version: 66.11
glider: 167
mission: 16
dive: 49
start: 6 27 113 7 58 57
data:
$ID,167
$MISSION,16
$DIVE,49
$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,330
$T_MISSION,350
$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,200
$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,554.9259
$N_FILEKB,4
$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,-974756.88
$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,55
$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
$GPS1,270613,075130,2155.669,12023.412,44,0.9,44,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.8
$GPS2,270613,075829,2155.600,12023.431,8,0.8,8,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T2
$TGT_LATLONG,2154.000,12025.000
$TGT_RADIUS,3000.000
$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,141.8,4006,-27.8,-10.000,-30.00,969
$D_GRID,1026
$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,-1.22,-63.1,110,1903,421,566,0.0,0.0,0,109,0.00,0.00,-80.75,0.000,16386,0.000,0.000,110,1903,2461,2441,2481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-1.39,-121.1,110,1903,2442,2482,3.1,-3.8,14,146,10.02,2.17,-15.60,0.000,18692,0.241,0.046,2619,3318,3259,3253,3265,0,0,0,0,0,0,25.91,26.15,26.39
$GC,174,-1.39,-121.1,2619,3319,3253,3267,25.6,-49.1,23,180,0.00,2.10,0.00,0.000,1030,0.000,0.020,2619,1893,3260,3253,3267,0,0,0,0,0,0,28.83,26.19,28.83
$GC,490,-1.39,-121.1,2619,1893,3252,3271,129.8,-30.4,42,495,0.00,2.05,0.00,0.000,516,0.000,0.032,2619,488,3262,3254,3271,0,0,0,0,0,0,28.83,26.36,28.83
$GC,689,-1.39,-121.1,2619,487,3256,3271,181.8,-26.8,51,696,0.00,2.05,0.00,0.000,1030,0.000,0.018,2609,1931,3263,3255,3272,0,0,0,0,0,0,28.83,26.46,28.83
$GC,995,-1.39,-121.1,2608,1932,3257,3272,254.1,-20.5,67,1000,0.00,1.98,0.00,0.000,260,0.000,0.031,2598,3298,3264,3257,3272,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1233,-1.39,-121.1,2598,3298,3257,3272,301.9,-20.0,78,1239,0.15,2.00,0.00,0.000,3078,0.202,0.018,2633,1890,3264,3257,3272,0,0,0,0,0,0,26.39,26.58,28.83
$GC,1549,-1.39,-121.1,2632,1890,3256,3271,366.1,-21.3,94,1555,0.00,2.08,0.00,0.000,260,0.000,0.030,2625,3301,3263,3256,3270,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1736,-1.39,-121.1,2623,3303,3259,3265,410.2,-22.6,103,1743,0.00,2.00,0.00,0.000,1030,0.000,0.018,2623,1901,3262,3259,3265,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2062,-1.39,-121.1,2623,1901,3259,3261,478.9,-20.1,119,2067,0.00,2.03,0.00,0.000,516,0.000,0.033,2623,504,3259,3259,3260,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2087,-1.39,-121.1,2623,504,3259,3260,484.0,-20.1,120,2092,0.00,2.00,0.00,0.000,1030,0.000,0.021,2615,1898,3259,3259,3260,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2412,-1.39,-121.1,2615,1898,3259,3255,539.1,-15.7,136,2417,0.00,2.05,0.00,0.000,260,0.000,0.033,2604,3307,3257,3259,3255,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2567,-1.39,-121.1,2604,3307,3259,3252,562.8,-15.9,143,2574,0.12,2.00,0.00,0.000,3078,0.204,0.018,2631,1897,3255,3259,3252,0,0,0,0,0,0,26.51,26.69,28.83
$GC,2894,-1.39,-121.1,2631,1897,3258,3247,618.7,-18.1,158,2900,0.00,2.08,0.00,0.000,260,0.000,0.032,2624,3307,3253,3259,3247,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3016,-1.39,-121.1,2623,3306,3258,3244,636.7,-18.6,161,3023,0.00,2.00,0.00,0.000,1030,0.000,0.019,2624,1903,3251,3259,3244,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3319,-1.39,-121.1,2623,1902,3259,3241,700.8,-18.7,172,3325,0.00,2.03,0.00,0.000,516,0.000,0.034,2624,509,3249,3259,3240,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3408,-1.39,-121.1,2623,509,3259,3239,713.1,-18.9,174,3415,0.00,2.00,0.00,0.000,1030,0.000,0.021,2614,1901,3249,3259,3239,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3714,-1.39,-121.1,2614,1901,3259,3234,774.8,-18.9,185,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1901,3246,3259,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4014,-1.39,-121.1,2614,1901,3259,3230,829.1,-18.5,195,4020,0.00,2.05,0.00,0.000,260,0.000,0.035,2605,3299,3244,3259,3229,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4074,-1.39,-121.1,2605,3299,3258,3229,835.9,-18.8,196,4081,0.12,2.00,0.00,0.000,3078,0.207,0.020,2632,1892,3244,3259,3229,0,0,0,0,0,0,26.55,26.72,28.83
$GC,4382,-1.39,-121.1,2633,1892,3259,3225,895.1,-17.9,207,4387,0.00,2.08,0.00,0.000,260,0.000,0.034,2626,3293,3241,3258,3224,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4562,-1.39,-121.1,2626,3293,3258,3222,923.6,-17.9,212,4569,0.00,2.00,0.00,0.000,1030,0.000,0.021,2625,1895,3240,3259,3222,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4868,-1.39,-121.1,2625,1895,3257,3219,985.6,-18.7,223,4874,0.00,2.03,0.00,0.000,516,0.000,0.035,2626,509,3238,3258,3219,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,4900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4900,begin apogee
$GC,4913,-0.19,0.0,2611,3283,3257,3219,990.8,-17.5,224,5026,1.35,0.00,106.28,1.203,10246,0.177,0.000,3018,3283,2756,2812,2700,0,0,0,0,0,0,26.55,28.83,24.13
$STATE,5031,end apogee,CONTROL_FINISHED_OK
$STATE,5031,begin climb
$GC,5035,1.39,121.1,3018,3283,2809,2689,988.0,0.0,228,5160,1.40,0.80,112.03,1.153,10500,0.041,0.049,3546,3763,2256,2326,2186,0,0,0,0,0,0,25.08,24.64,23.95
$GC,5392,1.39,121.1,3546,3763,2320,2161,890.2,27.5,240,5397,0.00,0.68,0.00,0.000,1030,0.000,0.032,3549,3310,2240,2320,2160,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5731,1.39,121.1,3549,3311,2320,2153,800.4,27.5,251,5736,0.00,0.70,0.00,0.000,260,0.000,0.049,3550,3762,2237,2321,2153,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5805,1.39,121.1,3549,3762,2320,2153,780.1,28.9,253,5810,0.00,0.68,0.00,0.000,1030,0.000,0.032,3553,3295,2237,2321,2153,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6133,1.39,121.1,3553,3295,2321,2149,684.5,27.3,264,6138,0.00,2.10,0.00,0.000,516,0.000,0.026,3562,1884,2235,2321,2149,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6368,1.39,121.1,3562,1883,2320,2146,631.2,23.5,271,6373,0.00,2.15,0.00,0.000,1030,0.000,0.035,3563,3305,2233,2321,2146,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6686,1.39,121.1,3562,3305,2321,2143,551.8,24.1,285,6691,0.00,0.68,0.00,0.000,260,0.000,0.048,3563,3763,2232,2321,2144,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6921,1.39,121.1,3562,3763,2314,2144,491.7,26.0,296,6928,0.10,0.68,0.00,0.000,5126,0.220,0.032,3539,3285,2229,2314,2144,0,0,0,0,0,0,26.32,26.54,28.83
$GC,7238,1.39,121.1,3539,3284,2314,2143,409.2,24.7,312,7243,0.00,0.73,0.00,0.000,260,0.000,0.047,3539,3763,2228,2314,2143,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7475,1.39,121.1,3539,3763,2314,2144,355.7,22.4,323,7480,0.00,0.65,0.00,0.000,1030,0.000,0.031,3542,3299,2228,2314,2143,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7789,1.39,121.1,3541,3299,2313,2142,293.8,16.6,339,7796,0.00,2.05,0.00,0.000,516,0.000,0.025,3552,1888,2228,2314,2142,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8026,1.39,121.1,3551,1887,2314,2141,252.0,18.9,350,8031,0.00,2.12,0.00,0.000,1030,0.000,0.033,3550,3314,2227,2314,2141,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8341,1.39,121.1,3552,3314,2314,2139,190.6,20.0,366,8346,0.00,0.65,0.00,0.000,260,0.000,0.049,3552,3758,2227,2314,2140,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8578,1.39,121.1,3551,3759,2314,2141,150.3,17.0,377,8584,0.00,0.65,0.00,0.000,1030,0.000,0.030,3555,3283,2226,2313,2140,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8893,1.39,121.1,3554,3283,2314,2140,108.7,12.1,393,8898,0.00,0.73,0.00,0.000,260,0.000,0.047,3556,3764,2227,2314,2140,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9128,1.40,121.5,3555,3764,2314,2140,85.4,10.0,404,9134,0.00,0.62,0.00,0.000,1030,0.000,0.029,3559,3296,2226,2313,2140,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9445,1.56,177.8,3558,3296,2314,2140,78.7,4.0,420,9473,0.00,2.00,21.92,0.281,8708,0.000,0.020,3569,1902,2035,2121,1949,0,0,0,0,0,0,28.83,26.55,26.25
$GC,9497,1.69,219.2,3569,1902,2121,1960,75.8,5.6,422,9522,0.17,2.08,17.95,0.294,11270,0.074,0.031,3639,3302,1867,1953,1782,0,0,0,0,0,0,26.51,26.53,26.16
$GC,9832,1.91,291.7,3638,3302,1953,1794,30.1,2.3,447,9869,0.12,0.68,30.83,0.198,10500,0.087,0.041,3703,3768,1572,1653,1492,0,0,0,0,0,0,26.54,26.38,26.20
$GC,9967,1.91,291.7,3703,3769,1654,1505,13.7,21.1,465,9973,0.00,0.62,0.00,0.000,1030,0.000,0.026,3707,3290,1579,1653,1505,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,10014,end climb,SURFACE_DEPTH_REACHED
$STATE,10014,begin surface coast
$FINISH,1.0,1.020680
$STATE,10029,end surface coast,CONTROL_FINISHED_OK
$STATE,10029,begin surface
$SM_CCo,10053,124.35,0.131,0,0,497,555.11
$SM_GC,1.71,9.02,2.03,124.35,0.030,0.024,0.131,145,1927,497,-9.12,2.52,555.11,0,0,0,0,0,0,26.43,26.44,26.04
$IRIDIUM_FIX,2150.42,12014.38,270613,050501
$TT8_MAMPS,0.025466,0.025466
$HUMID,51.02
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,7697376
$24V_AH,24.0,5.856
$10V_AH,10.3,4.682
$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,22.600,71.050,289.000,124.350,0.000,0.000,0.000,243.875,0.000,0.000,9.246,1916.839,5971.423,526.774,1789.655,394.347,0.000,1591.316,0.000,1524.637,0.000,0.542,0.000
$DEVICE_MAMPS,240.975,48.960,1203.345,130.815,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10027.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.800,0.000,0.000,0.000
$MEM,324352
$DATA_FILE_SIZE,16769,476
$CAP_FILE_SIZE,125986,0
$CFSIZE,260034560,245825536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.092,105.0,1
$GPS,270613,105000,2155.118,12024.344,40,1.0,40,-3.1