version: 66.11
glider: 167
mission: 16
dive: 72
start: 6 28 113 19 9 41
data:
$ID,167
$MISSION,16
$DIVE,72
$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,-974960.94
$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,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,72
$R_STBD_OVSHOOT,43
$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
$GPS1,280613,190223,2147.416,12029.195,44,0.9,44,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.6
$GPS2,280613,190913,2147.379,12029.049,10,1.0,10,-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,159.9,87761,-15.7,-9.429,-18.82,2841
$D_GRID,881
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.11,-175.2,112,1880,450,590,0.0,0.0,0,129,0.00,0.00,-100.15,0.000,16386,0.000,0.000,112,1881,2977,2953,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.11,-175.2,112,1881,2953,3000,3.3,-5.5,18,163,10.32,2.15,-8.85,0.000,18692,0.239,0.043,2710,3324,3480,3472,3488,0,0,0,0,0,0,25.96,26.22,26.48
$GC,178,-1.11,-175.2,2710,3324,3472,3488,23.1,-46.9,24,186,0.00,2.05,0.00,0.000,1030,0.000,0.015,2710,1873,3481,3473,3489,0,0,0,0,0,0,28.83,26.28,28.83
$GC,495,-1.11,-175.2,2710,1872,3477,3489,137.6,-29.1,44,501,0.00,1.92,0.00,0.000,516,0.000,0.029,2710,533,3483,3477,3489,0,0,0,0,0,0,28.83,26.42,28.83
$GC,702,-1.11,-175.2,2709,533,3478,3489,182.1,-22.6,54,708,0.00,1.95,0.00,0.000,1030,0.000,0.015,2700,1936,3483,3478,3489,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1028,-1.11,-175.2,2700,1937,3478,3489,251.2,-21.9,70,1033,0.00,1.92,0.00,0.000,260,0.000,0.028,2691,3284,3483,3478,3489,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1066,-1.11,-175.2,2690,3284,3478,3488,256.9,-22.4,71,1074,0.15,1.92,0.00,0.000,3078,0.177,0.017,2727,1903,3483,3478,3489,0,0,0,0,0,0,26.42,26.60,28.83
$GC,1372,-1.11,-175.2,2727,1903,3478,3488,316.6,-18.6,87,1378,0.00,2.00,0.00,0.000,260,0.000,0.028,2720,3281,3483,3478,3488,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1437,-1.11,-175.2,2719,3280,3478,3488,329.2,-19.2,90,1442,0.00,1.92,0.00,0.000,1030,0.000,0.017,2719,1901,3482,3478,3487,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1762,-1.11,-175.2,2719,1901,3479,3483,390.4,-17.0,106,1768,0.00,2.00,0.00,0.000,516,0.000,0.031,2720,518,3480,3478,3482,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1856,-1.11,-175.2,2719,518,3478,3482,404.6,-16.7,110,1861,0.00,1.92,0.00,0.000,1030,0.000,0.017,2710,1894,3479,3478,3481,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2171,-1.11,-175.2,2708,1898,3481,3475,457.9,-16.1,126,2177,0.00,2.03,0.00,0.000,260,0.000,0.033,2708,3289,3478,3481,3475,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2392,-1.11,-175.2,2708,3289,3481,3471,493.2,-16.5,136,2399,0.00,1.95,0.00,0.000,1030,0.000,0.018,2708,1903,3476,3481,3471,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2698,-1.11,-175.2,2708,1903,3481,3466,551.7,-19.0,152,2703,0.00,2.03,0.00,0.000,260,0.000,0.030,2699,3292,3472,3481,3464,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2854,-1.11,-175.2,2699,3292,3481,3463,579.4,-19.1,159,2859,0.00,1.98,0.00,0.000,1030,0.000,0.018,2699,1898,3471,3481,3462,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3182,-1.11,-175.2,2698,1897,3481,3457,644.6,-23.3,172,3188,0.12,2.00,0.00,0.000,2564,0.189,0.031,2735,522,3468,3481,3456,0,0,0,0,0,0,26.55,26.70,28.83
$GC,3247,-1.11,-175.2,2734,522,3481,3455,655.3,-18.1,174,3253,0.00,1.95,0.00,0.000,1030,0.000,0.019,2727,1890,3468,3481,3455,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3585,-1.11,-175.2,2727,1890,3480,3450,713.3,-16.3,185,3590,0.00,2.05,0.00,0.000,260,0.000,0.034,2722,3292,3465,3481,3449,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3684,-1.11,-175.2,2722,3293,3481,3449,729.3,-16.4,188,3689,0.00,1.98,0.00,0.000,1030,0.000,0.019,2722,1896,3465,3481,3449,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4016,-1.11,-175.2,2722,1896,3480,3443,772.6,-11.2,199,4022,0.00,2.00,0.00,0.000,516,0.000,0.032,2722,519,3462,3481,3443,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4065,-1.11,-175.2,2722,519,3481,3442,776.8,-11.0,200,4071,0.00,1.98,0.00,0.000,1030,0.000,0.019,2718,1903,3461,3481,3442,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4388,-1.11,-175.2,2718,1903,3480,3437,816.1,-9.9,211,4393,0.00,2.05,0.00,0.000,260,0.000,0.036,2718,3293,3459,3481,3437,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4431,-1.11,-175.2,2718,3294,3481,3437,819.7,-10.1,212,4437,0.00,1.98,0.00,0.000,1030,0.000,0.019,2718,1896,3459,3482,3436,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4759,-1.11,-175.2,2718,1896,3481,3433,858.3,-12.3,223,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1896,3456,3480,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4903,begin apogee
$GC,4913,-0.19,0.0,2718,3280,3481,3430,886.8,-20.5,228,5071,0.93,0.00,142.07,1.695,10246,0.142,0.000,3016,3280,2764,2822,2706,0,0,0,0,1,0,26.57,28.83,23.58
$STATE,5074,end apogee,CONTROL_FINISHED_OK
$STATE,5074,begin climb
$GC,5077,1.11,175.2,3016,3280,2824,2707,897.1,0.0,233,5248,1.15,0.80,160.77,1.083,10500,0.037,0.044,3450,3768,2045,2134,1956,0,0,0,0,0,0,24.91,24.67,24.01
$GC,5480,1.11,175.2,3450,3767,2123,1924,819.0,27.6,246,5487,0.00,0.65,0.00,0.000,1030,0.000,0.031,3454,3319,2023,2123,1924,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5785,1.11,175.2,3454,3319,2123,1919,735.1,23.5,257,5790,0.00,2.12,0.00,0.000,516,0.000,0.027,3465,1886,2021,2123,1919,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5917,1.11,175.2,3463,1886,2123,1918,705.3,24.0,261,5923,0.00,2.17,0.00,0.000,1030,0.000,0.035,3464,3311,2020,2123,1918,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6250,1.11,175.2,3464,3311,2124,1915,621.0,24.5,272,6255,0.00,2.10,0.00,0.000,516,0.000,0.027,3473,1891,2019,2124,1915,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6406,1.11,175.2,3473,1890,2123,1914,581.2,27.0,278,6412,0.12,2.12,0.00,0.000,5126,0.194,0.034,3446,3302,2018,2123,1914,0,0,0,0,0,0,26.26,26.41,28.83
$GC,6721,1.11,175.2,3446,3302,2123,1912,498.2,24.7,294,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,3302,2017,2123,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7024,1.11,175.2,3446,3302,2123,1910,431.7,20.8,309,7029,0.00,0.68,0.00,0.000,260,0.000,0.048,3446,3761,2016,2123,1910,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7072,1.11,175.2,2560,3761,2047,1897,421.9,20.6,311,7077,0.00,0.65,0.00,0.000,1030,0.000,0.032,3448,3300,2016,2123,1910,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7392,1.11,175.2,3448,3300,2123,1909,356.4,21.4,327,7397,0.00,2.05,0.00,0.000,516,0.000,0.026,3458,1873,2015,2122,1909,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7451,1.11,175.2,3458,1873,2123,1909,346.3,22.2,329,7458,0.00,2.15,0.00,0.000,1030,0.000,0.034,3458,3313,2016,2123,1909,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7757,1.11,175.2,3457,3312,2123,1908,275.7,20.5,345,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,3312,2015,2123,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8060,1.11,175.2,3458,3311,2125,1908,219.6,19.1,360,8065,0.00,2.08,0.00,0.000,516,0.000,0.024,3466,1880,2015,2123,1908,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8295,1.11,175.2,3467,1880,2123,1908,171.5,21.7,371,8301,0.00,2.12,0.00,0.000,1030,0.000,0.033,3467,3307,2015,2123,1907,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8611,1.11,175.2,3467,3308,2123,1907,113.9,17.1,387,8617,0.00,2.05,0.00,0.000,516,0.000,0.023,3477,1882,2015,2123,1907,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8670,1.11,175.2,3477,1882,2123,1907,105.3,19.0,389,8678,0.15,2.12,0.00,0.000,5126,0.186,0.033,3441,3314,2015,2123,1907,0,0,0,0,0,0,26.47,26.63,28.83
$GC,8976,1.26,225.8,3441,3314,2123,1907,71.8,7.6,405,9002,0.12,2.15,19.38,0.269,10756,0.082,0.021,3520,1868,1840,1936,1744,0,0,0,0,0,0,26.68,26.56,26.25
$GC,9069,1.26,225.8,2592,1865,1862,1745,61.2,12.2,409,9074,0.00,2.12,0.00,0.000,1030,0.000,0.032,3520,3298,1845,1935,1756,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9384,1.32,246.2,3520,3298,1936,1756,16.0,8.7,443,9402,0.00,2.08,9.35,0.164,8708,0.000,0.020,3531,1877,1757,1845,1669,0,0,0,0,0,0,28.83,26.59,26.41
$STATE,9501,end climb,SURFACE_DEPTH_REACHED
$STATE,9501,begin surface coast
$FINISH,0.9,1.000200
$STATE,9527,end surface coast,CONTROL_FINISHED_OK
$STATE,9527,begin surface
$SM_CCo,9549,141.73,0.129,0,0,517,550.21
$SM_GC,1.72,8.57,0.00,141.73,0.033,0.000,0.129,141,1876,517,-9.12,-0.68,550.21,0,0,0,0,0,0,26.58,28.83,26.13
$IRIDIUM_FIX,2138.81,12030.76,280613,161605
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.34
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.70
$XPDR_PINGS,5
$SC_FREEKB,7688544
$24V_AH,23.6,7.854
$10V_AH,10.3,5.664
$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,21.650,76.075,331.575,141.725,0.000,0.000,0.000,234.025,1.250,0.000,11.116,1667.035,5904.911,582.837,1571.012,378.833,0.000,1556.937,0.000,1315.528,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,48.195,1695.240,129.285,0.000,0.000,0.000,115.515,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9533.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.823,0.000,0.000,0.000
$MEM,324124
$DATA_FILE_SIZE,16793,470
$CAP_FILE_SIZE,117125,0
$CFSIZE,260034560,244801536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.012,302.9,1
$GPS,280613,215236,2146.298,12029.365,37,1.0,37,-3.1