version: 66.11
glider: 167
mission: 16
dive: 6
start: 6 23 113 12 33 35
data:
$ID,167
$MISSION,16
$DIVE,6
$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,245
$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,0
$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,554.9259
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-974682.38
$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,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2000
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,47
$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,0.0020000001
$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
$GPS1,230613,122659,2206.227,12023.211,39,0.9,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.5
$GPS2,230613,123308,2206.287,12023.114,8,0.9,8,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T1
$TGT_LATLONG,2200.000,12030.000
$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,137.7,16595,-15.7,-10.000,-18.68,2978
$D_GRID,542
$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,-1.02,-194.6,108,1970,394,601,0.0,0.0,0,115,0.00,0.00,-87.28,0.000,16386,0.000,0.000,108,1970,2680,2653,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.02,-194.6,108,1970,2653,2709,3.6,-7.4,16,154,10.68,2.20,-14.25,0.000,18692,0.247,0.047,2757,3412,3559,3557,3562,0,0,0,0,0,0,26.13,26.41,26.68
$GC,245,-1.02,-194.6,2756,3412,3557,3563,50.5,-28.2,31,251,0.00,2.00,0.00,0.000,1030,0.000,0.021,2757,2016,3560,3557,3563,0,0,0,0,0,0,28.83,26.51,28.83
$GC,560,-1.02,-194.6,2756,2015,3560,3563,122.5,-19.0,47,565,0.00,2.03,0.00,0.000,516,0.000,0.030,2757,598,3561,3560,3563,0,0,0,0,0,0,28.83,26.63,28.83
$GC,654,-1.02,-194.6,2757,596,3560,3563,139.3,-20.0,51,659,0.00,2.00,0.00,0.000,1030,0.000,0.021,2747,2010,3561,3560,3563,0,0,0,0,0,0,28.83,26.66,28.83
$GC,969,-1.02,-194.6,2747,2010,3560,3563,203.6,-19.5,67,975,0.00,2.03,0.00,0.000,516,0.000,0.028,2747,599,3561,3560,3563,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1086,-1.02,-194.6,2747,599,3560,3563,223.4,-18.6,72,1092,0.12,1.98,0.00,0.000,3078,0.174,0.021,2770,2003,3561,3560,3563,0,0,0,0,0,0,26.57,26.73,28.83
$GC,1401,-1.02,-194.6,2770,2003,3560,3562,275.5,-15.2,88,1406,0.00,2.03,0.00,0.000,260,0.000,0.038,2765,3387,3561,3560,3562,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1440,-1.02,-194.6,2765,3387,3560,3562,279.1,-15.3,89,1447,0.00,1.95,0.00,0.000,1030,0.000,0.018,2765,1991,3561,3560,3562,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1746,-1.02,-194.6,2765,1991,3560,3558,323.6,-13.3,105,1751,0.00,2.08,0.00,0.000,260,0.000,0.038,2765,3389,3559,3561,3558,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1794,-1.02,-194.6,1712,3388,3545,3554,329.5,-13.3,107,1799,0.00,1.95,0.00,0.000,1030,0.000,0.018,2765,1995,3559,3560,3558,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2114,-1.02,-194.6,2764,1995,3560,3553,373.1,-14.2,123,2119,0.00,1.98,0.00,0.000,516,0.000,0.031,2765,612,3556,3560,3553,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2198,-1.02,-194.6,2765,612,3560,3551,385.5,-14.7,127,2204,0.00,1.98,0.00,0.000,1030,0.000,0.021,2764,1995,3555,3560,3551,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2524,-1.02,-194.6,2764,1994,3560,3547,433.8,-14.0,143,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1995,3553,3560,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2826,-1.02,-194.6,2764,1995,3560,3543,478.5,-14.2,158,2831,0.00,2.00,0.00,0.000,516,0.000,0.031,2765,610,3550,3559,3542,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2924,-1.02,-194.6,2764,609,3559,3540,490.7,-14.0,162,2931,0.00,2.00,0.00,0.000,1030,0.000,0.024,2764,2005,3550,3559,3541,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3230,-1.02,-194.6,2764,2005,3559,3537,531.7,-15.1,178,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2005,3548,3560,3537,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3327,begin apogee
$GC,3335,-0.20,0.0,2764,2163,3559,3535,544.1,-12.2,183,3500,0.80,0.00,156.35,0.881,10246,0.127,0.000,3031,2163,2752,2817,2688,0,0,0,0,0,0,26.64,28.83,24.58
$STATE,3502,end apogee,CONTROL_FINISHED_OK
$STATE,3502,begin climb
$GC,3506,1.02,194.6,3031,2163,2813,2679,550.0,0.0,191,3676,1.02,2.25,159.48,0.857,10756,0.035,0.033,3450,767,1954,2043,1865,0,0,0,0,0,0,25.39,25.15,24.51
$GC,3709,1.02,194.6,3448,767,2031,1849,525.3,19.0,201,3716,0.00,2.08,0.00,0.000,1030,0.000,0.026,3450,2126,1940,2031,1849,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4015,1.02,194.6,3450,2126,2030,1838,453.4,21.4,217,4021,0.00,2.20,0.00,0.000,260,0.000,0.044,3450,3570,1934,2030,1839,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4251,1.02,194.6,3450,3570,2027,1837,399.2,24.2,228,4257,0.12,2.05,0.00,0.000,5126,0.207,0.024,3433,2158,1932,2027,1837,0,0,0,0,0,0,26.26,26.47,28.83
$GC,4566,1.02,194.6,3432,2157,2027,1834,332.6,19.1,244,4572,0.00,2.05,0.00,0.000,516,0.000,0.033,3442,747,1931,2028,1834,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4757,1.02,194.6,2512,747,1952,1820,294.4,21.0,253,4762,0.00,2.08,0.00,0.000,1030,0.000,0.026,3442,2177,1930,2027,1833,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5076,1.02,194.6,3442,2177,2027,1831,231.5,18.5,269,5082,0.00,2.05,0.00,0.000,260,0.000,0.041,3442,3548,1929,2027,1831,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5312,1.02,194.6,3442,3548,2027,1830,184.6,21.2,280,5317,0.00,2.00,0.00,0.000,1030,0.000,0.023,3452,2150,1929,2028,1831,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5627,1.02,194.6,3452,2149,2028,1828,119.1,20.5,296,5632,0.00,2.10,0.00,0.000,260,0.000,0.041,3452,3549,1928,2028,1828,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5864,1.02,194.6,3452,3550,2027,1828,78.2,16.0,307,5870,0.12,2.00,0.00,0.000,5126,0.200,0.021,3434,2140,1927,2027,1828,0,0,0,0,0,0,26.52,26.74,28.83
$GC,6180,1.16,267.6,3433,2140,2027,1825,44.5,7.5,326,6219,0.12,2.17,30.05,0.211,10500,0.087,0.040,3500,3546,1671,1757,1586,0,0,0,0,0,0,26.75,26.58,26.34
$GC,6453,1.31,341.8,3500,3545,1759,1609,27.5,7.4,352,6494,0.00,1.98,33.05,0.184,9222,0.000,0.021,3510,2149,1366,1441,1291,0,0,0,0,0,0,28.83,26.69,26.32
$STATE,6639,end climb,SURFACE_DEPTH_REACHED
$STATE,6639,begin surface coast
$FINISH,0.9,1.020945
$STATE,6660,end surface coast,CONTROL_FINISHED_OK
$STATE,6660,begin surface
$SM_CCo,6682,99.10,0.129,0,0,497,555.11
$SM_GC,1.54,8.48,0.15,99.10,0.031,0.067,0.129,142,1984,497,-9.17,2.18,555.11,0,0,0,0,0,0,26.58,26.63,26.23
$IRIDIUM_FIX,2155.06,12023.92,230613,111117
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.93
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,25.00
$XPDR_PINGS,1
$SC_FREEKB,7713888
$24V_AH,24.5,1.287
$10V_AH,10.4,1.564
$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,21.475,53.500,378.925,99.100,0.000,0.000,0.000,209.575,0.250,0.000,9.628,1226.599,3830.506,517.198,1293.659,292.217,0.000,1342.105,0.000,1052.565,0.000,0.542,0.000
$DEVICE_MAMPS,247.095,77.265,881.280,128.520,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6669.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.038,0.000,0.000,0.000
$MEM,324616
$DATA_FILE_SIZE,13446,389
$CAP_FILE_SIZE,91645,0
$CFSIZE,260034560,248397824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230613,142805,2206.197,12023.667,43,1.1,43,-3.1