version: 66.11
glider: 167
mission: 16
dive: 647
start: 10 21 113 11 34 42
data:
$ID,167
$MISSION,16
$DIVE,647
$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,-976718.31
$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,87
$R_STBD_OVSHOOT,61
$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
$GPS1,211013,112731,2021.464,12345.148,65,0.9,65,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-69.3
$GPS2,211013,113353,2021.472,12345.212,4,0.9,4,-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,251.0,17245,-18.7,-10.000,-28.63,3078
$D_GRID,5470
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.17,-116.8,110,2221,882,879,0.0,0.0,0,95,0.00,0.00,-69.47,0.000,16386,0.000,0.000,110,2221,2590,2578,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.17,-116.8,110,2221,2581,2601,3.0,-2.1,7,133,11.10,1.62,-14.55,0.000,19204,0.239,0.057,2659,3236,3193,3196,3191,0,0,0,0,0,0,24.84,25.93,26.53
$GC,332,-1.17,-116.8,1600,3234,3150,3186,50.1,-19.4,29,339,0.00,1.50,0.00,0.000,1030,0.000,0.039,2659,2192,3194,3196,3193,0,0,0,0,0,0,28.83,26.10,28.83
$GC,640,-1.17,-116.8,2659,2192,3196,3193,103.0,-15.6,45,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2192,3194,3196,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,939,-1.17,-116.8,2659,2192,3196,3194,143.0,-12.4,60,944,0.00,1.52,0.00,0.000,516,0.000,0.036,2659,1164,3195,3196,3194,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1034,-1.17,-116.8,2659,1164,3196,3194,154.6,-13.7,64,1040,0.00,1.55,0.00,0.000,1030,0.000,0.029,2652,2206,3195,3196,3194,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1350,-1.17,-116.8,2652,2206,3197,3194,194.7,-11.9,80,1355,0.00,1.52,0.00,0.000,516,0.000,0.033,2652,1161,3196,3197,3195,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1429,-1.17,-116.8,2652,1161,3197,3195,202.3,-11.7,83,1436,0.00,1.55,0.00,0.000,1030,0.000,0.028,2645,2209,3196,3197,3195,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1736,-1.17,-116.8,2645,2209,3197,3195,241.4,-12.7,99,1741,0.00,1.50,0.00,0.000,516,0.000,0.028,2645,1164,3196,3197,3196,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1861,-1.17,-116.8,2645,1164,3197,3196,256.7,-12.0,105,1867,0.12,1.52,0.00,0.000,3078,0.183,0.028,2667,2218,3196,3197,3196,0,0,0,0,0,0,25.73,26.15,28.83
$GC,2198,-1.17,-116.8,2667,2218,3197,3196,294.5,-10.8,116,2203,0.00,1.58,0.00,0.000,516,0.000,0.044,2668,1172,3196,3197,3196,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2277,-1.17,-116.8,2667,1171,3197,3195,301.6,-10.5,118,2283,0.00,1.50,0.00,0.000,1030,0.000,0.044,2663,2201,3196,3197,3196,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2599,-1.17,-116.8,2663,2201,3197,3195,336.7,-10.3,129,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2202,3196,3197,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2897,-1.17,-116.8,2665,2201,3197,3194,367.1,-10.2,139,2902,0.00,1.52,0.00,0.000,516,0.000,0.037,2663,1157,3195,3197,3194,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3045,-1.17,-116.8,2663,1157,3197,3193,380.7,-10.9,143,3050,0.00,1.50,0.00,0.000,1030,0.000,0.044,2656,2186,3195,3197,3193,0,0,0,0,0,0,28.83,24.84,28.83
$GC,3361,-1.17,-116.8,2656,2187,3197,3191,416.6,-10.3,154,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2186,3194,3197,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3660,-1.17,-116.8,2656,2187,3197,3189,446.6,-9.8,164,3665,0.00,1.50,0.00,0.000,516,0.000,0.043,2657,1166,3192,3196,3189,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3807,-1.17,-116.8,2656,1165,3197,3188,457.9,-9.0,168,3812,0.00,1.50,0.00,0.000,1030,0.000,0.029,2649,2203,3192,3197,3187,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4127,-1.17,-116.8,2650,2203,3196,3184,485.3,-8.7,179,4132,0.00,1.52,0.00,0.000,516,0.000,0.043,2650,1165,3190,3196,3184,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4238,-1.17,-116.8,2650,1165,3197,3184,494.0,-9.1,182,4243,0.00,1.45,0.00,0.000,1030,0.000,0.044,2644,2134,3189,3196,3183,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4558,-1.17,-116.8,2644,2134,3197,3180,529.4,-10.7,193,4563,0.00,1.45,0.00,0.000,516,0.000,0.028,2644,1164,3188,3196,3180,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4693,-0.25,0.0,2639,1906,3196,3178,541.7,-9.8,197,4843,1.08,0.00,137.75,0.770,10244,0.144,0.000,2962,1906,2708,2773,2644,0,0,0,0,0,0,24.90,28.83,23.89
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$GC,4848,1.17,116.8,2962,1906,2771,2637,547.2,0.0,202,4956,1.25,1.62,99.85,0.852,10756,0.064,0.034,3429,879,2235,2312,2158,0,0,0,0,0,0,25.42,25.56,23.86
$GC,5069,1.17,116.8,3428,879,2297,2125,529.4,10.8,209,5075,0.00,1.55,0.00,0.000,1030,0.000,0.031,3429,1887,2210,2297,2124,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5385,1.17,116.8,3430,1887,2297,2116,493.2,10.5,220,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1887,2206,2297,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5686,1.29,176.6,3429,1887,2297,2112,466.8,8.0,230,5744,0.10,1.67,51.08,0.825,10500,0.096,0.037,3492,2953,1982,2077,1887,0,0,0,0,0,0,26.41,25.59,24.02
$GC,5825,1.29,176.6,3492,2953,2071,1861,453.0,10.9,234,5831,0.15,1.52,0.00,0.000,5126,0.177,0.027,3464,1917,1966,2071,1861,0,0,0,0,0,0,25.45,25.92,28.83
$GC,6148,1.29,176.6,3464,1917,2071,1854,413.3,12.1,245,6153,0.00,1.60,0.00,0.000,516,0.000,0.038,3471,847,1962,2071,1854,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6228,1.29,176.6,3471,847,2071,1854,404.7,12.4,247,6233,0.00,1.58,0.00,0.000,1030,0.000,0.031,3471,1908,1962,2071,1854,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6548,1.29,176.6,3470,1909,2071,1851,364.6,12.0,258,6554,0.00,1.60,0.00,0.000,516,0.000,0.036,3478,850,1961,2071,1851,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6599,1.29,176.6,3477,849,2071,1851,360.6,11.6,259,6604,0.00,1.65,0.00,0.000,1030,0.000,0.031,3478,1962,1961,2071,1851,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6919,1.29,176.6,3478,1962,2072,1849,325.4,10.3,270,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,1962,1960,2071,1849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7220,1.37,216.3,3477,1962,2071,1847,297.7,8.7,280,7260,0.00,1.52,33.95,0.741,8452,0.000,0.037,3478,2948,1820,1918,1723,0,0,0,0,0,0,28.83,25.76,24.22
$GC,7356,1.38,221.4,3478,2948,1905,1699,285.6,9.8,284,7361,0.00,1.50,0.00,0.000,1030,0.000,0.025,3484,1922,1802,1906,1699,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7677,1.38,221.4,3484,1922,1905,1697,250.1,11.0,295,7682,0.00,1.60,0.00,0.000,516,0.000,0.038,3492,854,1801,1905,1697,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7783,1.38,221.4,3492,854,1901,1698,237.5,12.3,300,7788,0.00,1.60,0.00,0.000,1030,0.000,0.031,3492,1926,1799,1900,1698,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8108,1.38,221.4,3492,1926,1901,1697,201.1,10.6,316,8113,0.00,1.52,0.00,0.000,260,0.000,0.037,3492,2962,1799,1901,1697,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8208,1.38,221.4,3492,2962,1899,1697,192.5,10.0,320,8215,0.00,1.50,0.00,0.000,1030,0.000,0.024,3498,1925,1798,1899,1697,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8513,1.38,221.4,3499,1925,1897,1696,160.9,10.1,336,8519,0.00,1.60,0.00,0.000,516,0.000,0.037,3507,853,1797,1899,1696,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8549,1.38,221.4,3506,853,1899,1696,158.3,10.1,337,8554,0.00,1.60,0.00,0.000,1030,0.000,0.031,3507,1934,1798,1899,1697,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8864,1.46,261.5,3506,1933,1899,1696,129.5,8.7,353,8911,0.00,1.73,38.90,0.617,8708,0.000,0.034,3514,845,1632,1721,1544,0,0,0,0,0,0,28.83,25.77,24.35
$GC,8955,1.46,261.5,3514,844,1704,1531,120.7,10.5,357,8960,0.00,1.65,0.00,0.000,1030,0.000,0.029,3515,1956,1617,1703,1531,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9271,1.62,338.9,3514,1955,1703,1525,90.8,7.4,373,9313,0.12,1.52,34.55,0.292,10500,0.077,0.037,3592,2953,1340,1426,1255,0,0,0,0,0,0,26.36,25.98,24.90
$GC,9480,1.62,338.9,2704,2950,1394,1260,68.0,12.1,383,9486,0.08,1.45,2.03,0.160,13318,0.168,0.025,3568,1981,1332,1414,1250,0,0,0,0,0,0,25.59,26.09,25.02
$GC,9791,1.62,338.9,3568,1981,1433,1261,33.8,11.3,405,9797,0.00,1.77,1.80,0.163,8708,0.000,0.036,3576,848,1332,1416,1248,0,0,0,0,0,0,28.83,25.93,25.06
$GC,9899,1.62,338.9,3576,848,1430,1262,21.1,11.3,415,9906,0.00,1.73,1.73,0.145,9222,0.000,0.030,3576,1976,1331,1413,1249,0,0,0,0,0,0,28.83,26.09,25.05
$STATE,10052,end climb,SURFACE_DEPTH_REACHED
$STATE,10052,begin surface coast
$FINISH,1.3,1.013116
$STATE,10076,end surface coast,CONTROL_FINISHED_OK
$STATE,10077,begin surface
$SM_CCo,10101,52.33,0.117,0,0,877,450.13
$SM_GC,2.05,8.88,0.30,52.33,0.033,0.047,0.117,142,2219,877,-9.02,-1.41,450.13,0,0,0,0,0,0,25.92,26.29,25.35
$IRIDIUM_FIX,2013.37,12344.59,211013,080835
$TT8_MAMPS,0.026964,0.026964
$HUMID,59.96
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,25.70
$XPDR_PINGS,17
$24V_AH,23.9,106.383
$10V_AH,10.1,65.948
$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,22.875,62.350,401.625,52.325,0.000,0.000,0.000,218.875,4.250,0.000,5.454,1543.550,6658.066,493.005,1438.911,385.039,0.000,1453.894,0.000,1224.433,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,57.375,852.210,117.045,0.000,0.000,0.000,110.925,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$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,327380
$DATA_FILE_SIZE,16787,432
$CAP_FILE_SIZE,95403,1
$CFSIZE,260034560,192520192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211013,142553,2021.383,12345.012,71,1.2,71,-2.9