version: 66.11
glider: 167
mission: 16
dive: 123
start: 7 7 113 6 47 35
data:
$ID,167
$MISSION,16
$DIVE,123
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-975104.25
$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,3060
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$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,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,49
$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
$GPS1,070713,063959,2111.339,12047.006,40,1.1,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.9
$GPS2,070713,064708,2111.525,12047.036,7,1.1,7,-3.0
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,T5
$TGT_LATLONG,2112.000,12148.000
$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,137.5,105268,-15.4,-9.167,-18.50,2921
$D_GRID,519
$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,-0.96,-175.2,127,2020,374,541,0.0,0.0,0,126,0.00,0.00,-97.47,0.000,16386,0.000,0.000,126,2021,2867,2838,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-0.96,-175.2,126,2020,2839,2897,3.1,-4.0,17,165,10.30,2.20,-11.43,0.000,18692,0.234,0.038,2734,3501,3480,3481,3480,0,0,0,0,0,0,25.90,26.24,26.48
$GC,175,-0.58,-175.2,2734,3501,3480,3482,18.7,-35.9,23,184,0.50,2.00,0.00,0.000,3078,0.196,0.017,2866,2080,3481,3481,3482,0,0,0,0,0,0,26.01,26.27,28.83
$GC,504,-0.48,-175.2,2866,2079,3483,3482,101.2,-20.6,45,509,0.12,2.05,0.00,0.000,2308,0.169,0.024,2898,3495,3482,3483,3482,0,0,0,0,0,0,26.29,26.43,28.83
$GC,530,-0.39,-175.2,2898,3495,3483,3482,105.4,-18.7,46,536,0.12,1.95,0.00,0.000,3078,0.156,0.015,2930,2071,3482,3483,3482,0,0,0,0,0,0,26.29,26.48,28.83
$GC,856,-0.39,-175.2,2930,2070,3484,3482,143.9,-9.3,62,861,0.00,1.90,0.00,0.000,516,0.000,0.027,2930,732,3483,3484,3482,0,0,0,0,0,0,28.83,26.53,28.83
$GC,942,-0.40,-175.2,2930,732,3484,3482,152.2,-9.7,66,947,0.00,1.92,0.00,0.000,1030,0.000,0.018,2928,2097,3483,3484,3482,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1268,-0.42,-175.2,2928,2096,3484,3481,188.0,-8.5,82,1274,0.00,1.95,0.00,0.000,516,0.000,0.026,2928,733,3483,3484,3482,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1314,-0.44,-175.2,2928,733,3485,3482,191.1,-7.2,84,1321,0.00,1.92,0.00,0.000,1030,0.000,0.018,2924,2109,3483,3484,3482,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1641,-0.48,-175.2,2924,2109,3484,3481,217.5,-10.4,100,1646,0.00,2.00,0.00,0.000,260,0.000,0.032,2924,3498,3483,3484,3482,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1742,-0.54,-175.2,2924,3498,3484,3481,226.5,-10.6,104,1750,0.12,1.92,0.00,0.000,5126,0.076,0.015,2848,2087,3482,3484,3481,0,0,0,0,0,0,26.63,26.68,28.83
$GC,2046,-0.52,-175.2,2847,2086,3484,3479,270.2,-11.1,120,2051,0.12,1.92,0.00,0.000,2564,0.149,0.026,2888,729,3481,3484,3479,0,0,0,0,0,0,26.53,26.65,28.83
$GC,2091,-0.52,-175.2,2888,729,3484,3479,275.2,-10.9,122,2096,0.00,1.95,0.00,0.000,1030,0.000,0.019,2888,2108,3481,3484,3478,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2417,-0.55,-175.2,2888,2108,3484,3475,307.5,-9.2,138,2422,0.00,2.00,0.00,0.000,260,0.000,0.033,2888,3492,3479,3484,3475,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2511,-0.59,-175.2,2888,3491,3484,3475,316.8,-11.0,142,2516,0.00,1.90,0.00,0.000,1030,0.000,0.015,2889,2097,3479,3484,3475,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2827,-0.62,-175.2,2889,2097,3484,3470,342.3,-3.8,158,2833,0.00,1.92,0.00,0.000,516,0.000,0.039,2888,746,3477,3484,3471,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2902,-0.66,-175.2,2888,746,3484,3470,345.8,-4.9,161,2908,0.12,1.92,0.00,0.000,5126,0.080,0.019,2813,2119,3476,3484,3469,0,0,0,0,0,0,26.66,26.69,28.83
$GC,3218,-0.64,-175.2,2812,2119,3484,3466,384.1,-9.9,177,3220,0.15,0.00,0.00,0.000,2054,0.153,0.000,2853,2119,3474,3484,3465,0,0,0,0,0,0,26.54,28.83,28.83
$GC,3518,-0.64,-175.2,2853,2119,3483,3460,414.4,-10.8,192,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2120,3472,3484,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3821,-0.64,-175.2,2853,2119,3484,3455,448.1,-10.1,207,3823,0.00,0.00,-0.08,0.000,16390,0.000,0.000,2853,2120,3492,3505,3480,0,0,0,0,0,0,28.83,28.83,26.31
$GC,4118,-0.70,-175.2,2853,2119,3505,3476,479.3,-9.7,222,4125,0.00,2.00,0.00,0.000,260,0.000,0.036,2849,3479,3490,3504,3476,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4138,-0.76,-175.2,2849,3478,3504,3476,479.3,-9.7,222,4145,0.00,1.90,0.00,0.000,1030,0.000,0.018,2849,2100,3490,3505,3476,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4444,-0.76,-175.2,2848,2096,3505,3471,482.4,0.0,238,4449,0.00,1.98,0.00,0.000,516,0.000,0.032,2849,738,3487,3504,3471,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4680,-0.76,-175.2,2849,737,3504,3468,482.6,0.0,249,4685,0.00,1.92,0.00,0.000,1030,0.000,0.020,2849,2091,3486,3505,3468,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4995,-0.94,-175.2,2848,2091,3504,3463,482.8,-0.1,265,5001,0.22,1.98,0.00,0.000,4612,0.076,0.028,2752,733,3483,3505,3462,0,0,0,0,0,0,26.65,26.67,28.83
$STATE,5119,end dive,NO_VERTICAL_VELOCITY
$STATE,5119,begin apogee
$GC,5129,-0.23,0.0,2751,2301,3504,3461,482.9,0.0,271,5285,0.60,0.00,147.60,0.843,10246,0.047,0.000,3000,2302,2760,2820,2700,0,0,0,0,0,0,26.67,28.83,24.58
$STATE,5288,end apogee,CONTROL_FINISHED_OK
$STATE,5288,begin climb
$GC,5291,0.96,175.2,3000,2302,2808,2680,483.1,0.0,279,5446,1.02,2.28,142.30,0.815,10500,0.061,0.037,3372,3687,2034,2124,1944,0,0,0,0,0,0,25.34,25.11,24.46
$GC,5678,0.84,175.2,2400,3686,2039,1903,439.2,16.5,298,5684,0.20,2.00,0.00,0.000,5126,0.169,0.023,3330,2324,2016,2117,1916,0,0,0,0,0,0,25.87,26.08,28.83
$GC,5999,0.76,175.2,3330,2325,2117,1910,386.5,13.8,314,6004,0.00,2.10,0.00,0.000,260,0.000,0.037,3331,3696,2013,2117,1910,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6237,0.68,175.2,3330,3696,2116,1909,361.0,11.1,325,6243,0.22,2.03,0.00,0.000,5126,0.159,0.023,3277,2296,2012,2116,1909,0,0,0,0,0,0,26.27,26.46,28.83
$GC,6553,0.65,175.2,3276,2292,2112,1907,328.7,10.6,341,6558,0.00,2.12,0.00,0.000,260,0.000,0.037,3277,3689,2009,2112,1907,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6764,0.61,175.2,3277,3689,2112,1908,307.0,9.8,351,6770,0.00,2.00,0.00,0.000,1030,0.000,0.023,3284,2293,2009,2112,1906,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7086,0.61,199.2,3284,2293,2112,1904,275.4,8.3,367,7109,0.00,2.12,17.98,0.728,8452,0.000,0.034,3284,3691,1943,2042,1844,0,0,0,0,0,0,28.83,26.28,25.63
$GC,7343,0.58,199.2,3284,3691,2034,1828,252.0,11.3,379,7350,0.15,2.00,0.00,0.000,5126,0.148,0.022,3251,2302,1930,2034,1827,0,0,0,0,0,0,26.31,26.46,28.83
$GC,7661,0.77,315.2,3250,2302,2034,1826,223.3,5.1,395,7771,0.15,2.20,99.72,0.674,10500,0.068,0.034,3336,3697,1464,1548,1380,0,0,0,0,0,0,26.56,25.46,24.89
$GC,7850,0.76,315.2,2336,3696,1486,1355,205.0,11.1,404,7856,0.15,2.05,0.00,0.000,5126,0.152,0.021,3305,2303,1445,1530,1361,0,0,0,0,0,0,25.75,25.91,28.83
$GC,8172,0.77,315.2,3305,2303,1529,1358,175.8,9.6,420,8178,0.00,2.05,0.00,0.000,516,0.000,0.029,3313,901,1443,1528,1358,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8295,0.79,315.2,3312,901,1529,1358,165.0,10.2,425,8302,0.00,2.03,0.00,0.000,1030,0.000,0.020,3313,2306,1443,1528,1358,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8598,0.81,315.2,3312,2307,1528,1358,134.0,10.5,441,8603,0.00,2.05,0.00,0.000,516,0.000,0.028,3319,905,1443,1528,1358,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8673,0.83,315.2,3319,906,1528,1358,126.9,10.9,444,8678,0.00,2.00,0.00,0.000,1030,0.000,0.019,3319,2315,1442,1528,1357,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8988,0.96,383.2,3319,2315,1527,1358,99.7,6.8,460,9022,0.12,2.03,25.85,0.311,10500,0.075,0.031,3407,3684,1205,1272,1138,0,0,0,0,0,0,26.60,26.36,25.97
$GC,9108,0.93,383.2,3407,3684,1291,1140,86.9,12.9,465,9116,0.20,2.00,1.92,0.169,13318,0.136,0.020,3357,2278,1197,1265,1130,0,0,0,0,0,0,26.31,26.46,26.25
$GC,9414,0.97,390.0,3357,2278,1293,1133,57.1,8.9,481,9424,0.00,1.95,4.97,0.207,8708,0.000,0.026,3366,917,1176,1247,1106,0,0,0,0,0,0,28.83,26.49,26.20
$GC,9615,1.05,414.7,2368,917,1244,1104,40.2,8.3,496,9634,0.00,1.95,13.35,0.199,9222,0.000,0.019,3365,2290,1069,1117,1021,0,0,0,0,0,0,28.83,26.57,26.23
$GC,9935,1.23,494.1,3365,2290,1152,1021,15.5,6.4,541,9979,0.20,2.08,36.55,0.145,10756,0.053,0.028,3509,920,747,671,823,0,0,0,0,0,0,26.61,26.45,26.28
$GC,10021,1.20,494.1,2576,919,688,822,3.9,14.5,555,10030,0.20,1.98,1.25,0.181,13318,0.133,0.018,3450,2305,743,672,814,0,0,0,0,0,0,26.34,26.51,26.32
$STATE,10036,end climb,SURFACE_DEPTH_REACHED
$STATE,10036,begin surface coast
$FINISH,0.9,1.020516
$STATE,10054,end surface coast,CONTROL_FINISHED_OK
$STATE,10057,begin surface
$SM_CCo,10079,35.78,0.120,0,0,458,564.93
$SM_GC,1.52,8.23,0.25,35.78,0.021,0.037,0.120,136,2051,458,-9.07,2.26,564.93,0,0,0,0,0,0,26.46,26.55,26.26
$IRIDIUM_FIX,2101.76,12041.18,070713,010153
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.19
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.70
$XPDR_PINGS,4
$SC_FREEKB,7669696
$24V_AH,24.5,15.388
$10V_AH,10.4,10.101
$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,23.250,84.775,491.500,35.775,0.000,0.000,0.000,238.950,1.000,0.000,8.914,1897.846,5869.118,589.183,1768.493,410.816,0.000,1679.272,0.000,1489.318,0.000,0.542,0.000
$DEVICE_MAMPS,234.090,39.015,843.030,120.105,0.000,0.000,0.000,123.165,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10067.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.721,0.000,0.000,0.000
$MEM,322864
$DATA_FILE_SIZE,20085,560
$CAP_FILE_SIZE,137864,0
$CFSIZE,260034560,240754688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.344, 14.3,1
$GPS,070713,093736,2112.722,12048.429,40,0.9,40,-3.0