version: 66.11
glider: 167
mission: 16
dive: 78
start: 6 29 113 10 3 49
data:
$ID,167
$MISSION,16
$DIVE,78
$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,-974968.44
$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
$GPS1,290613,095636,2142.328,12029.099,36,1.0,36,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.6
$GPS2,290613,100321,2142.245,12029.326,6,1.1,6,-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,227.2,78246,-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,-175.2,140,1910,446,591,0.0,0.0,0,125,0.00,0.00,-96.68,0.000,16386,0.000,0.000,141,1910,2880,2857,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,132,-1.11,-175.2,140,1910,2857,2905,3.1,-3.7,17,159,10.18,2.12,-11.23,0.000,18692,0.239,0.037,2710,3332,3481,3476,3486,0,0,0,0,0,0,25.99,26.26,26.49
$GC,336,-1.11,-175.2,2709,3332,3477,3488,71.1,-32.9,37,343,0.00,2.08,0.00,0.000,1030,0.000,0.020,2710,1887,3482,3477,3487,0,0,0,0,0,0,28.83,26.39,28.83
$GC,642,-1.11,-175.2,2710,1887,3480,3488,158.1,-25.6,53,648,0.00,2.08,0.00,0.000,260,0.000,0.024,2699,3331,3483,3480,3487,0,0,0,0,0,0,28.83,26.51,28.83
$GC,661,-1.11,-175.2,2699,3331,3480,3487,158.1,-25.6,53,668,0.00,2.03,0.00,0.000,1030,0.000,0.017,2699,1888,3484,3480,3488,0,0,0,0,0,0,28.83,26.53,28.83
$GC,967,-1.11,-175.2,2699,1889,3482,3488,231.0,-20.5,69,973,0.00,2.08,0.00,0.000,260,0.000,0.028,2689,3323,3484,3482,3487,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1062,-1.11,-175.2,2689,3323,3483,3487,246.7,-18.5,73,1068,0.15,2.00,0.00,0.000,3078,0.180,0.016,2726,1880,3485,3483,3487,0,0,0,0,0,0,26.44,26.62,28.83
$GC,1378,-1.11,-175.2,2726,1880,3482,3487,302.5,-17.1,89,1383,0.00,1.95,0.00,0.000,516,0.000,0.031,2726,524,3484,3482,3487,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1417,-1.11,-175.2,2726,524,3482,3487,306.9,-17.6,90,1424,0.00,1.98,0.00,0.000,1030,0.000,0.017,2719,1935,3484,3482,3486,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1723,-1.11,-175.2,2719,1936,3482,3483,372.6,-20.8,106,1728,0.00,2.05,0.00,0.000,516,0.000,0.029,2719,526,3482,3482,3482,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1748,-1.11,-175.2,2718,526,3482,3482,377.7,-20.5,107,1753,0.00,1.92,0.00,0.000,1030,0.000,0.016,2710,1904,3482,3482,3482,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2073,-1.11,-175.2,2709,1904,3482,3477,435.5,-16.2,123,2079,0.00,2.00,0.00,0.000,260,0.000,0.030,2700,3293,3479,3482,3477,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2172,-1.11,-175.2,2698,3293,3485,3474,450.3,-17.2,127,2180,0.10,1.95,0.00,0.000,3078,0.188,0.018,2722,1904,3479,3485,3473,0,0,0,0,0,0,26.54,26.70,28.83
$GC,2479,-1.11,-175.2,2721,1904,3484,3468,503.1,-15.0,143,2484,0.00,2.03,0.00,0.000,260,0.000,0.030,2714,3291,3476,3485,3468,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2568,-1.11,-175.2,1664,3289,3466,3461,515.9,-15.0,147,2574,0.00,1.98,0.00,0.000,1030,0.000,0.018,2714,1893,3474,3484,3465,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2888,-1.11,-175.2,2714,1893,3484,3460,561.5,-13.2,163,2894,0.00,2.00,0.00,0.000,516,0.000,0.031,2713,517,3472,3485,3459,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2942,-1.11,-175.2,2714,517,3485,3459,568.2,-14.2,165,2949,0.00,1.95,0.00,0.000,1030,0.000,0.018,2706,1897,3471,3485,3458,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3278,-1.11,-175.2,2706,1897,3484,3453,617.3,-14.2,180,3284,0.00,2.03,0.00,0.000,260,0.000,0.031,2696,3287,3468,3485,3452,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3363,-1.11,-175.2,2696,3287,3484,3451,626.8,-14.6,182,3369,0.12,1.98,0.00,0.000,3078,0.178,0.018,2726,1884,3468,3485,3451,0,0,0,0,0,0,26.56,26.73,28.83
$STATE,3615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3616,begin apogee
$GC,3628,-0.19,0.0,2723,3276,3484,3447,663.1,-13.6,191,3794,0.93,0.00,154.15,0.946,10246,0.142,0.000,3020,3276,2752,2820,2684,0,0,0,0,0,0,26.56,28.83,24.36
$STATE,3797,end apogee,CONTROL_FINISHED_OK
$STATE,3797,begin climb
$GC,3800,1.11,175.2,3020,3276,2819,2676,669.2,0.0,196,3957,1.12,0.73,145.27,0.947,10500,0.041,0.041,3447,3767,2038,2132,1945,0,0,0,0,0,0,25.23,24.87,24.23
$GC,4063,1.11,175.2,3447,3767,2122,1919,628.1,24.0,205,4068,0.00,0.65,0.00,0.000,1030,0.000,0.031,3450,3323,2020,2123,1918,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4373,1.11,175.2,3450,3322,2123,1911,550.9,23.1,219,4378,0.00,2.12,0.00,0.000,516,0.000,0.025,3460,1878,2017,2123,1911,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4540,1.11,175.2,3460,1878,2123,1909,513.8,22.0,227,4545,0.00,2.17,0.00,0.000,1030,0.000,0.033,3460,3305,2015,2122,1909,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4865,1.11,175.2,3460,3304,2121,1906,441.0,23.1,243,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,3305,2014,2123,1906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5168,1.11,175.2,3460,3305,2123,1903,370.5,22.4,258,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,3305,2013,2123,1903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5467,1.11,175.2,3460,3304,2115,1903,302.3,22.4,273,5472,0.00,2.08,0.00,0.000,516,0.000,0.024,3469,1882,2009,2115,1903,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5658,1.11,175.2,2560,1880,2040,1890,262.3,20.9,282,5664,0.00,2.12,0.00,0.000,1030,0.000,0.033,3470,3308,2009,2115,1903,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5978,1.11,175.2,3469,3308,2115,1901,197.6,19.8,298,5983,0.00,0.68,0.00,0.000,260,0.000,0.047,3470,3767,2008,2115,1902,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6139,1.11,175.2,3469,3767,2115,1901,167.2,21.6,305,6146,0.10,0.65,0.00,0.000,5126,0.191,0.030,3445,3290,2008,2115,1901,0,0,0,0,0,0,26.43,26.65,28.83
$GC,6445,1.11,175.2,3445,3290,2115,1899,106.7,17.9,321,6450,0.00,0.73,0.00,0.000,260,0.000,0.046,3445,3770,2007,2115,1900,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6562,1.11,175.2,3445,3770,2115,1899,91.6,13.0,326,6567,0.00,0.65,0.00,0.000,1030,0.000,0.031,3447,3295,2007,2115,1899,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6876,1.33,250.3,3447,3295,2115,1898,67.4,6.7,342,6910,0.15,2.08,27.80,0.264,10756,0.075,0.021,3532,1884,1739,1835,1644,0,0,0,0,0,0,26.67,26.52,26.21
$GC,6929,1.60,338.1,3532,1884,1836,1656,64.4,6.3,344,6973,0.17,2.12,36.40,0.269,11270,0.067,0.031,3610,3315,1381,1454,1308,0,0,0,0,0,0,26.52,26.50,26.05
$STATE,7185,end climb,SURFACE_DEPTH_REACHED
$STATE,7186,begin surface coast
$FINISH,0.9,1.020572
$STATE,7197,end surface coast,CONTROL_FINISHED_OK
$STATE,7197,begin surface
$SM_CCo,7221,98.62,0.130,0,0,517,550.21
$SM_GC,1.69,8.85,2.10,98.62,0.032,0.021,0.130,135,1912,517,-9.15,2.01,550.21,0,0,0,0,0,0,26.43,26.46,26.09
$IRIDIUM_FIX,2134.17,12029.58,290613,070752
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.59
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.40
$XPDR_PINGS,1
$SC_FREEKB,7686240
$24V_AH,24.2,8.504
$10V_AH,10.4,6.012
$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,21.875,57.175,363.625,98.625,0.000,0.000,0.000,236.425,0.250,0.000,7.906,1270.429,4340.131,530.033,1267.730,321.952,0.000,1370.771,0.000,1011.459,0.000,0.541,0.000
$DEVICE_MAMPS,238.680,47.430,947.070,130.050,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7208.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.844,0.000,0.000,0.000
$MEM,324184
$DATA_FILE_SIZE,13437,377
$CAP_FILE_SIZE,94152,0
$CFSIZE,260034560,244457472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.243,102.8,1
$GPS,290613,120705,2141.481,12029.675,31,0.9,31,-3.1