version: 66.11
glider: 167
mission: 16
dive: 83
start: 6 30 113 0 9 48
data:
$ID,167
$MISSION,16
$DIVE,83
$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,-974974.69
$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
$GPS1,300613,000234,2136.267,12028.161,41,1.8,45,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-71.6
$GPS2,300613,000921,2136.398,12028.155,6,1.4,6,-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,184.5,67484,-17.5,-10.645,-20.26,2520
$D_GRID,1411
$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,22,begin dive
$GC,25,-1.17,-175.2,111,1894,446,591,0.0,0.0,0,126,0.00,0.00,-97.62,0.000,16386,0.000,0.000,112,1894,2928,2907,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.17,-175.2,112,1893,2907,2951,3.3,-4.7,17,160,10.38,2.10,-9.73,0.000,18948,0.243,0.036,2698,478,3480,3474,3486,0,0,0,0,0,0,25.92,26.19,26.41
$GC,206,-1.17,-175.2,1616,477,3454,3485,31.8,-38.2,27,213,0.00,2.10,0.00,0.000,1030,0.000,0.015,2689,1953,3481,3475,3488,0,0,0,0,0,0,28.83,26.25,28.83
$GC,523,-1.17,-175.2,2689,1953,3479,3488,130.6,-26.9,46,528,0.00,1.98,0.00,0.000,260,0.000,0.028,2679,3323,3483,3479,3488,0,0,0,0,0,0,28.83,26.39,28.83
$GC,571,-1.17,-175.2,1640,3321,3460,3484,142.5,-27.0,48,576,0.00,2.05,0.00,0.000,1030,0.000,0.016,2679,1864,3483,3479,3488,0,0,0,0,0,0,28.83,26.44,28.83
$GC,891,-1.17,-175.2,2679,1863,3482,3488,225.6,-24.0,64,897,0.00,1.95,0.00,0.000,516,0.000,0.030,2679,513,3485,3482,3488,0,0,0,0,0,0,28.83,26.50,28.83
$GC,930,-1.17,-175.2,2678,513,3481,3488,232.3,-25.0,65,938,0.15,2.00,0.00,0.000,3078,0.191,0.016,2706,1936,3484,3482,3487,0,0,0,0,0,0,26.35,26.53,28.83
$GC,1236,-1.17,-175.2,2705,1936,3481,3488,299.4,-19.0,81,1241,0.00,1.95,0.00,0.000,260,0.000,0.028,2697,3293,3484,3481,3488,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1275,-1.17,-175.2,2697,3294,3481,3488,304.1,-19.1,82,1283,0.00,1.95,0.00,0.000,1030,0.000,0.016,2697,1898,3485,3482,3488,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1581,-1.17,-175.2,2698,1898,3481,3487,367.6,-20.6,98,1586,0.00,2.03,0.00,0.000,260,0.000,0.028,2687,3293,3483,3481,3486,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1625,-1.17,-175.2,2687,3293,3481,3486,376.8,-20.5,100,1631,0.00,1.98,0.00,0.000,1030,0.000,0.018,2687,1893,3483,3481,3486,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1951,-1.17,-175.2,2686,1891,3485,3478,441.2,-18.9,116,1956,0.00,2.03,0.00,0.000,260,0.000,0.029,2678,3287,3481,3485,3478,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2036,-1.17,-175.2,2678,3286,3484,3476,457.5,-19.2,120,2041,0.00,1.98,0.00,0.000,1030,0.000,0.018,2678,1893,3480,3485,3476,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2361,-1.17,-175.2,2677,1892,3485,3471,519.0,-17.8,136,2367,0.12,2.05,0.00,0.000,2308,0.188,0.028,2705,3294,3477,3484,3471,0,0,0,0,0,0,26.51,26.65,28.83
$GC,2599,-1.17,-175.2,2705,3294,3484,3467,554.7,-15.5,147,2604,0.00,1.98,0.00,0.000,1030,0.000,0.018,2705,1899,3475,3485,3466,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2934,-1.17,-175.2,2705,1899,3484,3461,611.7,-17.4,163,2939,0.00,2.03,0.00,0.000,260,0.000,0.031,2696,3281,3472,3484,3461,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3042,-1.17,-175.2,2696,3281,3484,3459,628.8,-18.2,166,3048,0.00,1.95,0.00,0.000,1030,0.000,0.018,2696,1900,3471,3484,3458,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3364,-1.17,-175.2,2696,1900,3485,3454,685.1,-16.7,177,3369,0.00,2.05,0.00,0.000,260,0.000,0.031,2687,3296,3468,3484,3452,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3403,-1.17,-175.2,2687,3296,3484,3453,691.3,-17.1,178,3409,0.00,1.98,0.00,0.000,1030,0.000,0.018,2687,1900,3469,3485,3453,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3736,-1.17,-175.2,2687,1899,3484,3448,750.0,-19.4,189,3741,0.00,2.03,0.00,0.000,516,0.000,0.033,2687,509,3466,3484,3448,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3765,-1.17,-175.2,2687,509,3484,3448,750.0,-19.4,189,3772,0.00,1.98,0.00,0.000,1030,0.000,0.020,2684,1891,3465,3484,3447,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4071,-1.17,-175.2,2683,1890,3484,3442,812.7,-17.7,200,4076,0.00,2.05,0.00,0.000,260,0.000,0.034,2684,3293,3463,3484,3442,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4091,-1.17,-175.2,2683,3293,3484,3441,812.7,-17.7,200,4096,0.00,1.98,0.00,0.000,1030,0.000,0.019,2684,1896,3463,3485,3441,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4413,-1.17,-175.2,2683,1895,3482,3439,871.6,-18.9,211,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1896,3460,3481,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4711,-1.17,-175.2,2683,1895,3480,3436,930.1,-20.2,221,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1895,3458,3480,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5011,-1.17,-175.2,2683,1895,3478,3434,980.9,-15.4,231,5016,0.00,2.08,0.00,0.000,260,0.000,0.034,2683,3293,3455,3477,3434,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5024,-1.17,-175.2,2684,3293,3477,3434,980.9,-15.4,231,5030,0.00,1.98,0.00,0.000,1030,0.000,0.020,2683,1898,3455,3477,3434,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5076,begin apogee
$GC,5086,-0.19,0.0,2683,3281,3477,3433,992.1,-14.8,233,5244,1.05,0.00,143.62,1.746,10246,0.145,0.000,3019,3281,2762,2826,2699,0,0,0,0,1,0,26.55,28.83,23.52
$STATE,5247,end apogee,CONTROL_FINISHED_OK
$STATE,5247,begin climb
$GC,5250,1.17,175.2,3019,3281,2826,2703,999.8,0.0,238,5421,1.20,0.00,157.18,1.712,11014,0.037,0.000,3471,3281,2046,2136,1957,0,0,0,0,1,0,24.85,28.83,23.27
$GC,5710,1.17,175.2,3471,3281,2136,1950,910.8,23.6,254,5715,0.00,2.08,0.00,0.000,516,0.000,0.026,3481,1908,2043,2136,1950,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5754,1.17,175.2,3481,1908,2135,1949,902.3,23.9,255,5760,0.00,2.15,0.00,0.000,1030,0.000,0.034,3481,3298,2042,2136,1949,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6083,1.17,175.2,3481,3298,2136,1946,818.8,23.5,266,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,3298,2041,2136,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6380,1.17,175.2,3481,3298,2136,1944,745.7,24.6,276,6385,0.00,2.08,0.00,0.000,516,0.000,0.026,3490,1910,2039,2136,1943,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6454,1.17,175.2,3490,1909,2136,1943,729.4,24.7,278,6459,0.00,2.12,0.00,0.000,1030,0.000,0.036,3490,3310,2039,2136,1943,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6782,1.17,175.2,3490,3310,2136,1941,639.5,26.7,289,6787,0.00,2.10,0.00,0.000,516,0.000,0.028,3500,1905,2038,2135,1941,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6856,1.17,175.2,3499,1905,2136,1941,621.9,26.2,291,6862,0.15,2.12,0.00,0.000,5126,0.203,0.035,3465,3314,2038,2136,1941,0,0,0,0,0,0,26.27,26.42,28.83
$GC,7182,1.17,175.2,3465,3314,2136,1939,539.8,24.9,306,7187,0.00,0.68,0.00,0.000,260,0.000,0.050,3465,3764,2037,2136,1939,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7210,1.17,175.2,3465,3764,2135,1939,533.7,24.4,307,7216,0.00,0.62,0.00,0.000,1030,0.000,0.034,3467,3320,2037,2136,1939,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7531,1.17,175.2,3467,3320,2135,1937,457.6,23.4,323,7537,0.00,2.08,0.00,0.000,516,0.000,0.026,3477,1890,2036,2136,1937,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7577,1.17,175.2,3477,1890,2135,1937,446.5,23.6,325,7583,0.00,2.12,0.00,0.000,1030,0.000,0.034,3477,3302,2035,2135,1936,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7903,1.17,175.2,3477,3302,2135,1936,367.0,23.5,341,7908,0.00,0.68,0.00,0.000,260,0.000,0.048,3477,3760,2035,2134,1936,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8140,1.17,175.2,3477,3760,2135,1936,313.9,23.3,352,8145,0.00,0.65,0.00,0.000,1030,0.000,0.032,3480,3299,2036,2136,1936,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8454,1.17,175.2,3481,3299,2135,1935,240.8,22.8,368,8460,0.00,0.70,0.00,0.000,260,0.000,0.047,3480,3761,2035,2136,1935,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8483,1.17,175.2,3480,3761,2136,1935,235.3,22.5,369,8488,0.00,0.65,0.00,0.000,1030,0.000,0.032,3484,3297,2035,2135,1935,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8803,1.17,175.2,3483,3296,2136,1935,167.0,19.0,385,8808,0.00,0.70,0.00,0.000,260,0.000,0.047,3484,3760,2035,2136,1934,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8939,1.17,175.2,3483,3759,2135,1934,142.8,18.6,391,8944,0.00,0.65,0.00,0.000,1030,0.000,0.031,3487,3292,2035,2136,1935,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9253,1.17,175.2,3487,3292,2135,1934,88.2,16.5,407,9260,0.00,0.70,0.00,0.000,260,0.000,0.046,3487,3759,2034,2136,1933,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9333,1.17,175.2,3487,3759,2136,1934,77.5,15.8,410,9340,0.00,0.62,0.00,0.000,1030,0.000,0.029,3490,3294,2034,2135,1934,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9639,1.87,407.7,3490,3294,2135,1934,50.5,1.2,426,9743,0.47,0.75,93.97,0.241,10500,0.045,0.042,3702,3775,1095,1114,1077,0,0,0,0,0,0,26.65,26.19,25.98
$STATE,9844,end climb,SURFACE_DEPTH_REACHED
$STATE,9844,begin surface coast
$FINISH,0.9,1.020859
$STATE,9849,end surface coast,CONTROL_FINISHED_OK
$STATE,9849,begin surface
$SM_CCo,9875,71.72,0.132,0,0,517,550.21
$SM_GC,1.65,9.10,2.80,71.72,0.030,0.021,0.132,138,1915,517,-9.14,2.23,550.21,0,0,0,0,0,0,26.28,26.30,26.01
$IRIDIUM_FIX,2131.85,12026.40,290613,212142
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.59
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,7684320
$24V_AH,23.3,9.213
$10V_AH,10.2,6.351
$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,22.625,77.350,394.775,71.725,0.000,0.000,0.000,234.375,0.000,0.000,7.916,1513.895,6459.938,581.960,1417.702,382.638,0.000,1506.777,0.000,1155.913,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,49.725,1745.730,132.345,0.000,0.000,0.000,115.515,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9855.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.520,0.000,0.000,0.000
$MEM,324136
$DATA_FILE_SIZE,16836,452
$CAP_FILE_SIZE,115170,0
$CFSIZE,260034560,244088832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.042,126.1,1
$GPS,300613,025659,2135.120,12028.339,37,1.0,37,-3.0