version: 66.11
glider: 167
mission: 16
dive: 50
start: 6 27 113 10 57 33
data:
$ID,167
$MISSION,16
$DIVE,50
$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,-974758.12
$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,58
$R_STBD_OVSHOOT,40
$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
$GPS1,270613,105000,2155.118,12024.344,40,1.0,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.1
$GPS2,270613,105706,2155.082,12024.418,7,0.9,7,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T3
$TGT_LATLONG,2151.500,12030.000
$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,133.7,11665,-15.7,-10.000,-18.68,2978
$D_GRID,963
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.16,-194.6,111,1920,435,566,0.0,0.0,0,115,0.00,0.00,-85.85,0.000,16386,0.000,0.000,111,1920,2619,2598,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.16,-194.6,111,1920,2599,2641,3.4,-4.5,15,155,10.35,2.17,-15.65,0.000,19204,0.241,0.043,2704,491,3560,3556,3564,0,0,0,0,0,0,25.91,26.15,26.40
$GC,216,-1.16,-194.6,2704,489,3556,3566,47.5,-49.3,26,222,0.00,2.05,0.00,0.000,1030,0.000,0.014,2696,1955,3561,3557,3565,0,0,0,0,0,0,28.83,26.25,28.83
$GC,525,-1.16,-194.6,2696,1955,3560,3566,142.7,-31.2,42,530,0.00,2.15,0.00,0.000,516,0.000,0.034,2696,509,3563,3560,3566,0,0,0,0,0,0,28.83,26.36,28.83
$GC,750,-1.16,-194.6,2696,509,3561,3567,199.3,-24.4,53,756,0.00,2.03,0.00,0.000,1030,0.000,0.019,2687,1937,3563,3561,3566,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1076,-1.16,-194.6,2686,1937,3561,3567,277.0,-24.0,69,1081,0.00,1.95,0.00,0.000,260,0.000,0.030,2676,3289,3564,3561,3567,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1304,-1.16,-194.6,2676,3288,3560,3566,326.8,-21.9,80,1310,0.12,1.98,0.00,0.000,3078,0.182,0.018,2705,1892,3563,3560,3566,0,0,0,0,0,0,26.43,26.59,28.83
$GC,1629,-1.16,-194.6,2705,1891,3564,3561,389.9,-18.9,96,1635,0.00,2.05,0.00,0.000,260,0.000,0.029,2698,3295,3562,3564,3560,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1675,-1.16,-194.6,2698,3295,3562,3560,398.8,-19.5,98,1681,0.00,2.00,0.00,0.000,1030,0.000,0.018,2698,1896,3561,3564,3559,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2000,-1.16,-194.6,2698,1895,3564,3555,459.6,-17.1,114,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1895,3559,3563,3555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2303,-1.16,-194.6,2698,1895,3563,3549,513.5,-19.8,129,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1895,3556,3564,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2604,-1.16,-194.6,2698,1895,3564,3544,575.0,-20.2,144,2609,0.00,2.05,0.00,0.000,260,0.000,0.031,2690,3291,3553,3564,3543,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2629,-1.16,-194.6,2689,3291,3563,3543,580.9,-20.5,145,2634,0.00,2.03,0.00,0.000,1030,0.000,0.018,2690,1887,3552,3563,3542,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2946,-1.16,-194.6,2689,1887,3563,3538,641.7,-18.5,157,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1887,3551,3564,3538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3244,-1.16,-194.6,2689,1887,3563,3533,690.8,-15.0,167,3249,0.00,2.08,0.00,0.000,260,0.000,0.032,2682,3292,3547,3563,3532,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3348,-1.16,-194.6,2681,3292,3563,3531,706.2,-15.9,170,3353,0.00,2.00,0.00,0.000,1030,0.000,0.020,2682,1898,3547,3563,3531,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3676,-1.16,-194.6,2681,1894,3563,3525,758.6,-15.5,181,3682,0.00,2.05,0.00,0.000,516,0.000,0.036,2682,509,3543,3562,3525,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3781,-1.16,-194.6,2681,509,3563,3524,776.0,-17.1,184,3788,0.15,1.98,0.00,0.000,3078,0.183,0.021,2711,1895,3544,3564,3524,0,0,0,0,0,0,26.57,26.72,28.83
$GC,4110,-1.16,-194.6,2711,1895,3561,3520,830.1,-17.0,195,4116,0.00,2.05,0.00,0.000,260,0.000,0.034,2709,3291,3541,3561,3521,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4214,-1.16,-194.6,2709,3290,3559,3521,846.0,-16.3,198,4219,0.00,2.00,0.00,0.000,1030,0.000,0.021,2709,1894,3540,3559,3521,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4543,-1.16,-194.6,2709,1890,3557,3516,896.8,-13.8,209,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1890,3536,3557,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4839,-1.16,-194.6,2709,1890,3555,3515,935.3,-14.1,219,4844,0.00,2.05,0.00,0.000,516,0.000,0.038,2709,508,3535,3555,3515,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4898,-1.16,-194.6,2709,507,3555,3514,941.2,-14.9,220,4905,0.00,2.00,0.00,0.000,1030,0.000,0.023,2700,1896,3534,3555,3513,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5020,begin apogee
$GC,5030,-0.19,0.0,2697,3281,3554,3513,964.1,-14.6,225,5206,1.00,0.00,159.90,1.750,10246,0.139,0.000,3020,3281,2765,2830,2701,0,0,0,0,1,0,26.58,28.83,23.44
$STATE,5208,end apogee,CONTROL_FINISHED_OK
$STATE,5208,begin climb
$GC,5212,1.16,194.6,3020,3281,2830,2700,969.1,0.0,231,5400,1.17,0.82,173.57,1.711,11012,0.032,0.049,3471,3766,1968,2058,1879,0,0,0,0,1,0,24.77,24.20,23.26
$GC,5589,1.16,194.6,3471,3765,2059,1870,889.3,28.5,243,5594,0.00,0.68,0.00,0.000,1030,0.000,0.031,3474,3310,1964,2058,1870,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5904,1.16,194.6,3474,3310,2058,1867,801.4,27.8,254,5909,0.00,2.12,0.00,0.000,516,0.000,0.027,3484,1887,1962,2058,1867,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5969,1.16,194.6,3484,1887,2058,1866,784.0,27.0,256,5974,0.00,2.20,0.00,0.000,1030,0.000,0.035,3484,3313,1962,2058,1866,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6306,1.16,194.6,3484,3312,2058,1864,696.4,25.0,267,6312,0.00,2.12,0.00,0.000,516,0.000,0.026,3494,1882,1961,2058,1864,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6372,1.16,194.6,3494,1883,2057,1864,680.6,24.0,269,6378,0.15,2.17,0.00,0.000,5126,0.194,0.035,3460,3305,1960,2058,1863,0,0,0,0,0,0,26.13,26.27,28.83
$GC,6710,1.16,194.6,3459,3304,2058,1861,609.2,21.8,280,6715,0.00,0.68,0.00,0.000,260,0.000,0.049,3459,3760,1959,2058,1861,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6831,1.16,194.6,3459,3760,2058,1860,582.7,24.8,284,6838,0.00,0.68,0.00,0.000,1030,0.000,0.033,3462,3289,1959,2058,1860,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7135,1.16,194.6,3462,3289,2058,1859,503.9,24.7,300,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,3289,1958,2058,1859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7437,1.16,194.6,3461,3289,2058,1858,429.0,25.1,315,7443,0.00,2.05,0.00,0.000,516,0.000,0.025,3471,1885,1958,2058,1858,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7483,1.16,194.6,3471,1885,2058,1858,417.9,23.6,317,7488,0.00,2.12,0.00,0.000,1030,0.000,0.034,3471,3303,1958,2058,1859,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7807,1.16,194.6,3471,3303,2058,1858,342.4,22.3,333,7813,0.00,0.68,0.00,0.000,260,0.000,0.049,3471,3762,1957,2058,1856,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8045,1.16,194.6,3471,3762,2058,1857,287.5,24.7,344,8050,0.00,0.65,0.00,0.000,1030,0.000,0.032,3475,3299,1957,2058,1857,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8360,1.16,194.6,3474,3299,2058,1856,212.1,21.6,360,8365,0.00,2.05,0.00,0.000,516,0.000,0.024,3483,1888,1957,2058,1856,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8424,1.16,194.6,3484,1887,2058,1856,197.8,22.1,363,8429,0.00,2.10,0.00,0.000,1030,0.000,0.032,3484,3301,1957,2058,1856,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8749,1.16,194.6,3483,3301,2058,1855,128.8,22.4,379,8754,0.00,2.05,0.00,0.000,516,0.000,0.024,3493,1884,1956,2058,1855,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8950,1.16,194.6,3493,1884,2058,1855,96.2,16.6,388,8958,0.12,2.10,0.00,0.000,5126,0.194,0.032,3465,3302,1956,2058,1855,0,0,0,0,0,0,26.48,26.62,28.83
$GC,9256,1.16,194.6,3464,3302,2058,1855,50.3,14.4,404,9261,0.00,2.05,0.00,0.000,516,0.000,0.021,3474,1875,1957,2058,1856,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9495,1.67,362.4,3474,1876,2058,1855,42.3,4.2,426,9572,0.38,2.12,70.07,0.218,11270,0.047,0.031,3631,3314,1281,1351,1212,0,0,0,0,0,0,26.67,26.64,26.15
$STATE,9699,end climb,SURFACE_DEPTH_REACHED
$STATE,9699,begin surface coast
$FINISH,0.9,1.021368
$STATE,9710,end surface coast,CONTROL_FINISHED_OK
$STATE,9710,begin surface
$SM_CCo,9734,94.97,0.132,0,0,498,555.11
$SM_GC,1.87,8.85,2.12,94.97,0.028,0.021,0.132,140,1894,498,-9.13,1.67,555.11,0,0,0,0,0,0,26.40,26.43,26.07
$IRIDIUM_FIX,2145.77,12024.75,270613,070720
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.63
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.10
$XPDR_PINGS,3
$SC_FREEKB,7696992
$24V_AH,23.3,6.034
$10V_AH,10.3,4.748
$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,22.300,70.350,403.550,94.975,0.000,0.000,0.000,248.350,0.750,0.000,9.112,1653.201,6056.492,583.925,1579.325,382.536,0.000,1572.034,0.000,1310.240,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,48.960,1750.320,132.345,0.000,0.000,0.000,114.750,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9707.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.701,0.000,0.000,0.000
$MEM,324328
$DATA_FILE_SIZE,16837,457
$CAP_FILE_SIZE,115853,0
$CFSIZE,260034560,245768192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.035, 43.2,1
$GPS,270613,134235,2154.350,12025.448,28,1.2,28,-3.1