version: 66.11
glider: 167
mission: 16
dive: 94
start: 7 1 113 11 7 44
data:
$ID,167
$MISSION,16
$DIVE,94
$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,-8
$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,-975050.06
$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,87
$R_STBD_OVSHOOT,66
$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
$GPS1,010713,105335,2125.637,12030.278,40,1.1,40,-3.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-69.6
$GPS2,010713,110656,2125.882,12030.653,50,22.3,69,-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,217.6,47947,-15.4,-9.167,-18.50,2921
$D_GRID,1599
$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,-175.2,116,2145,413,517,0.0,0.0,0,128,0.00,0.00,-99.35,0.000,16386,0.000,0.000,115,2145,2894,2873,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-1.09,-175.2,115,2145,2873,2917,3.2,-5.3,17,163,10.30,2.12,-10.60,0.000,18948,0.239,0.041,2715,722,3481,3476,3486,0,0,0,0,0,0,26.02,26.28,26.52
$GC,220,-1.09,-175.2,2715,722,3476,3487,41.3,-46.9,28,225,0.00,1.98,0.00,0.000,1030,0.000,0.021,2707,2103,3481,3476,3487,0,0,0,0,0,0,28.83,26.33,28.83
$GC,544,-1.09,-175.2,2707,2103,3477,3487,143.2,-26.5,45,550,0.00,2.03,0.00,0.000,260,0.000,0.028,2696,3505,3482,3477,3487,0,0,0,0,0,0,28.83,26.46,28.83
$GC,609,-1.09,-175.2,2696,3505,3477,3487,159.1,-24.4,48,615,0.00,1.95,0.00,0.000,1030,0.000,0.015,2696,2095,3481,3476,3487,0,0,0,0,0,0,28.83,26.53,28.83
$GC,934,-1.09,-175.2,2696,2093,3477,3487,232.1,-25.0,64,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2093,3482,3478,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1237,-1.09,-175.2,2696,2093,3477,3486,301.9,-23.7,79,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2093,3481,3477,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1538,-1.09,-175.2,2695,2092,3481,3476,370.1,-23.7,94,1544,0.00,2.05,0.00,0.000,260,0.000,0.029,2686,3504,3478,3482,3475,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1587,-1.09,-175.2,1640,3503,3462,3472,380.5,-22.4,96,1593,0.12,1.95,0.00,0.000,3078,0.178,0.016,2716,2093,3478,3481,3475,0,0,0,0,0,0,26.51,26.67,28.83
$GC,1908,-1.09,-175.2,2716,2092,3481,3470,439.1,-17.2,112,1913,0.00,1.95,0.00,0.000,516,0.000,0.030,2716,729,3476,3482,3470,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2019,-1.09,-175.2,1632,728,3461,3464,458.5,-18.6,117,2024,0.00,1.95,0.00,0.000,1030,0.000,0.018,2710,2111,3474,3481,3467,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2339,-1.09,-175.2,2709,2111,3481,3460,515.6,-17.0,133,2344,0.00,2.00,0.00,0.000,516,0.000,0.028,2710,728,3470,3481,3460,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2414,-1.09,-175.2,2709,728,3482,3459,526.6,-16.8,136,2420,0.00,1.95,0.00,0.000,1030,0.000,0.018,2700,2112,3469,3481,3458,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2730,-1.09,-175.2,2700,2113,3481,3452,584.8,-17.4,152,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2113,3466,3481,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3040,-1.09,-175.2,2700,2113,3480,3446,641.1,-19.1,164,3045,0.00,2.00,0.00,0.000,260,0.000,0.034,2697,3483,3463,3482,3445,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3108,-1.09,-175.2,2697,3483,3481,3443,653.7,-19.5,166,3114,0.00,1.92,0.00,0.000,1030,0.000,0.018,2697,2111,3462,3481,3443,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3441,-1.09,-175.2,2696,2111,3481,3437,715.5,-18.0,177,3446,0.00,2.00,0.00,0.000,516,0.000,0.031,2697,725,3458,3481,3436,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3490,-1.09,-175.2,2696,723,3481,3436,722.6,-18.4,178,3496,0.12,1.95,0.00,0.000,3078,0.190,0.019,2717,2097,3458,3481,3435,0,0,0,0,0,0,26.55,26.72,28.83
$GC,3813,-1.09,-175.2,2717,2098,3481,3430,771.6,-13.6,189,3819,0.00,2.03,0.00,0.000,516,0.000,0.030,2717,717,3455,3481,3430,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3868,-1.09,-175.2,2717,718,3479,3430,776.5,-13.4,190,3873,0.00,1.98,0.00,0.000,1030,0.000,0.019,2712,2101,3454,3479,3430,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4183,-1.09,-175.2,2711,2101,3477,3427,819.1,-12.3,201,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2101,3451,3476,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4483,-1.09,-175.2,2711,2101,3473,3426,861.4,-15.1,211,4488,0.00,2.03,0.00,0.000,516,0.000,0.030,2711,713,3449,3473,3426,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4512,-1.09,-175.2,2711,713,3473,3425,861.4,-15.1,211,4519,0.00,2.03,0.00,0.000,1030,0.000,0.021,2708,2109,3449,3473,3425,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4818,-1.09,-175.2,2708,2109,3471,3422,914.0,-16.0,222,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2109,3446,3471,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5118,-1.09,-175.2,2709,2109,3468,3420,960.1,-15.4,232,5123,0.00,2.05,0.00,0.000,260,0.000,0.037,2709,3496,3444,3468,3420,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5177,-1.09,-175.2,2708,3496,3467,3420,965.4,-15.3,233,5185,0.00,2.00,0.00,0.000,1030,0.000,0.020,2709,2094,3443,3467,3420,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5330,begin apogee
$GC,5340,-0.19,0.0,2700,3295,3466,3418,992.9,-15.2,239,5493,0.95,0.00,137.25,1.730,10246,0.144,0.000,3004,3295,2765,2831,2700,0,0,0,0,1,0,26.56,28.83,23.61
$STATE,5496,end apogee,CONTROL_FINISHED_OK
$STATE,5496,begin climb
$GC,5499,1.09,175.2,3005,3295,2831,2705,999.5,0.0,244,5670,1.15,0.68,156.10,1.729,10500,0.042,0.043,3433,3754,2046,2138,1955,0,0,0,0,1,0,24.95,24.33,23.35
$GC,5902,1.09,175.2,3433,3754,2139,1950,928.6,24.1,257,5907,0.00,0.62,0.00,0.000,1030,0.000,0.033,3436,3326,2044,2138,1951,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6217,1.09,175.2,3436,3326,2138,1947,849.9,24.8,268,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,3326,2042,2138,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6517,1.09,175.2,3436,3326,2138,1944,774.1,24.1,278,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,3326,2041,2138,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6817,1.09,175.2,3436,3326,2138,1942,704.6,23.2,288,6822,0.00,2.10,0.00,0.000,516,0.000,0.025,3446,1887,2040,2138,1943,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6926,1.09,175.2,3446,1888,2138,1941,683.9,22.2,291,6932,0.00,2.12,0.00,0.000,1030,0.000,0.034,3446,3299,2039,2138,1941,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7249,1.09,175.2,3446,3299,2138,1941,609.4,22.5,302,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,3299,2039,2138,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7549,1.09,175.2,3446,3300,2138,1939,543.0,20.9,316,7555,0.00,2.10,0.00,0.000,516,0.000,0.025,3456,1881,2038,2138,1939,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7786,1.09,175.2,3455,1880,2138,1938,496.1,20.6,327,7792,0.12,2.15,0.00,0.000,5126,0.189,0.034,3428,3315,2038,2139,1938,0,0,0,0,0,0,26.39,26.54,28.83
$GC,8101,1.09,175.2,3428,3315,2138,1937,428.2,21.0,343,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,3315,2038,2139,1937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8405,1.09,175.2,3428,3314,2138,1936,365.6,20.9,358,8410,0.00,2.10,0.00,0.000,516,0.000,0.024,3436,1877,2037,2138,1936,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8641,1.09,175.2,3436,1876,2139,1935,324.2,17.6,369,8646,0.00,2.12,0.00,0.000,1030,0.000,0.034,3437,3300,2037,2138,1936,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8956,1.09,175.2,3436,3301,2138,1935,265.0,19.1,385,8962,0.00,2.08,0.00,0.000,516,0.000,0.024,3447,1873,2037,2138,1936,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8996,1.09,175.2,3446,1872,2138,1935,260.2,18.8,386,9002,0.00,2.12,0.00,0.000,1030,0.000,0.032,3447,3301,2037,2139,1935,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9301,1.09,175.2,3446,3301,2138,1935,195.2,20.3,402,9307,0.00,2.08,0.00,0.000,516,0.000,0.024,3456,1885,2036,2138,1935,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9356,1.09,175.2,3456,1884,2139,1935,185.8,20.8,404,9361,0.00,2.10,0.00,0.000,1030,0.000,0.032,3456,3301,2036,2138,1934,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9671,1.09,175.2,3456,3301,2138,1935,135.6,11.6,420,9676,0.00,0.68,0.00,0.000,260,0.000,0.046,3456,3766,2036,2138,1935,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9907,1.09,175.2,3457,3765,2138,1935,104.0,13.7,431,9914,0.10,0.65,0.00,0.000,5126,0.187,0.029,3431,3284,2037,2138,1936,0,0,0,0,0,0,26.48,26.69,28.83
$GC,10224,1.55,327.3,3431,3284,2138,1935,84.5,3.8,447,10292,0.35,0.75,62.20,0.326,10500,0.050,0.044,3594,3764,1425,1504,1346,0,0,0,0,0,0,26.66,26.23,25.95
$GC,10523,1.55,327.3,3594,3764,1503,1345,33.1,17.8,466,10530,0.00,0.62,0.00,0.000,1030,0.000,0.027,3597,3289,1424,1503,1345,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,10653,end climb,SURFACE_DEPTH_REACHED
$STATE,10653,begin surface coast
$FINISH,1.0,1.020621
$STATE,10665,end surface coast,CONTROL_FINISHED_OK
$STATE,10665,begin surface
$SM_CCo,10688,116.70,0.129,0,0,458,564.93
$SM_GC,1.77,8.62,1.73,116.70,0.021,0.019,0.129,137,2136,458,-9.09,2.37,564.93,0,0,0,0,0,0,26.44,26.48,26.07
$IRIDIUM_FIX,2115.63,12030.04,010713,070751
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.83
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.00
$XPDR_PINGS,9
$SC_FREEKB,7680096
$24V_AH,23.4,10.769
$10V_AH,10.3,7.155
$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,21.850,68.550,355.550,116.700,0.000,0.000,0.000,378.225,2.250,0.000,71.728,1703.108,7178.755,566.939,1779.469,398.341,0.000,1693.207,0.000,1311.863,0.000,0.542,0.000
$DEVICE_MAMPS,239.445,45.900,1730.430,128.520,0.000,0.000,0.000,115.515,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10668.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.568,0.000,0.000,0.000
$MEM,323504
$DATA_FILE_SIZE,16767,490
$CAP_FILE_SIZE,123049,0
$CFSIZE,260034560,243310592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.158, 71.4,1
$GPS,010713,140905,2124.956,12030.742,30,1.4,30,-3.0