version: 66.11
glider: 167
mission: 16
dive: 71
start: 6 28 113 16 23 6
data:
$ID,167
$MISSION,16
$DIVE,71
$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,350
$T_MISSION,370
$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,180
$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,550
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-974959.69
$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,83
$R_STBD_OVSHOOT,39
$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
$GPS1,280613,161623,2148.153,12029.333,40,0.9,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.0
$GPS2,280613,162235,2148.123,12029.354,7,0.9,7,-3.1
$SPEED_LIMITS,0.163,0.277
$TGT_NAME,T4
$TGT_LATLONG,2100.000,12030.000
$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,157.4,89131,-15.7,-9.429,-18.82,2841
$D_GRID,862
$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,22,begin dive
$GC,25,-1.11,-175.2,113,1877,444,586,0.0,0.0,0,130,0.00,0.00,-101.85,0.000,16386,0.000,0.000,113,1877,3018,2995,3042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-1.11,-175.2,113,1878,2994,3043,3.6,-5.8,18,164,10.23,2.12,-7.80,0.000,18692,0.238,0.037,2711,3339,3481,3474,3488,0,0,0,0,0,0,26.01,26.29,26.51
$GC,397,-1.11,-175.2,2711,3339,3477,3490,100.9,-35.1,37,403,0.00,2.03,0.00,0.000,1030,0.000,0.016,2711,1902,3483,3477,3490,0,0,0,0,0,0,28.83,26.45,28.83
$GC,700,-1.11,-175.2,2711,1901,3481,3490,189.1,-29.2,53,705,0.00,2.08,0.00,0.000,260,0.000,0.026,2701,3336,3485,3481,3490,0,0,0,0,0,0,28.83,26.53,28.83
$GC,832,-1.11,-175.2,2701,3337,3480,3490,217.0,-21.1,59,839,0.00,2.03,0.00,0.000,1030,0.000,0.017,2701,1898,3485,3481,3490,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1153,-1.11,-175.2,2701,1898,3481,3490,287.7,-24.5,75,1158,0.00,2.08,0.00,0.000,260,0.000,0.028,2691,3325,3486,3482,3490,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1227,-1.11,-175.2,2691,3326,3481,3490,304.5,-26.1,78,1234,0.15,2.00,0.00,0.000,3078,0.174,0.017,2729,1894,3486,3482,3490,0,0,0,0,0,0,26.48,26.65,28.83
$GC,1544,-1.11,-175.2,2728,1892,3481,3489,369.9,-19.4,94,1549,0.00,2.08,0.00,0.000,260,0.000,0.028,2721,3321,3484,3481,3488,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1582,-1.11,-175.2,2721,3321,3482,3488,375.3,-20.2,95,1590,0.00,2.00,0.00,0.000,1030,0.000,0.017,2721,1889,3484,3481,3488,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1888,-1.11,-175.2,2719,1888,3485,3480,438.2,-17.9,111,1895,0.00,1.98,0.00,0.000,516,0.000,0.031,2719,517,3483,3486,3481,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1928,-1.11,-175.2,2719,517,3486,3480,442.4,-16.9,112,1935,0.00,2.00,0.00,0.000,1030,0.000,0.018,2714,1936,3482,3485,3479,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2234,-1.11,-175.2,2713,1936,3485,3475,500.3,-17.7,128,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1936,3480,3485,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2537,-1.11,-175.2,2713,1936,3485,3469,551.2,-15.9,143,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1936,3477,3485,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2847,-1.11,-175.2,2713,1936,3485,3464,609.5,-18.9,158,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1936,3474,3484,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,-1.11,-175.2,2713,1936,3485,3458,655.7,-15.5,168,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1936,3471,3485,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3445,-1.11,-175.2,2713,1936,3485,3453,703.4,-14.5,178,3450,0.00,1.98,0.00,0.000,260,0.000,0.034,2709,3290,3469,3485,3453,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3479,-1.11,-175.2,2709,3290,3485,3451,708.1,-13.8,179,3485,0.00,1.98,0.00,0.000,1030,0.000,0.019,2709,1900,3468,3485,3452,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3817,-1.11,-175.2,2709,1900,3485,3448,748.2,-12.9,190,3822,0.00,2.03,0.00,0.000,516,0.000,0.033,2709,513,3466,3485,3448,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3852,-1.11,-175.2,2709,513,3485,3447,753.4,-13.3,191,3857,0.00,1.98,0.00,0.000,1030,0.000,0.018,2700,1898,3465,3484,3447,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4190,-1.11,-175.2,2700,1898,3485,3442,802.7,-16.3,202,4195,0.00,2.03,0.00,0.000,260,0.000,0.034,2697,3284,3463,3485,3442,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4318,-1.11,-175.2,2697,3284,3484,3441,823.9,-16.6,206,4324,0.12,2.00,0.00,0.000,3078,0.177,0.019,2728,1884,3463,3485,3441,0,0,0,0,0,0,26.58,26.75,28.83
$STATE,4593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4593,begin apogee
$GC,4603,-0.19,0.0,2723,3271,3485,3436,863.6,-13.7,215,4763,0.90,0.00,149.73,1.119,10246,0.139,0.000,3014,3271,2753,2819,2688,0,0,0,0,0,0,26.58,28.83,24.22
$STATE,4766,end apogee,CONTROL_FINISHED_OK
$STATE,4766,begin climb
$GC,4769,1.11,175.2,3014,3271,2819,2678,870.4,0.0,220,4939,1.15,0.77,158.50,1.056,10500,0.039,0.042,3452,3761,2039,2130,1948,0,0,0,0,0,0,25.13,24.76,24.09
$GC,5172,1.11,175.2,3452,3762,2120,1916,790.8,25.1,234,5177,0.00,0.65,0.00,0.000,1030,0.000,0.032,3455,3323,2018,2120,1916,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5510,1.11,175.2,3455,3322,2120,1911,707.2,25.2,245,5515,0.00,0.68,0.00,0.000,260,0.000,0.048,3455,3759,2015,2120,1911,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5746,1.11,175.2,3455,3759,2120,1909,653.2,24.0,252,5751,0.00,0.65,0.00,0.000,1030,0.000,0.033,3458,3306,2014,2120,1909,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6065,1.11,175.2,3458,3305,2120,1906,568.4,24.8,265,6070,0.00,0.70,0.00,0.000,260,0.000,0.048,3459,3761,2013,2120,1906,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6144,1.11,175.2,3458,3761,2119,1906,551.0,25.1,268,6151,0.00,0.65,0.00,0.000,1030,0.000,0.033,3462,3305,2013,2120,1906,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6450,1.11,175.2,3462,3304,2120,1904,474.8,22.5,284,6456,0.00,2.08,0.00,0.000,516,0.000,0.026,3472,1879,2012,2120,1904,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6555,1.11,175.2,3472,1878,2121,1903,454.5,18.5,289,6562,0.12,2.15,0.00,0.000,5126,0.191,0.034,3444,3313,2011,2120,1903,0,0,0,0,0,0,26.35,26.52,28.83
$GC,6881,1.11,175.2,3444,3312,2121,1902,394.2,18.7,305,6886,0.00,2.10,0.00,0.000,516,0.000,0.024,3452,1879,2011,2120,1902,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6926,1.11,175.2,3453,1878,2120,1901,385.8,18.9,307,6931,0.00,2.12,0.00,0.000,1030,0.000,0.034,3453,3300,2011,2120,1902,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7250,1.11,175.2,3453,3299,2120,1901,299.9,28.7,323,7255,0.00,0.68,0.00,0.000,260,0.000,0.047,3453,3767,2010,2120,1901,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7355,1.11,175.2,3452,3767,2120,1901,270.2,28.1,328,7360,0.00,0.68,0.00,0.000,1030,0.000,0.031,3456,3283,2010,2120,1900,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7680,1.11,175.2,3456,3283,2120,1899,194.2,25.0,344,7685,0.00,2.00,0.00,0.000,516,0.000,0.024,3466,1889,2010,2120,1900,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7917,1.11,175.2,3465,1889,2120,1899,152.7,15.2,355,7922,0.00,2.10,0.00,0.000,1030,0.000,0.033,3465,3302,2009,2120,1899,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8231,1.11,175.2,3465,3302,2120,1899,110.4,9.9,371,8238,0.00,0.68,0.00,0.000,260,0.000,0.047,3465,3764,2009,2120,1899,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8287,1.11,175.2,3465,3764,2119,1899,104.6,11.8,373,8292,0.00,0.65,0.00,0.000,1030,0.000,0.030,3469,3289,2009,2120,1899,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8601,1.11,175.2,3469,3289,2120,1898,75.0,11.6,389,8606,0.00,2.00,0.00,0.000,516,0.000,0.021,3479,1882,2009,2121,1898,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8656,1.11,175.2,3479,1881,2120,1898,69.9,11.9,391,8662,0.15,2.10,0.00,0.000,5126,0.182,0.031,3443,3304,2009,2120,1898,0,0,0,0,0,0,26.48,26.65,28.83
$GC,8972,1.15,190.4,3442,3304,2120,1898,40.0,8.9,412,8984,0.00,2.03,3.88,0.150,8708,0.000,0.018,3452,1869,1990,2086,1894,0,0,0,0,0,0,28.83,26.69,26.47
$GC,9217,1.74,385.2,3451,1869,2086,1912,28.6,2.4,435,9315,0.50,2.12,84.00,0.178,11270,0.041,0.031,3665,3312,1188,1236,1141,0,0,0,0,0,0,26.67,26.66,26.20
$STATE,9356,end climb,SURFACE_DEPTH_REACHED
$STATE,9356,begin surface coast
$FINISH,0.8,1.012137
$STATE,9361,end surface coast,CONTROL_FINISHED_OK
$STATE,9361,begin surface
$SM_CCo,9386,81.20,0.126,0,0,519,550.21
$SM_GC,1.69,8.82,2.10,81.20,0.023,0.018,0.126,137,1887,519,-9.13,1.81,550.21,0,0,0,0,0,0,26.41,26.44,26.11
$IRIDIUM_FIX,2141.13,12030.76,280613,141419
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.07
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,7688928
$24V_AH,24.1,7.722
$10V_AH,10.3,5.597
$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,22.150,64.150,396.100,81.200,0.000,0.000,0.000,208.275,0.000,0.000,8.618,1608.816,5794.491,558.811,1523.338,363.403,0.000,1507.763,0.000,1282.807,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,48.195,1119.195,126.225,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9367.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.867,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,16726,457
$CAP_FILE_SIZE,112932,0
$CFSIZE,260034560,244875264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138,309.7,1
$GPS,280613,190223,2147.416,12029.195,44,0.9,44,-3.1