version: 66.11
glider: 167
mission: 16
dive: 30
start: 6 24 113 23 13 38
data:
$ID,167
$MISSION,16
$DIVE,30
$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,-974732.88
$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,66
$R_STBD_OVSHOOT,40
$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
$GPS1,240613,230735,2200.745,12029.349,39,1.4,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.4
$GPS2,240613,231311,2200.670,12029.307,5,1.4,5,-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,265.3,9196,-15.7,-10.000,-18.68,2978
$D_GRID,785
$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,-194.6,112,1909,420,583,0.0,0.0,0,115,0.00,0.00,-87.28,0.000,16386,0.000,0.000,112,1910,2687,2664,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.16,-194.6,112,1910,2664,2712,3.8,-7.5,16,154,10.23,2.10,-13.73,0.000,18948,0.243,0.043,2701,503,3561,3556,3566,0,0,0,0,0,0,26.19,26.44,26.68
$GC,190,-1.16,-194.6,2701,503,3556,3567,32.5,-43.4,25,197,0.00,2.03,0.00,0.000,1030,0.000,0.018,2692,1933,3561,3556,3567,0,0,0,0,0,0,28.83,26.48,28.83
$GC,496,-1.16,-194.6,2692,1933,3558,3567,133.0,-32.9,43,501,0.00,1.98,0.00,0.000,260,0.000,0.031,2682,3305,3562,3558,3567,0,0,0,0,0,0,28.83,26.60,28.83
$GC,612,-1.16,-194.6,2682,3304,3558,3567,165.4,-29.9,48,618,0.00,2.00,0.00,0.000,1030,0.000,0.023,2682,1902,3562,3558,3567,0,0,0,0,0,0,28.83,26.65,28.83
$GC,927,-1.16,-194.6,2681,1901,3559,3567,241.9,-22.0,64,932,0.00,2.05,0.00,0.000,260,0.000,0.035,2672,3293,3563,3559,3567,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1054,-1.16,-194.6,2671,3293,3559,3567,273.3,-26.4,70,1060,0.15,2.00,0.00,0.000,3078,0.177,0.021,2710,1883,3563,3559,3567,0,0,0,0,0,0,26.57,26.73,28.83
$GC,1380,-1.16,-194.6,2709,1883,3559,3565,339.1,-21.3,86,1385,0.00,1.98,0.00,0.000,516,0.000,0.031,2710,507,3562,3560,3564,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1474,-1.16,-194.6,2709,507,3559,3563,359.5,-24.3,90,1479,0.00,1.95,0.00,0.000,1030,0.000,0.017,2702,1903,3561,3559,3563,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1788,-1.16,-194.6,2700,1905,3562,3556,426.0,-18.8,106,1793,0.00,2.03,0.00,0.000,260,0.000,0.035,2697,3293,3559,3562,3556,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1827,-1.16,-194.6,2697,3293,3562,3555,430.5,-18.7,107,1834,0.00,1.98,0.00,0.000,1030,0.000,0.019,2697,1890,3558,3562,3555,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2134,-1.16,-194.6,2697,1890,3562,3549,494.7,-19.2,123,2139,0.00,1.98,0.00,0.000,516,0.000,0.032,2697,512,3555,3562,3549,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2193,-1.16,-194.6,2697,512,3562,3548,503.4,-19.3,125,2199,0.00,1.95,0.00,0.000,1030,0.000,0.018,2688,1897,3555,3562,3548,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2499,-1.16,-194.6,2687,1897,3562,3542,565.5,-20.5,141,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1897,3552,3562,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-1.16,-194.6,2687,1897,3561,3537,624.3,-18.2,155,2827,0.00,2.05,0.00,0.000,260,0.000,0.036,2683,3288,3549,3562,3537,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2865,-1.16,-194.6,2683,3288,3561,3536,631.3,-18.5,156,2870,0.00,1.98,0.00,0.000,1030,0.000,0.019,2684,1898,3548,3562,3535,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3193,-1.16,-194.6,2683,1898,3561,3531,696.7,-19.4,167,3198,0.00,2.00,0.00,0.000,516,0.000,0.032,2683,512,3546,3562,3530,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3221,-1.16,-194.6,2683,510,3562,3530,696.7,-19.4,167,3229,0.12,1.98,0.00,0.000,3078,0.184,0.019,2706,1902,3546,3562,3530,0,0,0,0,0,0,26.64,26.79,28.83
$GC,3531,-1.16,-194.6,2705,1902,3561,3524,760.6,-18.1,178,3536,0.00,2.03,0.00,0.000,516,0.000,0.031,2706,509,3543,3562,3524,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3560,-1.16,-194.6,2705,509,3562,3524,760.6,-18.1,178,3567,0.00,2.00,0.00,0.000,1030,0.000,0.018,2698,1910,3543,3562,3524,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,3682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3683,begin apogee
$GC,3692,-0.19,0.0,2696,2786,3561,3522,786.2,-15.8,183,3880,1.00,0.00,175.20,1.257,10246,0.142,0.000,3019,2787,2766,2832,2700,0,0,0,0,1,0,26.63,28.83,23.86
$STATE,3882,end apogee,CONTROL_FINISHED_OK
$STATE,3882,begin climb
$GC,3885,1.16,194.6,3019,2787,2832,2707,793.8,0.0,189,4066,1.17,2.17,170.57,1.005,10756,0.033,0.028,3486,1416,1957,2051,1864,0,0,0,0,0,0,25.04,24.98,24.34
$GC,4215,1.16,194.6,3485,1415,2041,1846,733.5,25.0,200,4221,0.00,2.12,0.00,0.000,1030,0.000,0.031,3486,2804,1943,2041,1845,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4538,1.16,194.6,3485,2804,2041,1840,646.1,26.0,211,4543,0.00,1.48,0.00,0.000,260,0.000,0.044,3485,3759,1940,2041,1840,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4773,1.16,194.6,3485,3759,2036,1838,584.4,27.8,219,4779,0.08,1.40,0.00,0.000,5126,0.194,0.024,3457,2797,1938,2037,1839,0,0,0,0,0,0,26.29,26.50,28.83
$GC,5089,1.16,194.6,3457,2797,2036,1837,502.6,23.6,235,5094,0.00,1.50,0.00,0.000,260,0.000,0.042,3457,3759,1936,2036,1837,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5325,1.16,194.6,3457,3759,2036,1835,447.7,24.0,246,5330,0.00,1.40,0.00,0.000,1030,0.000,0.024,3463,2791,1936,2037,1835,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5639,1.16,194.6,3463,2786,2037,1833,372.6,24.6,262,5644,0.00,1.50,0.00,0.000,260,0.000,0.041,3463,3758,1935,2037,1833,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5846,1.16,194.6,3463,3757,2036,1833,319.5,26.3,272,5851,0.00,1.40,0.00,0.000,1030,0.000,0.024,3470,2794,1934,2036,1832,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6170,1.16,194.6,3470,2792,2037,1831,242.8,20.7,288,6175,0.00,1.50,0.00,0.000,260,0.000,0.041,3470,3763,1934,2037,1832,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6195,1.16,194.6,3470,3763,2036,1832,237.4,20.8,289,6200,0.00,1.40,0.00,0.000,1030,0.000,0.024,3477,2800,1935,2038,1832,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6520,1.16,194.6,3477,2799,2037,1831,166.0,22.9,305,6525,0.00,1.50,0.00,0.000,260,0.000,0.041,3478,3768,1934,2037,1831,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6755,1.16,194.6,3477,3767,2036,1830,114.1,22.1,316,6760,0.00,1.40,0.00,0.000,1030,0.000,0.022,3485,2784,1933,2037,1830,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7070,1.16,194.6,3485,2780,2036,1829,60.0,15.3,332,7075,0.00,1.50,0.00,0.000,260,0.000,0.041,3485,3760,1933,2037,1829,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7306,1.82,414.2,3485,3760,2037,1829,40.7,2.4,351,7408,0.40,1.35,90.68,0.213,11270,0.037,0.021,3697,2787,1071,1073,1070,0,0,0,0,0,0,26.73,26.78,26.16
$STATE,7492,end climb,SURFACE_DEPTH_REACHED
$STATE,7492,begin surface coast
$FINISH,0.8,1.012149
$STATE,7503,end surface coast,CONTROL_FINISHED_OK
$STATE,7504,begin surface
$SM_CCo,7527,72.07,0.133,0,0,500,555.11
$SM_GC,1.56,9.10,1.25,72.07,0.036,0.030,0.133,141,1947,500,-9.14,2.74,555.11,0,0,0,0,0,0,26.42,26.44,26.15
$IRIDIUM_FIX,2152.74,12031.12,240613,222208
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.63
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.90
$XPDR_PINGS,3
$SC_FREEKB,7704672
$24V_AH,23.9,3.647
$10V_AH,10.3,2.973
$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,22.250,60.200,436.450,72.075,0.000,0.000,0.000,182.950,0.750,0.000,6.444,1275.601,4472.615,546.354,1328.579,323.249,0.000,1399.444,0.000,1113.471,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,44.370,1256.895,133.110,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7507.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.517,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,13449,379
$CAP_FILE_SIZE,97214,0
$CFSIZE,260034560,247214080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,250613,012135,2200.652,12027.989,32,1.1,32,-3.1