version: 66.11
glider: 167
mission: 16
dive: 31
start: 6 25 113 1 29 29
data:
$ID,167
$MISSION,16
$DIVE,31
$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,330
$T_MISSION,350
$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,-974734.12
$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,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,37
$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
$GPS1,250613,012135,2200.652,12027.989,32,1.1,32,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.7
$GPS2,250613,012905,2200.581,12027.805,40,1.5,40,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T1
$TGT_LATLONG,2200.000,12024.000
$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,263.8,6621,-15.7,-10.000,-18.68,2978
$D_GRID,853
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.16,-194.6,111,1940,419,580,0.0,0.0,0,116,0.00,0.00,-87.22,0.000,16386,0.000,0.000,110,1941,2687,2666,2709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.16,-194.6,109,1941,2667,2709,3.8,-7.5,16,154,10.23,2.22,-13.70,0.000,18948,0.240,0.047,2705,480,3559,3552,3567,0,0,0,0,0,0,26.06,26.30,26.56
$GC,190,-1.16,-194.6,2705,481,3555,3567,37.8,-58.1,24,197,0.00,2.08,0.00,0.000,1030,0.000,0.018,2698,1929,3561,3555,3567,0,0,0,0,0,0,28.83,26.36,28.83
$GC,497,-1.16,-194.6,2697,1932,3558,3567,132.1,-26.3,41,502,0.00,1.98,0.00,0.000,260,0.000,0.031,2688,3296,3562,3558,3567,0,0,0,0,0,0,28.83,26.50,28.83
$GC,706,-1.16,-194.6,2687,3296,3559,3567,181.6,-22.0,51,711,0.00,2.03,0.00,0.000,1030,0.000,0.019,2687,1871,3563,3559,3567,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1027,-1.16,-194.6,2687,1869,3559,3568,258.0,-22.4,67,1032,0.00,2.10,0.00,0.000,260,0.000,0.031,2677,3305,3563,3559,3567,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1156,-1.16,-194.6,2677,3305,3559,3567,286.8,-22.6,73,1162,0.12,2.00,0.00,0.000,3078,0.184,0.018,2706,1883,3563,3559,3567,0,0,0,0,0,0,26.51,26.68,28.83
$GC,1477,-1.16,-194.6,2706,1883,3559,3564,359.4,-25.0,89,1482,0.00,1.98,0.00,0.000,516,0.000,0.032,2707,513,3561,3559,3564,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1638,-1.16,-194.6,2706,513,3559,3562,394.7,-23.8,96,1644,0.00,1.98,0.00,0.000,1030,0.000,0.018,2699,1909,3560,3559,3562,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1943,-1.16,-194.6,2699,1913,3559,3558,456.2,-14.7,112,1949,0.00,2.03,0.00,0.000,260,0.000,0.034,2689,3302,3558,3559,3558,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2022,-1.16,-194.6,2688,3303,3559,3559,467.4,-16.7,115,2029,0.00,1.98,0.00,0.000,1030,0.000,0.015,2689,1865,3558,3559,3557,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2328,-1.16,-194.6,2689,1862,3559,3553,517.9,-15.6,131,2333,0.00,1.90,0.00,0.000,516,0.000,0.029,2688,533,3555,3559,3552,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2393,-1.16,-194.6,2688,533,3559,3551,529.9,-18.2,134,2398,0.00,1.95,0.00,0.000,1030,0.000,0.018,2683,1899,3555,3559,3551,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2718,-1.16,-194.6,2683,1899,3559,3546,592.4,-19.0,150,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1899,3552,3559,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3028,-1.16,-194.6,2683,1899,3559,3541,658.2,-20.3,161,3033,0.00,2.05,0.00,0.000,260,0.000,0.036,2673,3302,3550,3559,3541,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3057,-1.16,-194.6,2673,3302,3559,3541,658.2,-20.3,161,3064,0.15,1.92,0.00,0.000,3078,0.174,0.019,2711,1933,3549,3559,3539,0,0,0,0,0,0,26.60,26.77,28.83
$GC,3365,-1.16,-194.6,2711,1933,3559,3537,718.1,-17.4,172,3370,0.00,2.05,0.00,0.000,516,0.000,0.033,2711,517,3548,3559,3537,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3424,-1.16,-194.6,2711,517,3559,3536,724.7,-17.5,173,3431,0.00,2.00,0.00,0.000,1030,0.000,0.022,2709,1903,3547,3559,3536,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3730,-1.16,-194.6,2709,1903,3559,3532,779.1,-16.1,184,3735,0.00,2.08,0.00,0.000,260,0.000,0.037,2709,3302,3545,3559,3532,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3754,-1.16,-194.6,2708,3302,3559,3531,779.1,-16.1,184,3760,0.00,1.98,0.00,0.000,1030,0.000,0.019,2709,1905,3545,3559,3532,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4069,-1.16,-194.6,2708,1905,3559,3527,838.2,-17.8,195,4074,0.00,2.05,0.00,0.000,516,0.000,0.033,2708,505,3543,3559,3527,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4113,-1.16,-194.6,2708,505,3559,3527,844.0,-17.4,196,4118,0.00,2.00,0.00,0.000,1030,0.000,0.019,2700,1908,3542,3559,3526,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4164,begin apogee
$GC,4174,-0.19,0.0,2697,2780,3559,3525,854.8,-16.9,198,4349,1.00,0.00,159.93,1.596,10246,0.142,0.000,3019,2780,2764,2834,2695,0,0,0,0,1,0,26.61,28.83,23.63
$STATE,4351,end apogee,CONTROL_FINISHED_OK
$STATE,4351,begin climb
$GC,4355,1.16,194.6,3019,2780,2834,2697,864.1,0.0,204,4543,1.17,1.65,169.82,1.632,10500,0.034,0.044,3470,3758,1968,2059,1878,0,0,0,0,1,0,24.90,24.46,23.56
$GC,4587,1.16,194.6,3470,3759,2060,1876,836.3,19.3,211,4593,0.00,1.48,0.00,0.000,1030,0.000,0.023,3477,2800,1968,2059,1877,0,0,0,0,0,0,28.83,25.27,28.83
$GC,4893,1.16,194.6,3476,2800,2059,1870,757.7,25.0,222,4898,0.00,1.50,0.00,0.000,260,0.000,0.044,3477,3771,1966,2062,1870,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4991,1.16,194.6,2576,3770,1983,1855,732.7,25.9,225,4996,0.00,1.45,0.00,0.000,1030,0.000,0.024,3485,2794,1964,2060,1868,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5325,1.16,194.6,3484,2794,2060,1866,645.7,26.2,236,5330,0.00,1.50,0.00,0.000,260,0.000,0.043,3485,3780,1962,2059,1866,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5494,1.16,194.6,3484,3780,2059,1865,602.0,27.1,241,5500,0.08,1.45,0.00,0.000,5126,0.194,0.025,3462,2793,1962,2060,1865,0,0,0,0,0,0,26.25,26.46,28.83
$GC,5814,1.16,194.6,3462,2791,2059,1862,520.9,23.2,257,5819,0.00,1.52,0.00,0.000,260,0.000,0.044,3462,3791,1961,2060,1863,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5859,1.16,194.6,3462,3791,2059,1862,510.2,23.9,259,5864,0.00,1.48,0.00,0.000,1030,0.000,0.025,3470,2793,1961,2060,1862,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6184,1.16,194.6,3468,2791,2060,1861,436.8,21.7,275,6189,0.00,1.50,0.00,0.000,260,0.000,0.043,3469,3753,1960,2060,1861,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6419,1.16,194.6,3468,3753,2060,1860,386.9,22.4,286,6425,0.00,1.38,0.00,0.000,1030,0.000,0.024,3476,2802,1960,2060,1860,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6734,1.16,194.6,3476,2800,2059,1859,305.9,25.6,302,6739,0.00,1.48,0.00,0.000,260,0.000,0.044,3476,3757,1959,2059,1859,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6971,1.16,194.6,3476,3757,2060,1858,247.4,25.2,313,6976,0.00,1.38,0.00,0.000,1030,0.000,0.024,3483,2804,1959,2060,1859,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7286,1.16,194.6,3482,2800,2059,1858,178.5,17.6,329,7291,0.00,1.48,0.00,0.000,260,0.000,0.044,3483,3758,1958,2059,1858,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7522,1.16,194.6,3483,3758,2060,1858,134.6,19.9,340,7528,0.08,1.38,0.00,0.000,5126,0.196,0.024,3468,2797,1959,2060,1858,0,0,0,0,0,0,26.51,26.71,28.83
$GC,7838,1.16,194.6,3468,2795,2059,1857,77.7,15.3,356,7843,0.00,1.50,0.00,0.000,260,0.000,0.042,3468,3764,1958,2060,1856,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8048,1.16,194.6,3468,3764,2060,1856,54.5,13.3,366,8053,0.00,1.38,0.00,0.000,1030,0.000,0.021,3474,2786,1958,2060,1856,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8358,1.99,470.5,3474,2783,2060,1856,26.2,0.5,395,8485,0.60,1.55,120.20,0.168,10500,0.041,0.041,3731,3764,840,754,926,0,0,0,0,0,0,26.72,26.29,26.18
$STATE,8491,end climb,SURFACE_DEPTH_REACHED
$STATE,8491,begin surface coast
$FINISH,0.8,1.019336
$STATE,8503,end surface coast,CONTROL_FINISHED_OK
$STATE,8503,begin surface
$SM_CCo,8528,47.60,0.131,0,0,497,555.11
$SM_GC,1.77,9.15,2.78,47.60,0.031,0.023,0.131,139,1946,497,-9.14,2.54,555.11,0,0,0,0,0,0,26.32,26.34,26.11
$IRIDIUM_FIX,2155.06,12029.11,240613,232308
$TT8_MAMPS,0.026964,0.026964
$HUMID,59.01
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.30
$XPDR_PINGS,1
$SC_FREEKB,7704288
$24V_AH,23.6,3.811
$10V_AH,10.2,3.056
$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,22.575,69.425,449.950,47.600,0.000,0.000,0.000,244.625,0.250,0.000,41.797,1411.227,5171.071,574.948,1517.869,352.704,0.000,1527.428,0.000,1206.869,0.000,0.542,0.000
$DEVICE_MAMPS,240.210,46.665,1631.745,130.815,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.250,0.000,0.000,0.000
$MEM,324584
$DATA_FILE_SIZE,16770,417
$CAP_FILE_SIZE,107926,0
$CFSIZE,260034560,247136256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,250613,035353,2200.562,12026.311,43,0.8,43,-3.1