version: 66.11
glider: 167
mission: 16
dive: 80
start: 6 29 113 15 0 35
data:
$ID,167
$MISSION,16
$DIVE,80
$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,-974970.94
$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,61
$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
$GPS1,290613,145236,2140.299,12029.206,28,1.8,28,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.1
$GPS2,290613,150006,2140.176,12029.185,33,1.1,33,-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,199.1,74420,-15.7,-9.429,-18.82,2841
$D_GRID,1089
$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,21,begin dive
$GC,25,-1.11,-175.2,128,1908,444,585,0.0,0.0,0,126,0.00,0.00,-98.07,0.000,16386,0.000,0.000,128,1909,2913,2891,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.11,-175.2,128,1909,2891,2936,3.1,-4.7,18,160,10.32,2.15,-10.50,0.000,18948,0.242,0.044,2721,493,3480,3476,3485,0,0,0,0,0,0,25.98,26.24,26.50
$GC,306,-1.11,-175.2,2720,493,3478,3487,67.3,-36.4,36,312,0.00,2.05,0.00,0.000,1030,0.000,0.016,2713,1939,3482,3478,3487,0,0,0,0,0,0,28.83,26.38,28.83
$GC,621,-1.11,-175.2,2712,1939,3481,3487,150.7,-24.6,52,626,0.00,1.95,0.00,0.000,260,0.000,0.028,2702,3300,3484,3482,3487,0,0,0,0,0,0,28.83,26.48,28.83
$GC,796,-1.11,-175.2,2702,3301,3482,3487,190.2,-23.9,60,801,0.00,2.00,0.00,0.000,1030,0.000,0.017,2702,1880,3485,3482,3488,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1111,-1.11,-175.2,2702,1880,3482,3487,265.5,-20.0,76,1116,0.00,2.05,0.00,0.000,260,0.000,0.028,2692,3288,3485,3482,3488,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1190,-1.11,-175.2,2692,3288,3482,3488,277.2,-17.8,79,1197,0.12,1.95,0.00,0.000,3078,0.183,0.017,2722,1894,3484,3482,3487,0,0,0,0,0,0,26.46,26.63,28.83
$GC,1496,-1.11,-175.2,2721,1894,3482,3488,333.0,-18.1,95,1501,0.00,2.03,0.00,0.000,260,0.000,0.028,2714,3293,3484,3482,3487,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1509,-1.11,-175.2,2714,3293,3482,3487,333.0,-18.1,95,1514,0.00,1.95,0.00,0.000,1030,0.000,0.016,2714,1897,3484,3482,3487,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1823,-1.11,-175.2,2714,1896,3482,3482,395.1,-18.8,111,1829,0.00,1.98,0.00,0.000,516,0.000,0.031,2714,524,3482,3482,3482,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1909,-1.11,-175.2,2714,524,3482,3481,412.4,-20.5,115,1915,0.00,1.92,0.00,0.000,1030,0.000,0.017,2706,1898,3481,3482,3481,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2234,-1.11,-175.2,2704,1901,3485,3473,473.0,-17.5,131,2240,0.00,2.03,0.00,0.000,260,0.000,0.031,2697,3295,3479,3485,3473,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2319,-1.11,-175.2,2696,3295,3485,3472,488.3,-18.2,135,2325,0.12,1.98,0.00,0.000,3078,0.181,0.018,2726,1896,3478,3485,3471,0,0,0,0,0,0,26.53,26.71,28.83
$GC,2645,-1.11,-175.2,2726,1896,3485,3466,540.9,-15.6,151,2650,0.00,2.00,0.00,0.000,516,0.000,0.032,2727,517,3475,3485,3465,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2669,-1.11,-175.2,2726,517,3485,3464,545.4,-16.4,152,2675,0.00,1.95,0.00,0.000,1030,0.000,0.019,2721,1898,3474,3485,3464,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2995,-1.11,-175.2,2720,1898,3485,3459,601.2,-17.7,168,3000,0.00,2.03,0.00,0.000,260,0.000,0.032,2710,3295,3471,3485,3458,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3109,-1.11,-175.2,2710,3294,3485,3457,617.7,-17.2,171,3115,0.00,1.98,0.00,0.000,1030,0.000,0.018,2710,1907,3471,3485,3457,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3424,-1.11,-175.2,2710,1907,3485,3451,676.3,-17.4,182,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1907,3468,3485,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3725,-1.11,-175.2,2710,1906,3486,3447,728.1,-17.3,192,3730,0.00,2.03,0.00,0.000,516,0.000,0.034,2710,521,3466,3486,3447,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3763,-1.11,-175.2,1680,520,3467,3442,734.6,-17.6,193,3769,0.00,1.95,0.00,0.000,1030,0.000,0.018,2701,1902,3465,3485,3445,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4097,-1.11,-175.2,2701,1902,3485,3441,796.6,-19.1,204,4103,0.00,2.03,0.00,0.000,260,0.000,0.033,2697,3291,3463,3485,3441,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4257,-1.11,-175.2,1680,3288,3467,3433,827.5,-19.2,209,4263,0.12,1.98,0.00,0.000,3078,0.177,0.019,2727,1896,3461,3485,3437,0,0,0,0,0,0,26.57,26.74,28.83
$GC,4591,-1.11,-175.2,2727,1896,3484,3434,878.5,-14.0,220,4596,0.00,2.03,0.00,0.000,516,0.000,0.034,2727,516,3459,3483,3435,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4665,-1.11,-175.2,2727,516,3482,3435,888.5,-14.5,222,4670,0.00,1.98,0.00,0.000,1030,0.000,0.021,2725,1895,3458,3482,3434,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4993,-1.11,-175.2,2725,1896,3479,3433,934.2,-13.3,233,4998,0.00,2.08,0.00,0.000,260,0.000,0.035,2725,3294,3456,3479,3433,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5130,-1.11,-175.2,2725,3294,3477,3433,950.4,-12.6,237,5135,0.00,1.98,0.00,0.000,1030,0.000,0.020,2725,1904,3455,3477,3433,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5421,begin apogee
$GC,5434,-0.19,0.0,2722,3284,3477,3429,992.1,-13.4,247,5594,0.93,0.00,150.55,1.206,10246,0.140,0.000,3021,3283,2754,2822,2687,0,0,0,0,0,0,26.57,28.83,24.09
$STATE,5597,end apogee,CONTROL_FINISHED_OK
$STATE,5597,begin climb
$GC,5600,1.11,175.2,3020,3284,2819,2676,994.9,0.0,252,5771,1.12,0.70,160.12,1.141,10500,0.038,0.041,3446,3764,2036,2129,1944,0,0,0,0,0,0,25.08,24.67,23.96
$GC,5942,1.11,175.2,3446,3764,2120,1918,925.5,25.8,264,5947,0.00,0.68,0.00,0.000,1030,0.000,0.032,3450,3314,2019,2121,1918,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6280,1.11,175.2,3449,3314,2121,1912,845.6,22.9,275,6285,0.00,2.12,0.00,0.000,516,0.000,0.027,3460,1890,2016,2121,1912,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6436,1.11,175.2,3459,1890,2120,1910,811.7,21.1,280,6441,0.00,2.17,0.00,0.000,1030,0.000,0.035,3459,3311,2015,2121,1910,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6773,1.11,175.2,3459,3311,2121,1908,732.6,24.9,291,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,3311,2014,2120,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7071,1.11,175.2,3459,3310,2120,1906,657.8,24.5,301,7077,0.00,2.10,0.00,0.000,516,0.000,0.027,3469,1887,2013,2120,1906,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7211,1.11,175.2,3469,1887,2122,1905,628.2,23.4,305,7216,0.00,2.12,0.00,0.000,1030,0.000,0.034,3469,3299,2013,2121,1905,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7524,1.11,175.2,3469,3299,2121,1904,551.1,23.7,319,7530,0.00,0.68,0.00,0.000,260,0.000,0.050,3469,3761,2012,2121,1904,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7646,1.11,175.2,3469,3761,2114,1906,524.4,24.6,324,7653,0.08,0.65,0.00,0.000,5126,0.195,0.033,3451,3300,2010,2114,1906,0,0,0,0,0,0,26.36,26.56,28.83
$GC,7949,1.11,175.2,3451,3300,2114,1905,453.1,22.6,340,7954,0.00,2.05,0.00,0.000,516,0.000,0.026,3459,1882,2009,2113,1905,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8145,1.11,175.2,3459,1881,2114,1904,413.9,20.5,349,8151,0.00,2.12,0.00,0.000,1030,0.000,0.034,3459,3301,2009,2114,1904,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8460,1.11,175.2,3459,3301,2114,1904,352.8,17.8,365,8465,0.00,2.08,0.00,0.000,516,0.000,0.025,3469,1881,2009,2114,1904,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8687,1.11,175.2,3469,1880,2113,1904,312.6,18.4,376,8692,0.00,2.12,0.00,0.000,1030,0.000,0.034,3469,3303,2009,2114,1904,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9012,1.11,175.2,3468,3303,2113,1904,237.7,23.8,392,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,3303,2008,2113,1903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9314,1.11,175.2,3468,3303,2114,1903,179.9,18.4,407,9320,0.00,2.05,0.00,0.000,516,0.000,0.023,3478,1887,2008,2114,1903,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9471,1.11,175.2,3478,1887,2114,1903,153.2,16.9,414,9477,0.15,2.12,0.00,0.000,5126,0.185,0.033,3443,3312,2008,2114,1903,0,0,0,0,0,0,26.46,26.63,28.83
$GC,9786,1.11,175.2,3442,3312,2114,1903,104.5,12.6,430,9791,0.00,0.65,0.00,0.000,260,0.000,0.050,3442,3756,2009,2115,1903,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10022,1.11,175.2,3442,3756,2114,1903,76.7,10.9,441,10028,0.00,0.65,0.00,0.000,1030,0.000,0.028,3445,3273,2008,2114,1903,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10338,1.63,350.2,3444,3273,2114,1903,52.8,3.1,457,10417,0.40,2.00,70.35,0.242,10756,0.047,0.022,3629,1895,1334,1408,1261,0,0,0,0,0,0,26.68,26.34,26.08
$STATE,10599,end climb,SURFACE_DEPTH_REACHED
$STATE,10599,begin surface coast
$FINISH,1.0,1.020576
$STATE,10610,end surface coast,CONTROL_FINISHED_OK
$STATE,10610,begin surface
$SM_CCo,10632,96.47,0.130,0,0,516,550.21
$SM_GC,1.72,8.85,0.00,96.47,0.029,0.000,0.130,135,1895,516,-9.15,-0.17,550.21,0,0,0,0,0,0,26.41,28.83,26.08
$IRIDIUM_FIX,2134.17,12028.40,290613,121256
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.62
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,7685472
$24V_AH,24.0,8.770
$10V_AH,10.3,6.150
$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,22.225,77.200,381.025,96.475,0.000,0.000,0.000,248.375,0.000,0.000,34.810,1851.243,6584.582,556.396,1788.633,401.358,0.000,1637.660,0.000,1483.370,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,49.725,1205.640,130.050,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10621.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.673,0.000,0.000,0.000
$MEM,324152
$DATA_FILE_SIZE,16783,490
$CAP_FILE_SIZE,125778,0
$CFSIZE,260034560,244285440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.128,231.4,1
$GPS,290613,180052,2138.555,12027.938,26,1.2,42,-3.0