version: 66.11
glider: 167
mission: 16
dive: 37
start: 6 25 113 19 16 4
data:
$ID,167
$MISSION,16
$DIVE,37
$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,-974741.62
$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,43
$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
$GPS1,250613,190735,2159.417,12023.615,35,1.0,35,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.6
$GPS2,250613,191535,2159.297,12023.697,32,0.9,32,-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,24.9,1402,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.22,-63.1,111,1923,440,554,0.0,0.0,0,115,0.00,0.00,-87.45,0.000,16386,0.000,0.000,112,1923,2669,2649,2690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.32,-97.6,112,1923,2650,2691,3.6,-6.3,16,149,10.25,2.17,-8.62,0.000,18948,0.244,0.041,2652,473,3165,3161,3170,0,0,0,0,0,0,25.91,26.16,26.39
$GC,205,-1.32,-97.6,2652,473,3161,3172,36.6,-37.1,28,211,0.00,2.08,0.00,0.000,1030,0.000,0.016,2644,1938,3166,3161,3172,0,0,0,0,0,0,28.83,26.24,28.83
$GC,530,-1.32,-97.6,2643,1939,3163,3172,133.4,-22.4,46,536,0.00,2.12,0.00,0.000,516,0.000,0.027,2644,476,3167,3163,3172,0,0,0,0,0,0,28.83,26.39,28.83
$GC,736,-1.32,-97.6,2644,476,3164,3173,176.1,-21.0,56,741,0.00,2.00,0.00,0.000,1030,0.000,0.018,2634,1891,3168,3164,3173,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1061,-1.32,-97.6,2634,1892,3164,3173,242.0,-20.4,72,1066,0.00,2.05,0.00,0.000,260,0.000,0.032,2624,3291,3168,3164,3173,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1297,-1.32,-97.6,2623,3292,3163,3173,283.9,-17.4,83,1303,0.12,2.03,0.00,0.000,3078,0.198,0.018,2652,1856,3168,3164,3173,0,0,0,0,0,0,26.41,26.60,28.83
$GC,1612,-1.32,-97.6,2651,1855,3164,3173,335.9,-16.7,99,1617,0.00,2.10,0.00,0.000,260,0.000,0.031,2645,3290,3167,3164,3171,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1779,-1.32,-97.6,2643,3290,3164,3169,365.7,-17.3,107,1784,0.00,1.98,0.00,0.000,1030,0.000,0.018,2644,1896,3166,3164,3168,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2103,-1.32,-97.6,2643,1895,3164,3162,415.3,-15.3,123,2108,0.00,2.05,0.00,0.000,260,0.000,0.033,2635,3291,3164,3165,3163,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2168,-1.32,-97.6,2634,3291,3164,3162,425.6,-15.8,126,2173,0.00,2.00,0.00,0.000,1030,0.000,0.018,2635,1897,3163,3165,3162,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2493,-1.32,-97.6,2634,1898,3164,3156,474.3,-14.4,142,2498,0.00,2.00,0.00,0.000,516,0.000,0.031,2635,510,3160,3164,3156,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2520,-1.32,-97.6,1616,509,3119,3147,478.1,-14.8,143,2526,0.12,1.98,0.00,0.000,3078,0.207,0.019,2653,1899,3160,3165,3155,0,0,0,0,0,0,26.52,26.70,28.83
$GC,2841,-1.32,-97.6,2652,1899,3164,3150,530.0,-17.4,159,2846,0.00,2.05,0.00,0.000,260,0.000,0.034,2644,3304,3157,3164,3150,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2939,-1.32,-97.6,2644,3304,3164,3149,544.5,-17.3,163,2946,0.00,2.00,0.00,0.000,1030,0.000,0.018,2644,1890,3156,3164,3149,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3246,-1.32,-97.6,2644,1890,3164,3144,594.7,-14.7,179,3251,0.00,2.08,0.00,0.000,260,0.000,0.034,2635,3294,3154,3164,3144,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3395,-1.32,-97.6,2635,3294,3164,3141,614.0,-15.3,184,3401,0.00,1.98,0.00,0.000,1030,0.000,0.018,2635,1899,3152,3164,3141,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3701,-1.32,-97.6,2635,1899,3164,3137,665.8,-15.4,195,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1898,3150,3164,3137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4001,-1.32,-97.6,2635,1899,3164,3133,709.6,-13.9,205,4006,0.00,2.03,0.00,0.000,516,0.000,0.033,2635,503,3148,3164,3132,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4045,-1.32,-97.6,2635,503,3164,3132,714.9,-14.2,206,4051,0.12,2.00,0.00,0.000,3078,0.210,0.021,2655,1897,3147,3164,3131,0,0,0,0,0,0,26.56,26.73,28.83
$GC,4373,-1.32,-97.6,2655,1896,3164,3128,762.7,-14.7,217,4378,0.00,2.08,0.00,0.000,260,0.000,0.037,2646,3308,3146,3164,3128,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4608,-1.32,-97.6,2646,3308,3165,3125,795.8,-15.1,224,4613,0.00,2.00,0.00,0.000,1030,0.000,0.019,2646,1898,3144,3164,3125,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4922,-1.32,-97.6,2646,1899,3164,3121,843.2,-13.7,235,4928,0.00,2.08,0.00,0.000,260,0.000,0.037,2640,3294,3142,3164,3120,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4981,-1.32,-97.6,2639,3294,3164,3120,848.0,-13.7,236,4988,0.00,1.98,0.00,0.000,1030,0.000,0.019,2640,1901,3142,3164,3120,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5287,-1.32,-97.6,2639,1901,3164,3116,892.9,-13.8,247,5292,0.00,2.08,0.00,0.000,260,0.000,0.037,2631,3297,3141,3166,3116,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5462,-1.32,-97.6,2630,3297,3164,3114,915.8,-14.9,252,5467,0.00,2.00,0.00,0.000,1030,0.000,0.020,2630,1892,3138,3163,3114,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5780,-1.56,-175.2,2630,1892,3164,3111,937.9,-0.1,263,5786,0.12,2.03,0.00,0.000,4612,0.088,0.032,2562,507,3137,3163,3111,0,0,0,0,0,0,26.75,26.73,28.83
$STATE,5842,end dive,NO_VERTICAL_VELOCITY
$STATE,5842,begin apogee
$GC,5854,-0.19,0.0,2562,3082,3164,3109,937.9,0.0,265,5948,1.33,0.00,86.32,1.180,10246,0.106,0.000,3021,3082,2755,2810,2700,0,0,0,0,0,0,26.64,28.83,24.32
$STATE,5953,end apogee,CONTROL_FINISHED_OK
$STATE,5953,begin climb
$GC,5956,1.56,175.2,3022,3082,2807,2690,937.7,0.0,268,6134,1.55,1.10,167.62,1.098,10500,0.057,0.042,3582,3757,2036,2114,1959,0,0,0,0,0,0,25.15,24.62,23.96
$GC,6364,1.56,175.2,3581,3758,2103,1930,836.0,32.3,282,6369,0.00,0.95,0.00,0.000,1030,0.000,0.028,3586,3112,2016,2102,1930,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6696,1.56,175.2,3586,3112,2103,1925,737.5,28.0,293,6701,0.00,1.02,0.00,0.000,260,0.000,0.044,3586,3767,2014,2103,1925,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6931,1.56,175.2,3586,3767,2098,1922,672.7,30.3,300,6936,0.00,0.98,0.00,0.000,1030,0.000,0.028,3591,3092,2010,2098,1922,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7248,1.56,175.2,3591,3092,2098,1920,575.1,29.3,312,7253,0.00,1.05,0.00,0.000,260,0.000,0.043,3591,3769,2009,2098,1920,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7483,1.56,175.2,3591,3769,2098,1919,505.9,30.1,323,7489,0.00,0.95,0.00,0.000,1030,0.000,0.028,3596,3105,2008,2098,1919,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7798,1.56,175.2,3596,3106,2098,1917,411.8,30.7,339,7803,0.00,2.08,0.00,0.000,516,0.000,0.030,3606,1700,2007,2098,1917,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8025,1.56,175.2,3606,1697,2098,1918,343.7,29.6,350,8030,0.00,2.10,0.00,0.000,1030,0.000,0.031,3606,3105,2007,2098,1917,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8350,1.56,175.2,3606,3105,2098,1916,243.2,31.0,366,8355,0.00,0.98,0.00,0.000,260,0.000,0.044,3606,3759,2007,2098,1916,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8414,1.56,175.2,3606,3759,2098,1916,223.4,31.1,369,8420,0.00,0.95,0.00,0.000,1030,0.000,0.028,3611,3096,2007,2098,1916,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8739,1.56,175.2,3611,3095,2098,1914,138.2,25.2,385,8744,0.00,2.03,0.00,0.000,516,0.000,0.026,3621,1704,2006,2098,1914,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8975,1.56,175.2,3620,1703,2098,1914,90.7,20.1,396,8981,0.15,2.08,0.00,0.000,5126,0.207,0.031,3586,3105,2006,2098,1914,0,0,0,0,0,0,26.43,26.60,28.83
$GC,9291,1.58,182.9,3586,3104,2098,1912,51.2,9.2,412,9296,0.00,0.98,0.00,0.000,260,0.000,0.044,3586,3758,2004,2097,1912,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9461,1.75,239.6,3586,3758,2098,1912,48.2,4.0,422,9497,0.12,0.93,26.73,0.216,11270,0.052,0.024,3655,3088,1783,1869,1698,0,0,0,0,0,0,26.63,26.69,26.29
$GC,9802,1.91,292.9,3655,3088,1869,1721,6.0,4.4,473,9832,0.12,2.05,24.15,0.141,10756,0.086,0.024,3727,1716,1563,1642,1484,0,0,0,0,0,0,26.60,26.51,26.36
$STATE,9844,end climb,SURFACE_DEPTH_REACHED
$STATE,9844,begin surface coast
$FINISH,0.9,0.997715
$STATE,9881,end surface coast,CONTROL_FINISHED_OK
$STATE,9881,begin surface
$SM_CCo,9905,124.47,0.132,0,0,498,555.11
$SM_GC,1.78,9.12,0.28,124.47,0.035,0.037,0.132,143,1924,498,-9.12,-1.39,555.11,0,0,0,0,0,0,26.49,26.55,26.09
$IRIDIUM_FIX,2150.42,12022.75,250613,151556
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.00
$XPDR_PINGS,1
$SC_FREEKB,7701984
$24V_AH,24.0,4.380
$10V_AH,10.4,3.645
$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,23.150,75.300,304.825,124.475,0.000,0.000,0.000,265.150,0.250,0.000,33.695,1785.159,5967.651,519.600,1845.977,389.699,0.000,1607.085,0.000,1525.383,0.000,0.542,0.000
$DEVICE_MAMPS,244.035,44.370,1179.630,132.345,0.000,0.000,0.000,117.045,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9895.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.703,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,16808,487
$CAP_FILE_SIZE,125383,0
$CFSIZE,260034560,246693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250613,220435,2159.903,12023.736,37,1.1,37,-3.1