version: 66.11
glider: 167
mission: 16
dive: 48
start: 6 27 113 5 5 52
data:
$ID,167
$MISSION,16
$DIVE,48
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,554.9259
$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,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-974755.62
$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,3085
$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,1900
$C_ROLL_CLIMB,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,38
$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
$GPS1,270613,045705,2156.731,12022.404,39,1.2,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-73.1
$GPS2,270613,050522,2156.668,12022.317,30,1.5,47,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T2
$TGT_LATLONG,2154.000,12025.000
$TGT_RADIUS,3000.000
$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,140.4,6757,-15.7,-10.000,-18.68,2978
$D_GRID,1032
$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,-1.16,-194.6,109,1892,418,574,0.0,0.0,0,108,0.00,0.00,-80.03,0.000,16386,0.000,0.000,109,1892,2461,2444,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-1.16,-194.6,109,1892,2444,2480,3.2,-3.6,14,151,10.30,2.17,-20.45,0.000,18692,0.239,0.047,2692,3324,3557,3555,3560,0,0,0,0,0,0,25.89,26.11,26.38
$GC,197,-1.16,-194.6,2692,3325,3555,3562,37.1,-49.5,26,203,0.00,2.12,0.00,0.000,1030,0.000,0.028,2692,1907,3558,3554,3563,0,0,0,0,0,0,28.83,26.17,28.83
$GC,513,-1.16,-194.6,2692,1903,3557,3563,143.0,-29.3,43,518,0.00,2.08,0.00,0.000,516,0.000,0.031,2692,488,3560,3557,3563,0,0,0,0,0,0,28.83,26.34,28.83
$GC,561,-1.16,-194.6,1664,488,3543,3560,155.3,-28.4,45,566,0.00,2.05,0.00,0.000,1030,0.000,0.018,2682,1919,3560,3557,3563,0,0,0,0,0,0,28.83,26.38,28.83
$GC,881,-1.16,-194.6,2682,1919,3558,3563,247.6,-25.2,61,886,0.00,2.12,0.00,0.000,516,0.000,0.031,2682,478,3560,3558,3563,0,0,0,0,0,0,28.83,26.45,28.83
$GC,920,-1.16,-194.6,2682,477,3558,3563,253.4,-24.3,62,928,0.15,2.05,0.00,0.000,3078,0.184,0.019,2710,1909,3560,3558,3563,0,0,0,0,0,0,26.33,26.48,28.83
$GC,1226,-1.16,-194.6,2709,1909,3558,3563,318.5,-20.6,78,1232,0.00,2.03,0.00,0.000,260,0.000,0.032,2701,3304,3560,3558,3563,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1464,-1.16,-194.6,2700,3304,3558,3562,364.3,-18.3,89,1469,0.00,2.03,0.00,0.000,1030,0.000,0.019,2701,1886,3560,3558,3562,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1778,-1.16,-194.6,2699,1884,3561,3555,427.4,-20.8,105,1784,0.00,2.03,0.00,0.000,516,0.000,0.034,2699,494,3558,3562,3554,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1853,-1.16,-194.6,2699,495,3562,3554,441.6,-21.9,108,1858,0.00,2.03,0.00,0.000,1030,0.000,0.020,2692,1910,3557,3562,3553,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2167,-1.16,-194.6,2692,1910,3561,3548,511.0,-21.1,124,2173,0.00,2.03,0.00,0.000,260,0.000,0.034,2683,3295,3555,3562,3548,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2192,-1.16,-194.6,2683,3294,3561,3546,516.1,-21.0,125,2197,0.00,2.00,0.00,0.000,1030,0.000,0.020,2684,1895,3554,3562,3547,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2517,-1.16,-194.6,2683,1895,3561,3542,580.3,-18.2,141,2522,0.00,2.03,0.00,0.000,516,0.000,0.034,2684,504,3551,3561,3541,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2582,-1.16,-194.6,2683,505,3561,3541,591.8,-17.5,144,2588,0.12,2.03,0.00,0.000,3078,0.190,0.019,2705,1903,3551,3562,3540,0,0,0,0,0,0,26.52,26.67,28.83
$GC,2921,-1.16,-194.6,2704,1904,3561,3535,644.9,-15.5,156,2927,0.00,2.05,0.00,0.000,260,0.000,0.036,2697,3300,3547,3561,3534,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3035,-1.16,-194.6,2697,3300,3561,3533,659.8,-15.3,159,3040,0.00,2.03,0.00,0.000,1030,0.000,0.021,2697,1888,3547,3561,3533,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3350,-1.16,-194.6,2697,1887,3561,3528,708.9,-14.6,170,3355,0.00,2.10,0.00,0.000,260,0.000,0.034,2688,3310,3544,3561,3528,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3373,-1.16,-194.6,2687,3310,3561,3527,708.9,-14.6,170,3378,0.00,2.03,0.00,0.000,1030,0.000,0.021,2688,1898,3544,3561,3527,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3688,-1.16,-194.6,2688,1899,3561,3524,760.7,-16.3,181,3693,0.00,2.05,0.00,0.000,516,0.000,0.035,2688,497,3542,3561,3523,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3777,-1.16,-194.6,2688,496,3561,3522,772.2,-17.1,183,3783,0.00,2.03,0.00,0.000,1030,0.000,0.021,2684,1900,3540,3560,3521,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4083,-1.16,-194.6,2683,1900,3558,3520,834.6,-19.3,194,4088,0.00,2.08,0.00,0.000,260,0.000,0.038,2683,3303,3538,3558,3519,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4158,-1.16,-194.6,2683,3303,3556,3519,846.6,-19.0,196,4164,0.00,2.03,0.00,0.000,1030,0.000,0.021,2684,1891,3538,3557,3519,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4486,-1.16,-194.6,2683,1891,3555,3516,907.1,-17.1,207,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1891,3536,3557,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4784,-1.16,-194.6,2683,1890,3554,3513,959.2,-17.4,217,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1890,3533,3554,3513,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4960,begin apogee
$GC,4970,-0.19,0.0,2684,3281,3552,3511,990.7,-17.7,223,5146,1.05,0.00,163.02,1.216,10246,0.151,0.000,3015,3281,2765,2830,2700,0,0,0,0,1,0,26.57,28.83,23.58
$STATE,5148,end apogee,CONTROL_FINISHED_OK
$STATE,5148,begin climb
$GC,5152,1.16,194.6,3016,3281,2830,2706,998.4,0.0,229,5339,1.20,0.82,173.30,1.724,10500,0.041,0.047,3463,3767,1968,2061,1876,0,0,0,0,1,0,24.84,24.22,23.25
$GC,5494,1.16,194.6,3464,3767,2061,1874,937.6,25.3,240,5500,0.00,0.68,0.00,0.000,1030,0.000,0.032,3466,3314,1967,2061,1874,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5817,1.16,194.6,3466,3314,2061,1870,852.4,26.2,251,5822,0.00,2.12,0.00,0.000,516,0.000,0.028,3477,1893,1965,2061,1870,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5836,1.16,194.6,3477,1892,2061,1870,852.4,26.2,251,5841,0.00,2.17,0.00,0.000,1030,0.000,0.037,3477,3302,1965,2061,1869,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6158,1.16,194.6,3476,3302,2061,1867,760.0,27.0,262,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,3301,1964,2061,1867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6456,1.16,194.6,3477,3302,2060,1865,683.5,25.3,272,6461,0.00,2.10,0.00,0.000,516,0.000,0.028,3486,1889,1963,2061,1865,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6535,1.16,194.6,3486,1890,2061,1865,668.0,24.1,274,6541,0.00,2.15,0.00,0.000,1030,0.000,0.036,3486,3306,1963,2062,1865,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6858,1.16,194.6,3486,3306,2061,1865,576.8,27.2,286,6863,0.00,0.68,0.00,0.000,260,0.000,0.047,3486,3767,1962,2061,1863,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7061,1.16,194.6,3486,3767,2061,1863,521.5,29.1,295,7068,0.08,0.68,0.00,0.000,5126,0.201,0.032,3468,3290,1961,2061,1862,0,0,0,0,0,0,26.30,26.49,28.83
$GC,7365,1.16,194.6,3467,3291,2061,1861,442.1,23.3,311,7370,0.00,2.05,0.00,0.000,516,0.000,0.027,3477,1898,1961,2061,1861,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7434,1.16,194.6,3476,1898,2061,1861,428.0,21.9,314,7439,0.00,2.12,0.00,0.000,1030,0.000,0.036,3477,3309,1961,2061,1861,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7753,1.16,194.6,3476,3309,2061,1860,352.7,23.6,330,7759,0.00,0.68,0.00,0.000,260,0.000,0.050,3477,3765,1960,2061,1859,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7982,1.16,194.6,3476,3764,2061,1859,295.9,24.6,341,7988,0.00,0.68,0.00,0.000,1030,0.000,0.032,3480,3291,1961,2061,1861,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8307,1.16,194.6,3479,3291,2061,1859,222.6,22.2,357,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,3293,1960,2061,1859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8610,1.16,194.6,3479,3291,2061,1858,159.8,21.6,372,8615,0.00,0.70,0.00,0.000,260,0.000,0.046,3480,3763,1959,2061,1858,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8846,1.16,194.6,3479,3763,2061,1858,114.3,17.0,383,8852,0.00,0.65,0.00,0.000,1030,0.000,0.030,3483,3290,1959,2061,1858,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9162,1.19,204.2,3483,3290,2061,1858,68.8,9.7,399,9172,0.00,2.00,3.38,0.288,8708,0.000,0.023,3493,1898,1929,2025,1834,0,0,0,0,0,0,28.83,26.63,26.36
$GC,9401,1.56,326.6,2592,1896,1952,1826,49.7,5.8,411,9461,0.25,2.10,52.75,0.244,11270,0.060,0.033,3608,3313,1427,1507,1348,0,0,0,0,0,0,26.64,26.62,26.15
$STATE,9695,end climb,SURFACE_DEPTH_REACHED
$STATE,9695,begin surface coast
$FINISH,0.9,1.008688
$STATE,9710,end surface coast,CONTROL_FINISHED_OK
$STATE,9710,begin surface
$SM_CCo,9737,110.97,0.131,0,0,499,555.11
$SM_GC,1.77,8.70,2.10,110.97,0.024,0.021,0.131,139,1909,499,-9.14,1.98,555.11,0,0,0,0,0,0,26.44,26.48,26.08
$IRIDIUM_FIX,2148.09,12024.75,270613,010102
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.36
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.60
$XPDR_PINGS,2
$SC_FREEKB,7697760
$24V_AH,23.3,5.767
$10V_AH,10.3,4.610
$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,21.850,71.775,392.450,110.975,0.000,0.000,0.000,278.400,0.500,0.000,48.157,1624.731,6135.150,579.018,1629.614,377.646,0.000,1602.831,0.000,1285.325,0.000,0.539,0.000
$DEVICE_MAMPS,239.445,49.725,1724.310,130.815,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9710.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.604,0.000,0.000,0.000
$MEM,324368
$DATA_FILE_SIZE,16770,456
$CAP_FILE_SIZE,116148,0
$CFSIZE,260034560,245903360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.037,132.4,1
$GPS,270613,075130,2155.669,12023.412,44,0.9,44,-3.1