version: 66.11
glider: 167
mission: 16
dive: 7
start: 6 23 113 14 35 19
data:
$ID,167
$MISSION,16
$DIVE,7
$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,-974683.62
$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,88
$R_STBD_OVSHOOT,52
$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
$GPS1,230613,142805,2206.197,12023.667,43,1.1,43,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.8
$GPS2,230613,143453,2206.278,12023.747,8,1.1,8,-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,140.4,15827,-15.7,-10.000,-18.68,2978
$D_GRID,573
$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,-1.02,-194.6,109,1977,392,604,0.0,0.0,0,109,0.00,0.00,-81.57,0.000,16386,0.000,0.000,109,1977,2509,2486,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.02,-194.6,108,1978,2486,2533,3.1,-5.9,15,154,10.60,2.17,-19.05,0.000,18692,0.243,0.047,2754,3401,3560,3562,3559,0,0,0,0,0,0,26.06,26.33,26.60
$GC,304,-1.02,-194.6,2754,3402,3562,3561,61.2,-27.3,36,309,0.00,2.00,0.00,0.000,1030,0.000,0.024,2754,2025,3561,3562,3561,0,0,0,0,0,0,28.83,26.47,28.83
$GC,619,-1.02,-194.6,2754,2024,3564,3562,142.7,-18.9,52,624,0.00,2.05,0.00,0.000,516,0.000,0.031,2754,596,3563,3564,3562,0,0,0,0,0,0,28.83,26.58,28.83
$GC,813,-1.02,-194.6,2754,595,3564,3562,179.2,-18.2,61,818,0.00,2.00,0.00,0.000,1030,0.000,0.021,2745,2007,3563,3564,3562,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1128,-1.02,-194.6,2745,2007,3565,3562,240.3,-18.2,77,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2006,3563,3564,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1430,-1.02,-194.6,2745,2007,3563,3562,296.2,-18.2,92,1435,0.00,2.03,0.00,0.000,260,0.000,0.037,2738,3390,3562,3564,3560,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1524,-1.02,-194.6,2737,3389,3564,3559,311.5,-17.7,96,1530,0.12,1.98,0.00,0.000,3078,0.166,0.019,2770,1983,3561,3564,3559,0,0,0,0,0,0,26.58,26.74,28.83
$GC,1839,-1.02,-194.6,2769,1982,3564,3556,359.5,-13.8,112,1845,0.00,1.98,0.00,0.000,516,0.000,0.032,2770,603,3560,3564,3556,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1986,-1.02,-194.6,2769,603,3564,3554,381.9,-15.7,119,1991,0.00,2.00,0.00,0.000,1030,0.000,0.021,2765,2002,3558,3564,3553,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2310,-1.02,-194.6,2765,2002,3564,3548,428.5,-14.1,135,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2002,3556,3564,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2613,-1.02,-194.6,2765,2001,3564,3544,466.9,-12.6,150,2618,0.00,2.03,0.00,0.000,516,0.000,0.032,2765,609,3554,3565,3543,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2731,-1.02,-194.6,2765,608,3564,3542,479.5,-11.9,155,2736,0.00,2.00,0.00,0.000,1030,0.000,0.024,2765,2006,3553,3564,3542,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3045,-1.02,-194.6,2765,2006,3563,3538,520.4,-14.6,171,3050,0.00,2.05,0.00,0.000,516,0.000,0.031,2765,602,3550,3564,3537,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3064,-1.02,-194.6,2765,602,3564,3538,520.4,-14.6,171,3071,0.00,2.00,0.00,0.000,1030,0.000,0.024,2765,1997,3550,3564,3537,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3370,-1.02,-194.6,2765,1998,3564,3533,542.2,-0.2,187,3376,0.00,2.03,0.00,0.000,516,0.000,0.031,2765,603,3548,3563,3533,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,3392,end dive,NO_VERTICAL_VELOCITY
$STATE,3392,begin apogee
$GC,3402,-0.20,0.0,2764,2155,3563,3532,542.2,0.0,188,3582,0.73,0.00,167.52,1.030,10246,0.069,0.000,3043,2155,2763,2823,2703,0,0,0,0,1,0,26.73,28.83,23.98
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3585,begin climb
$GC,3588,1.02,194.6,3043,2155,2823,2710,542.4,0.0,197,3764,1.05,2.22,161.35,1.370,10756,0.060,0.034,3434,764,1968,2058,1879,0,0,0,0,1,0,25.06,24.78,23.90
$GC,3901,1.02,194.6,3433,763,2058,1880,506.3,19.3,213,3906,0.00,2.08,0.00,0.000,1030,0.000,0.025,3433,2147,1969,2058,1880,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4225,1.02,194.6,3433,2147,2058,1875,444.5,19.0,229,4231,0.00,2.12,0.00,0.000,260,0.000,0.043,3433,3553,1966,2058,1875,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4462,1.02,194.6,3434,3552,2058,1873,402.6,17.9,240,4467,0.00,2.03,0.00,0.000,1030,0.000,0.024,3444,2159,1965,2058,1873,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4777,1.02,194.6,3444,2159,2058,1871,350.3,16.4,256,4782,0.00,2.12,0.00,0.000,260,0.000,0.041,3444,3561,1963,2057,1870,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5012,1.02,194.6,3444,3561,2058,1870,308.3,19.1,267,5017,0.00,2.05,0.00,0.000,1030,0.000,0.024,3454,2145,1964,2058,1870,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5328,1.02,194.6,3453,2145,2058,1868,249.1,18.7,283,5333,0.00,2.12,0.00,0.000,260,0.000,0.041,3453,3558,1963,2058,1868,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5564,1.02,194.6,3453,3557,2058,1867,200.8,23.1,294,5570,0.15,2.05,0.00,0.000,5126,0.194,0.024,3428,2132,1962,2058,1867,0,0,0,0,0,0,26.47,26.67,28.83
$GC,5879,1.02,194.6,3428,2132,2058,1865,141.3,16.3,310,5884,0.00,2.15,0.00,0.000,260,0.000,0.039,3428,3560,1961,2058,1865,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6116,1.02,194.6,3428,3560,2058,1866,106.0,15.1,321,6121,0.00,2.03,0.00,0.000,1030,0.000,0.022,3437,2144,1961,2058,1865,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6431,1.02,194.6,3436,2144,2058,1865,65.2,10.7,337,6436,0.00,2.00,0.00,0.000,516,0.000,0.031,3447,755,1961,2058,1865,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6455,1.02,194.6,3447,754,2058,1865,62.5,10.7,338,6461,0.00,2.03,0.00,0.000,1030,0.000,0.023,3447,2170,1962,2059,1865,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6771,1.57,470.7,3447,2170,2058,1864,44.3,0.5,359,6902,0.38,2.15,116.93,0.220,10500,0.049,0.037,3615,3554,840,766,915,0,0,0,0,0,0,26.74,26.22,26.03
$STATE,7001,end climb,SURFACE_DEPTH_REACHED
$STATE,7001,begin surface coast
$FINISH,1.0,1.020729
$STATE,7012,end surface coast,CONTROL_FINISHED_OK
$STATE,7012,begin surface
$SM_CCo,7036,44.00,0.129,0,0,497,555.11
$SM_GC,1.68,8.85,2.30,44.00,0.033,0.019,0.129,138,2002,497,-9.19,2.09,555.11,0,0,0,0,0,0,26.36,26.39,26.15
$IRIDIUM_FIX,2157.39,12020.74,230613,121236
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.21
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.80
$XPDR_PINGS,2
$SC_FREEKB,7713504
$24V_AH,23.9,1.414
$10V_AH,10.3,1.642
$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,21.875,58.050,445.800,44.000,0.000,0.000,0.000,236.450,0.500,0.000,9.381,1260.811,4030.406,515.288,1384.357,302.537,0.000,1409.391,0.000,1110.235,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,47.430,1370.115,128.520,0.000,0.000,0.000,117.045,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7025.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.430,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,13409,391
$CAP_FILE_SIZE,93364,0
$CFSIZE,260034560,248340480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,230613,163436,2206.207,12024.357,31,1.1,31,-3.1