version: 66.11
glider: 167
mission: 16
dive: 70
start: 6 28 113 14 19 26
data:
$ID,167
$MISSION,16
$DIVE,70
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,235
$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,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,-974958.31
$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,60
$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
$GPS1,280613,140505,2148.765,12029.483,35,0.9,35,-3.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.0
$GPS2,280613,141900,2148.790,12029.608,46,1.1,46,-3.1
$SPEED_LIMITS,0.173,0.296
$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,185.5,90361,-15.7,-10.000,-18.68,2978
$D_GRID,764
$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,-1.16,-194.6,112,1905,455,588,0.0,0.0,0,128,0.00,0.00,-99.40,0.000,16386,0.000,0.000,113,1905,2954,2930,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-1.16,-194.6,112,1906,2930,2980,3.4,-5.3,18,163,10.10,2.12,-10.62,0.000,18692,0.235,0.039,2695,3334,3559,3554,3565,0,0,0,0,0,0,26.02,26.29,26.53
$GC,248,-1.16,-194.6,2694,3334,3555,3567,50.4,-40.7,31,253,0.00,2.05,0.00,0.000,1030,0.000,0.017,2695,1886,3561,3555,3567,0,0,0,0,0,0,28.83,26.37,28.83
$GC,563,-1.16,-194.6,2696,1885,3556,3567,150.9,-27.7,47,568,0.00,2.08,0.00,0.000,260,0.000,0.025,2684,3325,3562,3557,3567,0,0,0,0,0,0,28.83,26.49,28.83
$GC,717,-1.16,-194.6,2684,3324,3557,3567,188.4,-25.3,54,723,0.00,2.03,0.00,0.000,1030,0.000,0.017,2685,1889,3561,3557,3566,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1032,-1.16,-194.6,2683,1889,3557,3567,262.3,-23.7,70,1037,0.00,1.98,0.00,0.000,516,0.000,0.031,2685,517,3562,3557,3567,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1097,-1.16,-194.6,2684,517,3556,3567,278.3,-25.2,73,1103,0.12,2.00,0.00,0.000,3078,0.183,0.016,2705,1936,3561,3556,3567,0,0,0,0,0,0,26.46,26.63,28.83
$GC,1423,-1.16,-194.6,2705,1936,3556,3564,332.5,-14.8,89,1428,0.00,1.95,0.00,0.000,260,0.000,0.028,2697,3298,3560,3557,3564,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1564,-1.16,-194.6,2697,3298,3556,3563,352.2,-16.4,95,1572,0.00,1.98,0.00,0.000,1030,0.000,0.017,2697,1890,3559,3557,3562,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1870,-1.16,-194.6,2695,1888,3559,3554,418.5,-22.6,111,1876,0.00,2.05,0.00,0.000,260,0.000,0.029,2687,3299,3557,3559,3555,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1905,-1.16,-194.6,2686,3298,3559,3553,424.1,-22.4,112,1911,0.00,1.98,0.00,0.000,1030,0.000,0.018,2687,1896,3556,3559,3553,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2220,-1.16,-194.6,2686,1896,3559,3546,490.4,-19.0,128,2225,0.00,2.00,0.00,0.000,516,0.000,0.031,2687,510,3552,3559,3545,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2279,-1.16,-194.6,2686,510,3559,3545,498.8,-18.8,130,2286,0.12,1.98,0.00,0.000,3078,0.185,0.018,2709,1905,3552,3559,3546,0,0,0,0,0,0,26.54,26.72,28.83
$GC,2584,-1.16,-194.6,2709,1905,3560,3539,549.7,-14.3,146,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1905,3549,3559,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2888,-1.16,-194.6,2708,1905,3559,3533,600.0,-18.0,161,2893,0.00,2.03,0.00,0.000,260,0.000,0.033,2700,3290,3545,3559,3532,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3018,-1.16,-194.6,2700,3290,3559,3531,622.8,-17.7,166,3024,0.00,1.98,0.00,0.000,1030,0.000,0.018,2700,1892,3544,3559,3530,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3255,begin apogee
$GC,3265,-0.19,0.0,2695,3269,3559,3525,664.9,-17.5,174,3453,1.00,0.00,176.55,1.166,10246,0.147,0.000,3015,3269,2761,2828,2695,0,0,0,0,1,0,26.55,28.83,23.77
$STATE,3455,end apogee,CONTROL_FINISHED_OK
$STATE,3455,begin climb
$GC,3458,1.16,194.6,3015,3268,2829,2706,675.6,0.0,180,3639,1.20,0.75,165.32,1.494,10500,0.040,0.041,3465,3764,1967,2061,1874,0,0,0,0,1,0,24.94,24.57,23.68
$GC,3869,1.16,194.6,3465,3764,2061,1871,599.5,24.6,194,3874,0.00,0.65,0.00,0.000,1030,0.000,0.031,3469,3313,1966,2061,1871,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4188,1.16,194.6,3469,3313,2061,1867,518.0,28.5,210,4194,0.00,0.68,0.00,0.000,260,0.000,0.046,3469,3761,1964,2061,1867,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4425,1.16,194.6,3469,3761,2061,1864,452.5,29.6,221,4430,0.00,0.65,0.00,0.000,1030,0.000,0.031,3472,3300,1963,2061,1865,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4739,1.16,194.6,3472,3300,2061,1862,374.2,25.6,237,4744,0.00,0.70,0.00,0.000,260,0.000,0.048,3472,3764,1961,2061,1862,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4890,1.16,194.6,3472,3766,2061,1861,335.6,26.2,244,4895,0.00,0.65,0.00,0.000,1030,0.000,0.032,3476,3303,1961,2061,1861,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5210,1.16,194.6,3476,3303,2061,1858,256.9,22.5,260,5215,0.00,0.70,0.00,0.000,260,0.000,0.047,3476,3766,1960,2061,1859,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5243,1.16,194.6,3476,3765,2062,1859,251.0,23.0,261,5249,0.00,0.65,0.00,0.000,1030,0.000,0.032,3479,3298,1960,2061,1859,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5560,1.16,194.6,3479,3298,2061,1856,180.8,18.2,277,5565,0.00,2.03,0.00,0.000,516,0.000,0.024,3489,1888,1958,2061,1856,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5650,1.16,194.6,3489,1888,2061,1856,165.2,18.0,281,5655,0.00,2.10,0.00,0.000,1030,0.000,0.032,3489,3303,1958,2061,1855,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5970,1.16,194.6,3489,3303,2061,1854,97.4,17.7,297,5976,0.00,0.68,0.00,0.000,260,0.000,0.047,3489,3766,1957,2061,1854,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6207,1.16,194.6,3489,3766,2061,1853,70.7,10.4,308,6212,0.10,0.65,0.00,0.000,5126,0.184,0.031,3463,3289,1958,2062,1854,0,0,0,0,0,0,26.47,26.67,28.83
$GC,6522,1.17,196.1,3463,3288,2061,1853,37.4,10.0,329,6528,0.00,0.70,0.00,0.000,260,0.000,0.044,3461,3764,1957,2062,1853,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6616,1.50,306.6,3461,3764,2061,1853,30.6,6.2,337,6668,0.25,0.62,45.92,0.193,11270,0.041,0.029,3589,3294,1508,1592,1425,0,0,0,0,0,0,26.66,26.70,26.29
$STATE,6781,end climb,SURFACE_DEPTH_REACHED
$STATE,6781,begin surface coast
$FINISH,0.8,0.997163
$STATE,6794,end surface coast,CONTROL_FINISHED_OK
$STATE,6794,begin surface
$SM_CCo,6818,113.90,0.127,0,0,518,550.21
$SM_GC,1.73,8.80,2.03,113.90,0.036,0.018,0.127,137,1883,518,-9.15,2.04,550.21,0,0,0,0,0,0,26.50,26.58,26.15
$IRIDIUM_FIX,2141.13,12027.58,280613,141411
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.00
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.80
$XPDR_PINGS,3
$SC_FREEKB,7689312
$24V_AH,23.7,7.614
$10V_AH,10.4,5.533
$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,21.700,44.500,387.800,113.900,0.000,0.000,0.000,446.375,0.750,0.000,47.438,1291.595,4043.892,556.746,1569.304,309.627,0.000,1626.824,0.000,1053.374,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,48.195,1494.045,126.990,0.000,0.000,0.000,112.455,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6795.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.059,0.000,0.000,0.000
$MEM,324200
$DATA_FILE_SIZE,13445,365
$CAP_FILE_SIZE,93967,0
$CFSIZE,260034560,244953088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.135,299.1,1
$GPS,280613,161623,2148.153,12029.333,40,0.9,40,-3.1