version: 66.11
glider: 167
mission: 16
dive: 82
start: 6 29 113 21 9 36
data:
$ID,167
$MISSION,16
$DIVE,82
$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,-974973.44
$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,37
$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
$GPS1,290613,205935,2137.398,12027.932,40,0.9,40,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.3
$GPS2,290613,210906,2137.467,12027.746,38,1.1,38,-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,165.0,69499,-17.5,-10.645,-20.26,2520
$D_GRID,1368
$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,-1.17,-175.2,112,1898,442,585,0.0,0.0,0,126,0.00,0.00,-97.80,0.000,16386,0.000,0.000,112,1899,2899,2875,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.17,-175.2,112,1899,2876,2927,3.2,-3.9,17,159,10.38,0.00,-10.65,0.000,18950,0.243,0.000,2702,1898,3481,3477,3486,0,0,0,0,0,0,25.95,28.83,26.44
$GC,469,-1.17,-175.2,2701,1901,3481,3488,111.4,-28.5,44,475,0.00,2.08,0.00,0.000,260,0.000,0.028,2692,3325,3484,3481,3488,0,0,0,0,0,0,28.83,26.39,28.83
$GC,704,-1.17,-175.2,2692,3324,3483,3489,176.8,-30.0,55,709,0.00,2.03,0.00,0.000,1030,0.000,0.018,2692,1897,3485,3482,3489,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1019,-1.17,-175.2,2692,1897,3483,3489,251.6,-23.6,71,1025,0.00,2.08,0.00,0.000,260,0.000,0.027,2682,3325,3486,3483,3489,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1147,-1.17,-175.2,2682,3324,3484,3489,277.9,-21.0,77,1153,0.00,2.03,0.00,0.000,1030,0.000,0.016,2682,1892,3486,3484,3489,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1472,-1.17,-175.2,2682,1892,3483,3489,348.5,-20.7,93,1477,0.00,2.08,0.00,0.000,260,0.000,0.027,2672,3325,3485,3483,3488,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1542,-1.17,-175.2,2672,3325,3483,3488,364.6,-24.7,96,1549,0.12,2.00,0.00,0.000,3078,0.184,0.017,2702,1892,3485,3483,3488,0,0,0,0,0,0,26.46,26.64,28.83
$GC,1863,-1.17,-175.2,2701,1892,3483,3483,421.3,-15.1,112,1868,0.00,2.10,0.00,0.000,260,0.000,0.029,2694,3324,3483,3483,3483,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1908,-1.17,-175.2,2693,3325,3483,3482,428.5,-16.0,114,1913,0.00,2.03,0.00,0.000,1030,0.000,0.017,2694,1901,3482,3483,3482,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2233,-1.17,-175.2,2692,1899,3487,3475,489.7,-19.8,130,2239,0.00,2.08,0.00,0.000,260,0.000,0.029,2684,3323,3480,3487,3474,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2381,-1.17,-175.2,2683,3323,3488,3472,520.5,-20.5,137,2386,0.00,2.00,0.00,0.000,1030,0.000,0.018,2684,1900,3479,3487,3471,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2706,-1.17,-175.2,2683,1899,3487,3466,582.6,-18.1,153,2712,0.00,2.08,0.00,0.000,260,0.000,0.031,2674,3322,3476,3487,3466,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2943,-1.17,-175.2,2674,3321,3487,3462,617.9,-16.0,162,2949,0.12,2.03,0.00,0.000,3078,0.181,0.018,2704,1886,3474,3488,3461,0,0,0,0,0,0,26.53,26.71,28.83
$GC,3261,-1.17,-175.2,2704,1886,3487,3456,666.3,-14.7,173,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1886,3472,3488,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3558,-1.17,-175.2,2704,1886,3487,3451,709.4,-13.7,183,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1886,3469,3487,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3859,-1.17,-175.2,2703,1886,3487,3447,751.4,-13.7,193,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1886,3467,3487,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4159,-1.17,-175.2,2703,1886,3487,3441,793.2,-14.2,203,4165,0.00,2.12,0.00,0.000,260,0.000,0.032,2696,3318,3464,3487,3441,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4218,-1.17,-175.2,2696,3318,3487,3441,798.4,-14.2,204,4225,0.00,2.03,0.00,0.000,1030,0.000,0.020,2697,1896,3463,3487,3440,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4525,-1.17,-175.2,2696,1895,3488,3436,849.4,-16.0,215,4530,0.00,2.03,0.00,0.000,516,0.000,0.034,2697,513,3460,3485,3436,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4568,-1.17,-175.2,2696,513,3485,3436,855.0,-16.0,216,4573,0.00,2.03,0.00,0.000,1030,0.000,0.018,2687,1934,3460,3484,3436,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4896,-1.17,-175.2,2687,1934,3482,3435,911.7,-17.3,227,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1934,3458,3481,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5193,-1.17,-175.2,2687,1934,3479,3433,963.6,-16.7,237,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1934,3456,3479,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5370,begin apogee
$GC,5379,-0.19,0.0,2683,3276,3478,3431,993.9,-16.7,243,5543,1.05,0.00,151.32,1.209,10246,0.149,0.000,3016,3276,2752,2819,2685,0,0,0,0,0,0,26.56,28.83,24.06
$STATE,5545,end apogee,CONTROL_FINISHED_OK
$STATE,5545,begin climb
$GC,5548,1.17,175.2,3016,3276,2819,2676,1001.9,0.0,248,5718,1.23,0.73,161.40,1.138,10500,0.045,0.042,3469,3761,2040,2130,1950,0,0,0,0,0,0,25.06,24.63,23.94
$GC,5825,1.17,175.2,3469,3761,2119,1922,956.4,24.3,257,5833,0.00,0.68,0.00,0.000,1030,0.000,0.031,3473,3310,2020,2118,1922,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6131,1.17,175.2,3472,3311,2118,1915,874.8,24.6,268,6136,0.00,2.12,0.00,0.000,516,0.000,0.027,3483,1881,2017,2118,1916,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6245,1.17,175.2,3482,1880,2118,1913,851.7,24.2,271,6251,0.00,2.17,0.00,0.000,1030,0.000,0.035,3483,3301,2016,2118,1914,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6561,1.17,175.2,3482,3301,2119,1911,764.5,26.7,282,6566,0.00,2.12,0.00,0.000,516,0.000,0.027,3492,1872,2014,2118,1910,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6639,1.17,175.2,3492,1871,2118,1910,747.3,26.5,284,6646,0.00,2.17,0.00,0.000,1030,0.000,0.035,3492,3304,2014,2118,1910,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6963,1.17,175.2,3492,3304,2118,1909,649.3,29.8,295,6969,0.00,2.10,0.00,0.000,516,0.000,0.028,3502,1883,2013,2118,1909,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6982,1.17,175.2,3501,1882,2118,1908,649.3,29.8,295,6989,0.15,2.15,0.00,0.000,5126,0.204,0.034,3467,3309,2013,2118,1908,0,0,0,0,0,0,26.24,26.41,28.83
$GC,7293,1.17,175.2,3467,3309,2119,1906,565.3,23.2,308,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,3309,2012,2118,1906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7597,1.17,175.2,3467,3309,2118,1905,492.3,25.0,323,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,3308,2011,2118,1905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7897,1.17,175.2,3467,3308,2118,1904,419.7,24.1,338,7902,0.00,0.68,0.00,0.000,260,0.000,0.049,3467,3763,2011,2119,1904,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8134,1.17,175.2,3467,3763,2111,1906,361.7,25.9,349,8139,0.00,0.68,0.00,0.000,1030,0.000,0.031,3470,3285,2008,2111,1906,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8449,1.17,175.2,3470,3285,2111,1905,284.1,24.3,365,8455,0.00,0.73,0.00,0.000,260,0.000,0.047,3470,3763,2007,2110,1905,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8508,1.17,175.2,3470,3762,2111,1905,273.1,24.4,367,8515,0.00,0.65,0.00,0.000,1030,0.000,0.033,3473,3300,2008,2111,1905,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8814,1.17,175.2,3473,3299,2111,1904,201.5,23.9,383,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,3299,2007,2111,1904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9117,1.17,175.2,3473,3299,2111,1904,137.4,21.6,398,9123,0.00,0.70,0.00,0.000,260,0.000,0.046,3474,3763,2007,2111,1904,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9258,1.17,175.2,3473,3763,2111,1904,114.9,17.0,404,9265,0.00,0.65,0.00,0.000,1030,0.000,0.030,3477,3290,2007,2111,1903,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9564,1.17,175.2,3476,3290,2111,1904,70.2,13.6,420,9570,0.00,2.00,0.00,0.000,516,0.000,0.022,3486,1888,2007,2111,1904,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9682,1.17,175.2,3485,1887,2111,1904,54.0,15.3,425,9687,0.00,2.10,0.00,0.000,1030,0.000,0.032,3486,3302,2007,2110,1904,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9997,1.78,377.3,3486,3302,2111,1904,35.3,2.4,455,10092,0.43,0.70,82.07,0.199,10500,0.050,0.045,3670,3765,1221,1279,1164,0,0,0,0,0,0,26.65,26.31,26.13
$STATE,10168,end climb,SURFACE_DEPTH_REACHED
$STATE,10169,begin surface coast
$FINISH,0.9,1.020785
$STATE,10176,end surface coast,CONTROL_FINISHED_OK
$STATE,10177,begin surface
$SM_CCo,10202,85.12,0.131,0,0,517,550.21
$SM_GC,1.70,8.98,2.80,85.12,0.031,0.021,0.131,142,1898,517,-9.13,1.67,550.21,0,0,0,0,0,0,26.35,26.40,26.06
$IRIDIUM_FIX,2129.53,12030.40,290613,212129
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.46
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.50
$XPDR_PINGS,2
$SC_FREEKB,7684704
$24V_AH,23.9,9.051
$10V_AH,10.3,6.287
$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,22.450,60.750,394.800,85.125,0.000,0.000,0.000,306.175,0.500,0.000,39.511,1627.030,6666.448,551.884,1641.830,375.944,0.000,1595.611,0.000,1278.290,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,48.960,1208.700,130.815,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10185.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.724,0.000,0.000,0.000
$MEM,324204
$DATA_FILE_SIZE,16793,479
$CAP_FILE_SIZE,116262,0
$CFSIZE,260034560,244154368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.024, 58.4,1
$GPS,300613,000234,2136.267,12028.161,41,1.8,45,-3.0