version: 66.11
glider: 167
mission: 16
dive: 649
start: 10 21 113 17 33 8
data:
$ID,167
$MISSION,16
$DIVE,649
$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,-976720.94
$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,54
$R_STBD_OVSHOOT,59
$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
$GPS1,211013,172531,2021.586,12345.189,50,1.8,50,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-67.4
$GPS2,211013,173219,2021.590,12345.241,19,0.9,19,-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,250.4,17374,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.17,-116.8,113,2233,894,868,0.0,0.0,0,95,0.00,0.00,-69.47,0.000,16386,0.000,0.000,112,2233,2603,2592,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.17,-116.8,112,2233,2593,2616,3.4,-2.9,7,132,10.70,1.55,-12.38,0.000,19204,0.228,0.058,2658,3241,3192,3194,3190,0,0,0,0,0,0,24.94,25.91,26.55
$GC,303,-1.17,-116.8,2658,3241,3193,3192,49.4,-19.6,26,310,0.00,1.52,0.00,0.000,1030,0.000,0.024,2658,2185,3192,3193,3192,0,0,0,0,0,0,28.83,26.17,28.83
$GC,610,-1.17,-116.8,2658,2184,3193,3193,104.1,-16.1,42,615,0.00,1.60,0.00,0.000,260,0.000,0.037,2650,3243,3193,3193,3193,0,0,0,0,0,0,28.83,25.98,28.83
$GC,846,-1.17,-116.8,2650,3243,3193,3193,138.5,-14.2,53,851,0.00,1.50,0.00,0.000,1030,0.000,0.024,2650,2206,3193,3194,3193,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1162,-1.17,-116.8,2650,2206,3195,3194,180.3,-12.7,69,1167,0.00,1.58,0.00,0.000,260,0.000,0.039,2644,3239,3194,3195,3194,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1216,-1.17,-116.8,2643,3239,3195,3194,186.0,-12.3,71,1222,0.00,1.58,0.00,0.000,1030,0.000,0.027,2644,2194,3194,3195,3194,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1533,-1.17,-116.8,2643,2193,3195,3195,225.2,-11.9,87,1538,0.12,1.52,0.00,0.000,2564,0.181,0.029,2679,1131,3195,3195,3195,0,0,0,0,0,0,26.01,26.11,28.83
$GC,1703,-1.17,-116.8,1632,1130,3150,3188,243.6,-10.3,95,1709,0.00,1.50,0.00,0.000,1030,0.000,0.029,2674,2170,3195,3196,3195,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2025,-1.17,-116.8,2674,2170,3196,3195,275.3,-10.5,107,2030,0.00,1.50,0.00,0.000,516,0.000,0.029,2674,1136,3196,3197,3195,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2153,-1.17,-116.8,1632,1135,3150,3188,289.4,-11.1,111,2159,0.00,1.50,0.00,0.000,1030,0.000,0.029,2669,2170,3195,3196,3195,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2485,-1.17,-116.8,2669,2170,3196,3195,326.9,-10.8,122,2490,0.00,1.50,0.00,0.000,516,0.000,0.029,2669,1136,3195,3196,3195,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2574,-1.17,-116.8,2669,1134,3196,3194,334.3,-10.8,124,2580,0.00,1.50,0.00,0.000,1030,0.000,0.029,2662,2170,3195,3196,3194,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2881,-1.17,-116.8,2662,2170,3196,3193,367.1,-9.8,135,2886,0.00,1.50,0.00,0.000,516,0.000,0.028,2663,1135,3194,3196,3193,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2961,-1.17,-116.8,2662,1135,3196,3193,373.7,-9.9,137,2966,0.00,1.48,0.00,0.000,1030,0.000,0.029,2657,2120,3194,3196,3193,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3282,-1.17,-116.8,2656,2119,3196,3192,409.5,-10.6,148,3287,0.00,1.48,0.00,0.000,516,0.000,0.029,2656,1135,3193,3196,3191,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3392,-1.17,-116.8,2656,1134,3196,3191,419.6,-10.6,151,3397,0.00,1.45,0.00,0.000,1030,0.000,0.029,2650,2102,3193,3196,3190,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3713,-1.17,-116.8,2650,2102,3196,3189,452.2,-9.1,162,3718,0.00,1.70,0.00,0.000,260,0.000,0.035,2642,3256,3192,3196,3188,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3811,-1.17,-116.8,2641,3256,3196,3187,460.6,-8.7,165,3817,0.12,1.67,0.00,0.000,3078,0.174,0.018,2671,2077,3191,3196,3187,0,0,0,0,0,0,25.81,26.27,28.83
$GC,4147,-1.17,-116.8,2671,2077,3196,3184,490.8,-9.4,176,4152,0.00,1.38,0.00,0.000,516,0.000,0.031,2671,1141,3190,3196,3184,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4277,-1.17,-116.8,2671,1142,3196,3182,503.0,-9.7,180,4282,0.00,1.45,0.00,0.000,1030,0.000,0.029,2667,2099,3189,3196,3182,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4612,-1.17,-116.8,2666,2099,3196,3179,535.4,-9.1,191,4618,0.00,1.45,0.00,0.000,516,0.000,0.029,2667,1135,3188,3196,3180,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4657,-1.17,-116.8,2666,1134,3196,3179,538.6,-9.1,192,4662,0.00,1.42,0.00,0.000,1030,0.000,0.029,2661,2081,3187,3196,3178,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,4678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4678,begin apogee
$GC,4688,-0.25,0.0,2660,1866,3197,3178,541.5,-8.9,193,4823,0.98,0.00,126.25,0.793,10244,0.137,0.000,2960,1865,2706,2770,2642,0,0,0,0,0,0,24.98,28.83,23.77
$STATE,4828,end apogee,CONTROL_FINISHED_OK
$STATE,4828,begin climb
$GC,4832,1.17,116.8,2960,1865,2769,2634,546.0,0.0,197,4939,1.25,1.55,98.70,0.855,10756,0.063,0.037,3426,873,2230,2308,2153,0,0,0,0,0,0,25.41,25.56,23.87
$GC,4959,1.32,189.0,3426,873,2298,2135,537.3,7.6,202,5027,0.12,1.55,60.90,0.832,11270,0.080,0.031,3495,1890,1940,2033,1848,0,0,0,0,0,0,25.62,25.65,23.95
$GC,5353,1.32,189.0,3495,1889,2014,1818,487.9,11.1,215,5358,0.00,1.60,0.00,0.000,516,0.000,0.037,3501,866,1916,2014,1818,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5438,1.32,189.0,3501,866,2015,1818,480.6,10.8,217,5443,0.00,1.58,0.00,0.000,1030,0.000,0.031,3501,1926,1915,2014,1817,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5753,1.32,189.0,3501,1925,2011,1815,445.3,11.1,228,5759,0.00,1.52,0.00,0.000,260,0.000,0.039,3501,2959,1913,2011,1815,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5834,1.32,189.0,3501,2959,2011,1813,437.4,11.7,230,5840,0.15,1.50,0.00,0.000,5126,0.177,0.028,3472,1932,1912,2011,1813,0,0,0,0,0,0,25.65,26.15,28.83
$GC,6155,1.32,189.0,3471,1932,2010,1811,399.1,10.8,241,6160,0.00,1.62,0.00,0.000,516,0.000,0.038,3479,843,1911,2011,1811,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6200,1.32,189.0,3479,843,2011,1810,395.5,10.5,242,6205,0.00,1.65,0.00,0.000,1030,0.000,0.031,3479,1953,1911,2011,1811,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6527,1.36,211.7,3479,1953,2010,1808,363.7,9.2,253,6553,0.00,1.75,18.90,0.773,8964,0.000,0.037,3486,848,1838,1930,1746,0,0,0,0,0,0,28.83,25.89,24.25
$GC,6664,1.36,211.7,3486,848,1915,1734,350.4,10.9,257,6669,0.00,1.67,0.00,0.000,1030,0.000,0.031,3486,1969,1825,1915,1735,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6985,1.36,211.7,3486,1969,1915,1730,311.5,11.4,268,6990,0.00,1.50,0.00,0.000,260,0.000,0.038,3486,2957,1822,1915,1730,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7034,1.36,211.7,3486,2957,1914,1730,307.2,11.5,269,7039,0.00,1.48,0.00,0.000,1030,0.000,0.027,3493,1971,1822,1914,1730,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7356,1.40,230.5,3493,1971,1914,1729,273.7,9.4,280,7377,0.00,1.70,16.12,0.720,8708,0.000,0.036,3501,850,1766,1857,1675,0,0,0,0,0,0,28.83,25.94,24.34
$GC,7523,1.40,230.5,3500,847,1840,1662,256.3,11.5,285,7528,0.00,1.62,0.00,0.000,1030,0.000,0.031,3501,1941,1751,1840,1662,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7834,1.40,230.5,3500,1942,1839,1658,217.3,11.7,300,7840,0.00,1.55,0.00,0.000,260,0.000,0.038,3501,2961,1748,1839,1658,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7934,1.40,230.5,3501,2961,1838,1657,208.1,10.6,304,7940,0.00,1.48,0.00,0.000,1030,0.000,0.026,3507,1974,1747,1838,1657,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8240,1.40,230.5,3507,1974,1838,1656,175.5,10.8,320,8245,0.00,1.52,0.00,0.000,260,0.000,0.037,3507,2991,1747,1838,1657,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8347,1.40,230.5,3507,2991,1838,1656,163.6,11.2,325,8353,0.00,1.50,0.00,0.000,1030,0.000,0.025,3514,1995,1747,1838,1656,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8674,1.42,242.7,3514,1995,1838,1656,130.1,9.6,341,8684,0.00,1.50,3.78,0.521,8452,0.000,0.036,3514,2952,1724,1812,1636,0,0,0,0,0,0,28.83,25.94,24.25
$GC,8807,1.42,242.7,2560,2950,1741,1642,116.8,11.0,347,8812,0.00,1.40,0.00,0.000,1030,0.000,0.026,3521,2013,1733,1813,1653,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9127,1.59,325.9,3521,2013,1813,1653,88.6,7.2,363,9179,0.12,1.50,42.92,0.299,10500,0.079,0.034,3596,2965,1392,1476,1309,0,0,0,0,0,0,26.41,25.96,24.91
$GC,9301,1.59,325.9,3596,2965,1483,1318,69.2,13.4,371,9308,0.17,1.50,1.83,0.163,13318,0.179,0.025,3560,1930,1385,1466,1304,0,0,0,0,0,0,25.46,26.06,25.08
$GC,9618,1.81,436.4,3560,1930,1483,1315,33.2,6.3,394,9681,0.17,1.60,55.00,0.180,10500,0.067,0.034,3640,2962,933,967,900,0,0,0,0,0,0,26.35,25.98,25.25
$GC,9743,1.81,436.4,3640,2962,987,900,14.4,17.6,406,9749,0.00,1.48,0.00,0.000,1030,0.000,0.026,3645,1981,943,987,900,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,9814,end climb,SURFACE_DEPTH_REACHED
$STATE,9815,begin surface coast
$FINISH,1.6,1.013116
$STATE,9826,end surface coast,CONTROL_FINISHED_OK
$STATE,9826,begin surface
$SM_CCo,9850,7.38,0.126,0,0,878,450.13
$SM_GC,1.98,8.93,0.32,7.38,0.026,0.041,0.126,141,2216,878,-9.01,-1.41,450.13,0,0,0,0,0,0,25.98,26.22,25.17
$IRIDIUM_FIX,2013.37,12345.87,211013,141454
$TT8_MAMPS,0.026964,0.026964
$HUMID,61.73
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,25.40
$XPDR_PINGS,3
$24V_AH,23.8,106.565
$10V_AH,10.2,66.038
$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,22.850,71.250,424.400,7.375,0.000,0.000,0.000,229.175,0.750,0.000,20.981,1582.989,6248.561,478.332,1534.650,403.965,0.000,1493.382,0.000,1291.211,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,58.140,855.270,126.225,0.000,0.000,0.000,109.395,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$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,327436
$DATA_FILE_SIZE,16753,414
$CAP_FILE_SIZE,100562,1
$CFSIZE,260034560,192421888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211013,201923,2021.923,12345.879,71,1.2,71,-2.9