version: 66.11
glider: 167
mission: 16
dive: 39
start: 6 26 113 1 22 18
data:
$ID,167
$MISSION,16
$DIVE,39
$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,-974744.12
$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,3100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,260613,011431,2200.515,12023.439,42,2.0,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.8
$GPS2,260613,012149,2200.448,12023.285,19,1.1,20,-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,127.2,1482,-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,21,begin dive
$GC,25,-1.22,-63.1,108,1913,435,559,0.0,0.0,0,104,0.00,0.00,-76.22,0.000,16386,0.000,0.000,108,1913,2355,2339,2372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.37,-113.6,108,1914,2340,2373,3.0,-4.6,14,145,10.05,2.10,-18.17,0.000,19204,0.239,0.037,2637,462,3229,3225,3234,0,0,0,0,0,0,25.90,26.15,26.39
$GC,231,-1.37,-113.6,2637,461,3225,3235,42.9,-39.2,31,238,0.00,2.10,0.00,0.000,1030,0.000,0.017,2629,1928,3229,3224,3235,0,0,0,0,0,0,28.83,26.25,28.83
$GC,547,-1.37,-113.6,2628,1932,3226,3237,135.9,-24.2,48,552,0.00,2.12,0.00,0.000,516,0.000,0.028,2629,470,3231,3226,3237,0,0,0,0,0,0,28.83,26.40,28.83
$GC,560,-1.37,-113.6,2627,470,3226,3237,135.9,-24.2,48,565,0.00,2.05,0.00,0.000,1030,0.000,0.018,2619,1910,3231,3225,3237,0,0,0,0,0,0,28.83,26.41,28.83
$GC,874,-1.37,-113.6,2618,1910,3226,3238,206.1,-21.7,64,880,0.00,2.03,0.00,0.000,260,0.000,0.032,2608,3304,3231,3226,3237,0,0,0,0,0,0,28.83,26.49,28.83
$GC,968,-1.37,-113.6,2607,3303,3226,3237,224.7,-21.9,68,974,0.15,2.05,0.00,0.000,3078,0.201,0.019,2642,1865,3231,3226,3237,0,0,0,0,0,0,26.35,26.54,28.83
$GC,1284,-1.37,-113.6,2642,1864,3227,3237,289.8,-20.0,84,1289,0.00,2.10,0.00,0.000,260,0.000,0.031,2634,3298,3232,3227,3237,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1353,-1.37,-113.6,2633,3298,3226,3237,302.7,-19.8,87,1358,0.00,2.00,0.00,0.000,1030,0.000,0.018,2634,1881,3231,3226,3237,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1673,-1.37,-113.6,2633,1880,3227,3234,365.0,-19.3,103,1678,0.00,1.98,0.00,0.000,516,0.000,0.031,2634,510,3230,3227,3234,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1702,-1.37,-113.6,1600,510,3184,3227,370.0,-19.5,104,1707,0.00,1.98,0.00,0.000,1030,0.000,0.019,2624,1903,3230,3227,3234,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2021,-1.37,-113.6,2624,1903,3226,3228,433.2,-20.4,120,2027,0.00,2.05,0.00,0.000,260,0.000,0.034,2614,3297,3227,3226,3229,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2188,-1.37,-113.6,2614,3297,3226,3226,470.9,-22.5,128,2194,0.12,1.98,0.00,0.000,3078,0.204,0.018,2641,1894,3226,3226,3226,0,0,0,0,0,0,26.50,26.70,28.83
$GC,2514,-1.37,-113.6,2641,1893,3226,3221,533.6,-18.4,144,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1893,3224,3227,3221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2816,-1.37,-113.6,2640,1893,3227,3218,586.1,-16.9,159,2822,0.00,2.05,0.00,0.000,260,0.000,0.034,2633,3290,3221,3226,3217,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2890,-1.37,-113.6,2633,3289,3226,3216,598.2,-17.9,162,2896,0.00,1.98,0.00,0.000,1030,0.000,0.018,2633,1893,3221,3227,3216,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3205,-1.37,-113.6,2632,1893,3226,3212,657.8,-18.7,173,3210,0.00,2.08,0.00,0.000,260,0.000,0.034,2624,3298,3219,3226,3212,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3284,-1.37,-113.6,2623,3299,3227,3210,670.8,-19.2,175,3290,0.00,1.98,0.00,0.000,1030,0.000,0.018,2624,1902,3218,3226,3210,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3607,-1.37,-113.6,2622,1900,3225,3206,733.2,-18.6,186,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1900,3215,3224,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3904,-1.37,-113.6,2621,1900,3224,3202,786.2,-17.1,196,3910,0.00,2.05,0.00,0.000,260,0.000,0.036,2615,3286,3213,3225,3201,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4129,-1.37,-113.6,2615,3286,3225,3200,826.0,-18.3,203,4134,0.00,1.98,0.00,0.000,1030,0.000,0.021,2615,1904,3212,3224,3200,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4458,-1.37,-113.6,2615,1904,3225,3194,884.5,-17.1,214,4464,0.12,2.05,0.00,0.000,2564,0.205,0.032,2648,497,3209,3225,3194,0,0,0,0,0,0,26.58,26.72,28.83
$GC,4507,-1.37,-113.6,2648,497,3225,3194,890.9,-17.0,215,4512,0.00,2.00,0.00,0.000,1030,0.000,0.021,2641,1894,3209,3225,3193,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4830,-1.56,-175.2,2641,1894,3225,3190,918.4,-0.1,226,4832,0.17,0.00,0.00,0.000,4102,0.075,0.000,2559,1894,3207,3224,3190,0,0,0,0,0,0,26.74,28.83,28.83
$STATE,4914,end dive,NO_VERTICAL_VELOCITY
$STATE,4914,begin apogee
$GC,4924,-0.19,0.0,2550,3083,3224,3189,918.3,0.0,229,5030,1.52,0.00,98.82,1.158,10246,0.171,0.000,3031,3082,2756,2811,2701,0,0,0,0,0,0,26.56,28.83,24.25
$STATE,5035,end apogee,CONTROL_FINISHED_OK
$STATE,5035,begin climb
$GC,5038,1.56,175.2,3031,3082,2807,2689,918.2,0.0,232,5213,1.52,2.20,162.62,1.091,10756,0.052,0.027,3596,1707,2037,2118,1956,0,0,0,0,0,0,25.10,24.67,23.99
$GC,5301,1.56,175.2,3595,1707,2101,1933,873.7,28.3,241,5307,0.00,2.20,0.00,0.000,1030,0.000,0.035,3596,3104,2017,2102,1933,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5617,1.56,175.2,3594,3104,2101,1926,775.8,28.1,252,5622,0.00,1.02,0.00,0.000,260,0.000,0.047,3596,3767,2014,2102,1926,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5852,1.56,175.2,3595,3767,2097,1925,712.3,29.3,259,5857,0.00,0.98,0.00,0.000,1030,0.000,0.028,3601,3101,2011,2097,1925,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6166,1.56,175.2,3600,3102,2097,1922,613.2,29.6,270,6172,0.00,1.02,0.00,0.000,260,0.000,0.045,3601,3760,2010,2098,1922,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6402,1.56,175.2,3600,3760,2097,1920,543.4,31.1,280,6408,0.00,0.95,0.00,0.000,1030,0.000,0.028,3606,3103,2008,2097,1920,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6717,1.56,175.2,3605,3103,2098,1918,449.6,29.1,296,6722,0.00,2.05,0.00,0.000,516,0.000,0.027,3615,1697,2007,2097,1917,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6847,1.56,175.2,3615,1696,2097,1917,414.9,27.5,302,6852,0.00,2.12,0.00,0.000,1030,0.000,0.033,3615,3115,2007,2097,1918,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7166,1.56,175.2,3615,3115,2097,1916,325.2,28.3,318,7172,0.00,0.98,0.00,0.000,260,0.000,0.044,3615,3766,2006,2097,1916,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7403,1.56,175.2,3614,3766,2097,1916,259.6,28.9,329,7409,0.10,0.95,0.00,0.000,5126,0.223,0.028,3593,3090,2006,2098,1915,0,0,0,0,0,0,26.37,26.61,28.83
$GC,7719,1.56,175.2,3594,3090,2097,1914,174.7,24.7,345,7724,0.00,2.00,0.00,0.000,516,0.000,0.025,3601,1708,2006,2098,1914,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7954,1.56,175.2,3600,1707,2097,1913,123.9,22.7,356,7960,0.00,2.08,0.00,0.000,1030,0.000,0.032,3601,3107,2005,2097,1913,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8269,1.56,175.2,3601,3106,2097,1912,63.7,13.6,372,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,3106,2004,2097,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8569,1.65,206.5,3601,3107,2097,1911,32.5,6.7,396,8590,0.00,2.05,13.35,0.177,8708,0.000,0.020,3611,1695,1921,2006,1836,0,0,0,0,0,0,28.83,26.61,26.41
$GC,8629,1.73,232.1,3611,1695,2005,1850,28.4,7.3,401,8650,0.00,2.08,13.00,0.194,9222,0.000,0.031,3611,3102,1813,1896,1731,0,0,0,0,0,0,28.83,26.60,26.36
$GC,8962,1.97,312.1,3611,3102,1896,1753,10.9,1.5,462,9003,0.25,2.10,35.58,0.152,10756,0.057,0.022,3737,1709,1485,1564,1406,0,0,0,0,0,0,26.61,26.48,26.34
$STATE,9041,end climb,SURFACE_DEPTH_REACHED
$STATE,9041,begin surface coast
$FINISH,0.9,1.020727
$STATE,9053,end surface coast,CONTROL_FINISHED_OK
$STATE,9053,begin surface
$SM_CCo,9076,115.90,0.132,0,0,496,555.11
$SM_GC,1.74,9.18,0.30,115.90,0.035,0.037,0.132,139,1918,496,-9.15,-1.16,555.11,0,0,0,0,0,0,26.48,26.52,26.10
$IRIDIUM_FIX,2152.74,12022.75,250613,222233
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.71
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,7701216
$24V_AH,24.0,4.587
$10V_AH,10.2,3.839
$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,23.200,67.550,323.375,115.900,0.000,0.000,0.000,240.375,0.000,0.000,21.268,1577.045,5592.538,521.348,1575.018,366.451,0.000,1476.024,0.000,1296.312,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,46.665,1158.210,132.345,0.000,0.000,0.000,120.105,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9076.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.421,0.000,0.000,0.000
$MEM,324608
$DATA_FILE_SIZE,16813,478
$CAP_FILE_SIZE,115683,0
$CFSIZE,260034560,246554624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260613,035659,2200.498,12023.063,43,1.3,43,-3.1