version: 66.11
glider: 167
mission: 16
dive: 51
start: 6 27 113 13 50 32
data:
$ID,167
$MISSION,16
$DIVE,51
$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,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,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,-974759.38
$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,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,42
$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
$GPS1,270613,134235,2154.350,12025.448,28,1.2,28,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.0
$GPS2,270613,135005,2154.297,12025.462,39,0.9,39,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T3
$TGT_LATLONG,2151.500,12030.000
$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,133.4,9364,-15.7,-10.000,-18.68,2978
$D_GRID,936
$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,-1.16,-194.6,112,1887,419,569,0.0,0.0,0,108,0.00,0.00,-80.15,0.000,16386,0.000,0.000,111,1887,2448,2431,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-1.16,-194.6,110,1887,2430,2467,3.1,-3.7,14,151,10.23,2.20,-21.08,0.000,18692,0.238,0.046,2696,3316,3559,3557,3562,0,0,0,0,0,0,25.94,26.17,26.43
$GC,161,-1.16,-194.6,2696,3317,3557,3563,19.5,-36.8,21,168,0.00,2.08,0.00,0.000,1030,0.000,0.015,2696,1866,3560,3557,3563,0,0,0,0,0,0,28.83,26.22,28.83
$GC,479,-1.16,-194.6,2695,1864,3561,3565,120.1,-26.4,41,484,0.00,1.98,0.00,0.000,516,0.000,0.033,2696,517,3563,3561,3565,0,0,0,0,0,0,28.83,26.36,28.83
$GC,658,-1.16,-194.6,2695,517,3562,3567,164.5,-29.0,49,666,0.00,2.00,0.00,0.000,1030,0.000,0.018,2686,1928,3563,3561,3566,0,0,0,0,0,0,28.83,26.46,28.83
$GC,964,-1.16,-194.6,2686,1929,3561,3566,246.5,-23.9,65,970,0.00,1.98,0.00,0.000,260,0.000,0.028,2675,3301,3564,3562,3566,0,0,0,0,0,0,28.83,26.51,28.83
$GC,990,-1.16,-194.6,2675,3300,3561,3565,252.4,-23.7,66,997,0.12,1.98,0.00,0.000,3078,0.180,0.018,2705,1911,3563,3561,3566,0,0,0,0,0,0,26.39,26.54,28.83
$GC,1317,-1.16,-194.6,2704,1911,3561,3566,319.5,-20.1,82,1322,0.00,2.05,0.00,0.000,516,0.000,0.036,2705,514,3563,3561,3566,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1371,-1.16,-194.6,2705,513,3561,3566,329.9,-22.0,84,1377,0.00,1.98,0.00,0.000,1030,0.000,0.018,2697,1905,3562,3560,3564,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1686,-1.16,-194.6,2696,1907,3563,3559,396.0,-20.5,100,1692,0.00,2.00,0.00,0.000,260,0.000,0.031,2687,3287,3561,3564,3559,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1771,-1.16,-194.6,2687,3287,3564,3558,413.5,-20.6,104,1776,0.00,1.98,0.00,0.000,1030,0.000,0.018,2687,1903,3561,3564,3558,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2096,-1.16,-194.6,2687,1903,3564,3553,485.2,-20.9,120,2102,0.00,2.03,0.00,0.000,516,0.000,0.035,2687,517,3558,3564,3553,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2142,-1.16,-194.6,2687,517,3564,3553,495.2,-21.6,122,2148,0.12,1.98,0.00,0.000,3078,0.188,0.020,2710,1901,3558,3564,3552,0,0,0,0,0,0,26.51,26.67,28.83
$GC,2467,-1.16,-194.6,2709,1901,3564,3547,557.2,-18.0,138,2473,0.00,2.03,0.00,0.000,260,0.000,0.033,2701,3291,3555,3564,3547,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2499,-1.16,-194.6,2701,3291,3564,3546,561.8,-17.6,139,2504,0.00,1.98,0.00,0.000,1030,0.000,0.018,2701,1899,3555,3564,3546,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2812,-1.16,-194.6,2701,1900,3564,3541,617.4,-17.4,153,2817,0.00,2.05,0.00,0.000,260,0.000,0.032,2697,3288,3552,3564,3541,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2910,-1.16,-194.6,1672,3286,3550,3537,634.0,-16.9,156,2916,0.00,1.98,0.00,0.000,1030,0.000,0.019,2697,1904,3552,3564,3540,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3244,-1.16,-194.6,2696,1903,3564,3534,694.0,-18.9,167,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1903,3549,3564,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3541,-1.16,-194.6,2696,1903,3563,3531,746.1,-15.5,177,3546,0.00,2.08,0.00,0.000,516,0.000,0.037,2697,508,3547,3564,3530,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3615,-1.16,-194.6,2696,509,3564,3529,756.1,-15.2,179,3620,0.00,2.00,0.00,0.000,1030,0.000,0.021,2693,1901,3547,3565,3529,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3943,-1.16,-194.6,2693,1901,3564,3524,808.8,-16.3,190,3948,0.00,2.05,0.00,0.000,260,0.000,0.034,2683,3294,3544,3564,3524,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3993,-1.16,-194.6,2683,3294,3563,3524,815.7,-17.0,191,3998,0.00,2.00,0.00,0.000,1030,0.000,0.019,2683,1893,3543,3563,3524,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4316,-1.16,-194.6,2683,1893,3560,3521,877.7,-17.9,202,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1893,3541,3560,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4613,-1.16,-194.6,2683,1892,3558,3519,930.3,-17.4,212,4619,0.00,2.03,0.00,0.000,516,0.000,0.037,2683,516,3538,3558,3518,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,4645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4645,begin apogee
$GC,4657,-0.19,0.0,2669,3276,3558,3518,936.6,-17.6,213,4835,1.12,0.00,168.93,1.161,10246,0.160,0.000,3018,3276,2754,2823,2685,0,0,0,0,0,0,26.56,28.83,24.03
$STATE,4837,end apogee,CONTROL_FINISHED_OK
$STATE,4837,begin climb
$GC,4840,1.16,194.6,3018,3275,2819,2676,945.6,0.0,219,5028,1.20,0.77,178.55,1.089,10500,0.040,0.043,3469,3771,1958,2051,1866,0,0,0,0,0,0,24.94,24.58,23.92
$GC,5258,1.16,194.6,2560,3771,1969,1826,848.2,29.2,233,5263,0.00,0.68,0.00,0.000,1030,0.000,0.031,3472,3310,1939,2041,1838,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5591,1.16,194.6,3472,3310,2041,1833,757.1,27.4,244,5596,0.00,0.73,0.00,0.000,260,0.000,0.049,3472,3770,1937,2041,1834,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5680,1.16,194.6,3472,3770,2041,1833,738.9,26.8,246,5686,0.00,0.68,0.00,0.000,1030,0.000,0.033,3476,3303,1936,2041,1832,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5986,1.16,194.6,3475,3303,2041,1831,655.4,24.5,257,5991,0.00,2.08,0.00,0.000,516,0.000,0.027,3485,1890,1936,2041,1831,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6126,1.16,194.6,3485,1890,2041,1830,624.1,25.0,261,6132,0.00,2.15,0.00,0.000,1030,0.000,0.034,3484,3311,1935,2041,1830,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6436,1.16,194.6,3485,3311,2041,1829,537.3,28.1,275,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,3311,1934,2041,1828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6739,1.16,194.6,3485,3311,2041,1827,457.4,25.6,290,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,3311,1934,2041,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7039,1.16,194.6,3485,3311,2041,1826,386.3,23.8,305,7044,0.00,0.68,0.00,0.000,260,0.000,0.049,3485,3766,1933,2041,1826,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7104,1.16,194.6,3485,3766,2041,1826,369.6,24.7,308,7109,0.00,0.68,0.00,0.000,1030,0.000,0.031,3489,3294,1933,2041,1826,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7429,1.16,194.6,3488,3294,2041,1825,286.4,25.3,324,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,3294,1933,2041,1825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7731,1.16,194.6,3488,3294,2041,1824,209.3,27.4,339,7737,0.00,2.03,0.00,0.000,516,0.000,0.024,3499,1890,1932,2041,1824,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7817,1.16,194.6,3498,1890,2041,1824,187.8,24.4,343,7824,0.15,2.10,0.00,0.000,5126,0.191,0.032,3463,3302,1932,2041,1824,0,0,0,0,0,0,26.43,26.58,28.83
$GC,8143,1.16,194.6,3463,3301,2041,1823,124.5,19.1,359,8148,0.00,0.68,0.00,0.000,260,0.000,0.047,3463,3764,1932,2041,1823,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8380,1.16,194.6,3463,3764,2041,1823,80.4,20.9,370,8385,0.00,0.65,0.00,0.000,1030,0.000,0.031,3465,3287,1932,2042,1823,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8695,1.71,376.0,3464,3287,2041,1822,52.9,3.7,386,8775,0.40,0.75,74.28,0.239,11012,0.048,0.044,3637,3769,1226,1290,1163,0,0,0,0,0,0,26.65,26.27,26.06
$STATE,8930,end climb,SURFACE_DEPTH_REACHED
$STATE,8930,begin surface coast
$FINISH,0.8,1.020767
$STATE,8942,end surface coast,CONTROL_FINISHED_OK
$STATE,8942,begin surface
$SM_CCo,8967,90.03,0.133,0,0,499,555.11
$SM_GC,1.97,8.88,2.80,90.03,0.028,0.022,0.133,141,1925,499,-9.12,2.06,555.11,0,0,0,0,0,0,26.37,26.37,26.05
$IRIDIUM_FIX,2148.09,12024.75,270613,101050
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.19
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,7696608
$24V_AH,23.9,6.160
$10V_AH,10.3,4.809
$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,22.225,64.025,421.750,90.025,0.000,0.000,0.000,243.825,0.000,0.000,40.192,1441.958,5699.970,564.054,1442.562,360.436,0.000,1492.535,0.000,1143.780,0.000,0.540,0.000
$DEVICE_MAMPS,237.915,48.960,1160.505,133.110,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8941.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.532,0.000,0.000,0.000
$MEM,324356
$DATA_FILE_SIZE,16724,417
$CAP_FILE_SIZE,106531,0
$CFSIZE,260034560,245706752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.092,302.0,1
$GPS,270613,162253,2153.894,12026.088,38,1.3,38,-3.1