version: 66.11
glider: 167
mission: 16
dive: 93
start: 7 1 113 7 46 36
data:
$ID,167
$MISSION,16
$DIVE,93
$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,-975048.81
$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,87
$R_STBD_OVSHOOT,72
$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
$GPS1,010713,073637,2126.214,12029.606,43,0.7,43,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.2
$GPS2,010713,074606,2126.416,12029.742,37,0.9,37,-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,196.7,48923,-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,-175.2,115,2145,403,509,0.0,0.0,0,126,0.00,0.00,-98.10,0.000,16386,0.000,0.000,114,2145,2850,2825,2876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.09,-175.2,114,2145,2826,2876,3.2,-4.4,17,161,10.15,2.15,-11.32,0.000,18948,0.234,0.041,2714,716,3481,3477,3485,0,0,0,0,0,0,25.99,26.24,26.48
$GC,212,-1.09,-175.2,2713,715,3477,3487,35.4,-46.2,27,220,0.00,1.98,0.00,0.000,1030,0.000,0.019,2706,2099,3482,3477,3487,0,0,0,0,0,0,28.83,26.29,28.83
$GC,529,-1.09,-175.2,2705,2099,3479,3487,142.0,-29.3,45,535,0.00,2.03,0.00,0.000,260,0.000,0.028,2695,3498,3483,3479,3487,0,0,0,0,0,0,28.83,26.44,28.83
$GC,584,-1.09,-175.2,2694,3499,3479,3487,154.6,-29.3,47,590,0.00,1.95,0.00,0.000,1030,0.000,0.016,2695,2106,3483,3480,3487,0,0,0,0,0,0,28.83,26.48,28.83
$GC,900,-1.09,-175.2,2695,2105,3482,3487,228.5,-23.7,63,905,0.00,1.98,0.00,0.000,516,0.000,0.028,2695,720,3484,3482,3487,0,0,0,0,0,0,28.83,26.53,28.83
$GC,928,-1.09,-175.2,1664,720,3463,3483,235.3,-25.3,64,934,0.12,1.95,0.00,0.000,3078,0.193,0.018,2714,2108,3484,3482,3487,0,0,0,0,0,0,26.39,26.56,28.83
$GC,1248,-1.09,-175.2,2714,2108,3481,3487,307.9,-23.4,80,1254,0.00,2.00,0.00,0.000,260,0.000,0.029,2706,3499,3484,3483,3486,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1294,-1.09,-175.2,2706,3499,3481,3487,318.2,-23.0,82,1300,0.00,1.98,0.00,0.000,1030,0.000,0.015,2706,2091,3484,3482,3486,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1620,-1.09,-175.2,2704,2089,3484,3479,388.3,-20.6,98,1625,0.00,2.05,0.00,0.000,260,0.000,0.029,2696,3492,3481,3484,3479,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1679,-1.09,-175.2,2696,3492,3484,3478,397.8,-20.6,100,1685,0.00,1.95,0.00,0.000,1030,0.000,0.018,2696,2104,3481,3484,3478,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1985,-1.09,-175.2,2696,2104,3484,3473,463.3,-20.3,116,1990,0.00,2.00,0.00,0.000,516,0.000,0.030,2696,709,3479,3485,3473,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2079,-1.09,-175.2,2696,709,3484,3471,481.3,-21.1,120,2086,0.12,1.98,0.00,0.000,3078,0.184,0.018,2717,2108,3477,3484,3470,0,0,0,0,0,0,26.52,26.68,28.83
$GC,2396,-1.09,-175.2,2716,2109,3484,3465,539.4,-17.0,136,2401,0.00,2.03,0.00,0.000,516,0.000,0.028,2716,718,3473,3483,3464,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2532,-1.09,-175.2,2716,718,3484,3462,562.3,-18.8,142,2537,0.00,1.95,0.00,0.000,1030,0.000,0.019,2709,2098,3473,3485,3462,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2850,-1.09,-175.2,2709,2098,3484,3456,620.4,-16.6,156,2855,0.00,2.03,0.00,0.000,260,0.000,0.033,2699,3489,3469,3484,3455,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2903,-1.09,-175.2,2699,3489,3484,3454,626.8,-16.8,157,2909,0.00,1.95,0.00,0.000,1030,0.000,0.018,2699,2090,3469,3484,3454,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3219,-1.09,-175.2,2699,2090,3484,3449,682.8,-16.2,168,3225,0.00,1.98,0.00,0.000,516,0.000,0.031,2699,717,3466,3484,3448,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3269,-1.09,-175.2,2698,717,3484,3448,688.7,-16.3,169,3274,0.00,1.98,0.00,0.000,1030,0.000,0.021,2696,2101,3466,3484,3448,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3591,-1.09,-175.2,2696,2101,3484,3441,744.6,-16.7,180,3596,0.00,2.05,0.00,0.000,260,0.000,0.035,2696,3497,3462,3484,3441,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3665,-1.09,-175.2,2696,3497,3484,3440,755.7,-16.8,182,3671,0.00,1.98,0.00,0.000,1030,0.000,0.018,2696,2092,3462,3484,3441,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3993,-1.09,-175.2,2696,2092,3483,3435,808.3,-15.0,193,3999,0.00,1.98,0.00,0.000,516,0.000,0.031,2696,723,3459,3483,3435,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4053,-1.09,-175.2,2696,723,3483,3435,813.8,-14.8,194,4060,0.12,1.98,0.00,0.000,3078,0.188,0.020,2717,2104,3458,3482,3435,0,0,0,0,0,0,26.56,26.72,28.83
$GC,4362,-1.09,-175.2,2717,2104,3479,3433,859.7,-14.1,205,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2104,3456,3479,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4658,-1.09,-175.2,2717,2104,3478,3430,904.2,-14.7,215,4664,0.00,2.05,0.00,0.000,260,0.000,0.037,2709,3492,3453,3477,3430,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4718,-1.09,-175.2,2709,3491,3477,3430,909.2,-14.4,216,4724,0.00,1.98,0.00,0.000,1030,0.000,0.020,2709,2092,3453,3477,3430,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5023,-1.09,-175.2,2708,2093,3474,3427,956.7,-14.5,227,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2092,3450,3474,3427,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5260,begin apogee
$GC,5270,-0.19,0.0,2701,3277,3473,3426,992.4,-15.0,235,5433,0.95,0.00,152.80,1.188,10246,0.145,0.000,3005,3278,2754,2822,2687,0,0,0,0,0,0,26.57,28.83,24.15
$STATE,5436,end apogee,CONTROL_FINISHED_OK
$STATE,5436,begin climb
$GC,5439,1.09,175.2,3005,3278,2819,2675,999.4,0.0,240,5614,1.15,0.75,164.12,1.121,10500,0.043,0.043,3434,3750,2037,2129,1945,0,0,0,0,0,0,25.10,24.70,23.99
$GC,5844,1.09,175.2,2512,3749,2044,1904,920.6,24.1,254,5850,0.00,0.62,0.00,0.000,1030,0.000,0.033,3437,3325,2018,2120,1917,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6177,1.09,175.2,3437,3325,2119,1912,848.4,22.1,265,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,3325,2015,2119,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6474,1.09,175.2,3437,3325,2119,1909,776.3,24.2,275,6479,0.00,2.12,0.00,0.000,516,0.000,0.027,3447,1884,2014,2120,1909,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6569,1.09,175.2,3448,1884,2120,1908,755.5,22.5,278,6575,0.00,2.15,0.00,0.000,1030,0.000,0.035,3448,3298,2013,2119,1908,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6907,1.09,175.2,3447,3298,2119,1906,680.7,22.8,289,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,3298,2013,2120,1906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7205,1.09,175.2,3447,3299,2120,1904,612.6,22.7,299,7210,0.00,2.08,0.00,0.000,516,0.000,0.025,3457,1889,2011,2119,1904,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7339,1.09,175.2,2528,1887,2042,1890,585.8,21.1,304,7345,0.12,2.15,0.00,0.000,5126,0.192,0.035,3429,3307,2011,2120,1903,0,0,0,0,0,0,26.34,26.51,28.83
$GC,7654,1.09,175.2,3429,3306,2119,1901,511.5,24.3,320,7659,0.00,2.10,0.00,0.000,516,0.000,0.026,3438,1880,2010,2118,1902,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7821,1.09,175.2,3438,1879,2119,1902,473.7,23.5,328,7826,0.00,2.15,0.00,0.000,1030,0.000,0.034,3438,3306,2011,2120,1902,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8146,1.09,175.2,3438,3305,2119,1901,403.1,20.2,344,8152,0.00,2.10,0.00,0.000,516,0.000,0.026,3448,1868,2010,2119,1901,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8288,1.09,175.2,3447,1868,2119,1900,377.7,20.5,350,8295,0.00,2.15,0.00,0.000,1030,0.000,0.033,3448,3308,2010,2120,1900,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8594,1.09,175.2,3447,3307,2119,1900,312.0,20.5,366,8600,0.00,0.68,0.00,0.000,260,0.000,0.047,3448,3768,2009,2119,1900,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8663,1.09,175.2,2528,3767,2043,1887,298.5,20.3,369,8669,0.00,0.68,0.00,0.000,1030,0.000,0.033,3452,3289,2009,2120,1899,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8983,1.09,175.2,3451,3288,2119,1899,231.9,21.9,385,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,3288,2009,2120,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9286,1.09,175.2,3451,3289,2119,1899,167.9,20.7,400,9291,0.00,2.03,0.00,0.000,516,0.000,0.025,3461,1883,2009,2120,1899,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9522,1.09,175.2,3460,1883,2119,1899,130.9,13.3,411,9529,0.15,2.10,0.00,0.000,5126,0.184,0.033,3425,3302,2009,2119,1899,0,0,0,0,0,0,26.46,26.63,28.83
$GC,9839,1.09,175.2,3425,3302,2120,1898,93.0,13.9,427,9845,0.00,2.05,0.00,0.000,516,0.000,0.021,3433,1877,2009,2120,1898,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9961,1.09,175.2,3433,1877,2119,1898,82.2,9.5,432,9968,0.00,2.10,0.00,0.000,1030,0.000,0.031,3433,3301,2009,2120,1898,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10265,1.29,239.0,3433,3301,2120,1898,70.2,6.9,448,10298,0.12,0.70,26.02,0.258,10500,0.085,0.047,3507,3767,1791,1884,1699,0,0,0,0,0,0,26.67,26.50,26.23
$GC,10532,1.35,259.8,3507,3767,1884,1712,46.3,8.4,463,10549,0.00,0.65,10.35,0.216,9222,0.000,0.026,3511,3271,1703,1793,1614,0,0,0,0,0,0,28.83,26.61,26.29
$GC,10855,1.35,259.8,3511,3272,1796,1635,16.2,13.1,502,10863,0.00,2.00,1.52,0.187,8708,0.000,0.021,3522,1908,1702,1786,1618,0,0,0,0,0,0,28.83,26.59,26.41
$STATE,10952,end climb,SURFACE_DEPTH_REACHED
$STATE,10952,begin surface coast
$FINISH,0.9,0.999822
$STATE,10967,end surface coast,CONTROL_FINISHED_OK
$STATE,10967,begin surface
$SM_CCo,10990,142.70,0.125,0,0,457,564.93
$SM_GC,1.65,8.52,0.30,142.70,0.030,0.042,0.125,133,2135,457,-9.11,-1.02,564.93,0,0,0,0,0,0,26.57,26.61,26.13
$IRIDIUM_FIX,2117.95,12031.22,010713,070741
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.70
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,26.10
$XPDR_PINGS,2
$SC_FREEKB,7680480
$24V_AH,24.0,10.606
$10V_AH,10.3,7.082
$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,21.550,81.350,354.825,142.700,0.000,0.000,0.000,299.800,0.500,0.000,38.179,1832.376,7073.981,604.185,1778.034,415.090,0.000,1707.400,0.000,1423.860,0.000,0.542,0.000
$DEVICE_MAMPS,234.090,47.430,1188.045,125.460,0.000,0.000,0.000,116.280,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10978.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.843,0.000,0.000,0.000
$MEM,324152
$DATA_FILE_SIZE,20071,523
$CAP_FILE_SIZE,130439,0
$CFSIZE,260034560,243376128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.183, 56.5,1
$GPS,010713,105335,2125.637,12030.278,40,1.1,40,-3.0