version: 66.11
glider: 167
mission: 16
dive: 86
start: 6 30 113 9 14 24
data:
$ID,167
$MISSION,16
$DIVE,86
$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,-974978.44
$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,43
$R_STBD_OVSHOOT,38
$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
$GPS1,300613,090406,2133.065,12028.609,39,1.1,39,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.1
$GPS2,300613,091354,2133.232,12028.624,45,0.9,45,-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,196.4,61592,-17.5,-10.645,-20.26,2520
$D_GRID,1427
$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,-1.17,-175.2,107,1896,445,598,0.0,0.0,0,127,0.00,0.00,-98.70,0.000,16386,0.000,0.000,108,1897,2965,2942,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-1.17,-175.2,107,1897,2942,2990,3.5,-5.8,17,162,10.25,2.15,-9.00,0.000,18948,0.238,0.041,2701,469,3480,3474,3486,0,0,0,0,0,0,25.95,26.20,26.44
$GC,210,-1.17,-175.2,2700,469,3474,3488,36.6,-44.8,27,215,0.00,2.10,0.00,0.000,1030,0.000,0.020,2692,1919,3481,3475,3488,0,0,0,0,0,0,28.83,26.25,28.83
$GC,525,-1.17,-175.2,2692,1921,3479,3488,138.0,-27.6,44,530,0.00,2.10,0.00,0.000,516,0.000,0.028,2692,483,3483,3479,3488,0,0,0,0,0,0,28.83,26.40,28.83
$GC,559,-1.17,-175.2,2691,483,3479,3488,144.9,-27.7,45,564,0.00,2.03,0.00,0.000,1030,0.000,0.017,2682,1915,3483,3479,3488,0,0,0,0,0,0,28.83,26.44,28.83
$GC,873,-1.17,-175.2,2682,1916,3481,3488,220.2,-21.0,61,879,0.00,1.98,0.00,0.000,260,0.000,0.028,2671,3294,3484,3481,3488,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1074,-1.17,-175.2,2671,3294,3481,3488,260.1,-21.4,70,1081,0.12,2.00,0.00,0.000,3078,0.183,0.016,2701,1862,3483,3479,3488,0,0,0,0,0,0,26.40,26.58,28.83
$GC,1380,-1.17,-175.2,2700,1862,3481,3487,324.2,-20.1,86,1385,0.00,2.08,0.00,0.000,260,0.000,0.027,2693,3293,3483,3481,3486,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1459,-1.17,-175.2,2692,3293,3481,3486,337.0,-19.8,89,1466,0.00,1.95,0.00,0.000,1030,0.000,0.017,2693,1904,3482,3481,3484,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1765,-1.17,-175.2,2691,1903,3484,3477,397.5,-16.4,105,1771,0.00,2.03,0.00,0.000,260,0.000,0.028,2683,3297,3480,3485,3476,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1836,-1.17,-175.2,2683,3297,3485,3476,409.2,-17.5,108,1841,0.00,1.98,0.00,0.000,1030,0.000,0.018,2683,1896,3479,3484,3475,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2155,-1.17,-175.2,2683,1895,3484,3470,472.1,-19.9,124,2161,0.00,2.03,0.00,0.000,516,0.000,0.031,2683,506,3477,3485,3470,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2205,-1.17,-175.2,1640,506,3465,3465,481.7,-20.8,126,2212,0.12,1.98,0.00,0.000,3078,0.190,0.017,2705,1908,3476,3484,3468,0,0,0,0,0,0,26.51,26.68,28.83
$GC,2526,-1.17,-175.2,2704,1909,3484,3464,540.0,-17.2,142,2531,0.00,2.00,0.00,0.000,260,0.000,0.031,2696,3287,3473,3484,3463,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2702,-1.17,-175.2,2696,3287,3484,3459,568.8,-16.5,150,2708,0.00,1.98,0.00,0.000,1030,0.000,0.018,2696,1886,3471,3484,3459,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3021,-1.17,-175.2,2696,1886,3484,3453,623.9,-17.1,164,3026,0.00,2.00,0.00,0.000,516,0.000,0.031,2696,508,3468,3484,3453,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3061,-1.17,-175.2,1648,507,3466,3449,630.3,-17.2,165,3066,0.00,1.98,0.00,0.000,1030,0.000,0.017,2687,1913,3468,3484,3453,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3394,-1.17,-175.2,2687,1913,3486,3448,685.0,-15.8,176,3399,0.00,2.00,0.00,0.000,260,0.000,0.032,2679,3288,3465,3484,3447,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3533,-1.17,-175.2,2679,3288,3486,3445,707.0,-17.2,180,3539,0.00,1.98,0.00,0.000,1030,0.000,0.019,2679,1894,3464,3484,3444,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3856,-1.17,-175.2,2679,1893,3484,3439,764.8,-16.0,191,3862,0.00,2.08,0.00,0.000,260,0.000,0.031,2671,3292,3461,3484,3439,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3931,-1.17,-175.2,2670,3292,3484,3437,775.5,-15.8,193,3937,0.12,1.98,0.00,0.000,3078,0.179,0.018,2700,1894,3460,3484,3437,0,0,0,0,0,0,26.55,26.72,28.83
$GC,4259,-1.17,-175.2,2700,1894,3483,3433,828.6,-16.4,204,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1894,3458,3483,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-1.17,-175.2,2700,1894,3479,3432,877.5,-15.1,214,4562,0.00,2.05,0.00,0.000,260,0.000,0.033,2696,3278,3456,3480,3432,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4600,-1.17,-175.2,2696,3278,3478,3432,882.8,-15.0,215,4605,0.00,1.95,0.00,0.000,1030,0.000,0.020,2696,1907,3455,3478,3432,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4929,-1.17,-175.2,2696,1906,3477,3428,928.6,-13.7,226,4934,0.00,2.03,0.00,0.000,516,0.000,0.034,2696,519,3452,3477,3428,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4958,-1.17,-175.2,2696,519,3476,3427,928.6,-13.7,226,4965,0.00,1.98,0.00,0.000,1030,0.000,0.019,2688,1903,3451,3476,3427,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5264,-1.17,-175.2,2688,1903,3473,3426,977.2,-13.0,237,5270,0.00,2.05,0.00,0.000,260,0.000,0.035,2683,3291,3449,3473,3426,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,5390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5390,begin apogee
$GC,5397,-0.19,0.0,2683,3291,3472,3426,991.8,-11.7,241,5555,1.05,0.00,144.52,1.678,10246,0.147,0.000,3016,3291,2762,2827,2698,0,0,0,0,1,0,26.55,28.83,23.53
$STATE,5558,end apogee,CONTROL_FINISHED_OK
$STATE,5558,begin climb
$GC,5561,1.17,175.2,3017,3291,2827,2707,991.3,0.0,246,5731,1.23,0.75,156.45,1.711,10500,0.042,0.047,3470,3736,2047,2137,1958,0,0,0,0,1,0,24.84,24.27,23.30
$GC,5961,1.17,175.2,3470,3736,2137,1952,902.4,30.4,259,5968,0.00,0.62,0.00,0.000,1030,0.000,0.033,3474,3311,2044,2137,1951,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6267,1.17,175.2,3473,3312,2137,1948,815.3,24.6,270,6272,0.00,2.10,0.00,0.000,516,0.000,0.025,3483,1890,2042,2137,1948,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6395,1.17,175.2,3483,1889,2137,1947,783.8,25.3,274,6400,0.00,2.12,0.00,0.000,1030,0.000,0.035,3483,3267,2042,2137,1947,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6732,1.17,175.2,3483,3267,2137,1944,696.0,26.1,285,6737,0.00,0.75,0.00,0.000,260,0.000,0.050,3483,3763,2040,2137,1944,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6968,1.17,175.2,3483,3763,2137,1943,636.4,27.1,292,6973,0.00,0.68,0.00,0.000,1030,0.000,0.032,3487,3293,2040,2137,1943,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7285,1.17,175.2,3486,3293,2137,1941,544.4,26.3,306,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,3293,2039,2137,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7586,1.17,175.2,3486,3292,2137,1940,470.1,24.2,321,7591,0.00,0.73,0.00,0.000,260,0.000,0.048,3486,3764,2038,2137,1940,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7675,1.17,175.2,3486,3764,2137,1940,448.1,25.0,325,7681,0.00,0.68,0.00,0.000,1030,0.000,0.034,3490,3292,2038,2137,1940,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7996,1.17,175.2,3490,3293,2137,1938,370.6,22.7,341,8001,0.00,2.05,0.00,0.000,516,0.000,0.026,3500,1880,2037,2137,1938,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8113,1.17,175.2,3499,1880,2137,1938,347.1,22.4,346,8120,0.15,2.15,0.00,0.000,5126,0.196,0.034,3465,3317,2037,2137,1938,0,0,0,0,0,0,26.39,26.55,28.83
$GC,8431,1.17,175.2,3464,3316,2137,1937,276.8,22.7,362,8436,0.00,2.10,0.00,0.000,516,0.000,0.024,3473,1878,2037,2137,1937,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8489,1.17,175.2,3473,1878,2137,1936,266.0,23.1,364,8497,0.00,2.12,0.00,0.000,1030,0.000,0.034,3473,3299,2036,2137,1936,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8795,1.17,175.2,3473,3299,2137,1936,194.4,20.4,380,8801,0.00,2.08,0.00,0.000,516,0.000,0.024,3483,1879,2036,2137,1936,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8890,1.17,175.2,3482,1878,2137,1936,178.5,18.6,384,8895,0.00,2.12,0.00,0.000,1030,0.000,0.033,3483,3305,2036,2137,1936,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9205,1.17,175.2,3482,3305,2137,1936,121.2,14.2,400,9210,0.00,0.68,0.00,0.000,260,0.000,0.048,3483,3764,2036,2137,1936,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9441,1.17,175.2,3482,3764,2137,1936,88.5,12.5,411,9446,0.00,0.65,0.00,0.000,1030,0.000,0.029,3487,3290,2036,2137,1935,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9756,1.65,333.4,3486,3288,2137,1936,60.7,4.2,427,9824,0.30,0.75,63.85,0.273,11012,0.054,0.046,3621,3766,1399,1476,1322,0,0,0,0,0,0,26.67,26.27,26.03
$GC,9840,1.76,371.6,3621,3766,1476,1323,53.1,9.1,431,9860,0.00,0.65,15.40,0.246,9222,0.000,0.027,3625,3281,1244,1306,1183,0,0,0,0,0,0,28.83,26.34,26.00
$STATE,10023,end climb,SURFACE_DEPTH_REACHED
$STATE,10023,begin surface coast
$FINISH,1.0,1.020866
$STATE,10029,end surface coast,CONTROL_FINISHED_OK
$STATE,10030,begin surface
$SM_CCo,10054,87.22,0.131,0,0,520,550.21
$SM_GC,1.67,8.93,2.03,87.22,0.032,0.023,0.131,127,1928,520,-9.14,2.40,550.21,0,0,0,0,0,0,26.35,26.35,26.03
$IRIDIUM_FIX,2127.21,12029.22,300613,090958
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.55
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.50
$XPDR_PINGS,2
$SC_FREEKB,7683168
$24V_AH,23.3,9.614
$10V_AH,10.3,6.563
$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,22.275,76.200,380.225,87.225,0.000,0.000,0.000,315.350,0.500,0.000,46.180,1707.059,6329.610,570.347,1730.978,394.911,0.000,1658.689,0.000,1344.631,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,49.725,1711.305,130.815,0.000,0.000,0.000,111.690,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10034.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.512,0.000,0.000,0.000
$MEM,324200
$DATA_FILE_SIZE,16773,456
$CAP_FILE_SIZE,121864,0
$CFSIZE,260034560,243879936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.146, 87.8,1
$GPS,300613,120453,2132.150,12028.989,42,1.4,42,-3.0