version: 66.11
glider: 167
mission: 16
dive: 81
start: 6 29 113 18 10 36
data:
$ID,167
$MISSION,16
$DIVE,81
$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,310
$T_MISSION,330
$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,-974972.19
$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,75
$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
$GPS1,290613,180052,2138.555,12027.938,26,1.2,42,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-73.3
$GPS2,290613,181006,2138.516,12027.692,29,1.3,29,-3.0
$SPEED_LIMITS,0.184,0.288
$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,158.7,71442,-17.5,-10.645,-20.26,2520
$D_GRID,1346
$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,-1.17,-175.2,113,1889,444,592,0.0,0.0,0,132,0.00,0.00,-103.40,0.000,16386,0.000,0.000,113,1889,3098,3077,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,140,-1.17,-175.2,113,1889,3078,3120,3.9,-6.6,18,166,10.32,2.08,-6.40,0.000,18948,0.242,0.045,2702,518,3482,3476,3488,0,0,0,0,0,0,25.94,26.20,26.44
$GC,271,-1.17,-175.2,2702,516,3477,3489,53.8,-34.4,32,278,0.00,2.03,0.00,0.000,1030,0.000,0.021,2695,1920,3483,3477,3489,0,0,0,0,0,0,28.83,26.29,28.83
$GC,577,-1.17,-175.2,2694,1922,3480,3489,142.3,-24.9,48,583,0.00,2.05,0.00,0.000,516,0.000,0.027,2694,515,3484,3480,3489,0,0,0,0,0,0,28.83,26.43,28.83
$GC,787,-1.17,-175.2,2694,513,3482,3489,194.1,-25.6,58,792,0.00,2.00,0.00,0.000,1030,0.000,0.016,2685,1926,3485,3482,3489,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1107,-1.17,-175.2,2684,1927,3482,3489,270.6,-22.4,74,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1926,3485,3482,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1411,-1.17,-175.2,2684,1927,3482,3489,344.7,-24.5,89,1417,0.00,2.05,0.00,0.000,516,0.000,0.028,2685,517,3485,3482,3489,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1445,-1.17,-175.2,2684,517,3482,3488,351.9,-24.0,90,1451,0.12,1.95,0.00,0.000,3078,0.188,0.017,2705,1901,3485,3482,3488,0,0,0,0,0,0,26.46,26.63,28.83
$GC,1761,-1.17,-175.2,2705,1900,3481,3485,412.0,-17.2,106,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1901,3483,3482,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,-1.17,-175.2,2705,1903,3485,3477,467.7,-19.0,121,2069,0.00,2.00,0.00,0.000,260,0.000,0.029,2697,3284,3481,3485,3477,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2157,-1.17,-175.2,2697,3284,3485,3476,484.1,-18.9,125,2164,0.00,1.98,0.00,0.000,1030,0.000,0.018,2697,1890,3479,3485,3474,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2474,-1.17,-175.2,2696,1890,3486,3470,545.4,-19.0,141,2479,0.00,2.05,0.00,0.000,260,0.000,0.029,2688,3298,3477,3486,3469,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2539,-1.17,-175.2,2688,3298,3485,3468,557.6,-18.9,144,2545,0.00,1.98,0.00,0.000,1030,0.000,0.017,2687,1890,3476,3485,3468,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2864,-1.17,-175.2,2687,1890,3485,3463,612.9,-17.1,159,2870,0.00,2.05,0.00,0.000,260,0.000,0.030,2678,3294,3473,3485,3462,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3035,-1.17,-175.2,2678,3294,3485,3459,639.5,-16.9,164,3041,0.00,1.98,0.00,0.000,1030,0.000,0.018,2678,1897,3471,3485,3458,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3358,-1.17,-175.2,2677,1897,3485,3453,697.7,-17.9,175,3364,0.12,2.05,0.00,0.000,2308,0.185,0.028,2706,3294,3469,3485,3453,0,0,0,0,0,0,26.55,26.69,28.83
$GC,3378,-1.17,-175.2,2705,3294,3485,3453,697.7,-17.9,175,3384,0.00,1.98,0.00,0.000,1030,0.000,0.018,2705,1897,3469,3485,3453,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3699,-1.17,-175.2,2705,1897,3485,3448,748.8,-14.4,186,3704,0.00,2.00,0.00,0.000,516,0.000,0.032,2706,520,3466,3485,3448,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3733,-1.17,-175.2,2705,520,3485,3447,754.0,-14.4,187,3739,0.00,1.95,0.00,0.000,1030,0.000,0.018,2697,1895,3466,3485,3447,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4071,-1.17,-175.2,2697,1896,3485,3441,807.1,-16.5,198,4076,0.00,2.05,0.00,0.000,260,0.000,0.034,2697,3287,3463,3485,3441,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4115,-1.17,-175.2,2696,3287,3485,3441,813.3,-16.3,199,4120,0.00,1.98,0.00,0.000,1030,0.000,0.019,2697,1900,3463,3485,3441,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4443,-1.17,-175.2,2696,1899,3485,3436,862.7,-13.7,210,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1899,3460,3485,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4740,-1.17,-175.2,2696,1899,3481,3435,906.3,-15.6,220,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1899,3458,3481,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5040,-1.17,-175.2,2696,1899,3479,3434,952.6,-15.6,230,5046,0.00,2.08,0.00,0.000,260,0.000,0.035,2697,3288,3456,3479,3433,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5119,-1.17,-175.2,2696,3287,3478,3433,962.0,-14.9,232,5125,0.00,1.98,0.00,0.000,1030,0.000,0.020,2697,1898,3455,3478,3433,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5317,begin apogee
$GC,5327,-0.19,0.0,2697,3280,3477,3431,993.3,-14.7,239,5485,1.00,0.00,143.38,1.742,10246,0.146,0.000,3015,3280,2762,2827,2697,0,0,0,0,1,0,26.55,28.83,23.53
$STATE,5487,end apogee,CONTROL_FINISHED_OK
$STATE,5487,begin climb
$GC,5491,1.17,175.2,3015,3281,2827,2703,1000.1,0.0,244,5661,1.23,0.80,155.82,1.708,10500,0.039,0.045,3474,3766,2048,2138,1958,0,0,0,0,1,0,24.84,24.30,23.32
$GC,5812,1.17,175.2,3473,3766,2138,1954,933.9,28.1,255,5818,0.00,0.68,0.00,0.000,1030,0.000,0.033,3477,3314,2046,2138,1954,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6146,1.17,175.2,3477,3314,2138,1948,847.4,25.9,266,6151,0.00,2.12,0.00,0.000,516,0.000,0.027,3487,1877,2043,2138,1948,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6225,1.17,175.2,3486,1877,2137,1948,828.8,26.8,268,6230,0.00,2.17,0.00,0.000,1030,0.000,0.035,3487,3299,2043,2138,1948,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6545,1.17,175.2,3486,3300,2138,1945,736.0,27.2,279,6550,0.00,2.10,0.00,0.000,516,0.000,0.027,3496,1881,2041,2138,1945,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6588,1.17,175.2,3496,1880,2138,1944,726.3,27.4,280,6594,0.15,2.17,0.00,0.000,5126,0.196,0.035,3462,3312,2041,2138,1944,0,0,0,0,0,0,26.14,26.29,28.83
$GC,6919,1.17,175.2,3461,3312,2138,1943,635.6,26.2,291,6924,0.00,2.12,0.00,0.000,516,0.000,0.027,3470,1876,2040,2138,1942,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6967,1.17,175.2,3470,1876,2138,1942,625.5,26.1,292,6972,0.00,2.15,0.00,0.000,1030,0.000,0.034,3471,3302,2040,2138,1942,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7280,1.17,175.2,3470,3302,2138,1941,551.3,23.0,306,7285,0.00,2.10,0.00,0.000,516,0.000,0.026,3480,1876,2039,2138,1941,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7319,1.17,175.2,3480,1875,2138,1941,545.4,22.8,307,7326,0.00,2.15,0.00,0.000,1030,0.000,0.034,3480,3307,2039,2138,1940,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7625,1.17,175.2,3480,3308,2138,1940,472.4,22.0,323,7630,0.00,0.68,0.00,0.000,260,0.000,0.049,3479,3763,2039,2138,1940,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7862,1.17,175.2,3480,3763,2138,1940,417.2,25.5,334,7867,0.00,0.68,0.00,0.000,1030,0.000,0.032,3483,3289,2039,2139,1939,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8177,1.17,175.2,3483,3289,2138,1938,336.4,25.0,350,8183,0.00,0.73,0.00,0.000,260,0.000,0.047,3483,3764,2038,2138,1938,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8413,1.17,175.2,3483,3765,2138,1937,283.6,24.0,361,8418,0.00,0.65,0.00,0.000,1030,0.000,0.032,3487,3299,2037,2138,1937,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8728,1.17,175.2,3486,3300,2138,1936,208.9,24.1,377,8733,0.00,0.70,0.00,0.000,260,0.000,0.048,3486,3767,2037,2138,1936,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8964,1.17,175.2,3486,3767,2138,1936,159.3,22.2,388,8969,0.00,0.65,0.00,0.000,1030,0.000,0.031,3490,3295,2037,2138,1936,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9279,1.17,175.2,3490,3295,2138,1935,98.0,11.8,404,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,3295,2036,2138,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9582,1.17,175.2,3489,3295,2137,1935,52.4,15.1,419,9587,0.00,0.70,0.00,0.000,260,0.000,0.047,3490,3760,2036,2138,1935,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9790,1.88,409.2,3490,3760,2138,1937,32.8,1.1,438,9898,0.47,0.62,97.45,0.196,11270,0.036,0.028,3707,3287,1090,1101,1080,0,0,0,0,0,0,26.66,26.69,26.10
$STATE,9949,end climb,SURFACE_DEPTH_REACHED
$STATE,9949,begin surface coast
$FINISH,0.9,1.020865
$STATE,9954,end surface coast,CONTROL_FINISHED_OK
$STATE,9955,begin surface
$SM_CCo,9982,71.55,0.129,0,0,519,550.21
$SM_GC,1.80,9.15,2.03,71.55,0.033,0.021,0.129,136,1904,519,-9.15,2.43,550.21,0,0,0,0,0,0,26.32,26.35,26.05
$IRIDIUM_FIX,2131.85,12026.40,290613,181844
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.02
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.20
$XPDR_PINGS,4
$SC_FREEKB,7685088
$24V_AH,23.3,8.932
$10V_AH,10.3,6.218
$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,22.575,68.350,396.650,71.550,0.000,0.000,0.000,296.275,1.000,0.000,30.674,1639.525,6386.932,550.934,1650.477,382.915,0.000,1601.784,0.000,1307.957,0.000,0.541,0.000
$DEVICE_MAMPS,241.740,48.960,1741.905,129.285,0.000,0.000,0.000,117.045,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9959.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.552,0.000,0.000,0.000
$MEM,324164
$DATA_FILE_SIZE,16793,460
$CAP_FILE_SIZE,117339,0
$CFSIZE,260034560,244224000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.073,264.9,1
$GPS,290613,205935,2137.398,12027.932,40,0.9,40,-3.0