version: 66.11
glider: 167
mission: 16
dive: 79
start: 6 29 113 12 14 51
data:
$ID,167
$MISSION,16
$DIVE,79
$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,-974969.69
$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,54
$R_STBD_OVSHOOT,42
$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
$GPS1,290613,120705,2141.481,12029.675,31,0.9,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.4
$GPS2,290613,121423,2141.345,12029.856,41,1.8,41,-3.0
$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,227.8,76572,-15.7,-9.429,-18.82,2841
$D_GRID,836
$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,-175.2,133,1906,445,592,0.0,0.0,0,130,0.00,0.00,-101.43,0.000,16386,0.000,0.000,132,1907,3044,3021,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-1.11,-175.2,132,1907,3022,3068,3.7,-6.6,18,164,10.25,2.15,-7.32,0.000,18948,0.241,0.048,2719,496,3480,3473,3488,0,0,0,0,0,0,25.99,26.25,26.50
$GC,179,-1.11,-175.2,2718,496,3473,3488,25.0,-49.4,24,186,0.00,2.03,0.00,0.000,1030,0.000,0.013,2709,2006,3481,3474,3488,0,0,0,0,0,0,28.83,26.34,28.83
$GC,496,-1.11,-175.2,2709,2006,3478,3488,123.7,-22.8,44,502,0.00,1.90,0.00,0.000,260,0.000,0.027,2700,3331,3483,3478,3488,0,0,0,0,0,0,28.83,26.45,28.83
$GC,647,-1.11,-175.2,2700,3330,3480,3488,162.4,-27.0,51,653,0.00,2.05,0.00,0.000,1030,0.000,0.017,2700,1878,3484,3480,3488,0,0,0,0,0,0,28.83,26.52,28.83
$GC,967,-1.11,-175.2,2700,1878,3481,3489,232.8,-18.7,67,972,0.00,1.98,0.00,0.000,516,0.000,0.030,2700,516,3484,3481,3488,0,0,0,0,0,0,28.83,26.56,28.83
$GC,986,-1.11,-175.2,2698,516,3481,3489,232.8,-18.7,67,993,0.15,2.00,0.00,0.000,3078,0.183,0.017,2727,1936,3485,3481,3489,0,0,0,0,0,0,26.41,26.59,28.83
$GC,1293,-1.11,-175.2,2727,1937,3481,3488,290.6,-19.1,83,1298,0.00,1.95,0.00,0.000,260,0.000,0.029,2718,3296,3484,3481,3488,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1326,-1.11,-175.2,2718,3296,3481,3488,295.2,-18.6,84,1333,0.00,1.98,0.00,0.000,1030,0.000,0.017,2718,1886,3484,3481,3488,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1642,-1.11,-175.2,2718,1886,3481,3486,354.5,-18.9,100,1648,0.00,1.98,0.00,0.000,516,0.000,0.031,2718,520,3483,3481,3486,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1672,-1.11,-175.2,1664,520,3461,3482,359.3,-18.8,101,1677,0.00,1.95,0.00,0.000,1030,0.000,0.016,2710,1909,3483,3481,3485,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1991,-1.11,-175.2,2708,1910,3481,3481,420.7,-17.6,117,1998,0.00,2.00,0.00,0.000,260,0.000,0.030,2699,3293,3480,3481,3480,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2026,-1.11,-175.2,2699,3293,3481,3480,425.4,-17.8,118,2032,0.00,1.95,0.00,0.000,1030,0.000,0.017,2699,1901,3480,3480,3480,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2341,-1.11,-175.2,2697,1899,3484,3471,480.7,-16.3,134,2343,0.12,0.00,0.00,0.000,2054,0.190,0.000,2729,1899,3478,3484,3472,0,0,0,0,0,0,26.54,28.83,28.83
$GC,2641,-1.11,-175.2,2728,1900,3484,3466,526.1,-13.6,149,2646,0.00,2.05,0.00,0.000,260,0.000,0.031,2721,3297,3475,3484,3466,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2686,-1.11,-175.2,2720,3297,3484,3465,532.2,-13.7,151,2691,0.00,1.98,0.00,0.000,1030,0.000,0.018,2721,1903,3474,3484,3465,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3011,-1.11,-175.2,2720,1902,3484,3459,586.7,-18.0,167,3016,0.00,2.03,0.00,0.000,516,0.000,0.033,2721,512,3471,3483,3459,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3039,-1.11,-175.2,1696,512,3466,3455,591.3,-18.1,168,3044,0.00,1.98,0.00,0.000,1030,0.000,0.018,2712,1903,3471,3484,3458,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3371,-1.11,-175.2,2712,1903,3484,3453,649.1,-16.2,180,3377,0.00,2.03,0.00,0.000,260,0.000,0.032,2702,3297,3468,3484,3453,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3437,-1.11,-175.2,2702,3297,3484,3452,660.4,-16.5,182,3443,0.00,2.00,0.00,0.000,1030,0.000,0.018,2702,1890,3468,3484,3452,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3775,-1.11,-175.2,2701,1890,3484,3447,713.3,-15.9,193,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1890,3464,3482,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4073,-1.11,-175.2,2702,1890,3484,3442,758.4,-14.9,203,4078,0.00,2.08,0.00,0.000,260,0.000,0.032,2697,3296,3462,3484,3441,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4138,-1.11,-175.2,2697,3296,3484,3441,768.3,-15.2,205,4144,0.12,2.00,0.00,0.000,3078,0.181,0.019,2727,1889,3462,3484,3441,0,0,0,0,0,0,26.56,26.74,28.83
$GC,4473,-1.11,-175.2,2726,1888,3484,3436,815.9,-14.8,216,4478,0.00,2.08,0.00,0.000,260,0.000,0.033,2719,3294,3460,3484,3436,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4552,-1.11,-175.2,2719,3294,3484,3435,825.3,-14.7,218,4557,0.00,1.98,0.00,0.000,1030,0.000,0.020,2719,1904,3459,3484,3435,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,4628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4629,begin apogee
$GC,4639,-0.19,0.0,2718,3275,3484,3434,839.3,-14.7,221,4796,0.93,0.00,140.98,1.643,10246,0.142,0.000,3017,3275,2764,2827,2701,0,0,0,0,1,0,26.56,28.83,23.65
$STATE,4798,end apogee,CONTROL_FINISHED_OK
$STATE,4798,begin climb
$GC,4802,1.11,175.2,3016,3275,2827,2706,846.2,0.0,226,4970,1.15,0.80,152.48,1.608,10500,0.037,0.046,3453,3759,2047,2139,1956,0,0,0,0,1,0,24.96,24.44,23.51
$GC,5060,1.11,175.2,3453,3759,2139,1956,803.4,24.1,235,5065,0.00,0.68,0.00,0.000,1030,0.000,0.031,3456,3313,2047,2139,1956,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5397,1.11,175.2,3456,3313,2139,1949,719.1,25.1,246,5402,0.00,2.10,0.00,0.000,516,0.000,0.025,3466,1885,2044,2139,1949,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5462,1.11,175.2,3465,1884,2138,1949,703.4,23.9,248,5467,0.00,2.17,0.00,0.000,1030,0.000,0.034,3466,3304,2044,2139,1949,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5800,1.11,175.2,3465,3304,2139,1945,623.2,24.9,259,5805,0.00,2.10,0.00,0.000,516,0.000,0.025,3476,1875,2042,2139,1945,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5843,1.11,175.2,3475,1875,2139,1943,613.8,25.0,260,5849,0.12,2.15,0.00,0.000,5126,0.194,0.034,3448,3299,2041,2139,1944,0,0,0,0,0,0,26.18,26.34,28.83
$GC,6159,1.11,175.2,3447,3299,2139,1943,532.0,26.0,275,6164,0.00,2.08,0.00,0.000,516,0.000,0.025,3456,1880,2041,2139,1943,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6295,1.11,175.2,3455,1880,2139,1942,501.8,23.4,281,6300,0.00,2.15,0.00,0.000,1030,0.000,0.034,3456,3309,2040,2139,1942,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6609,1.11,175.2,3455,3310,2139,1941,420.7,25.1,297,6616,0.00,2.10,0.00,0.000,516,0.000,0.024,3465,1888,2040,2139,1941,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6846,1.11,175.2,3465,1888,2139,1940,370.2,21.9,308,6851,0.00,2.12,0.00,0.000,1030,0.000,0.034,3465,3310,2039,2139,1940,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7161,1.11,175.2,3465,3310,2138,1939,296.7,23.9,324,7166,0.00,2.10,0.00,0.000,516,0.000,0.024,3475,1872,2038,2139,1938,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7331,1.11,175.2,3476,1871,2139,1937,261.5,21.5,332,7338,0.12,2.15,0.00,0.000,5126,0.194,0.033,3448,3313,2037,2137,1938,0,0,0,0,0,0,26.43,26.58,28.83
$GC,7653,1.11,175.2,3447,3313,2138,1936,199.5,18.9,348,7658,0.00,0.65,0.00,0.000,260,0.000,0.048,3448,3756,2037,2139,1936,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7712,1.11,175.2,3447,3756,2139,1936,190.6,19.3,350,7719,0.00,0.65,0.00,0.000,1030,0.000,0.031,3449,3285,2037,2139,1936,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8018,1.11,175.2,3449,3285,2139,1935,133.0,16.9,366,8023,0.00,0.73,0.00,0.000,260,0.000,0.047,3450,3763,2037,2139,1935,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8255,1.11,175.2,3449,3763,2139,1935,96.5,15.6,377,8260,0.00,0.65,0.00,0.000,1030,0.000,0.031,3453,3289,2037,2139,1935,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8570,1.17,195.8,3453,3289,2139,1935,61.8,8.7,393,8581,0.00,0.75,7.43,0.273,8964,0.000,0.046,3453,3773,1962,2059,1865,0,0,0,0,0,0,28.83,26.60,26.35
$GC,8811,1.29,235.1,3452,3773,2059,1867,44.3,8.0,408,8833,0.08,0.65,16.80,0.226,11270,0.056,0.028,3510,3286,1801,1895,1707,0,0,0,0,0,0,26.61,26.67,26.33
$GC,9139,1.29,235.1,3510,3286,1895,1708,11.6,11.8,453,9146,0.00,0.70,0.00,0.000,260,0.000,0.046,3510,3760,1801,1894,1708,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9195,1.29,235.1,2592,3759,1825,1697,3.3,17.1,463,9202,0.00,0.60,0.00,0.000,1030,0.000,0.026,3514,3295,1801,1895,1708,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,9208,end climb,SURFACE_DEPTH_REACHED
$STATE,9208,begin surface coast
$FINISH,0.8,0.998969
$STATE,9225,end surface coast,CONTROL_FINISHED_OK
$STATE,9225,begin surface
$SM_CCo,9249,142.30,0.126,0,0,518,550.21
$SM_GC,1.63,8.55,2.03,142.30,0.034,0.021,0.126,139,1913,518,-9.13,2.23,550.21,0,0,0,0,0,0,26.59,26.61,26.15
$IRIDIUM_FIX,2134.17,12029.58,290613,090920
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.20
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.30
$XPDR_PINGS,1
$SC_FREEKB,7685856
$24V_AH,23.5,8.652
$10V_AH,10.3,6.078
$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,21.600,76.275,317.675,142.300,0.000,0.000,0.000,236.550,0.250,0.000,42.169,1626.424,5701.131,578.892,1551.681,376.142,0.000,1538.478,0.000,1264.126,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,48.195,1643.220,126.225,0.000,0.000,0.000,110.160,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9226.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.970,0.000,0.000,0.000
$MEM,324212
$DATA_FILE_SIZE,16792,468
$CAP_FILE_SIZE,117862,0
$CFSIZE,260034560,244363264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.113,132.6,1
$GPS,290613,145236,2140.299,12029.206,28,1.8,28,-3.0