version: 66.11
glider: 167
mission: 16
dive: 38
start: 6 25 113 22 11 48
data:
$ID,167
$MISSION,16
$DIVE,38
$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,-974742.88
$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,3100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,68
$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
$GPS1,250613,220435,2159.903,12023.736,37,1.1,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.8
$GPS2,250613,221122,2159.775,12023.725,7,1.1,8,-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,51.8,630,-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,-63.1,113,1932,443,560,0.0,0.0,0,110,0.00,0.00,-82.22,0.000,16386,0.000,0.000,113,1932,2535,2517,2553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.38,-116.9,113,1932,2517,2554,3.3,-4.3,15,146,10.07,2.08,-13.65,0.000,19204,0.243,0.037,2634,504,3240,3237,3244,0,0,0,0,0,0,25.91,26.17,26.41
$GC,184,-1.38,-116.9,2634,504,3236,3245,24.8,-32.1,26,190,0.00,2.03,0.00,0.000,1030,0.000,0.018,2626,1902,3240,3236,3245,0,0,0,0,0,0,28.83,26.22,28.83
$GC,490,-1.38,-116.9,2626,1903,3236,3247,123.9,-24.7,45,495,0.00,2.03,0.00,0.000,260,0.000,0.030,2616,3298,3241,3236,3247,0,0,0,0,0,0,28.83,26.37,28.83
$GC,655,-1.38,-116.9,2615,3298,3236,3249,162.1,-24.1,53,660,0.00,1.98,0.00,0.000,1030,0.000,0.018,2616,1906,3242,3236,3249,0,0,0,0,0,0,28.83,26.46,28.83
$GC,979,-1.38,-116.9,2615,1907,3237,3250,241.9,-27.3,69,984,0.00,2.05,0.00,0.000,260,0.000,0.031,2606,3307,3243,3237,3249,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1175,-1.38,-116.9,2605,3307,3237,3249,287.1,-23.3,78,1181,0.12,2.00,0.00,0.000,3078,0.204,0.018,2633,1882,3243,3237,3249,0,0,0,0,0,0,26.39,26.58,28.83
$GC,1491,-1.38,-116.9,2633,1882,3236,3249,344.4,-17.7,94,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1882,3243,3237,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1793,-1.38,-116.9,2633,1882,3237,3245,402.2,-18.9,109,1798,0.00,2.08,0.00,0.000,260,0.000,0.031,2625,3296,3240,3237,3244,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1915,-1.38,-116.9,2624,3296,3237,3243,423.6,-19.9,114,1922,0.00,1.98,0.00,0.000,1030,0.000,0.018,2625,1901,3240,3237,3243,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2217,-1.38,-116.9,2624,1901,3237,3238,486.0,-18.3,130,2223,0.00,2.05,0.00,0.000,260,0.000,0.033,2615,3294,3237,3237,3238,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2266,-1.38,-116.9,2615,3294,3237,3238,494.5,-18.4,132,2271,0.00,1.98,0.00,0.000,1030,0.000,0.018,2616,1899,3237,3237,3238,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2585,-1.38,-116.9,2615,1899,3236,3234,554.5,-18.3,148,2591,0.00,2.05,0.00,0.000,260,0.000,0.033,2605,3294,3235,3237,3233,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2630,-1.38,-116.9,2605,3294,3237,3232,563.9,-19.6,150,2636,0.12,2.00,0.00,0.000,3078,0.207,0.020,2633,1893,3235,3237,3233,0,0,0,0,0,0,26.52,26.70,28.83
$GC,2945,-1.38,-116.9,2633,1893,3237,3228,616.3,-16.8,164,2951,0.00,2.08,0.00,0.000,260,0.000,0.034,2624,3291,3232,3237,3227,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3014,-1.38,-116.9,1616,3290,3198,3220,628.3,-18.4,166,3019,0.00,1.98,0.00,0.000,1030,0.000,0.018,2625,1894,3231,3237,3226,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3346,-1.38,-116.9,2625,1894,3237,3222,692.2,-19.1,177,3351,0.00,2.10,0.00,0.000,260,0.000,0.034,2616,3300,3229,3237,3221,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3581,-1.38,-116.9,2615,3300,3237,3218,731.3,-16.4,184,3586,0.00,2.00,0.00,0.000,1030,0.000,0.019,2615,1892,3227,3237,3218,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3896,-1.38,-116.9,2615,1892,3236,3214,783.7,-15.6,195,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1892,3225,3236,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4196,-1.38,-116.9,2613,1890,3234,3213,826.2,-14.3,205,4201,0.00,2.08,0.00,0.000,260,0.000,0.035,2606,3292,3223,3234,3213,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4381,-1.38,-116.9,2605,3293,3235,3209,855.6,-16.1,211,4387,0.12,2.00,0.00,0.000,3078,0.211,0.020,2633,1888,3222,3235,3209,0,0,0,0,0,0,26.55,26.74,28.83
$GC,4717,-1.38,-116.9,2632,1888,3235,3206,907.5,-15.1,222,4722,0.00,2.10,0.00,0.000,260,0.000,0.036,2625,3297,3220,3235,3205,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4756,-1.38,-116.9,2624,3297,3235,3205,911.1,-14.2,223,4761,0.00,2.00,0.00,0.000,1030,0.000,0.020,2625,1887,3220,3235,3205,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,4992,end dive,NO_VERTICAL_VELOCITY
$STATE,4992,begin apogee
$GC,5002,-0.19,0.0,2625,3073,3234,3201,911.3,0.0,231,5113,1.08,0.00,96.40,1.488,10246,0.080,0.000,3021,3074,2763,2815,2712,0,0,0,0,1,0,26.66,28.83,23.65
$STATE,5118,end apogee,CONTROL_FINISHED_OK
$STATE,5118,begin climb
$GC,5122,1.38,116.9,3021,3073,2815,2719,911.1,0.0,235,5247,1.42,1.15,107.07,1.676,11012,0.055,0.047,3532,3757,2285,2353,2217,0,0,0,0,1,0,24.92,24.37,23.42
$GC,5476,1.38,116.9,3532,3757,2353,2215,851.8,26.3,246,5482,0.00,0.95,0.00,0.000,1030,0.000,0.028,3537,3113,2283,2352,2214,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5782,1.38,116.9,3537,3113,2352,2210,773.6,22.7,257,5787,0.00,2.10,0.00,0.000,516,0.000,0.028,3547,1691,2280,2352,2209,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6017,1.38,116.9,3547,1691,2353,2207,730.7,19.5,264,6022,0.00,2.15,0.00,0.000,1030,0.000,0.035,3547,3104,2279,2352,2206,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6331,1.38,116.9,3547,3104,2353,2204,667.0,19.9,275,6336,0.00,1.00,0.00,0.000,260,0.000,0.047,3547,3762,2278,2353,2203,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6566,1.38,116.9,3547,3762,2352,2202,621.9,20.4,282,6571,0.00,0.95,0.00,0.000,1030,0.000,0.029,3553,3106,2278,2353,2203,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6891,1.38,116.9,3553,3106,2352,2202,545.5,22.8,297,6896,0.00,1.02,0.00,0.000,260,0.000,0.045,3552,3766,2277,2353,2202,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7126,1.38,116.9,3552,3767,2352,2202,496.0,20.9,308,7132,0.00,0.98,0.00,0.000,1030,0.000,0.028,3557,3089,2277,2353,2202,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7441,1.38,116.9,3557,3089,2352,2199,431.4,19.2,324,7446,0.00,1.05,0.00,0.000,260,0.000,0.044,3558,3770,2276,2353,2199,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7677,1.38,116.9,3557,3770,2352,2199,387.1,19.8,335,7683,0.10,0.95,0.00,0.000,5126,0.212,0.028,3535,3095,2275,2353,2198,0,0,0,0,0,0,26.40,26.63,28.83
$GC,7993,1.38,116.9,3534,3096,2352,2197,329.5,17.6,351,7998,0.00,1.02,0.00,0.000,260,0.000,0.044,3535,3764,2274,2352,2197,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8114,1.38,116.9,3535,3764,2352,2197,310.1,18.6,356,8121,0.00,0.95,0.00,0.000,1030,0.000,0.029,3539,3099,2274,2352,2197,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8418,1.38,116.9,3539,3099,2352,2197,250.0,20.2,372,8423,0.00,2.03,0.00,0.000,516,0.000,0.025,3549,1708,2274,2352,2196,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8633,1.38,116.9,3549,1708,2352,2195,216.1,15.4,382,8638,0.00,2.08,0.00,0.000,1030,0.000,0.032,3549,3108,2273,2352,2195,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8948,1.38,116.9,3549,3108,2351,2195,171.3,12.2,398,8953,0.00,2.05,0.00,0.000,516,0.000,0.023,3559,1701,2274,2353,2195,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9185,1.38,116.9,3558,1702,2353,2194,142.2,13.1,409,9190,0.00,2.08,0.00,0.000,1030,0.000,0.033,3559,3101,2273,2352,2194,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9500,1.45,138.0,3558,3101,2352,2194,104.7,7.8,425,9513,0.00,0.98,7.57,0.364,8452,0.000,0.044,3559,3756,2198,2271,2126,0,0,0,0,0,0,28.83,26.60,26.28
$GC,9745,1.45,138.0,3558,3756,2271,2129,80.0,10.3,437,9750,0.00,0.95,0.00,0.000,1030,0.000,0.026,3564,3082,2200,2271,2130,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10070,1.68,216.0,3563,3082,2271,2130,61.3,1.7,453,10110,0.15,2.05,32.80,0.271,10756,0.075,0.022,3644,1703,1880,1963,1797,0,0,0,0,0,0,26.67,26.48,26.22
$GC,10311,1.68,216.0,3643,1702,1962,1796,28.4,12.9,471,10317,0.00,2.10,0.00,0.000,1030,0.000,0.033,3644,3100,1879,1962,1796,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10623,1.90,289.5,3643,3100,1962,1794,11.2,2.2,530,10659,0.12,1.02,31.58,0.149,10500,0.089,0.044,3705,3773,1577,1658,1496,0,0,0,0,0,0,26.59,26.46,26.34
$STATE,10712,end climb,SURFACE_DEPTH_REACHED
$STATE,10712,begin surface coast
$FINISH,2.2,1.020757
$STATE,10718,end surface coast,CONTROL_FINISHED_OK
$STATE,10718,begin surface
$SM_CCo,10743,127.47,0.183,1,0,498,555.11
$SM_GC,1.68,9.00,2.78,127.47,0.029,0.021,0.183,139,1933,498,-9.12,2.21,555.11,0,0,0,0,1,0,26.49,26.49,25.54
$IRIDIUM_FIX,2150.42,12027.93,250613,191949
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.66
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.90
$XPDR_PINGS,2
$SC_FREEKB,7701600
$24V_AH,23.4,4.489
$10V_AH,10.2,3.750
$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,22.325,74.800,275.425,127.475,0.000,0.000,0.000,228.275,0.500,0.000,9.072,1991.512,6423.550,521.589,1942.624,403.722,0.000,1634.457,0.000,1679.637,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,46.665,1676.115,182.835,0.000,0.000,0.000,119.340,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10719.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.773,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,20108,547
$CAP_FILE_SIZE,134951,0
$CFSIZE,260034560,246611968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,260613,011431,2200.515,12023.439,42,2.0,42,-3.1