version: 66.11
glider: 167
mission: 16
dive: 76
start: 6 29 113 5 47 44
data:
$ID,167
$MISSION,16
$DIVE,76
$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,-974965.94
$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,40
$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
$GPS1,290613,054106,2143.541,12028.197,36,1.2,36,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.9
$GPS2,290613,054715,2143.569,12028.135,7,1.1,7,-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,163.6,80753,-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,-175.2,116,1899,444,594,0.0,0.0,0,129,0.00,0.00,-101.18,0.000,16386,0.000,0.000,114,1900,3020,2999,3042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.11,-175.2,115,1900,2999,3043,3.5,-5.7,18,163,10.30,2.10,-7.85,0.000,18692,0.239,0.037,2713,3333,3479,3472,3487,0,0,0,0,0,0,25.96,26.24,26.48
$GC,339,-1.11,-175.2,2711,3334,3473,3489,73.8,-26.5,36,345,0.00,2.10,0.00,0.000,1030,0.000,0.020,2711,1879,3481,3473,3489,0,0,0,0,0,0,28.83,26.37,28.83
$GC,655,-1.11,-175.2,2711,1879,3478,3489,156.6,-22.4,52,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1879,3483,3478,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,957,-1.11,-175.2,2711,1878,3479,3490,228.3,-21.6,67,962,0.00,2.10,0.00,0.000,260,0.000,0.028,2701,3325,3484,3479,3489,0,0,0,0,0,0,28.83,26.55,28.83
$GC,975,-1.11,-175.2,2700,3325,3479,3489,228.3,-21.6,67,982,0.00,2.03,0.00,0.000,1030,0.000,0.017,2700,1879,3484,3479,3489,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1281,-1.11,-175.2,2700,1877,3479,3489,299.8,-21.0,83,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1877,3484,3479,3489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-1.11,-175.2,2700,1877,3479,3487,361.3,-19.5,98,1590,0.00,1.95,0.00,0.000,516,0.000,0.031,2701,521,3482,3478,3487,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1679,-1.11,-175.2,2700,521,3479,3486,377.6,-18.5,102,1685,0.12,1.98,0.00,0.000,3078,0.189,0.018,2722,1925,3482,3479,3485,0,0,0,0,0,0,26.50,26.67,28.83
$GC,1994,-1.11,-175.2,2722,1925,3479,3481,434.0,-18.4,118,2001,0.00,1.98,0.00,0.000,260,0.000,0.031,2714,3294,3479,3479,3480,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2231,-1.11,-175.2,2712,3294,3482,3474,476.8,-18.5,129,2237,0.00,1.98,0.00,0.000,1030,0.000,0.018,2712,1899,3477,3482,3473,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2546,-1.11,-175.2,2712,1898,3482,3468,535.5,-17.4,145,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1898,3475,3482,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2849,-1.11,-175.2,2712,1898,3482,3464,580.5,-14.8,160,2854,0.00,2.00,0.00,0.000,516,0.000,0.033,2712,520,3472,3482,3463,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2922,-1.11,-175.2,2712,520,3482,3462,591.4,-15.8,163,2928,0.00,1.95,0.00,0.000,1030,0.000,0.019,2706,1899,3471,3482,3461,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3251,-1.11,-175.2,2706,1899,3482,3456,649.3,-17.3,175,3256,0.00,2.03,0.00,0.000,260,0.000,0.032,2696,3290,3468,3482,3455,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,3342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3343,begin apogee
$GC,3350,-0.19,0.0,2696,3290,3482,3453,666.2,-17.5,178,3506,1.00,0.00,139.80,1.502,10246,0.147,0.000,3015,3290,2763,2826,2701,0,0,0,0,1,0,26.56,28.83,23.80
$STATE,3508,end apogee,CONTROL_FINISHED_OK
$STATE,3509,begin climb
$GC,3512,1.11,175.2,3016,3290,2826,2707,672.9,0.0,183,3668,1.15,0.00,151.40,0.946,10758,0.041,0.000,3447,3290,2047,2139,1956,0,0,0,0,0,0,25.01,28.83,24.22
$GC,3957,1.11,175.2,3447,3290,2127,1921,588.5,22.9,199,3964,0.00,2.08,0.00,0.000,516,0.000,0.024,3457,1901,2024,2127,1921,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4085,1.11,175.2,3456,1901,2128,1919,559.0,23.1,205,4092,0.00,2.10,0.00,0.000,1030,0.000,0.033,3457,3278,2023,2127,1919,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4411,1.11,175.2,3456,3278,2127,1916,475.3,25.6,221,4416,0.00,2.03,0.00,0.000,516,0.000,0.024,3466,1905,2021,2127,1915,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4522,1.11,175.2,3465,1904,2127,1914,448.8,24.7,226,4528,0.00,2.10,0.00,0.000,1030,0.000,0.033,3465,3304,2020,2127,1914,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4843,1.11,175.2,3466,3304,2127,1910,374.1,24.5,242,4848,0.00,2.05,0.00,0.000,516,0.000,0.024,3475,1905,2019,2127,1911,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4882,1.11,175.2,3475,1904,2127,1911,368.3,24.5,243,4889,0.12,2.10,0.00,0.000,5126,0.193,0.032,3447,3312,2018,2127,1910,0,0,0,0,0,0,26.32,26.47,28.83
$GC,5188,1.11,175.2,3447,3312,2127,1908,292.3,22.8,259,5193,0.00,2.05,0.00,0.000,516,0.000,0.024,3455,1903,2017,2127,1908,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5389,1.11,175.2,3455,1903,2127,1907,251.7,22.0,268,5397,0.00,2.08,0.00,0.000,1030,0.000,0.032,3455,3299,2017,2127,1907,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5695,1.11,175.2,3456,3299,2120,1909,183.7,18.2,284,5701,0.00,0.68,0.00,0.000,260,0.000,0.047,3455,3769,2014,2120,1909,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5735,1.11,175.2,3455,3769,2120,1908,178.8,18.1,285,5742,0.00,0.65,0.00,0.000,1030,0.000,0.031,3459,3298,2014,2120,1909,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6041,1.11,175.2,3458,3299,2119,1907,116.6,20.8,301,6046,0.00,0.70,0.00,0.000,260,0.000,0.044,3459,3765,2013,2120,1907,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6069,1.11,175.2,2560,3765,2042,1894,111.8,20.0,302,6075,0.00,0.65,0.00,0.000,1030,0.000,0.031,3462,3294,2013,2119,1907,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6389,1.11,175.2,3462,3294,2120,1906,64.8,12.4,318,6395,0.00,2.00,0.00,0.000,516,0.000,0.021,3471,1891,2012,2119,1906,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6557,1.43,280.8,3472,1891,2119,1906,50.6,5.6,326,6605,0.20,2.10,40.47,0.243,11270,0.063,0.031,3567,3311,1614,1703,1526,0,0,0,0,0,0,26.64,26.64,26.20
$GC,6911,1.43,280.8,3567,3311,1703,1541,8.4,19.6,366,6918,0.00,0.62,0.00,0.000,260,0.000,0.042,3566,3757,1621,1703,1540,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,6934,end climb,SURFACE_DEPTH_REACHED
$STATE,6934,begin surface coast
$FINISH,1.4,1.020344
$STATE,6939,end surface coast,CONTROL_FINISHED_OK
$STATE,6940,begin surface
$SM_CCo,6964,124.47,0.127,0,0,519,550.21
$SM_GC,1.74,8.68,2.75,124.47,0.032,0.019,0.127,141,1914,519,-9.12,1.89,550.21,0,0,0,0,0,0,26.53,26.58,26.14
$IRIDIUM_FIX,2141.13,11656.78,290613,030300
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.50
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.80
$XPDR_PINGS,1
$SC_FREEKB,7687008
$24V_AH,23.8,8.317
$10V_AH,10.4,5.904
$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,21.575,48.900,331.675,124.475,0.000,0.000,0.000,203.225,0.250,0.000,8.393,1236.452,4185.958,562.151,1172.395,307.535,0.000,1310.114,0.000,961.625,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,46.665,1501.695,126.990,0.000,0.000,0.000,115.515,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6939.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.035,0.000,0.000,0.000
$MEM,324172
$DATA_FILE_SIZE,13441,371
$CAP_FILE_SIZE,88573,0
$CFSIZE,260034560,244576256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.083, 33.1,1
$GPS,290613,074706,2142.943,12028.348,27,0.8,27,-3.1