version: 66.11
glider: 167
mission: 16
dive: 89
start: 6 30 113 19 1 34
data:
$ID,167
$MISSION,16
$DIVE,89
$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,360
$T_MISSION,380
$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,564.9259
$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,-975043.81
$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,3073
$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,2100
$C_ROLL_CLIMB,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,41
$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
$GPS1,300613,185406,2129.828,12028.246,38,1.0,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.0
$GPS2,300613,190107,2129.839,12028.286,6,1.2,6,-3.0
$SPEED_LIMITS,0.159,0.274
$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,169.4,55341,-15.4,-9.167,-18.50,2921
$D_GRID,1504
$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,-1.09,-175.2,115,2124,416,523,0.0,0.0,0,126,0.00,0.00,-98.03,0.000,16386,0.000,0.000,114,2125,2867,2848,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.09,-175.2,114,2125,2848,2888,3.2,-4.5,17,161,10.23,2.15,-10.93,0.000,18948,0.236,0.033,2711,659,3480,3476,3485,0,0,0,0,0,0,25.94,26.20,26.44
$GC,251,-1.09,-175.2,2711,659,3476,3487,51.5,-46.3,31,257,0.00,2.10,0.00,0.000,1030,0.000,0.019,2702,2123,3481,3476,3487,0,0,0,0,0,0,28.83,26.28,28.83
$GC,567,-1.09,-175.2,2702,2123,3479,3487,148.7,-25.7,47,572,0.00,2.00,0.00,0.000,260,0.000,0.029,2692,3507,3483,3479,3487,0,0,0,0,0,0,28.83,26.41,28.83
$GC,801,-1.09,-175.2,2692,3507,3479,3487,211.0,-28.0,58,807,0.00,2.05,0.00,0.000,1030,0.000,0.016,2692,2054,3483,3479,3487,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1116,-1.09,-175.2,2692,2053,3479,3487,292.1,-24.8,74,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2053,3483,3480,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-1.09,-175.2,2692,2053,3479,3487,355.8,-21.2,89,1424,0.00,2.10,0.00,0.000,260,0.000,0.028,2682,3494,3482,3479,3486,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1437,-1.09,-175.2,2681,3494,3478,3486,355.8,-21.2,89,1445,0.15,1.98,0.00,0.000,3078,0.175,0.016,2720,2066,3483,3480,3486,0,0,0,0,0,0,26.46,26.63,28.83
$GC,1743,-1.09,-175.2,2720,2064,3484,3479,417.1,-17.0,105,1748,0.00,1.90,0.00,0.000,516,0.000,0.031,2720,736,3481,3484,3478,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1782,-1.09,-175.2,2720,736,3484,3478,421.2,-17.0,106,1789,0.00,1.92,0.00,0.000,1030,0.000,0.018,2713,2103,3480,3483,3477,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2088,-1.09,-175.2,2712,2103,3483,3473,474.6,-17.5,122,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2103,3479,3485,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2390,-1.09,-175.2,2712,2103,3484,3467,526.1,-17.1,137,2396,0.00,2.03,0.00,0.000,260,0.000,0.032,2702,3494,3475,3484,3467,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2450,-1.09,-175.2,2701,3494,3484,3466,534.6,-17.4,139,2457,0.00,1.95,0.00,0.000,1030,0.000,0.018,2702,2111,3474,3484,3465,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2756,-1.09,-175.2,2701,2111,3484,3460,593.1,-17.6,155,2761,0.00,2.00,0.00,0.000,516,0.000,0.031,2701,722,3472,3484,3460,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2800,-1.09,-175.2,2701,722,3483,3459,601.0,-17.4,157,2806,0.00,1.98,0.00,0.000,1030,0.000,0.021,2697,2099,3471,3484,3458,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3129,-1.09,-175.2,2697,2100,3484,3454,658.1,-18.1,168,3134,0.00,2.05,0.00,0.000,260,0.000,0.036,2697,3491,3469,3484,3454,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3208,-1.09,-175.2,2697,3491,3483,3453,671.6,-19.0,170,3214,0.00,1.95,0.00,0.000,1030,0.000,0.018,2697,2107,3468,3484,3452,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3532,-1.09,-175.2,2697,2105,3483,3448,732.7,-17.8,181,3537,0.00,2.03,0.00,0.000,516,0.000,0.031,2697,709,3466,3484,3448,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3663,-1.09,-175.2,1632,708,3464,3441,754.9,-17.4,185,3668,0.00,2.00,0.00,0.000,1030,0.000,0.021,2691,2106,3464,3485,3444,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3996,-1.09,-175.2,2690,2106,3484,3440,811.4,-16.2,196,4002,0.12,2.05,0.00,0.000,2308,0.191,0.034,2722,3498,3462,3484,3440,0,0,0,0,0,0,26.55,26.67,28.83
$GC,4035,-1.09,-175.2,1704,3497,3467,3435,817.4,-16.1,197,4041,0.00,2.00,0.00,0.000,1030,0.000,0.019,2722,2090,3461,3484,3439,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4368,-1.09,-175.2,2722,2089,3483,3435,865.0,-14.0,208,4373,0.00,1.98,0.00,0.000,516,0.000,0.032,2722,726,3458,3483,3434,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4452,-1.09,-175.2,2722,726,3482,3435,874.3,-13.8,210,4457,0.00,1.98,0.00,0.000,1030,0.000,0.021,2714,2105,3458,3481,3435,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4766,-1.09,-175.2,2713,2104,3479,3433,924.6,-15.2,221,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2105,3456,3479,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5067,-1.09,-175.2,2713,2105,3477,3431,968.4,-14.1,231,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2105,3454,3477,3431,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5243,begin apogee
$GC,5253,-0.19,0.0,2710,3280,3476,3430,992.6,-13.3,237,5417,0.93,0.00,146.40,1.663,10246,0.143,0.000,3007,3280,2765,2826,2704,0,0,0,0,1,0,26.56,28.83,23.54
$STATE,5419,end apogee,CONTROL_FINISHED_OK
$STATE,5419,begin climb
$GC,5422,1.09,175.2,3006,3280,2826,2708,997.2,0.0,242,5593,1.15,0.77,156.55,1.717,10500,0.044,0.042,3430,3759,2047,2138,1957,0,0,0,0,1,0,24.90,24.27,23.29
$GC,5744,1.09,175.2,3430,3759,2140,1954,942.2,24.0,253,5750,0.00,0.65,0.00,0.000,1030,0.000,0.033,3434,3324,2046,2138,1954,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6072,1.09,175.2,3434,3325,2138,1949,860.5,25.0,264,6078,0.00,2.12,0.00,0.000,516,0.000,0.027,3444,1889,2043,2138,1949,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6259,1.09,175.2,3444,1889,2138,1947,815.9,22.9,270,6264,0.00,2.17,0.00,0.000,1030,0.000,0.034,3444,3299,2042,2138,1947,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6596,1.09,175.2,3444,3299,2138,1945,739.7,22.5,281,6602,0.00,2.10,0.00,0.000,516,0.000,0.026,3453,1873,2041,2138,1945,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6727,1.09,175.2,2496,1870,2059,1930,713.5,20.4,285,6733,0.00,2.17,0.00,0.000,1030,0.000,0.034,3453,3310,2041,2138,1944,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7060,1.09,175.2,3453,3310,2138,1942,637.1,22.5,296,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,3311,2040,2138,1943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7358,1.09,175.2,3453,3310,2138,1941,568.0,22.9,308,7363,0.00,0.68,0.00,0.000,260,0.000,0.050,3454,3765,2039,2138,1941,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7564,1.09,175.2,3453,3764,2137,1940,518.0,24.2,318,7570,0.10,0.68,0.00,0.000,5126,0.206,0.033,3430,3293,2039,2138,1941,0,0,0,0,0,0,26.34,26.55,28.83
$GC,7890,1.09,175.2,3429,3293,2138,1940,448.2,20.6,334,7895,0.00,2.05,0.00,0.000,516,0.000,0.025,3438,1884,2038,2138,1939,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8103,1.09,175.2,3438,1883,2138,1938,407.4,19.5,344,8108,0.00,2.12,0.00,0.000,1030,0.000,0.034,3438,3302,2038,2138,1939,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8423,1.09,175.2,3438,3302,2138,1938,342.4,19.2,360,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,3302,2038,2138,1938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,1.09,175.2,3438,3302,2138,1938,278.4,19.7,375,8732,0.00,0.68,0.00,0.000,260,0.000,0.048,3438,3762,2039,2138,1940,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8917,1.09,175.2,2504,3761,2063,1925,241.8,18.9,384,8922,0.00,0.65,0.00,0.000,1030,0.000,0.032,3442,3296,2037,2138,1937,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9237,1.09,175.2,3442,3295,2138,1937,185.3,17.2,400,9242,0.00,2.03,0.00,0.000,516,0.000,0.024,3452,1884,2037,2138,1937,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9358,1.09,175.2,3450,1884,2138,1937,169.7,14.6,405,9365,0.00,2.10,0.00,0.000,1030,0.000,0.033,3451,3302,2037,2139,1936,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9663,1.09,175.2,3451,3302,2138,1937,124.9,13.4,421,9668,0.00,0.68,0.00,0.000,260,0.000,0.047,3451,3764,2037,2138,1936,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9785,1.09,175.2,3451,3764,2138,1937,109.0,15.4,426,9792,0.00,0.65,0.00,0.000,1030,0.000,0.029,3455,3287,2037,2138,1937,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10089,1.28,237.9,3455,3287,2138,1937,75.4,7.0,442,10120,0.00,0.73,25.17,0.306,8452,0.000,0.047,3455,3763,1792,1886,1698,0,0,0,0,0,0,28.83,26.47,26.20
$GC,10151,1.47,301.7,3455,3763,1885,1698,70.7,6.9,445,10183,0.20,0.65,26.42,0.288,11270,0.041,0.028,3561,3286,1529,1615,1444,0,0,0,0,0,0,26.51,26.55,26.08
$GC,10490,1.47,301.7,2688,3284,1563,1436,8.4,16.1,484,10496,0.00,0.70,0.00,0.000,260,0.000,0.046,3561,3758,1529,1615,1443,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,10517,end climb,SURFACE_DEPTH_REACHED
$STATE,10517,begin surface coast
$FINISH,0.8,1.020759
$STATE,10529,end surface coast,CONTROL_FINISHED_OK
$STATE,10529,begin surface
$SM_CCo,10554,127.07,0.129,0,0,458,564.93
$SM_GC,1.77,8.70,2.47,127.07,0.031,0.021,0.129,133,2096,458,-9.11,1.89,564.93,0,0,0,0,0,0,26.46,26.50,26.06
$IRIDIUM_FIX,2124.90,12027.23,300613,151532
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.30
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.70
$XPDR_PINGS,1
$SC_FREEKB,7682016
$24V_AH,23.3,10.064
$10V_AH,10.3,6.792
$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,21.575,68.825,354.550,127.075,0.000,0.000,0.000,244.450,0.250,0.000,7.846,1757.870,6711.746,579.608,1650.874,401.844,0.000,1608.098,0.000,1363.302,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,49.725,1717.425,129.285,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10539.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.615,0.000,0.000,0.000
$MEM,324124
$DATA_FILE_SIZE,16753,491
$CAP_FILE_SIZE,123100,0
$CFSIZE,260034560,243662848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.051,320.0,1
$GPS,300613,220100,2128.754,12028.360,39,1.2,39,-3.0