version: 66.11
glider: 167
mission: 16
dive: 77
start: 6 29 113 7 54 34
data:
$ID,167
$MISSION,16
$DIVE,77
$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,-974967.19
$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,48
$R_STBD_OVSHOOT,43
$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
$GPS1,290613,074706,2142.943,12028.348,27,0.8,27,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.9
$GPS2,290613,075405,2142.996,12028.449,40,0.8,40,-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,191.1,79674,-15.7,-9.429,-18.82,2841
$D_GRID,662
$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,-175.2,141,1881,450,585,0.0,0.0,0,127,0.00,0.00,-99.05,0.000,16386,0.000,0.000,141,1882,2951,2929,2974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-1.11,-175.2,141,1881,2928,2974,3.4,-5.3,17,162,10.23,2.12,-9.27,0.000,18692,0.241,0.036,2710,3332,3479,3473,3485,0,0,0,0,0,0,26.02,26.28,26.53
$GC,302,-1.11,-175.2,1664,3331,3455,3483,63.9,-29.7,34,308,0.00,2.08,0.00,0.000,1030,0.000,0.018,2709,1873,3481,3475,3487,0,0,0,0,0,0,28.83,26.39,28.83
$GC,622,-1.11,-175.2,2709,1872,3479,3487,150.9,-27.8,50,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1872,3483,3479,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-1.11,-175.2,2709,1872,3480,3487,220.2,-20.8,65,930,0.00,2.10,0.00,0.000,260,0.000,0.028,2700,3320,3483,3480,3487,0,0,0,0,0,0,28.83,26.57,28.83
$GC,973,-1.11,-175.2,1664,3318,3461,3483,230.1,-21.2,67,978,0.00,2.00,0.00,0.000,1030,0.000,0.016,2699,1887,3484,3481,3487,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1293,-1.11,-175.2,2699,1887,3481,3487,297.6,-20.9,83,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1887,3484,3481,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1595,-1.11,-175.2,2699,1887,3480,3485,352.8,-17.9,98,1601,0.00,1.98,0.00,0.000,516,0.000,0.031,2699,518,3482,3480,3484,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1695,-1.11,-175.2,2699,518,3480,3482,371.9,-21.8,102,1702,0.15,1.98,0.00,0.000,3078,0.179,0.018,2728,1927,3481,3481,3482,0,0,0,0,0,0,26.51,26.68,28.83
$GC,2001,-1.11,-175.2,2728,1929,3483,3476,428.7,-15.7,118,2006,0.00,1.98,0.00,0.000,260,0.000,0.031,2719,3293,3479,3483,3475,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2238,-1.11,-175.2,2719,3294,3483,3472,466.1,-16.8,129,2243,0.00,1.95,0.00,0.000,1030,0.000,0.018,2719,1907,3477,3483,3472,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2553,-1.11,-175.2,2719,1907,3483,3466,523.1,-17.5,145,2558,0.00,2.03,0.00,0.000,260,0.000,0.031,2710,3291,3474,3482,3466,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2586,-1.11,-175.2,2710,3291,3483,3465,527.2,-17.1,146,2593,0.00,1.98,0.00,0.000,1030,0.000,0.018,2710,1887,3474,3483,3465,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2902,-1.11,-175.2,2710,1887,3483,3460,578.1,-14.5,162,2908,0.00,2.00,0.00,0.000,516,0.000,0.032,2710,510,3472,3484,3460,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2956,-1.11,-175.2,2710,510,3483,3459,585.1,-15.1,164,2961,0.00,1.98,0.00,0.000,1030,0.000,0.018,2701,1910,3470,3483,3458,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3294,-1.11,-175.2,2701,1910,3483,3453,637.9,-15.7,177,3299,0.00,2.00,0.00,0.000,260,0.000,0.033,2697,3285,3468,3483,3453,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3353,-1.11,-175.2,2696,3285,3483,3452,644.1,-16.1,178,3361,0.12,1.95,0.00,0.000,3078,0.180,0.018,2726,1896,3467,3483,3451,0,0,0,0,0,0,26.57,26.74,28.83
$STATE,3446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3446,begin apogee
$GC,3456,-0.19,0.0,2722,3272,3483,3450,663.4,-16.0,182,3605,0.93,0.00,139.45,0.984,10246,0.142,0.000,3019,3272,2757,2822,2693,0,0,0,0,0,0,26.56,28.83,24.37
$STATE,3607,end apogee,CONTROL_FINISHED_OK
$STATE,3607,begin climb
$GC,3611,1.11,175.2,3019,3272,2818,2679,671.3,0.0,187,3765,1.12,0.80,145.07,0.943,10500,0.044,0.044,3446,3764,2045,2137,1953,0,0,0,0,0,0,25.22,24.89,24.25
$GC,3996,1.11,175.2,3445,3765,2122,1916,595.2,26.2,200,4001,0.00,0.65,0.00,0.000,1030,0.000,0.031,3449,3316,2019,2122,1916,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4321,1.11,175.2,3448,3316,2122,1910,520.1,23.3,216,4326,0.00,2.10,0.00,0.000,516,0.000,0.025,3459,1882,2016,2122,1910,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4476,1.11,175.2,3458,1881,2123,1909,489.8,20.8,223,4482,0.00,2.15,0.00,0.000,1030,0.000,0.033,3459,3307,2015,2122,1909,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4792,1.11,175.2,3458,3307,2122,1906,412.2,22.6,239,4797,0.00,2.08,0.00,0.000,516,0.000,0.024,3468,1886,2014,2122,1906,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4831,1.11,175.2,3468,1886,2122,1905,407.3,21.2,240,4838,0.00,2.12,0.00,0.000,1030,0.000,0.034,3468,3303,2013,2122,1905,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5137,1.11,175.2,3468,3304,2122,1903,334.8,24.2,256,5143,0.00,2.10,0.00,0.000,516,0.000,0.024,3478,1874,2012,2122,1903,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5374,1.11,175.2,3478,1873,2122,1901,286.7,20.5,267,5380,0.15,2.12,0.00,0.000,5126,0.187,0.032,3443,3302,2011,2122,1901,0,0,0,0,0,0,26.39,26.55,28.83
$GC,5689,1.11,175.2,3442,3302,2117,1902,214.4,21.8,283,5694,0.00,0.68,0.00,0.000,260,0.000,0.046,3442,3764,2009,2115,1903,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5870,1.11,175.2,3442,3764,2115,1904,180.5,19.1,291,5877,0.00,0.65,0.00,0.000,1030,0.000,0.030,3444,3293,2008,2115,1902,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6176,1.11,175.2,3444,3293,2115,1900,125.8,13.8,307,6182,0.00,0.70,0.00,0.000,260,0.000,0.045,3445,3761,2007,2115,1900,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6412,1.11,175.2,3444,3761,2115,1900,83.0,18.0,318,6418,0.00,0.62,0.00,0.000,1030,0.000,0.030,3448,3299,2007,2115,1900,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6727,1.24,218.5,3448,3300,2115,1899,42.4,7.9,337,6750,0.10,0.73,17.15,0.197,11012,0.102,0.044,3504,3769,1870,1967,1774,0,0,0,0,0,0,26.67,26.57,26.36
$GC,6984,1.62,347.1,3505,3769,1967,1794,26.2,4.8,361,7046,0.22,0.65,54.28,0.181,11270,0.037,0.028,3617,3287,1343,1413,1274,0,0,0,0,0,0,26.63,26.66,26.24
$STATE,7109,end climb,SURFACE_DEPTH_REACHED
$STATE,7109,begin surface coast
$FINISH,0.9,1.020455
$STATE,7121,end surface coast,CONTROL_FINISHED_OK
$STATE,7121,begin surface
$SM_CCo,7145,95.20,0.129,0,0,517,550.21
$SM_GC,1.71,8.82,2.03,95.20,0.031,0.021,0.129,142,1917,517,-9.13,2.32,550.21,0,0,0,0,0,0,26.44,26.46,26.13
$IRIDIUM_FIX,2134.17,12026.40,290613,050551
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.38
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.90
$XPDR_PINGS,1
$SC_FREEKB,7686624
$24V_AH,24.2,8.408
$10V_AH,10.3,5.959
$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,21.850,50.375,355.950,95.200,0.000,0.000,0.000,219.350,0.250,0.000,41.997,1370.063,4085.313,517.817,1377.706,315.410,0.000,1366.459,0.000,1108.871,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,45.900,983.790,128.520,0.000,0.000,0.000,112.455,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7115.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.153,0.000,0.000,0.000
$MEM,324152
$DATA_FILE_SIZE,13452,384
$CAP_FILE_SIZE,95375,0
$CFSIZE,260034560,244510720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.198, 80.1,1
$GPS,290613,095636,2142.328,12029.099,36,1.0,36,-3.1