version: 66.11
glider: 167
mission: 16
dive: 75
start: 6 29 113 3 36 44
data:
$ID,167
$MISSION,16
$DIVE,75
$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,-974964.69
$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,64
$R_STBD_OVSHOOT,42
$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
$GPS1,290613,032853,2144.457,12028.673,39,2.0,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.6
$GPS2,290613,033615,2144.408,12028.562,10,1.4,10,-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,170.3,82281,-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,22,begin dive
$GC,25,-1.11,-175.2,123,1880,456,584,0.0,0.0,0,129,0.00,0.00,-101.05,0.000,16386,0.000,0.000,122,1880,3017,2995,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.11,-175.2,122,1880,2995,3041,3.5,-5.5,18,164,10.25,2.17,-7.97,0.000,18692,0.238,0.047,2710,3325,3480,3472,3488,0,0,0,0,0,0,25.94,26.20,26.44
$GC,394,-1.11,-175.2,2710,3326,3474,3490,96.6,-34.6,38,401,0.00,2.03,0.00,0.000,1030,0.000,0.016,2709,1884,3482,3474,3490,0,0,0,0,0,0,28.83,26.39,28.83
$GC,701,-1.11,-175.2,2709,1884,3477,3490,181.2,-24.5,54,706,0.00,2.08,0.00,0.000,260,0.000,0.025,2700,3323,3483,3477,3490,0,0,0,0,0,0,28.83,26.48,28.83
$GC,931,-1.11,-175.2,2699,3323,3477,3490,226.6,-20.1,65,937,0.00,2.00,0.00,0.000,1030,0.000,0.016,2699,1896,3484,3478,3490,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1252,-1.11,-175.2,2699,1896,3478,3490,288.9,-18.8,81,1257,0.00,1.98,0.00,0.000,516,0.000,0.029,2700,522,3484,3478,3490,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1301,-1.11,-175.2,2699,521,3478,3490,298.6,-20.5,83,1307,0.15,1.98,0.00,0.000,3078,0.181,0.017,2727,1930,3483,3477,3490,0,0,0,0,0,0,26.45,26.63,28.83
$GC,1621,-1.11,-175.2,2727,1930,3477,3486,362.4,-17.1,99,1627,0.00,2.05,0.00,0.000,516,0.000,0.029,2728,523,3482,3478,3486,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1660,-1.11,-175.2,2727,523,3478,3486,366.7,-17.0,100,1668,0.00,1.95,0.00,0.000,1030,0.000,0.018,2720,1910,3481,3477,3485,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1966,-1.11,-175.2,2720,1910,3477,3480,417.9,-16.2,116,1972,0.00,2.00,0.00,0.000,260,0.000,0.031,2710,3294,3478,3476,3480,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2194,-1.11,-175.2,2708,3296,3480,3475,456.8,-16.5,127,2200,0.00,1.98,0.00,0.000,1030,0.000,0.018,2708,1900,3477,3480,3474,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2519,-1.11,-175.2,2709,1900,3479,3469,512.3,-17.1,143,2525,0.00,2.00,0.00,0.000,516,0.000,0.032,2708,519,3474,3480,3468,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2574,-1.11,-175.2,2708,519,3480,3468,520.2,-17.6,145,2579,0.00,1.95,0.00,0.000,1030,0.000,0.018,2700,1902,3472,3478,3467,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2888,-1.11,-175.2,2700,1902,3480,3462,573.5,-16.1,161,2893,0.00,2.03,0.00,0.000,516,0.000,0.030,2700,515,3470,3479,3462,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2953,-1.11,-175.2,2700,515,3479,3461,583.4,-15.3,164,2959,0.12,1.98,0.00,0.000,3078,0.187,0.020,2727,1893,3470,3480,3460,0,0,0,0,0,0,26.55,26.70,28.83
$GC,3279,-1.11,-175.2,2726,1893,3480,3455,622.1,-11.9,177,3284,0.00,2.05,0.00,0.000,260,0.000,0.032,2718,3300,3467,3480,3455,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3392,-1.11,-175.2,2718,3300,3479,3453,633.8,-12.3,180,3398,0.00,1.98,0.00,0.000,1030,0.000,0.018,2718,1895,3465,3479,3452,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,3585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3585,begin apogee
$GC,3595,-0.19,0.0,2710,3290,3480,3449,664.5,-14.8,187,3747,0.95,0.00,141.32,0.978,10246,0.145,0.000,3015,3289,2753,2819,2687,0,0,0,0,0,0,26.55,28.83,24.34
$STATE,3750,end apogee,CONTROL_FINISHED_OK
$STATE,3750,begin climb
$GC,3753,1.11,175.2,3015,3289,2816,2678,670.4,0.0,192,3909,1.15,0.77,146.00,0.945,10500,0.047,0.045,3443,3764,2043,2137,1950,0,0,0,0,0,0,25.19,24.83,24.20
$GC,3958,1.11,175.2,3443,3764,2123,1919,639.3,20.6,199,3964,0.00,0.65,0.00,0.000,1030,0.000,0.031,3447,3321,2021,2123,1919,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4279,1.11,175.2,3446,3321,2122,1909,558.3,24.9,212,4284,0.00,2.12,0.00,0.000,516,0.000,0.025,3457,1882,2016,2123,1909,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4516,1.11,175.2,3456,1881,2122,1906,507.7,22.2,223,4521,0.00,2.15,0.00,0.000,1030,0.000,0.033,3457,3303,2014,2122,1906,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4830,1.11,175.2,3456,3304,2121,1903,433.7,22.6,239,4837,0.00,2.08,0.00,0.000,516,0.000,0.024,3466,1893,2013,2122,1904,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4860,1.11,175.2,2560,1891,2043,1890,428.2,22.2,240,4866,0.00,2.12,0.00,0.000,1030,0.000,0.033,3466,3310,2013,2123,1903,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5180,1.11,175.2,3465,3310,2115,1903,354.1,23.2,256,5185,0.00,0.68,0.00,0.000,260,0.000,0.047,3466,3767,2009,2115,1903,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5285,1.11,175.2,3466,3767,2115,1902,327.2,26.0,261,5290,0.00,0.68,0.00,0.000,1030,0.000,0.030,3470,3289,2008,2115,1902,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5610,1.11,175.2,3469,3289,2115,1901,248.6,25.2,277,5615,0.00,2.00,0.00,0.000,516,0.000,0.024,3479,1897,2008,2115,1901,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5766,1.11,175.2,3479,1897,2115,1900,213.8,24.0,284,5773,0.15,2.10,0.00,0.000,5126,0.186,0.032,3444,3311,2007,2115,1900,0,0,0,0,0,0,26.39,26.55,28.83
$GC,6082,1.11,175.2,3443,3311,2115,1897,149.4,17.0,300,6088,0.00,2.05,0.00,0.000,516,0.000,0.023,3452,1893,2007,2116,1898,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6176,1.11,175.2,3452,1893,2115,1898,134.9,17.1,304,6181,0.00,2.10,0.00,0.000,1030,0.000,0.032,3452,3309,2006,2114,1898,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6491,1.11,175.2,3452,3309,2115,1896,77.4,15.3,320,6497,0.00,2.05,0.00,0.000,516,0.000,0.021,3462,1885,2005,2115,1896,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6729,1.11,175.2,3462,1884,2115,1896,51.2,13.8,331,6734,0.00,2.10,0.00,0.000,1030,0.000,0.032,3462,3305,2005,2115,1895,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7054,1.70,372.4,3461,3305,2115,1895,50.0,2.3,356,7140,0.43,0.65,77.55,0.230,10500,0.048,0.038,3648,3759,1241,1300,1182,0,0,0,0,0,0,26.65,26.29,26.08
$STATE,7265,end climb,SURFACE_DEPTH_REACHED
$STATE,7266,begin surface coast
$FINISH,0.9,1.020616
$STATE,7271,end surface coast,CONTROL_FINISHED_OK
$STATE,7271,begin surface
$SM_CCo,7296,84.53,0.128,0,0,519,550.21
$SM_GC,1.62,9.00,2.78,84.53,0.036,0.021,0.128,141,1926,519,-9.14,2.04,550.21,0,0,0,0,0,0,26.36,26.40,26.08
$IRIDIUM_FIX,2136.49,12029.58,290613,000023
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.50
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,7687392
$24V_AH,24.2,8.204
$10V_AH,10.3,5.853
$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,22.200,61.375,364.875,84.525,0.000,0.000,0.000,264.675,0.000,0.000,11.122,1392.223,4167.073,519.802,1425.559,320.902,0.000,1435.582,0.000,1150.287,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,47.430,978.435,127.755,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7273.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.135,0.000,0.000,0.000
$MEM,324164
$DATA_FILE_SIZE,13472,383
$CAP_FILE_SIZE,97292,0
$CFSIZE,260034560,244625408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.082,264.3,1
$GPS,290613,054106,2143.541,12028.197,36,1.2,36,-3.1