version: 66.11
glider: 167
mission: 16
dive: 36
start: 6 25 113 15 31 49
data:
$ID,167
$MISSION,16
$DIVE,36
$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,180
$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,-974740.38
$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,3100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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
$GPS1,250613,152405,2200.094,12023.827,34,1.1,34,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-73.2
$GPS2,250613,153123,2200.153,12023.967,44,1.1,44,-3.1
$SPEED_LIMITS,0.173,0.282
$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,171.6,288,-27.8,-10.000,-30.00,969
$D_GRID,948
$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,-1.22,-63.1,108,1928,436,551,0.0,0.0,0,116,0.00,0.00,-87.43,0.000,16386,0.000,0.000,108,1929,2674,2654,2695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.29,-86.1,108,1929,2654,2695,3.8,-7.6,16,149,10.15,2.08,-7.65,0.000,18692,0.239,0.043,2653,3321,3116,3112,3120,0,0,0,0,0,0,25.90,26.15,26.40
$GC,280,-1.29,-86.1,2653,3322,3112,3121,63.8,-37.6,33,285,0.00,2.08,0.00,0.000,1030,0.000,0.019,2653,1885,3116,3112,3120,0,0,0,0,0,0,28.83,26.27,28.83
$GC,600,-1.29,-86.1,2653,1885,3116,3122,131.7,-22.4,49,605,0.00,2.12,0.00,0.000,260,0.000,0.030,2644,3329,3120,3116,3124,0,0,0,0,0,0,28.83,26.40,28.83
$GC,835,-1.29,-86.1,2643,3329,3116,3123,180.5,-20.7,60,840,0.00,2.05,0.00,0.000,1030,0.000,0.018,2643,1884,3119,3116,3123,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1149,-1.29,-86.1,2643,1884,3118,3124,244.5,-20.1,76,1154,0.00,2.10,0.00,0.000,260,0.000,0.031,2633,3318,3120,3117,3124,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1168,-1.29,-86.1,2633,3318,3117,3123,244.5,-20.1,76,1175,0.15,2.00,0.00,0.000,3078,0.193,0.017,2669,1891,3120,3117,3123,0,0,0,0,0,0,26.38,26.58,28.83
$GC,1474,-1.29,-86.1,2669,1890,3117,3123,296.9,-15.7,92,1479,0.00,2.10,0.00,0.000,260,0.000,0.033,2661,3317,3120,3117,3123,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1585,-1.29,-86.1,2661,3316,3117,3123,313.3,-15.6,97,1591,0.00,2.00,0.00,0.000,1030,0.000,0.017,2661,1895,3120,3117,3123,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1905,-1.29,-86.1,2661,1895,3116,3119,364.8,-15.9,113,1910,0.00,2.10,0.00,0.000,260,0.000,0.033,2651,3324,3118,3117,3119,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1999,-1.29,-86.1,2651,3324,3117,3118,378.7,-16.4,117,2005,0.00,2.03,0.00,0.000,1030,0.000,0.017,2651,1889,3117,3117,3118,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2314,-1.29,-86.1,2650,1887,3120,3112,427.2,-13.2,133,2319,0.00,2.10,0.00,0.000,260,0.000,0.032,2642,3317,3116,3120,3112,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2550,-1.29,-86.1,2641,3317,3120,3109,456.1,-11.6,144,2555,0.00,2.00,0.00,0.000,1030,0.000,0.018,2641,1901,3114,3119,3109,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2864,-1.29,-86.1,2641,1901,3119,3105,493.6,-13.3,160,2870,0.00,2.00,0.00,0.000,516,0.000,0.031,2642,515,3111,3119,3104,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2949,-1.29,-86.1,2642,515,3119,3103,506.0,-14.5,164,2955,0.15,2.03,0.00,0.000,3078,0.197,0.019,2668,1920,3111,3120,3103,0,0,0,0,0,0,26.53,26.71,28.83
$GC,3275,-1.29,-86.1,2668,1920,3120,3099,557.4,-16.1,180,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1920,3109,3119,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,-1.29,-86.1,2667,1920,3119,3095,602.6,-13.5,195,3583,0.00,2.03,0.00,0.000,260,0.000,0.036,2658,3304,3106,3119,3094,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3769,-1.29,-86.1,2659,3304,3119,3092,625.5,-11.4,201,3774,0.00,2.00,0.00,0.000,1030,0.000,0.018,2659,1885,3105,3119,3092,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4101,-1.29,-86.1,2659,1884,3119,3088,663.6,-10.4,212,4106,0.00,2.10,0.00,0.000,260,0.000,0.036,2656,3298,3103,3119,3087,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4281,-1.32,-96.5,2656,3298,3119,3086,678.0,-8.9,217,4288,0.00,1.98,0.00,0.000,1030,0.000,0.018,2656,1902,3102,3119,3086,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4587,-1.32,-96.5,2656,1902,3119,3084,709.4,-10.8,228,4592,0.00,2.03,0.00,0.000,516,0.000,0.033,2656,507,3101,3120,3083,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4617,-1.32,-96.5,2656,507,3119,3083,709.4,-10.8,228,4624,0.00,2.00,0.00,0.000,1030,0.000,0.020,2647,1911,3101,3119,3083,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4922,-1.32,-96.5,2647,1911,3119,3079,755.7,-14.9,239,4927,0.00,2.05,0.00,0.000,516,0.000,0.031,2646,510,3099,3119,3079,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4951,-1.32,-96.5,2646,510,3119,3079,755.7,-14.9,239,4958,0.00,2.00,0.00,0.000,1030,0.000,0.020,2638,1906,3099,3119,3079,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5257,-1.32,-96.5,2638,1906,3119,3076,804.2,-13.5,250,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1906,3097,3119,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5557,-1.32,-96.5,2637,1906,3119,3073,841.5,-13.2,260,5562,0.00,2.05,0.00,0.000,260,0.000,0.037,2628,3293,3096,3120,3073,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5616,-1.32,-96.5,2627,3293,3119,3072,846.3,-13.4,261,5624,0.12,1.98,0.00,0.000,3078,0.203,0.019,2656,1893,3095,3119,3072,0,0,0,0,0,0,26.56,26.76,28.83
$GC,5926,-1.32,-96.5,2655,1892,3120,3069,893.4,-14.0,272,5931,0.00,2.00,0.00,0.000,516,0.000,0.034,2656,520,3094,3119,3069,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5970,-1.32,-96.5,2656,520,3119,3069,899.7,-14.9,273,5975,0.00,1.98,0.00,0.000,1030,0.000,0.023,2650,1896,3094,3119,3069,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6297,-1.32,-96.5,2650,1899,3119,3066,941.1,-14.3,284,6302,0.00,2.08,0.00,0.000,260,0.000,0.038,2642,3296,3092,3119,3065,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,6359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6359,begin apogee
$GC,6367,-0.19,0.0,2640,3088,3119,3065,948.5,-12.2,286,6444,1.23,0.00,65.60,1.610,10246,0.171,0.000,3014,3088,2762,2813,2712,0,0,0,0,1,0,26.56,28.83,23.87
$STATE,6446,end apogee,CONTROL_FINISHED_OK
$STATE,6447,begin climb
$GC,6450,1.32,96.5,3013,3088,2813,2721,950.5,0.0,288,6554,1.35,0.00,92.68,1.714,10502,0.046,0.000,3513,3087,2369,2427,2311,0,0,0,0,1,0,25.03,28.83,23.39
$GC,6874,1.32,96.5,3513,3087,2427,2304,871.9,21.6,303,6879,0.00,1.02,0.00,0.000,260,0.000,0.046,3513,3737,2365,2427,2304,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7109,1.32,96.5,3513,3737,2426,2301,825.7,21.5,310,7114,0.00,0.90,0.00,0.000,1030,0.000,0.030,3518,3120,2364,2427,2301,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7424,1.32,96.5,3518,3120,2426,2298,757.1,20.8,321,7429,0.00,0.95,0.00,0.000,260,0.000,0.045,3518,3737,2362,2426,2298,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7658,1.32,96.5,3517,3737,2426,2296,711.6,20.9,328,7663,0.00,0.93,0.00,0.000,1030,0.000,0.030,3523,3102,2361,2426,2297,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7973,1.32,96.5,3522,3100,2426,2294,642.8,21.8,339,7978,0.00,2.05,0.00,0.000,516,0.000,0.026,3533,1698,2360,2426,2294,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8163,1.32,96.5,2656,1696,2345,2277,605.7,19.3,345,8168,0.00,2.08,0.00,0.000,1030,0.000,0.034,3533,3078,2359,2427,2292,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8474,1.32,96.5,3532,3078,2426,2292,546.2,18.6,360,8479,0.00,1.02,0.00,0.000,260,0.000,0.044,3533,3757,2359,2427,2291,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8710,1.32,96.5,3533,3757,2427,2292,499.6,20.6,371,8715,0.00,0.95,0.00,0.000,1030,0.000,0.028,3538,3095,2358,2426,2291,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9024,1.32,96.5,3538,3094,2426,2290,436.5,17.2,387,9029,0.00,1.02,0.00,0.000,260,0.000,0.044,3538,3763,2358,2426,2290,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9220,1.32,96.5,3538,3763,2426,2290,403.2,17.8,396,9226,0.10,0.95,0.00,0.000,5126,0.220,0.028,3516,3097,2358,2426,2291,0,0,0,0,0,0,26.40,26.63,28.83
$GC,9535,1.32,96.5,3516,3097,2425,2290,354.7,15.0,412,9541,0.00,1.02,0.00,0.000,260,0.000,0.044,3516,3764,2358,2426,2290,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9773,1.32,96.5,3516,3764,2426,2289,317.5,16.9,423,9778,0.00,0.95,0.00,0.000,1030,0.000,0.029,3520,3101,2358,2427,2290,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10087,1.32,96.5,3520,3101,2427,2289,269.4,12.9,439,10092,0.00,1.00,0.00,0.000,260,0.000,0.045,3520,3760,2357,2426,2289,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10322,1.32,96.5,3521,3760,2426,2289,240.1,14.6,450,10327,0.00,0.95,0.00,0.000,1030,0.000,0.028,3525,3090,2357,2426,2289,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10637,1.32,96.5,3525,3090,2426,2289,199.6,10.7,466,10642,0.00,2.00,0.00,0.000,516,0.000,0.024,3535,1707,2357,2426,2289,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10872,1.39,118.0,3535,1707,2426,2287,179.4,7.7,477,10902,0.00,2.08,19.95,0.799,9222,0.000,0.032,3535,3110,2272,2340,2204,0,0,0,0,0,0,28.83,26.66,25.79
$GC,11203,1.39,118.0,3535,3110,2339,2197,139.1,10.8,494,11209,0.00,2.08,0.00,0.000,516,0.000,0.022,3545,1696,2268,2339,2198,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11384,1.42,129.0,3545,1695,2339,2196,125.5,8.8,502,11395,0.00,2.10,3.65,0.795,9222,0.000,0.031,3545,3109,2237,2302,2172,0,0,0,0,0,0,28.83,26.48,25.54
$GC,11715,1.70,223.2,3545,3109,2302,2174,103.6,0.0,519,11763,0.20,0.98,39.97,0.379,10500,0.070,0.044,3634,3754,1850,1930,1771,0,0,0,0,0,0,26.51,26.17,25.86
$GC,11934,1.70,223.2,3634,3754,1930,1769,80.1,12.6,529,11941,0.00,0.93,0.00,0.000,1030,0.000,0.024,3639,3087,1849,1930,1769,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12240,1.70,223.2,3639,3087,1930,1767,44.5,11.5,547,12245,0.00,1.02,0.00,0.000,260,0.000,0.041,3639,3763,1848,1930,1767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12371,1.78,250.3,2848,3762,1860,1755,32.3,7.1,559,12388,0.00,0.93,11.38,0.197,9222,0.000,0.023,3645,3085,1738,1821,1656,0,0,0,0,0,0,28.83,26.51,26.22
$STATE,12659,end climb,SURFACE_DEPTH_REACHED
$STATE,12659,begin surface coast
$FINISH,0.9,1.020908
$STATE,12698,end surface coast,CONTROL_FINISHED_OK
$STATE,12698,begin surface
$SM_CCo,12721,143.48,0.128,0,0,498,555.11
$SM_GC,1.73,8.98,1.70,143.48,0.038,0.024,0.128,132,1943,498,-9.15,2.54,555.11,0,0,0,0,0,0,26.48,26.51,26.04
$IRIDIUM_FIX,2150.42,12024.75,250613,121227
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.81
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.80
$XPDR_PINGS,3
$SC_FREEKB,7702368
$24V_AH,23.4,4.283
$10V_AH,10.2,3.549
$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,22.425,84.875,233.225,143.475,0.000,0.000,0.000,226.750,0.750,0.000,45.646,2263.286,7886.779,536.525,2164.046,454.439,0.000,1730.156,0.000,1860.114,0.000,0.542,0.000
$DEVICE_MAMPS,239.445,45.900,1714.365,127.755,0.000,0.000,0.000,116.280,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12713.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.123,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,23366,616
$CAP_FILE_SIZE,153569,0
$CFSIZE,260034560,246738944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,250613,190735,2159.417,12023.615,35,1.0,35,-3.1