version: 66.11
glider: 167
mission: 16
dive: 32
start: 6 25 113 4 1 24
data:
$ID,167
$MISSION,16
$DIVE,32
$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,-974735.38
$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,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,39
$R_STBD_OVSHOOT,39
$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
$GPS1,250613,035353,2200.562,12026.311,43,0.8,43,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.7
$GPS2,250613,040100,2200.601,12026.168,8,0.8,8,-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,256.5,3885,-21.9,-10.000,-24.42,1564
$D_GRID,882
$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,-1.12,-101.9,108,1933,418,574,0.0,0.0,0,110,0.00,0.00,-81.72,0.000,16386,0.000,0.000,108,1933,2509,2489,2530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.37,-185.4,108,1932,2489,2532,3.3,-4.5,15,151,9.90,2.05,-18.20,0.000,18692,0.236,0.038,2629,3327,3520,3514,3526,0,0,0,0,0,0,25.95,26.22,26.46
$GC,161,-1.37,-185.4,2630,3327,3514,3527,22.2,-44.2,22,167,0.00,2.12,0.00,0.000,1030,0.000,0.025,2630,1878,3520,3514,3527,0,0,0,0,0,0,28.83,26.23,28.83
$GC,467,-1.37,-185.4,2630,1878,3517,3528,140.0,-30.5,41,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1878,3523,3518,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,770,-1.37,-185.4,2630,1878,3519,3528,228.3,-30.9,56,775,0.00,2.12,0.00,0.000,260,0.000,0.030,2620,3327,3523,3520,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,843,-1.37,-185.4,2620,3328,3519,3528,246.3,-26.7,59,849,0.00,2.08,0.00,0.000,1030,0.000,0.020,2621,1884,3524,3520,3528,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1158,-1.37,-185.4,2620,1883,3519,3528,339.4,-27.2,75,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1883,3524,3520,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1461,-1.37,-185.4,2619,1883,3521,3524,417.6,-26.0,90,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1882,3523,3522,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1761,-1.37,-185.4,2619,1883,3522,3520,496.3,-26.4,105,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1883,3521,3522,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2061,-1.37,-185.4,2619,1883,3520,3515,570.5,-25.3,120,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1883,3518,3522,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2379,-1.37,-185.4,2619,1883,3521,3509,646.0,-23.6,133,2384,0.00,2.00,0.00,0.000,516,0.000,0.032,2620,500,3514,3521,3508,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2407,-1.37,-185.4,2619,500,3521,3509,646.0,-23.6,133,2415,0.12,2.03,0.00,0.000,3078,0.204,0.018,2638,1925,3515,3522,3508,0,0,0,0,0,0,26.54,26.72,28.83
$GC,2716,-1.37,-185.4,2638,1925,3521,3503,724.3,-23.6,144,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1925,3511,3520,3503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3013,-1.37,-185.4,2638,1928,3521,3499,794.0,-20.7,154,3018,0.00,2.00,0.00,0.000,260,0.000,0.035,2630,3293,3509,3521,3498,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3048,-1.37,-185.4,2630,3292,3521,3498,801.0,-20.5,155,3053,0.00,2.00,0.00,0.000,1030,0.000,0.019,2630,1889,3509,3521,3498,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3385,-1.37,-185.4,2629,1888,3521,3493,869.1,-20.0,166,3390,0.00,2.08,0.00,0.000,260,0.000,0.035,2620,3289,3506,3521,3492,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,3448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3448,begin apogee
$GC,3457,-0.19,0.0,2620,2743,3521,3491,882.4,-19.2,168,3624,1.30,0.00,155.55,1.112,10246,0.168,0.000,3019,2738,2752,2819,2686,0,0,0,0,0,0,26.56,28.83,24.13
$STATE,3626,end apogee,CONTROL_FINISHED_OK
$STATE,3626,begin climb
$GC,3630,1.37,185.4,3019,2738,2818,2676,892.5,0.0,173,3806,1.35,1.62,165.45,1.050,10500,0.035,0.041,3537,3733,1997,2084,1911,0,0,0,0,0,0,25.05,24.68,24.04
$GC,4036,1.37,185.4,3536,3733,2072,1879,780.4,35.1,187,4042,0.00,1.40,0.00,0.000,1030,0.000,0.024,3544,2792,1976,2073,1879,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4364,1.37,185.4,3543,2789,2072,1874,671.6,29.2,198,4369,0.00,1.50,0.00,0.000,260,0.000,0.043,3544,3738,1973,2072,1874,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4598,1.37,185.4,3543,3737,2072,1872,604.5,30.5,205,4604,0.00,1.38,0.00,0.000,1030,0.000,0.024,3551,2799,1972,2072,1872,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4913,1.37,185.4,3551,2797,2071,1869,499.4,32.0,221,4918,0.00,2.05,0.00,0.000,516,0.000,0.029,3561,1415,1970,2072,1869,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5041,1.37,185.4,3561,1414,2072,1868,460.5,31.1,227,5047,0.15,2.05,0.00,0.000,5126,0.212,0.030,3527,2792,1970,2073,1868,0,0,0,0,0,0,26.27,26.46,28.83
$GC,5366,1.37,185.4,3528,2792,2072,1866,366.8,27.8,243,5371,0.00,1.48,0.00,0.000,260,0.000,0.042,3527,3755,1969,2072,1866,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5603,1.37,185.4,3527,3756,2072,1864,305.4,25.9,254,5608,0.00,1.40,0.00,0.000,1030,0.000,0.024,3534,2785,1968,2072,1865,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5917,1.37,185.4,3533,2782,2072,1863,225.2,26.2,270,5922,0.00,1.50,0.00,0.000,260,0.000,0.041,3534,3751,1967,2072,1863,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6148,1.37,185.4,3534,3751,2073,1863,161.2,29.0,281,6153,0.00,1.38,0.00,0.000,1030,0.000,0.023,3541,2789,1967,2072,1863,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6468,1.37,185.4,3541,2783,2072,1861,95.1,16.8,297,6473,0.00,1.98,0.00,0.000,516,0.000,0.026,3551,1417,1966,2072,1861,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6623,1.37,185.4,3551,1418,2072,1861,74.2,13.8,304,6629,0.00,2.05,0.00,0.000,1030,0.000,0.028,3551,2813,1967,2073,1861,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6938,1.37,185.4,3551,2813,2072,1861,37.1,10.4,326,6943,0.00,1.42,0.00,0.000,260,0.000,0.041,3551,3757,1966,2072,1861,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7099,1.90,361.4,2656,3756,1995,1849,31.2,-1.6,341,7187,0.28,1.35,75.80,0.188,11270,0.041,0.020,3708,2781,1287,1351,1223,0,0,0,0,0,0,26.67,26.72,26.20
$STATE,7287,end climb,SURFACE_DEPTH_REACHED
$STATE,7287,begin surface coast
$FINISH,0.8,1.020711
$STATE,7298,end surface coast,CONTROL_FINISHED_OK
$STATE,7298,begin surface
$SM_CCo,7322,95.45,0.129,0,0,497,555.11
$SM_GC,1.65,8.98,1.23,95.45,0.026,0.026,0.129,133,1941,497,-9.15,2.88,555.11,0,0,0,0,0,0,26.44,26.46,26.10
$IRIDIUM_FIX,2155.06,12029.11,250613,010126
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.88
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,7703904
$24V_AH,24.0,3.924
$10V_AH,10.1,3.130
$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,22.075,42.950,396.800,95.450,0.000,0.000,0.000,253.050,0.000,0.000,9.166,1199.107,4500.018,544.921,1292.800,309.179,0.000,1382.636,0.000,1009.493,0.000,0.542,0.000
$DEVICE_MAMPS,235.620,42.840,1111.545,129.285,0.000,0.000,0.000,116.280,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7315.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.681,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,13482,371
$CAP_FILE_SIZE,90281,0
$CFSIZE,260034560,247091200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250613,060629,2200.189,12025.419,41,1.3,41,-3.1