version: 66.11
glider: 167
mission: 16
dive: 73
start: 6 28 113 22 2 35
data:
$ID,167
$MISSION,16
$DIVE,73
$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,-974962.19
$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,56
$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
$GPS1,280613,215236,2146.298,12029.365,37,1.0,37,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.5
$GPS2,280613,220204,2146.274,12029.338,44,1.2,47,-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,180.4,85707,-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,-175.2,112,1871,453,582,0.0,0.0,0,128,0.00,0.00,-99.47,0.000,16386,0.000,0.000,112,1872,2955,2931,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-1.11,-175.2,112,1872,2932,2980,3.2,-3.8,18,162,10.30,2.20,-9.40,0.000,18692,0.239,0.037,2709,3343,3480,3474,3487,0,0,0,0,0,0,25.98,26.25,26.48
$GC,394,-1.11,-175.2,2709,3344,3477,3489,102.2,-32.7,38,399,0.00,2.08,0.00,0.000,1030,0.000,0.015,2709,1868,3483,3477,3489,0,0,0,0,0,0,28.83,26.41,28.83
$GC,709,-1.11,-175.2,2709,1868,3479,3489,182.1,-24.3,54,714,0.00,2.12,0.00,0.000,260,0.000,0.026,2699,3331,3484,3479,3489,0,0,0,0,0,0,28.83,26.50,28.83
$GC,859,-1.11,-175.2,2699,3331,3480,3489,216.0,-24.0,61,865,0.00,2.00,0.00,0.000,1030,0.000,0.017,2699,1902,3484,3480,3489,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1179,-1.11,-175.2,2699,1902,3480,3489,292.8,-24.0,77,1185,0.12,2.00,0.00,0.000,2564,0.192,0.028,2734,517,3484,3479,3489,0,0,0,0,0,0,26.44,26.58,28.83
$GC,1294,-1.11,-175.2,2733,517,3479,3489,314.4,-19.9,82,1301,0.00,2.00,0.00,0.000,1030,0.000,0.018,2726,1938,3483,3479,3488,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1610,-1.11,-175.2,2725,1937,3479,3484,377.4,-18.5,98,1616,0.00,1.95,0.00,0.000,260,0.000,0.031,2718,3287,3482,3479,3485,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1704,-1.11,-175.2,2718,3287,3479,3482,392.9,-18.2,102,1710,0.00,1.95,0.00,0.000,1030,0.000,0.018,2718,1900,3480,3479,3482,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2019,-1.11,-175.2,2716,1900,3483,3475,446.7,-16.0,118,2025,0.00,2.03,0.00,0.000,516,0.000,0.031,2717,515,3479,3483,3475,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2039,-1.11,-175.2,2716,515,3483,3475,446.7,-16.0,118,2045,0.00,1.95,0.00,0.000,1030,0.000,0.017,2710,1901,3479,3483,3475,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2345,-1.11,-175.2,2709,1901,3483,3469,500.3,-16.0,134,2350,0.00,2.00,0.00,0.000,260,0.000,0.031,2699,3287,3476,3483,3469,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2515,-1.11,-175.2,2700,3287,3483,3466,525.1,-14.5,142,2521,0.00,1.98,0.00,0.000,1030,0.000,0.018,2699,1895,3474,3482,3466,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2836,-1.11,-175.2,2699,1895,3483,3461,577.6,-15.2,158,2841,0.00,2.05,0.00,0.000,260,0.000,0.031,2689,3297,3472,3483,3461,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2909,-1.11,-175.2,2689,3297,3483,3459,588.4,-16.3,161,2916,0.15,1.98,0.00,0.000,3078,0.172,0.018,2727,1888,3471,3483,3459,0,0,0,0,0,0,26.55,26.72,28.83
$GC,3229,-1.11,-175.2,2727,1887,3482,3454,647.9,-19.0,173,3234,0.00,2.05,0.00,0.000,260,0.000,0.031,2720,3286,3468,3483,3454,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3344,-1.11,-175.2,2719,3286,3482,3452,666.6,-19.0,176,3349,0.00,1.95,0.00,0.000,1030,0.000,0.018,2720,1902,3467,3482,3452,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3659,-1.11,-175.2,2720,1902,3483,3448,716.7,-15.1,187,3664,0.00,2.03,0.00,0.000,516,0.000,0.034,2720,515,3465,3483,3448,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3703,-1.11,-175.2,2719,515,3483,3447,721.9,-15.0,188,3708,0.00,1.98,0.00,0.000,1030,0.000,0.019,2712,1900,3465,3483,3447,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4031,-1.11,-175.2,2712,1900,3482,3441,769.5,-13.4,199,4036,0.00,2.05,0.00,0.000,260,0.000,0.034,2702,3307,3461,3482,3441,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4059,-1.11,-175.2,2701,3306,3482,3441,769.5,-13.4,199,4066,0.00,2.00,0.00,0.000,1030,0.000,0.018,2702,1890,3461,3482,3441,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4366,-1.11,-175.2,2701,1890,3482,3436,822.0,-16.3,210,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1890,3459,3482,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4666,-1.11,-175.2,2702,1889,3482,3433,871.6,-16.2,220,4671,0.00,2.00,0.00,0.000,516,0.000,0.034,2702,519,3457,3482,3433,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4714,-1.11,-175.2,2701,518,3482,3432,877.3,-16.1,221,4721,0.12,1.98,0.00,0.000,3078,0.190,0.020,2726,1901,3457,3482,3432,0,0,0,0,0,0,26.56,26.73,28.83
$STATE,4732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4732,begin apogee
$GC,4742,-0.19,0.0,2718,3285,3481,3432,882.9,-16.1,222,4917,0.93,0.00,162.38,1.319,10246,0.141,0.000,3016,3284,2766,2826,2706,0,0,0,0,1,0,26.57,28.83,23.61
$STATE,4919,end apogee,CONTROL_FINISHED_OK
$STATE,4920,begin climb
$GC,4923,1.11,175.2,3017,3284,2825,2711,890.4,0.0,228,5092,1.15,0.75,154.32,1.649,10500,0.038,0.041,3452,3754,2048,2138,1959,0,0,0,0,1,0,24.88,24.40,23.45
$GC,5272,1.11,175.2,3451,3754,2138,1954,828.8,25.2,239,5277,0.00,0.62,0.00,0.000,1030,0.000,0.032,3455,3326,2046,2138,1954,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5587,1.11,175.2,3454,3326,2137,1949,749.5,24.1,250,5592,0.00,2.12,0.00,0.000,516,0.000,0.025,3465,1888,2043,2138,1949,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5720,1.11,175.2,3465,1888,2137,1948,716.5,26.3,254,5726,0.00,2.15,0.00,0.000,1030,0.000,0.034,3465,3299,2043,2138,1948,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6053,1.11,175.2,3464,3299,2136,1945,625.6,25.9,265,6058,0.00,2.08,0.00,0.000,516,0.000,0.025,3474,1890,2041,2138,1945,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6088,1.11,175.2,3474,1890,2138,1944,617.2,24.7,266,6094,0.12,2.15,0.00,0.000,5126,0.194,0.034,3447,3307,2041,2138,1945,0,0,0,0,0,0,26.20,26.35,28.83
$GC,6403,1.11,175.2,3447,3306,2138,1943,545.1,22.4,280,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,3306,2039,2137,1942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6706,1.11,175.2,3447,3307,2138,1941,477.7,21.5,295,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,3307,2039,2138,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7006,1.11,175.2,3447,3306,2138,1940,412.0,21.7,310,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,3307,2039,2138,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7307,1.11,175.2,3447,3306,2138,1939,344.8,23.2,325,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,3306,2038,2138,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7607,1.11,175.2,3447,3306,2138,1938,283.4,18.2,340,7613,0.00,2.08,0.00,0.000,516,0.000,0.024,3455,1889,2038,2138,1938,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7662,1.11,175.2,3455,1888,2138,1938,275.1,17.6,342,7667,0.00,2.10,0.00,0.000,1030,0.000,0.033,3456,3298,2039,2138,1940,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7977,1.11,175.2,3455,3298,2138,1937,210.6,23.0,358,7982,0.00,2.08,0.00,0.000,516,0.000,0.024,3465,1880,2037,2138,1937,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8214,1.11,175.2,3464,1880,2137,1936,163.4,20.0,369,8220,0.00,2.12,0.00,0.000,1030,0.000,0.033,3465,3310,2037,2138,1936,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8529,1.11,175.2,3465,3309,2138,1936,104.1,19.3,385,8534,0.00,2.08,0.00,0.000,516,0.000,0.021,3475,1865,2037,2138,1936,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8765,1.11,175.2,3474,1865,2138,1936,68.7,17.2,396,8772,0.12,2.12,0.00,0.000,5126,0.189,0.033,3447,3301,2037,2138,1936,0,0,0,0,0,0,26.48,26.64,28.83
$GC,9082,1.32,247.1,3447,3301,2138,1936,36.7,6.8,421,9119,0.15,2.05,29.33,0.212,10756,0.071,0.019,3528,1870,1751,1845,1658,0,0,0,0,0,0,26.69,26.55,26.32
$GC,9133,1.41,274.7,3527,1871,1845,1659,32.8,8.4,425,9151,0.00,2.12,11.62,0.202,9222,0.000,0.031,3527,3300,1639,1727,1552,0,0,0,0,0,0,28.83,26.52,26.29
$STATE,9279,end climb,SURFACE_DEPTH_REACHED
$STATE,9279,begin surface coast
$FINISH,0.9,1.008840
$STATE,9291,end surface coast,CONTROL_FINISHED_OK
$STATE,9291,begin surface
$SM_CCo,9315,130.05,0.131,0,0,516,550.21
$SM_GC,1.66,8.65,2.10,130.05,0.035,0.024,0.131,140,1897,516,-9.15,1.70,550.21,0,0,0,0,0,0,26.50,26.55,26.10
$IRIDIUM_FIX,2136.49,12027.58,280613,212127
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.25
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.10
$XPDR_PINGS,2
$SC_FREEKB,7688160
$24V_AH,23.5,8.001
$10V_AH,10.3,5.730
$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,21.825,75.125,357.650,130.050,0.000,0.000,0.000,294.550,0.500,0.000,48.577,1601.239,5849.775,577.372,1619.776,371.186,0.000,1594.812,0.000,1275.147,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,41.310,1648.575,130.815,0.000,0.000,0.000,116.280,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9285.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.723,0.000,0.000,0.000
$MEM,324208
$DATA_FILE_SIZE,16782,452
$CAP_FILE_SIZE,114754,0
$CFSIZE,260034560,244736000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.036, 51.3,1
$GPS,290613,004131,2145.322,12029.144,44,1.2,44,-3.1