version: 66.11
glider: 167
mission: 16
dive: 645
start: 10 21 113 5 36 52
data:
$ID,167
$MISSION,16
$DIVE,645
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$D_ABORT,1020
$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,180
$T_MISSION,210
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025476699
$HD_B,0.0275445
$HD_C,1.10039e-05
$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,450
$N_FILEKB,4
$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,4096
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-976715.81
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2715
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$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,21
$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,0
$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
$GPS1,211013,052758,2021.776,12342.667,42,1.9,45,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-71.2
$GPS2,211013,053559,2021.860,12342.843,41,1.1,41,-2.9
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,PICKUP
$TGT_LATLONG,2018.000,12336.000
$TGT_RADIUS,5000.000
$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,241.9,13869,-18.7,-10.000,-28.63,3078
$D_GRID,5474
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-1.17,-116.8,111,2230,878,882,0.0,0.0,0,94,0.00,0.00,-69.18,0.000,16386,0.000,0.000,111,2230,2623,2615,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.17,-116.8,111,2230,2615,2631,3.7,-3.3,7,131,10.82,1.60,-12.02,0.000,18948,0.230,0.046,2665,1149,3193,3195,3191,0,0,0,0,0,0,24.70,25.84,26.44
$GC,281,-1.17,-116.8,1632,1147,3150,3186,39.8,-18.7,24,288,0.00,1.60,0.00,0.000,1030,0.000,0.034,2660,2189,3194,3195,3193,0,0,0,0,0,0,28.83,25.84,28.83
$GC,599,-1.17,-116.8,2660,2190,3195,3193,100.1,-17.8,43,604,0.00,1.55,0.00,0.000,516,0.000,0.032,2660,1147,3194,3195,3193,0,0,0,0,0,0,28.83,25.88,28.83
$GC,624,-1.17,-116.8,2660,1147,3195,3193,104.3,-17.2,44,629,0.00,1.58,0.00,0.000,1030,0.000,0.030,2653,2221,3194,3195,3193,0,0,0,0,0,0,28.83,25.98,28.83
$GC,949,-1.17,-116.8,2653,2221,3195,3194,156.2,-14.4,60,954,0.00,1.58,0.00,0.000,516,0.000,0.027,2653,1139,3194,3195,3194,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1039,-1.17,-116.8,2653,1139,3196,3194,167.2,-13.0,64,1045,0.00,1.55,0.00,0.000,1030,0.000,0.028,2646,2215,3195,3196,3194,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1361,-1.17,-116.8,2646,2215,3196,3195,201.6,-10.9,80,1366,0.00,1.58,0.00,0.000,516,0.000,0.028,2646,1133,3195,3196,3195,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1437,-1.17,-116.8,2646,1133,3196,3195,209.2,-11.2,83,1442,0.12,1.52,0.00,0.000,3078,0.183,0.028,2668,2188,3196,3196,3196,0,0,0,0,0,0,25.59,26.04,28.83
$GC,1754,-1.17,-116.8,2668,2188,3197,3196,247.1,-11.8,99,1759,0.00,1.52,0.00,0.000,516,0.000,0.028,2668,1139,3196,3197,3196,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1897,-1.17,-116.8,2668,1139,3197,3196,260.8,-10.6,104,1902,0.00,1.55,0.00,0.000,1030,0.000,0.043,2663,2181,3196,3197,3196,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2218,-1.17,-116.8,2663,2181,3197,3196,292.7,-9.8,115,2223,0.00,1.55,0.00,0.000,516,0.000,0.028,2663,1144,3196,3197,3196,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2348,-1.17,-116.8,2663,1143,3197,3195,306.5,-10.9,119,2353,0.00,1.50,0.00,0.000,1030,0.000,0.028,2657,2185,3196,3197,3195,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2678,-1.17,-116.8,2656,2184,3197,3194,347.1,-11.8,130,2684,0.00,1.52,0.00,0.000,516,0.000,0.028,2657,1133,3195,3197,3194,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2763,-1.17,-116.8,2657,1133,3197,3194,354.2,-11.3,132,2768,0.00,1.50,0.00,0.000,1030,0.000,0.029,2656,2164,3195,3197,3194,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3079,-1.17,-116.8,2656,2164,3197,3193,383.9,-7.9,143,3084,0.00,1.60,0.00,0.000,260,0.000,0.037,2656,3245,3195,3197,3193,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3093,-1.17,-116.8,2656,3245,3197,3193,383.9,-7.9,143,3098,0.00,1.60,0.00,0.000,1030,0.000,0.017,2656,2130,3195,3197,3193,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3420,-1.17,-116.8,2656,2130,3198,3191,413.3,-9.0,154,3425,0.00,1.45,0.00,0.000,516,0.000,0.030,2656,1146,3193,3197,3190,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3519,-1.17,-116.8,2656,1145,3196,3190,423.3,-10.1,157,3525,0.00,1.52,0.00,0.000,1030,0.000,0.028,2649,2163,3193,3197,3190,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3850,-1.17,-116.8,2649,2163,3197,3187,461.0,-10.9,168,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2163,3192,3197,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4151,-1.17,-116.8,2649,2163,3197,3184,486.6,-7.5,178,4157,0.00,1.52,0.00,0.000,516,0.000,0.028,2649,1147,3190,3197,3184,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4196,-1.17,-116.8,2649,1147,3197,3184,489.3,-7.5,179,4201,0.00,1.50,0.00,0.000,1030,0.000,0.028,2643,2148,3190,3197,3183,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4522,-1.17,-116.8,2643,2148,3196,3181,517.1,-9.5,190,4528,0.12,1.67,0.00,0.000,2308,0.184,0.033,2672,3265,3188,3196,3180,0,0,0,0,0,0,25.89,25.90,28.83
$GC,4589,-1.17,-116.8,2672,3265,3197,3180,523.9,-10.3,192,4594,0.00,1.62,0.00,0.000,1030,0.000,0.017,2672,2119,3188,3197,3180,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,4740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4740,begin apogee
$GC,4749,-0.25,0.0,2672,1858,3197,3177,540.4,-10.5,197,4897,0.95,0.00,137.43,0.781,10244,0.135,0.000,2962,1858,2712,2775,2650,0,0,0,0,0,0,24.77,28.83,23.80
$STATE,4898,end apogee,CONTROL_FINISHED_OK
$STATE,4899,begin climb
$GC,4902,1.17,116.8,2961,1857,2772,2638,546.9,0.0,202,5013,1.25,1.73,100.18,0.858,10500,0.061,0.034,3432,2946,2228,2308,2149,0,0,0,0,0,0,25.33,25.47,23.77
$GC,5142,1.17,116.8,3431,2945,2300,2126,525.7,11.3,210,5147,0.00,1.52,0.00,0.000,1030,0.000,0.026,3439,1913,2212,2300,2125,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5478,1.17,116.8,3438,1913,2300,2118,489.5,10.3,221,5483,0.00,1.55,0.00,0.000,260,0.000,0.035,3438,2944,2209,2300,2119,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5574,1.17,116.8,3438,2944,2300,2118,480.0,10.0,224,5580,0.00,1.55,0.00,0.000,1030,0.000,0.025,3446,1886,2208,2300,2117,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5910,1.21,138.7,3446,1885,2299,2114,448.9,9.3,235,5932,0.00,1.62,17.30,0.825,8708,0.000,0.037,3453,854,2142,2230,2054,0,0,0,0,0,0,28.83,25.88,24.20
$GC,6114,1.26,161.0,3453,854,2220,2034,431.7,9.3,241,6141,0.00,1.55,20.33,0.819,9222,0.000,0.030,3453,1906,2047,2140,1955,0,0,0,0,0,0,28.83,26.03,24.18
$GC,6460,1.33,195.9,3453,1906,2135,1931,400.1,8.8,253,6499,0.00,1.67,30.95,0.805,8708,0.000,0.036,3460,857,1902,1999,1805,0,0,0,0,0,0,28.83,25.71,24.17
$GC,6595,1.33,195.9,3460,857,1984,1796,387.0,10.8,257,6600,0.00,1.67,0.00,0.000,1030,0.000,0.031,3460,1946,1889,1984,1795,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6915,1.33,195.9,3460,1946,1983,1791,347.0,11.8,268,6921,0.00,1.52,0.00,0.000,260,0.000,0.037,3460,2949,1887,1984,1791,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7031,1.33,195.9,3460,2948,1983,1789,335.1,12.5,271,7036,0.00,1.48,0.00,0.000,1030,0.000,0.025,3465,1958,1886,1983,1789,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7346,1.47,265.4,3466,1958,1983,1787,302.9,7.7,282,7414,0.12,1.60,61.47,0.736,11012,0.074,0.034,3537,2957,1626,1713,1539,0,0,0,0,0,0,26.38,25.55,24.10
$GC,7515,1.47,265.4,3537,2957,1687,1511,285.6,11.6,287,7521,0.00,1.52,0.00,0.000,1030,0.000,0.026,3544,1951,1599,1687,1511,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7826,1.47,265.4,3544,1950,1685,1508,243.3,14.1,298,7831,0.00,1.70,0.00,0.000,516,0.000,0.037,3552,851,1596,1685,1508,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7860,1.47,265.4,3552,851,1685,1508,239.5,14.4,299,7866,0.12,1.65,0.00,0.000,5126,0.185,0.031,3524,1965,1596,1685,1508,0,0,0,0,0,0,25.56,26.01,28.83
$GC,8178,1.47,265.4,3524,1965,1683,1507,195.1,12.7,315,8184,0.00,1.50,0.00,0.000,260,0.000,0.037,3523,2952,1595,1683,1507,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8288,1.47,265.4,3523,2952,1682,1506,181.2,12.9,320,8293,0.00,1.45,0.00,0.000,1030,0.000,0.024,3529,1974,1594,1682,1506,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8609,1.47,265.4,3529,1974,1682,1505,142.6,11.7,336,8614,0.00,1.73,0.00,0.000,516,0.000,0.037,3538,851,1594,1682,1506,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8776,1.47,265.4,3538,851,1681,1505,122.9,12.2,344,8781,0.00,1.67,0.00,0.000,1030,0.000,0.029,3538,1977,1593,1681,1505,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9102,1.55,308.3,3538,1977,1681,1505,89.5,8.6,360,9129,0.00,1.75,19.20,0.260,8708,0.000,0.034,3546,860,1468,1552,1385,0,0,0,0,0,0,28.83,25.96,24.67
$GC,9204,1.57,317.1,3545,859,1556,1393,79.6,9.7,365,9218,0.00,1.62,6.53,0.243,9222,0.000,0.029,3546,1957,1425,1507,1343,0,0,0,0,0,0,28.83,26.03,24.68
$GC,9532,1.63,344.4,3545,1958,1520,1355,49.2,9.1,381,9554,0.00,1.75,15.88,0.211,8708,0.000,0.034,3553,850,1312,1395,1230,0,0,0,0,0,0,28.83,25.97,24.91
$GC,9599,1.67,365.6,3553,850,1409,1240,42.6,9.3,387,9619,0.00,1.70,12.62,0.199,9222,0.000,0.028,3553,1999,1224,1303,1145,0,0,0,0,0,0,28.83,26.04,25.01
$STATE,9895,end climb,SURFACE_DEPTH_REACHED
$STATE,9895,begin surface coast
$FINISH,1.4,1.013116
$STATE,9917,end surface coast,CONTROL_FINISHED_OK
$STATE,9917,begin surface
$SM_CCo,9941,41.03,0.118,0,0,876,450.13
$SM_GC,2.08,8.85,0.28,41.03,0.034,0.053,0.118,139,2222,876,-9.03,-1.30,450.13,0,0,0,0,0,0,25.89,26.23,25.31
$IRIDIUM_FIX,2013.37,12342.68,201013,232348
$TT8_MAMPS,0.026964,0.026964
$HUMID,59.21
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,25.60
$XPDR_PINGS,285
$24V_AH,23.8,106.187
$10V_AH,10.1,65.858
$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,22.375,70.300,421.875,41.025,0.000,0.000,0.000,260.650,71.250,0.000,42.881,1551.709,6435.226,503.327,1541.699,402.056,0.000,1531.854,0.000,1250.071,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,52.785,858.330,117.810,0.000,0.000,0.000,117.810,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327332
$DATA_FILE_SIZE,16791,419
$CAP_FILE_SIZE,98457,1
$CFSIZE,260034560,192614400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211013,082435,2021.733,12344.470,34,0.8,34,-2.9