09,175.2,2528,3755,2062,1923,160.2,17.7,409,9561,0.00,0.65,0.00,0.000,1030,0.000,0.031,3449,3282,2037,2138,1936,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9875,1.09,175.2,3449,3282,2139,1936,121.4,9.3,425,9880,0.00,1.98,0.00,0.000,516,0.000,0.021,3458,1884,2037,2138,1936,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10111,1.09,175.2,3458,1884,2138,1936,103.3,9.5,436,10118,0.12,2.10,0.00,0.000,5126,0.181,0.032,3430,3304,2037,2138,1936,0,0,0,0,0,0,26.48,26.64,28.83
$GC,10428,1.36,262.9,3430,3304,2138,1936,76.3,6.1,452,10469,0.20,0.70,35.58,0.308,10500,0.059,0.046,3522,3767,1688,1780,1597,0,0,0,0,0,0,26.69,26.41,26.13
$GC,10700,1.36,262.9,2632,3766,1720,1587,40.4,16.2,468,10707,0.00,0.65,0.00,0.000,1030,0.000,0.026,3526,3274,1688,1780,1596,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11010,1.36,262.9,3525,3274,1780,1595,7.5,14.6,513,11017,0.00,1.92,0.00,0.000,516,0.000,0.020,3536,1905,1688,1780,1596,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,11033,end climb,SURFACE_DEPTH_REACHED
$STATE,11033,begin surface coast
$FINISH,0.9,1.008355
$STATE,11049,end surface coast,CONTROL_FINISHED_OK
$STATE,11049,begin surface
$SM_CCo,11071,140.95,0.127,0,0,456,564.93
$SM_GC,1.63,8.70,0.30,140.95,0.038,0.044,0.127,133,2138,456,-9.11,-1.07,564.93,0,0,0,0,0,0,26.54,26.59,26.11
$IRIDIUM_FIX,2117.95,12028.05,010713,010110
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.21
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.70
$XPDR_PINGS,6
$SC_FREEKB,7680864
$24V_AH,23.3,10.487
$10V_AH,10.3,7.007
$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,21.900,82.150,334.375,140.950,0.000,0.000,0.000,231.100,1.500,0.000,9.921,1912.910,6950.090,595.977,1759.624,404.144,0.000,1660.313,0.000,1488.641,0.000,0.541,0.000
$DEVICE_MAMPS,234.090,48.195,1747.260,126.990,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11055.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.773,0.000,0.000,0.000
$MEM,324176
$DATA_FILE_SIZE,20104,520
$CAP_FILE_SIZE,132448,0
$CFSIZE,260034560,243445760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.126, 31.8,1
$GPS,010713,073637,2126.214,12029.606,43,0.7,43,-3.0