version: 66.11
glider: 167
mission: 16
dive: 35
start: 6 25 113 12 36 58
data:
$ID,167
$MISSION,16
$DIVE,35
$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,-974739.12
$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,93
$R_STBD_OVSHOOT,77
$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
$GPS1,250613,122923,2200.049,12024.382,46,0.8,46,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.4
$GPS2,250613,123633,2200.105,12024.443,9,0.8,9,-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,258.8,785,-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,-63.1,110,1943,434,564,0.0,0.0,0,111,0.00,0.00,-82.28,0.000,16386,0.000,0.000,110,1944,2521,2499,2543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.39,-119.5,110,1944,2500,2543,3.1,-4.0,15,146,9.90,0.00,-14.23,0.000,18694,0.236,0.000,2632,1944,3253,3249,3258,0,0,0,0,0,0,25.89,28.83,26.40
$GC,460,-1.39,-119.5,2632,1944,3250,3263,111.7,-26.2,43,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1944,3256,3250,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,763,-1.39,-119.5,2632,1944,3251,3264,180.4,-24.1,58,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1944,3257,3251,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1063,-1.39,-119.5,2632,1944,3249,3264,253.1,-25.5,73,1068,0.00,1.95,0.00,0.000,260,0.000,0.034,2623,3277,3257,3250,3264,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1298,-1.39,-119.5,2623,3277,3250,3263,296.9,-18.5,84,1304,0.00,1.92,0.00,0.000,1030,0.000,0.018,2624,1919,3257,3251,3263,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1613,-1.39,-119.5,2623,1918,3250,3260,362.0,-20.0,100,1618,0.00,2.00,0.00,0.000,260,0.000,0.031,2615,3282,3254,3250,3259,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1667,-1.39,-119.5,2614,3282,3250,3259,371.1,-20.6,102,1672,0.00,1.95,0.00,0.000,1030,0.000,0.018,2614,1897,3254,3250,3259,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1981,-1.39,-119.5,2615,1897,3250,3256,428.9,-16.9,118,1986,0.00,2.00,0.00,0.000,516,0.000,0.031,2614,508,3252,3250,3255,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2035,-1.39,-119.5,2614,507,3250,3255,436.5,-16.8,120,2041,0.12,1.95,0.00,0.000,3078,0.207,0.018,2631,1888,3252,3250,3254,0,0,0,0,0,0,26.49,26.67,28.83
$GC,2350,-1.39,-119.5,2631,1888,3250,3251,490.2,-16.7,136,2355,0.00,2.05,0.00,0.000,260,0.000,0.035,2624,3289,3250,3250,3251,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2587,-1.39,-119.5,2623,3290,3250,3247,531.9,-18.8,147,2592,0.00,1.98,0.00,0.000,1030,0.000,0.018,2623,1894,3248,3250,3246,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2902,-1.39,-119.5,2623,1894,3250,3243,601.8,-21.8,163,2907,0.00,2.05,0.00,0.000,260,0.000,0.033,2614,3288,3246,3250,3242,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2997,-1.39,-119.5,2614,3288,3250,3240,621.9,-21.5,166,3002,0.00,1.98,0.00,0.000,1030,0.000,0.018,2614,1901,3245,3250,3240,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3334,-1.39,-119.5,2614,1901,3250,3236,684.3,-17.8,177,3339,0.00,2.05,0.00,0.000,260,0.000,0.034,2605,3292,3242,3250,3235,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3429,-1.39,-119.5,2605,3292,3250,3234,701.1,-17.3,180,3435,0.12,2.00,0.00,0.000,3078,0.207,0.019,2632,1884,3241,3250,3233,0,0,0,0,0,0,26.54,26.73,28.83
$GC,3764,-1.39,-119.5,2632,1883,3250,3229,752.3,-15.1,191,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1883,3239,3250,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4064,-1.39,-119.5,2633,1883,3250,3224,798.1,-15.3,201,4070,0.00,2.10,0.00,0.000,260,0.000,0.035,2626,3295,3237,3250,3224,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4133,-1.39,-119.5,1632,3293,3212,3216,809.0,-16.0,203,4138,0.00,1.98,0.00,0.000,1030,0.000,0.019,2626,1903,3236,3250,3223,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4465,-1.39,-119.5,2626,1904,3250,3219,865.9,-17.7,214,4470,0.00,2.03,0.00,0.000,516,0.000,0.033,2626,513,3234,3250,3218,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4519,-1.39,-119.5,2626,513,3250,3218,872.2,-17.5,215,4524,0.00,1.98,0.00,0.000,1030,0.000,0.019,2617,1898,3234,3250,3218,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4833,-1.39,-119.5,2617,1899,3250,3215,921.0,-10.3,226,4839,0.00,2.08,0.00,0.000,260,0.000,0.039,2617,3295,3232,3250,3214,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,5046,end dive,NO_VERTICAL_VELOCITY
$STATE,5046,begin apogee
$GC,5055,-0.19,0.0,2617,2784,3250,3212,921.1,0.0,233,5168,1.10,0.00,105.53,1.143,10246,0.085,0.000,3018,2783,2753,2809,2698,0,0,0,0,0,0,26.66,28.83,24.20
$STATE,5173,end apogee,CONTROL_FINISHED_OK
$STATE,5173,begin climb
$GC,5176,1.39,119.5,3018,2783,2803,2685,920.7,0.0,237,5300,1.40,1.60,110.20,1.095,10500,0.047,0.044,3540,3723,2260,2328,2192,0,0,0,0,0,0,25.08,24.65,23.97
$GC,5530,1.39,119.5,3539,3723,2320,2162,851.4,26.5,248,5536,0.00,1.35,0.00,0.000,1030,0.000,0.025,3547,2820,2241,2320,2162,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5836,1.39,119.5,3547,2819,2320,2155,765.6,26.6,259,5841,0.00,2.10,0.00,0.000,516,0.000,0.029,3557,1412,2237,2320,2155,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5992,1.39,119.5,3557,1412,2320,2153,725.2,25.8,264,5997,0.00,2.08,0.00,0.000,1030,0.000,0.031,3557,2779,2236,2320,2153,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6331,1.39,119.5,3557,2779,2320,2150,637.0,25.3,275,6336,0.00,1.52,0.00,0.000,260,0.000,0.045,3557,3789,2235,2320,2150,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6565,1.39,119.5,3557,3789,2314,2151,579.6,25.1,284,6571,0.08,1.45,0.00,0.000,5126,0.226,0.025,3537,2794,2232,2314,2151,0,0,0,0,0,0,26.24,26.48,28.83
$GC,6881,1.39,119.5,3537,2791,2314,2148,509.0,22.1,300,6886,0.00,1.52,0.00,0.000,260,0.000,0.044,3537,3795,2231,2314,2148,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7118,1.39,119.5,3537,3795,2314,2148,457.3,22.2,311,7123,0.00,1.45,0.00,0.000,1030,0.000,0.024,3544,2792,2231,2315,2148,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7432,1.39,119.5,3543,2789,2314,2145,394.4,18.7,327,7437,0.00,2.00,0.00,0.000,516,0.000,0.028,3554,1419,2229,2314,2145,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7669,1.39,119.5,3553,1419,2314,2144,348.6,20.3,338,7674,0.00,2.05,0.00,0.000,1030,0.000,0.030,3554,2803,2229,2314,2144,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7984,1.39,119.5,3553,2803,2314,2142,273.8,21.9,354,7989,0.00,1.45,0.00,0.000,260,0.000,0.043,3554,3754,2228,2314,2143,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8220,1.39,119.5,3553,3754,2314,2143,228.1,20.4,365,8225,0.00,1.38,0.00,0.000,1030,0.000,0.024,3561,2796,2229,2315,2143,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8535,1.39,119.5,3561,2791,2313,2142,165.7,19.1,381,8540,0.00,1.50,0.00,0.000,260,0.000,0.043,3561,3759,2228,2314,2142,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8770,1.39,119.5,3560,3759,2314,2142,133.7,14.2,392,8776,0.10,1.38,0.00,0.000,5126,0.219,0.023,3526,2789,2228,2314,2142,0,0,0,0,0,0,26.44,26.70,28.83
$GC,9086,1.39,119.5,3525,2788,2314,2142,91.3,11.0,408,9091,0.00,1.50,0.00,0.000,260,0.000,0.041,3526,3761,2228,2314,2142,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9202,1.39,119.5,3526,3761,2314,2142,76.4,14.8,413,9207,0.00,1.35,0.00,0.000,1030,0.000,0.022,3532,2801,2228,2314,2142,0,0,0,0,0,0,28.83,26.72,28.83
$FREEZE,68.00,22.712,-1.927,0,1,0
$STATE,9494,end climb,NO_VERTICAL_VELOCITY
$STATE,9494,begin surface
$SM_CCo,9499,202.25,0.259,0,0,459,564.93
$SM_GC,1.76,8.77,1.30,0.00,0.033,0.028,0.000,142,1935,488,-9.14,2.46,558.30,0,0,0,0,0,0,26.05,26.08,28.83
$IRIDIUM_FIX,2150.42,12019.57,250613,090951
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.49
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,7702752
$24V_AH,24.0,4.185
$10V_AH,10.2,3.431
$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,21.600,61.700,215.725,202.250,0.000,0.000,0.000,240.175,0.500,0.000,11.317,1647.242,6187.881,520.035,1660.462,359.769,0.000,1499.451,0.000,1385.047,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,45.135,1142.910,258.570,0.000,0.000,0.000,119.340,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9499.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.170,0.000,0.000,0.000
$MEM,324532
$DATA_FILE_SIZE,16775,428
$CAP_FILE_SIZE,114138,0
$CFSIZE,260034560,246853632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250613,152405,2200.094,12023.827,34,1.1,34,-3.1