version: 66.11
glider: 167
mission: 16
dive: 96
start: 7 1 113 17 27 51
data:
$ID,167
$MISSION,16
$DIVE,96
$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,-975052.56
$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,45
$R_STBD_OVSHOOT,41
$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
$GPS1,010713,171554,2123.970,12030.281,41,1.1,41,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-68.8
$GPS2,010713,172723,2123.852,12030.533,42,1.4,42,-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,192.8,44184,-15.4,-9.167,-18.50,2921
$D_GRID,1390
$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,21,begin dive
$GC,25,-1.09,-175.2,111,2088,403,513,0.0,0.0,0,130,0.00,0.00,-101.68,0.000,16386,0.000,0.000,111,2088,2966,2944,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-1.09,-175.2,111,2088,2944,2990,3.5,-5.5,18,165,10.75,2.12,-8.52,0.000,18948,0.253,0.041,2713,670,3480,3475,3486,0,0,0,0,0,0,25.96,26.22,26.46
$GC,183,-1.09,-175.2,1664,669,3456,3484,25.5,-50.5,24,190,0.00,2.10,0.00,0.000,1030,0.000,0.015,2704,2157,3481,3476,3487,0,0,0,0,0,0,28.83,26.27,28.83
$GC,490,-1.09,-175.2,2704,2157,3479,3487,125.2,-25.9,42,495,0.00,1.98,0.00,0.000,260,0.000,0.030,2694,3520,3482,3478,3487,0,0,0,0,0,0,28.83,26.40,28.83
$GC,658,-1.09,-175.2,2694,3521,3479,3487,168.8,-26.9,50,664,0.00,2.05,0.00,0.000,1030,0.000,0.016,2694,2066,3483,3480,3487,0,0,0,0,0,0,28.83,26.49,28.83
$GC,979,-1.09,-175.2,2693,2066,3481,3487,253.5,-24.7,66,984,0.00,1.92,0.00,0.000,516,0.000,0.028,2694,718,3483,3480,3487,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1012,-1.09,-175.2,2694,718,3480,3487,259.8,-24.9,67,1019,0.15,2.00,0.00,0.000,3078,0.185,0.018,2720,2137,3483,3480,3487,0,0,0,0,0,0,26.39,26.57,28.83
$GC,1328,-1.09,-175.2,2720,2137,3480,3487,333.4,-22.7,83,1334,0.00,2.08,0.00,0.000,516,0.000,0.028,2721,714,3483,3480,3486,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1423,-1.09,-175.2,2720,714,3480,3486,353.0,-22.8,87,1428,0.00,1.98,0.00,0.000,1030,0.000,0.017,2713,2112,3482,3480,3485,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1738,-1.09,-175.2,2711,2114,3485,3476,417.4,-17.9,103,1743,0.00,2.03,0.00,0.000,516,0.000,0.028,2711,715,3480,3485,3475,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1762,-1.09,-175.2,2711,715,3485,3476,421.9,-18.0,104,1768,0.00,1.95,0.00,0.000,1030,0.000,0.019,2709,2091,3480,3485,3476,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2087,-1.09,-175.2,2709,2091,3485,3470,483.2,-19.8,120,2092,0.00,2.05,0.00,0.000,260,0.000,0.031,2699,3505,3477,3485,3470,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2127,-1.09,-175.2,2698,3505,3486,3469,488.2,-20.1,121,2134,0.00,1.98,0.00,0.000,1030,0.000,0.017,2699,2093,3477,3485,3469,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2432,-1.09,-175.2,2699,2092,3485,3464,548.6,-17.7,137,2438,0.00,2.08,0.00,0.000,260,0.000,0.031,2688,3506,3474,3484,3464,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2486,-1.09,-175.2,2688,3506,3485,3463,556.7,-18.0,139,2492,0.12,2.00,0.00,0.000,3078,0.182,0.017,2718,2083,3473,3485,3462,0,0,0,0,0,0,26.53,26.70,28.83
$GC,2822,-1.09,-175.2,2718,2083,3485,3456,611.4,-15.8,155,2828,0.00,1.95,0.00,0.000,516,0.000,0.030,2718,725,3470,3484,3456,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2896,-1.09,-175.2,2718,725,3485,3455,621.9,-15.9,157,2901,0.00,1.95,0.00,0.000,1030,0.000,0.019,2711,2100,3469,3485,3453,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3225,-1.09,-175.2,2711,2101,3484,3448,677.2,-16.9,168,3230,0.00,2.03,0.00,0.000,260,0.000,0.033,2701,3490,3467,3485,3449,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3260,-1.09,-175.2,2701,3490,3485,3448,684.4,-17.6,169,3265,0.00,1.98,0.00,0.000,1030,0.000,0.018,2701,2093,3466,3485,3448,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3599,-1.09,-175.2,2701,2093,3485,3442,744.4,-17.4,180,3604,0.00,1.98,0.00,0.000,516,0.000,0.031,2701,724,3463,3485,3442,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3748,-1.09,-175.2,2701,725,3484,3440,767.3,-17.8,184,3755,0.00,1.98,0.00,0.000,1030,0.000,0.021,2697,2105,3462,3484,3440,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4055,-1.09,-175.2,2697,2104,3484,3434,821.4,-16.0,195,4060,0.00,2.05,0.00,0.000,260,0.000,0.036,2697,3497,3459,3484,3435,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4119,-1.09,-175.2,2698,3497,3484,3434,831.4,-15.6,197,4124,0.00,1.98,0.00,0.000,1030,0.000,0.019,2697,2100,3459,3484,3434,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4457,-1.09,-175.2,2697,2099,3480,3435,883.2,-15.8,208,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2099,3456,3480,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4754,-1.09,-175.2,2697,2099,3478,3431,931.7,-16.1,218,4760,0.00,2.00,0.00,0.000,516,0.000,0.032,2697,720,3454,3478,3430,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4834,-1.09,-175.2,2697,721,3476,3429,943.2,-16.8,220,4839,0.00,2.00,0.00,0.000,1030,0.000,0.023,2697,2098,3453,3478,3429,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,5120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5120,begin apogee
$GC,5131,-0.19,0.0,2697,3294,3476,3427,990.8,-15.6,230,5295,0.98,0.00,154.02,1.185,10246,0.147,0.000,3007,3293,2756,2824,2689,0,0,0,0,0,0,26.55,28.83,24.15
$STATE,5297,end apogee,CONTROL_FINISHED_OK
$STATE,5297,begin climb
$GC,5301,1.09,175.2,3006,3293,2819,2675,997.7,0.0,235,5473,1.12,0.00,164.12,1.121,10502,0.043,0.000,3428,3293,2047,2139,1956,0,0,0,0,0,0,25.10,28.83,23.99
$GC,5754,1.09,175.2,3428,3293,2121,1914,907.6,24.2,251,5759,0.00,2.08,0.00,0.000,516,0.000,0.024,3438,1911,2017,2120,1914,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5793,1.09,175.2,3438,1911,2121,1914,899.2,24.2,252,5798,0.00,2.15,0.00,0.000,1030,0.000,0.035,3438,3306,2017,2121,1914,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6127,1.09,175.2,3437,3306,2121,1911,816.1,24.7,263,6133,0.00,0.68,0.00,0.000,260,0.000,0.049,3438,3758,2015,2121,1909,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6352,1.09,175.2,3437,3758,2116,1909,759.4,25.4,270,6358,0.00,0.62,0.00,0.000,1030,0.000,0.034,3441,3323,2012,2116,1909,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6681,1.09,175.2,3441,3322,2116,1908,679.3,23.5,281,6686,0.00,2.10,0.00,0.000,516,0.000,0.027,3451,1889,2012,2116,1908,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6826,1.09,175.2,3451,1889,2116,1907,650.1,22.7,285,6831,0.00,2.15,0.00,0.000,1030,0.000,0.034,3451,3309,2011,2116,1907,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7144,1.09,175.2,3451,3309,2116,1906,569.1,24.6,298,7150,0.00,2.10,0.00,0.000,516,0.000,0.025,3461,1887,2010,2116,1905,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7218,1.09,175.2,3461,1887,2116,1905,552.7,24.3,301,7225,0.12,2.12,0.00,0.000,5126,0.193,0.034,3432,3305,2010,2116,1904,0,0,0,0,0,0,26.34,26.51,28.83
$GC,7534,1.09,175.2,3432,3304,2116,1904,478.3,20.7,317,7539,0.00,0.68,0.00,0.000,260,0.000,0.047,3431,3763,2010,2116,1904,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7639,1.09,175.2,3431,3763,2116,1904,455.3,22.1,322,7644,0.00,0.68,0.00,0.000,1030,0.000,0.032,3434,3293,2010,2116,1904,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7964,1.09,175.2,3433,3293,2116,1903,379.1,23.5,338,7969,0.00,2.05,0.00,0.000,516,0.000,0.026,3444,1880,2009,2116,1902,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8199,1.09,175.2,3444,1878,2116,1902,330.5,19.9,349,8205,0.00,2.12,0.00,0.000,1030,0.000,0.034,3444,3302,2008,2116,1901,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8515,1.09,175.2,3443,3302,2116,1901,267.7,17.9,365,8520,0.00,2.08,0.00,0.000,516,0.000,0.024,3453,1879,2008,2116,1901,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8731,1.09,175.2,3453,1878,2116,1901,231.7,18.3,375,8737,0.00,2.12,0.00,0.000,1030,0.000,0.033,3453,3306,2008,2116,1901,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9046,1.09,175.2,3453,3305,2116,1901,174.8,17.7,391,9052,0.00,0.68,0.00,0.000,260,0.000,0.047,3453,3766,2008,2116,1901,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9284,1.09,175.2,3453,3766,2116,1901,134.0,15.3,402,9290,0.08,0.65,0.00,0.000,5126,0.195,0.028,3435,3286,2008,2116,1901,0,0,0,0,0,0,26.46,26.68,28.83
$GC,9599,1.09,175.2,3435,3285,2116,1900,94.9,11.0,418,9604,0.00,1.98,0.00,0.000,516,0.000,0.021,3443,1891,2008,2116,1900,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9678,1.09,175.2,3444,1891,2116,1901,88.0,11.0,421,9685,0.00,2.08,0.00,0.000,1030,0.000,0.031,3444,3302,2008,2116,1900,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9985,1.46,296.0,3444,3302,2116,1901,65.9,4.9,437,10039,0.22,0.70,48.70,0.261,10500,0.061,0.045,3548,3767,1553,1642,1465,0,0,0,0,0,0,26.66,26.38,26.13
$GC,10174,1.46,296.0,3548,3767,1644,1489,34.4,19.2,450,10181,0.00,0.62,1.33,0.170,9222,0.000,0.027,3552,3288,1553,1634,1472,0,0,0,0,0,0,28.83,26.50,26.30
$STATE,10355,end climb,SURFACE_DEPTH_REACHED
$STATE,10355,begin surface coast
$FINISH,0.9,1.020897
$STATE,10369,end surface coast,CONTROL_FINISHED_OK
$STATE,10369,begin surface
$SM_CCo,10393,128.18,0.129,0,0,458,564.93
$SM_GC,1.69,8.70,1.70,128.18,0.034,0.019,0.129,139,2141,458,-9.11,2.69,564.93,0,0,0,0,0,0,26.47,26.54,26.09
$IRIDIUM_FIX,2117.95,12031.22,010713,171753
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.77
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.20
$XPDR_PINGS,1
$SC_FREEKB,7679328
$24V_AH,24.0,11.036
$10V_AH,10.3,7.298
$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,22.250,82.125,368.175,128.175,0.000,0.000,0.000,358.025,0.250,0.000,43.720,1773.409,6617.571,609.803,1809.210,401.409,0.000,1752.958,0.000,1395.586,0.000,0.541,0.000
$DEVICE_MAMPS,253.215,48.960,1184.985,128.520,0.000,0.000,0.000,114.750,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10379.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.636,0.000,0.000,0.000
$MEM,323108
$DATA_FILE_SIZE,16763,482
$CAP_FILE_SIZE,126193,0
$CFSIZE,260034560,243171328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,317.3,1
$GPS,010713,202436,2122.782,12029.890,38,1.0,38,-3.0