version: 66.11
glider: 167
mission: 16
dive: 135
start: 7 8 113 5 58 6
data:
$ID,167
$MISSION,16
$DIVE,135
$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,280
$T_MISSION,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-975119.25
$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,3060
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,106
$R_STBD_OVSHOOT,63
$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,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,49
$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
$GPS1,080713,055059,2121.766,12058.893,40,1.0,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.7
$GPS2,080713,055736,2121.914,12058.998,7,1.0,7,-3.0
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,T5
$TGT_LATLONG,2112.000,12148.000
$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,150.2,86580,-16.1,-11.786,-18.84,3159
$D_GRID,1304
$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,-1.10,-243.3,134,2058,396,537,0.0,0.0,0,130,0.00,0.00,-102.22,0.000,16386,0.000,0.000,135,2059,2976,2951,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,139,-1.10,-243.3,134,2059,2951,3003,3.2,-4.1,18,171,10.30,1.92,-13.70,0.000,18948,0.244,0.042,2698,736,3754,3751,3758,0,0,0,0,0,0,26.00,26.34,26.60
$GC,216,-0.79,-243.3,2698,736,3752,3760,37.3,-51.5,28,224,0.43,1.92,0.00,0.000,3078,0.210,0.015,2798,2122,3755,3751,3760,0,0,0,0,0,0,26.10,26.42,28.83
$GC,524,-0.65,-243.3,2798,2122,3752,3760,138.4,-28.4,45,530,0.15,1.95,0.00,0.000,2308,0.178,0.026,2836,3481,3755,3752,3759,0,0,0,0,0,0,26.34,26.51,28.83
$GC,539,-0.51,-243.3,2836,3480,3752,3760,138.4,-28.4,45,545,0.20,1.90,0.00,0.000,3078,0.140,0.015,2894,2107,3756,3752,3760,0,0,0,0,0,0,26.37,26.56,28.83
$GC,855,-0.51,-243.3,2894,2106,3753,3760,181.4,-11.3,61,860,0.00,1.98,0.00,0.000,516,0.000,0.028,2894,721,3756,3753,3760,0,0,0,0,0,0,28.83,26.58,28.83
$GC,906,-0.52,-243.3,2894,720,3753,3760,185.3,-9.4,63,912,0.00,1.90,0.00,0.000,1030,0.000,0.016,2889,2095,3756,3753,3760,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1228,-0.54,-243.3,2889,2096,3752,3760,216.0,-9.1,79,1233,0.00,2.00,0.00,0.000,260,0.000,0.031,2888,3479,3756,3753,3760,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1278,-0.56,-243.3,1792,3477,3748,3758,220.9,-9.8,81,1283,0.00,1.90,0.00,0.000,1030,0.000,0.015,2888,2087,3756,3753,3759,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1599,-0.58,-243.3,2888,2087,3754,3759,258.4,-10.6,97,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2087,3756,3753,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,-0.63,-243.3,2887,2087,3753,3757,280.4,-7.4,112,1908,0.00,1.92,0.00,0.000,516,0.000,0.028,2888,728,3755,3753,3757,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1977,-0.67,-243.3,2888,728,3753,3756,285.0,-6.9,115,1983,0.12,1.92,0.00,0.000,5126,0.077,0.020,2805,2093,3754,3753,3756,0,0,0,0,0,0,26.65,26.68,28.83
$GC,2293,-0.64,-243.3,2805,2093,3753,3752,330.5,-15.3,131,2299,0.12,2.03,0.00,0.000,2308,0.159,0.031,2838,3492,3752,3753,3752,0,0,0,0,0,0,26.53,26.65,28.83
$GC,2354,-0.63,-243.3,2838,3492,3753,3752,335.8,-13.4,133,2360,0.00,1.92,0.00,0.000,1030,0.000,0.016,2838,2107,3752,3753,3751,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2659,-0.63,-243.3,2838,2105,3753,3748,369.7,-12.3,149,2664,0.00,1.95,0.00,0.000,516,0.000,0.028,2838,734,3750,3753,3748,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2707,-0.63,-243.3,1792,733,3748,3746,375.4,-12.9,151,2712,0.00,1.92,0.00,0.000,1030,0.000,0.018,2834,2104,3750,3753,3748,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3027,-0.63,-243.3,2834,2103,3753,3742,416.3,-13.2,167,3032,0.00,2.03,0.00,0.000,260,0.000,0.034,2834,3497,3747,3753,3742,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3083,-0.64,-243.3,2834,3497,3753,3741,422.3,-12.7,169,3088,0.00,1.95,0.00,0.000,1030,0.000,0.017,2834,2090,3747,3753,3741,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3398,-0.65,-243.3,2834,2089,3753,3736,467.0,-12.4,185,3404,0.00,1.95,-0.08,0.000,16900,0.000,0.044,2834,730,3774,3781,3767,0,0,0,0,0,0,28.83,26.67,26.41
$GC,3481,-0.66,-243.3,2834,731,3782,3767,475.9,-13.2,188,3488,0.00,1.95,0.00,0.000,1030,0.000,0.021,2834,2103,3773,3781,3766,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3785,-0.68,-243.3,2834,2103,3781,3762,509.2,-10.7,204,3790,0.00,2.05,0.00,0.000,260,0.000,0.035,2832,3499,3771,3781,3761,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3825,-0.70,-243.3,2831,3498,3781,3761,512.3,-11.1,205,3832,0.00,1.95,0.00,0.000,1030,0.000,0.017,2832,2093,3771,3781,3761,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4130,-0.71,-243.3,2832,2092,3781,3757,552.0,-12.9,221,4135,0.00,1.95,0.00,0.000,516,0.000,0.034,2832,735,3769,3781,3757,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4242,-0.73,-243.3,2832,734,3781,3755,566.4,-13.2,226,4248,0.00,1.95,0.00,0.000,1030,0.000,0.023,2831,2097,3767,3781,3754,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4553,-0.75,-243.3,2829,2098,3779,3751,605.0,-12.1,241,4559,0.00,2.05,0.00,0.000,260,0.000,0.037,2830,3490,3765,3780,3751,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4619,-0.79,-243.3,2830,3490,3779,3750,612.4,-11.7,243,4626,0.00,1.98,0.00,0.000,1030,0.000,0.018,2829,2090,3764,3779,3750,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4960,-0.81,-243.3,2829,2090,3779,3747,650.4,-10.5,254,4966,0.00,1.95,0.00,0.000,516,0.000,0.031,2830,735,3762,3779,3746,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5005,-0.84,-243.3,2830,734,3779,3746,654.6,-10.5,255,5012,0.12,1.95,0.00,0.000,5126,0.081,0.021,2762,2107,3762,3779,3746,0,0,0,0,0,0,26.65,26.68,28.83
$GC,5335,-0.80,-243.3,2762,2107,3778,3741,701.8,-14.0,266,5337,0.15,0.00,0.00,0.000,2054,0.155,0.000,2803,2107,3759,3778,3741,0,0,0,0,0,0,26.50,28.83,28.83
$GC,5632,-0.80,-243.3,2802,2107,3779,3738,727.1,-7.4,276,5638,0.00,2.03,0.00,0.000,516,0.000,0.030,2802,726,3758,3779,3738,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5713,-0.80,-243.3,2802,726,3778,3738,732.3,-7.8,278,5718,0.00,1.95,0.00,0.000,1030,0.000,0.020,2797,2098,3758,3779,3737,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6035,-0.80,-243.3,2797,2098,3777,3735,761.8,-9.2,289,6041,0.00,2.00,0.00,0.000,516,0.000,0.030,2797,738,3754,3775,3734,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6080,-0.80,-243.3,2797,737,3775,3735,765.3,-8.9,290,6087,0.00,1.98,0.00,0.000,1030,0.000,0.021,2793,2106,3755,3775,3735,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6410,-0.80,-243.3,2793,2106,3771,3733,792.8,-8.4,301,6415,0.00,2.00,0.00,0.000,516,0.000,0.030,2793,735,3752,3772,3733,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6439,-0.80,-243.3,2792,735,3772,3733,792.8,-8.4,301,6445,0.00,1.98,0.00,0.000,1030,0.000,0.021,2793,2111,3752,3772,3733,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6745,-0.80,-243.3,2792,2111,3770,3731,820.7,-7.9,312,6750,0.00,2.00,0.00,0.000,516,0.000,0.030,2793,737,3750,3770,3731,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6794,-0.80,-243.3,2792,736,3770,3730,823.9,-8.0,313,6799,0.00,1.95,0.00,0.000,1030,0.000,0.021,2793,2100,3750,3770,3731,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7117,-0.80,-243.3,2792,2099,3768,3729,849.9,-7.5,324,7123,0.00,2.00,0.00,0.000,516,0.000,0.039,2793,736,3749,3769,3729,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7157,-0.80,-243.3,2792,735,3768,3728,853.3,-7.9,325,7163,0.00,1.98,0.00,0.000,1030,0.000,0.022,2793,2100,3748,3768,3729,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7490,-0.80,-243.3,2792,2100,3767,3726,885.5,-10.9,336,7495,0.00,2.00,0.00,0.000,516,0.000,0.031,2793,732,3747,3767,3727,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7631,-0.81,-243.3,2792,732,3766,3726,901.3,-12.4,340,7636,0.00,1.98,0.00,0.000,1030,0.000,0.022,2793,2105,3746,3766,3726,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7954,-0.82,-243.3,2792,2104,3765,3723,945.9,-13.4,351,7959,0.00,2.03,0.00,0.000,516,0.000,0.031,2792,731,3744,3765,3723,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8023,-0.84,-243.3,2792,732,3764,3723,955.1,-13.4,353,8028,0.00,1.98,0.00,0.000,1030,0.000,0.022,2793,2102,3743,3764,3722,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,8289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8290,begin apogee
$GC,8298,-0.23,0.0,2792,2309,3762,3721,990.8,-13.6,362,8516,0.57,0.00,206.95,1.685,10246,0.120,0.000,2984,2308,2762,2837,2688,0,0,0,0,1,0,26.46,28.83,23.56
$STATE,8518,end apogee,CONTROL_FINISHED_OK
$STATE,8518,begin climb
$GC,8522,1.10,243.3,2984,2308,2836,2693,1008.1,0.0,369,8564,1.20,0.00,37.20,1.191,10498,0.050,0.000,3415,2308,2628,2700,2556,0,0,0,0,0,0,24.79,28.83,28.83
$STATE,8565,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,8578,539.45,1.594,31,0,459,564.93
$SM_GC,1.83,8.43,0.00,0.00,0.042,0.000,0.000,143,2309,435,-9.06,0.25,571.06,0,0,0,0,0,0,26.58,28.83,28.83
$IRIDIUM_FIX,2111.01,12053.86,080713,020220
$TT8_MAMPS,0.028462,0.028462
$HUMID,58.89
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,19.40
$XPDR_PINGS,22
$SC_FREEKB,7665216
$24V_AH,23.0,17.019
$10V_AH,10.4,10.709
$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,21.800,78.925,244.150,539.450,0.000,0.000,0.000,224.150,5.500,0.000,7.900,1416.566,9915.750,1072.416,1204.047,374.553,0.000,1962.084,0.000,948.703,0.000,0.541,0.000
$DEVICE_MAMPS,244.035,50.490,1685.295,1594.260,0.000,0.000,0.000,117.810,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8539.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.816,0.000,0.000,0.000
$MEM,322896
$DATA_FILE_SIZE,13438,371
$CAP_FILE_SIZE,120904,0
$CFSIZE,260034560,240087040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,32,2,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,080713,094559,2122.845,12102.494,42,1.1,42,-3.0