version: 66.11
glider: 167
mission: 16
dive: 74
start: 6 29 113 0 48 34
data:
$ID,167
$MISSION,16
$DIVE,74
$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,350
$T_MISSION,370
$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,-974963.44
$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,58
$R_STBD_OVSHOOT,40
$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
$GPS1,290613,004131,2145.322,12029.144,44,1.2,44,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-74.0
$GPS2,290613,004805,2145.245,12029.182,8,0.9,8,-3.1
$SPEED_LIMITS,0.163,0.277
$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,187.9,83805,-15.7,-9.429,-18.82,2841
$D_GRID,872
$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,21,begin dive
$GC,25,-1.11,-175.2,111,1893,446,582,0.0,0.0,0,130,0.00,0.00,-101.88,0.000,16386,0.000,0.000,111,1894,3037,3015,3059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.11,-175.2,111,1893,3014,3061,3.8,-6.4,18,164,10.32,2.12,-7.53,0.000,18692,0.239,0.037,2711,3344,3481,3473,3489,0,0,0,0,0,0,25.95,26.22,26.46
$GC,396,-1.11,-175.2,2711,3344,3478,3490,84.1,-23.1,39,403,0.00,2.08,0.00,0.000,1030,0.000,0.018,2711,1892,3483,3478,3489,0,0,0,0,0,0,28.83,26.39,28.83
$GC,702,-1.11,-175.2,2711,1893,3480,3489,163.4,-26.8,55,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1892,3485,3480,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1004,-1.11,-175.2,2711,1891,3480,3490,226.1,-20.0,70,1010,0.00,2.08,0.00,0.000,260,0.000,0.027,2701,3323,3484,3480,3489,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1069,-1.11,-175.2,2701,3324,3481,3490,240.4,-21.5,73,1075,0.00,2.03,0.00,0.000,1030,0.000,0.016,2701,1886,3484,3480,3489,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1395,-1.11,-175.2,2701,1886,3480,3490,320.3,-21.7,89,1400,0.00,1.98,0.00,0.000,516,0.000,0.029,2701,515,3485,3480,3490,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1420,-1.11,-175.2,2701,514,3480,3489,325.5,-20.6,90,1426,0.12,2.00,0.00,0.000,3078,0.190,0.017,2722,1929,3484,3480,3489,0,0,0,0,0,0,26.46,26.63,28.83
$GC,1746,-1.11,-175.2,2722,1928,3481,3487,381.2,-17.4,106,1752,0.00,1.98,0.00,0.000,260,0.000,0.031,2714,3296,3483,3480,3487,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1820,-1.11,-175.2,2714,3296,3480,3487,392.1,-16.9,109,1826,0.00,1.98,0.00,0.000,1030,0.000,0.017,2714,1895,3483,3481,3486,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2135,-1.11,-175.2,2712,1894,3485,3478,449.8,-17.3,125,2140,0.00,2.00,0.00,0.000,516,0.000,0.031,2712,514,3481,3485,3478,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2164,-1.11,-175.2,2712,515,3485,3478,454.1,-17.2,126,2170,0.00,1.95,0.00,0.000,1030,0.000,0.018,2705,1900,3481,3485,3477,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2484,-1.11,-175.2,2705,1900,3485,3473,510.1,-17.7,142,2489,0.00,2.03,0.00,0.000,260,0.000,0.031,2696,3294,3479,3485,3473,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2518,-1.11,-175.2,2696,3294,3485,3473,514.3,-17.6,143,2525,0.12,1.98,0.00,0.000,3078,0.179,0.018,2725,1887,3478,3485,3472,0,0,0,0,0,0,26.53,26.70,28.83
$GC,2834,-1.11,-175.2,2726,1886,3485,3467,567.4,-15.5,159,2840,0.00,1.98,0.00,0.000,516,0.000,0.033,2726,525,3475,3485,3466,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2874,-1.11,-175.2,2726,524,3485,3466,571.4,-15.5,160,2881,0.00,1.95,0.00,0.000,1030,0.000,0.018,2719,1899,3474,3484,3465,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3192,-1.11,-175.2,2719,1899,3487,3461,625.9,-17.2,174,3197,0.00,2.03,0.00,0.000,260,0.000,0.033,2710,3288,3472,3485,3460,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3296,-1.11,-175.2,2710,3288,3485,3458,642.9,-17.4,177,3301,0.00,1.95,0.00,0.000,1030,0.000,0.019,2710,1905,3471,3485,3458,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3624,-1.11,-175.2,2710,1905,3485,3454,697.1,-15.8,188,3630,0.00,2.03,0.00,0.000,260,0.000,0.031,2701,3285,3469,3485,3453,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3694,-1.11,-175.2,2701,3285,3485,3453,708.0,-15.8,190,3699,0.00,1.98,0.00,0.000,1030,0.000,0.020,2701,1892,3468,3485,3452,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4028,-1.11,-175.2,2701,1893,3485,3448,759.3,-14.5,201,4034,0.00,2.05,0.00,0.000,260,0.000,0.033,2697,3282,3466,3485,3448,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4097,-1.11,-175.2,1664,3281,3466,3443,768.5,-13.6,203,4103,0.12,1.98,0.00,0.000,3078,0.178,0.019,2727,1884,3466,3485,3447,0,0,0,0,0,0,26.56,26.73,28.83
$GC,4428,-1.11,-175.2,2726,1884,3485,3442,810.4,-13.3,214,4434,0.00,2.10,0.00,0.000,260,0.000,0.034,2724,3293,3464,3485,3443,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4497,-1.11,-175.2,1696,3291,3466,3437,821.0,-14.7,216,4503,0.00,1.98,0.00,0.000,1030,0.000,0.021,2724,1911,3463,3485,3441,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4830,-1.11,-175.2,2723,1911,3485,3437,870.8,-15.7,227,4836,0.00,2.08,0.00,0.000,516,0.000,0.033,2724,502,3461,3485,3437,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,4862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4862,begin apogee
$GC,4874,-0.19,0.0,2718,3272,3485,3436,876.2,-14.8,228,5036,0.93,0.00,149.70,1.124,10246,0.144,0.000,3015,3273,2752,2819,2686,0,0,0,0,0,0,26.56,28.83,24.14
$STATE,5038,end apogee,CONTROL_FINISHED_OK
$STATE,5038,begin climb
$GC,5041,1.11,175.2,3015,3272,2819,2677,883.3,0.0,233,5207,1.15,0.75,158.12,1.066,10500,0.043,0.042,3446,3766,2041,2133,1949,0,0,0,0,0,0,25.10,24.69,24.03
$GC,5437,1.11,175.2,3446,3766,2120,1918,808.1,26.5,246,5445,0.00,0.68,0.00,0.000,1030,0.000,0.031,3450,3306,2019,2121,1917,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5744,1.11,175.2,3449,3306,2120,1913,725.1,24.9,257,5749,0.00,0.73,0.00,0.000,260,0.000,0.048,3450,3772,2017,2121,1913,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5980,1.11,175.2,3450,3773,2120,1910,669.3,26.6,264,5985,0.00,0.68,0.00,0.000,1030,0.000,0.032,3454,3300,2015,2120,1910,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6298,1.11,175.2,3453,3300,2120,1908,580.8,26.1,276,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,3300,2014,2121,1907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6598,1.11,175.2,3453,3300,2120,1905,506.0,25.0,291,6603,0.00,2.05,0.00,0.000,516,0.000,0.025,3463,1893,2013,2121,1906,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6726,1.11,175.2,3463,1893,2120,1904,473.7,25.2,297,6731,0.00,2.12,0.00,0.000,1030,0.000,0.034,3463,3308,2012,2120,1904,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7051,1.11,175.2,3463,3308,2120,1903,389.9,24.0,313,7057,0.00,0.68,0.00,0.000,260,0.000,0.049,3463,3763,2011,2119,1904,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7252,1.11,175.2,3462,3763,2114,1905,342.5,26.2,322,7258,0.00,0.65,0.00,0.000,1030,0.000,0.033,3466,3300,2009,2114,1904,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7558,1.11,175.2,3466,3300,2114,1904,260.4,23.2,338,7563,0.00,2.05,0.00,0.000,516,0.000,0.026,3476,1872,2009,2114,1904,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7739,1.11,175.2,3476,1872,2114,1904,224.4,22.0,346,7746,0.12,2.15,0.00,0.000,5126,0.187,0.033,3447,3315,2009,2114,1904,0,0,0,0,0,0,26.42,26.58,28.83
$GC,8045,1.11,175.2,3447,3314,2114,1903,155.2,20.9,362,8050,0.00,2.08,0.00,0.000,516,0.000,0.023,3455,1887,2008,2114,1902,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8216,1.11,175.2,3455,1886,2114,1903,124.8,18.0,370,8221,0.00,2.10,0.00,0.000,1030,0.000,0.032,3456,3303,2008,2114,1903,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8536,1.11,175.2,3455,3303,2114,1903,76.0,13.5,386,8541,0.00,2.05,0.00,0.000,516,0.000,0.021,3465,1877,2008,2114,1903,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8758,1.26,225.8,3465,1877,2113,1902,50.4,7.6,396,8786,0.00,2.10,19.52,0.224,9222,0.000,0.032,3465,3296,1840,1936,1744,0,0,0,0,0,0,28.83,26.63,26.30
$GC,9088,1.26,225.8,3465,3296,1936,1765,25.2,13.2,429,9093,0.00,2.03,0.00,0.000,516,0.000,0.020,3475,1869,1850,1936,1765,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9327,1.26,225.8,3475,1869,1936,1765,5.1,11.1,474,9334,0.00,2.12,0.00,0.000,1030,0.000,0.031,3475,3312,1850,1936,1765,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,9339,end climb,SURFACE_DEPTH_REACHED
$STATE,9339,begin surface coast
$FINISH,0.9,1.007749
$STATE,9361,end surface coast,CONTROL_FINISHED_OK
$STATE,9361,begin surface
$SM_CCo,9385,148.07,0.127,0,0,518,550.21
$SM_GC,1.65,8.43,2.10,148.07,0.033,0.019,0.127,139,1885,518,-9.12,1.50,550.21,0,0,0,0,0,0,26.60,26.64,26.13
$IRIDIUM_FIX,2138.81,12027.58,280613,212135
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,7687776
$24V_AH,24.0,8.109
$10V_AH,10.3,5.797
$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,21.325,77.575,327.350,148.075,0.000,0.000,0.000,219.300,0.000,0.000,9.201,1722.678,5645.351,582.040,1602.081,379.964,0.000,1562.797,0.000,1351.481,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,48.960,1123.785,126.990,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9370.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.996,0.000,0.000,0.000
$MEM,324148
$DATA_FILE_SIZE,16745,480
$CAP_FILE_SIZE,118108,0
$CFSIZE,260034560,244670464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.098,325.8,1
$GPS,290613,032853,2144.457,12028.673,39,2.0,39,-3.1