version: 66.11
glider: 167
mission: 16
dive: 9
start: 6 23 113 18 14 50
data:
$ID,167
$MISSION,16
$DIVE,9
$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,-974686.12
$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,3100
$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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,56
$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
$GPS1,230613,180835,2205.949,12024.963,37,1.1,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.4
$GPS2,230613,181421,2205.993,12025.007,7,1.1,8,-3.1
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,T1
$TGT_LATLONG,2200.000,12030.000
$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,145.4,14025,-16.6,-10.000,-19.50,2680
$D_GRID,614
$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,-1.14,-175.2,111,1910,394,600,0.0,0.0,0,115,0.00,0.00,-87.47,0.000,16386,0.000,0.000,111,1910,2707,2677,2737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.14,-175.2,111,1910,2677,2738,3.9,-7.4,16,154,10.52,2.08,-12.30,0.000,18692,0.249,0.044,2716,3307,3479,3475,3484,0,0,0,0,0,0,26.04,26.30,26.56
$GC,274,-1.14,-175.2,2715,3307,3478,3486,68.7,-32.0,30,279,0.00,2.03,0.00,0.000,1030,0.000,0.021,2716,1891,3482,3478,3486,0,0,0,0,0,0,28.83,26.41,28.83
$GC,598,-1.14,-175.2,2716,1892,3482,3486,155.2,-22.2,46,604,0.00,2.03,0.00,0.000,516,0.000,0.031,2717,492,3484,3482,3486,0,0,0,0,0,0,28.83,26.53,28.83
$GC,667,-1.14,-175.2,2716,492,3482,3486,170.5,-23.1,49,672,0.00,2.00,0.00,0.000,1030,0.000,0.018,2706,1906,3484,3483,3486,0,0,0,0,0,0,28.83,26.57,28.83
$GC,987,-1.14,-175.2,2706,1906,3483,3486,230.5,-17.5,65,992,0.00,2.03,0.00,0.000,260,0.000,0.035,2696,3293,3484,3483,3486,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1133,-1.14,-175.2,2696,3293,3484,3486,260.7,-20.6,72,1139,0.15,1.98,0.00,0.000,3078,0.174,0.020,2734,1893,3484,3483,3485,0,0,0,0,0,0,26.48,26.65,28.83
$GC,1459,-1.14,-175.2,2734,1893,3483,3486,322.6,-17.2,88,1464,0.00,2.00,0.00,0.000,516,0.000,0.033,2734,507,3484,3483,3486,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1543,-1.14,-175.2,2734,507,3483,3485,337.8,-17.9,92,1549,0.00,1.98,0.00,0.000,1030,0.000,0.020,2727,1899,3484,3483,3485,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1868,-1.14,-175.2,2726,1899,3483,3481,385.9,-16.3,108,1873,0.00,2.05,0.00,0.000,260,0.000,0.037,2722,3293,3482,3483,3481,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1922,-1.14,-175.2,2722,3294,3483,3481,394.2,-18.1,110,1927,0.00,1.98,0.00,0.000,1030,0.000,0.019,2722,1895,3482,3483,3482,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2237,-1.14,-175.2,2722,1894,3483,3478,448.1,-16.1,126,2243,0.00,2.00,0.00,0.000,516,0.000,0.032,2722,509,3480,3483,3477,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2291,-1.14,-175.2,2722,509,3483,3476,454.9,-15.3,128,2296,0.00,1.98,0.00,0.000,1030,0.000,0.020,2713,1900,3479,3483,3476,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2606,-1.14,-175.2,2713,1900,3483,3473,515.3,-19.8,144,2611,0.00,2.05,0.00,0.000,260,0.000,0.038,2709,3289,3477,3483,3472,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2711,-1.14,-175.2,2708,3289,3483,3471,536.8,-20.7,149,2716,0.00,1.98,0.00,0.000,1030,0.000,0.019,2710,1888,3477,3483,3471,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,3012,end dive,NO_VERTICAL_VELOCITY
$STATE,3012,begin apogee
$GC,3020,-0.19,0.0,2709,2304,3483,3466,555.0,0.0,164,3177,0.93,0.00,139.20,1.321,10246,0.099,0.000,3038,2303,2764,2820,2709,0,0,0,0,1,0,26.65,28.83,23.89
$STATE,3179,end apogee,CONTROL_FINISHED_OK
$STATE,3179,begin climb
$GC,3183,1.14,175.2,3038,2304,2820,2715,554.6,0.0,172,3343,1.17,0.00,147.27,1.378,10502,0.051,0.000,3472,2303,2047,2128,1966,0,0,0,0,1,0,25.05,28.83,23.82
$GC,3636,1.14,175.2,3471,2304,2129,1965,467.0,19.8,195,3641,0.00,2.15,0.00,0.000,260,0.000,0.044,3471,3697,2046,2128,1965,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3871,1.14,175.2,3471,3697,2129,1962,412.4,24.3,206,3877,0.00,2.05,0.00,0.000,1030,0.000,0.024,3481,2304,2045,2128,1962,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4186,1.14,175.2,3481,2303,2128,1959,341.8,20.6,222,4191,0.00,2.05,0.00,0.000,516,0.000,0.032,3492,896,2043,2127,1960,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4285,1.14,175.2,3491,896,2128,1959,323.5,21.7,226,4291,0.00,2.05,0.00,0.000,1030,0.000,0.027,3491,2302,2043,2128,1959,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4591,1.14,175.2,3491,2302,2128,1957,261.2,19.0,242,4596,0.00,2.10,0.00,0.000,260,0.000,0.042,3492,3696,2042,2128,1957,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4827,1.14,175.2,3491,3695,2127,1956,210.6,22.7,253,4833,0.15,2.03,0.00,0.000,5126,0.203,0.024,3466,2296,2041,2127,1956,0,0,0,0,0,0,26.41,26.60,28.83
$GC,5142,1.14,175.2,3466,2297,2128,1955,157.8,12.4,269,5147,0.00,2.12,0.00,0.000,260,0.000,0.040,3466,3699,2041,2128,1955,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5161,1.14,175.2,3465,3699,2127,1955,157.8,12.4,269,5168,0.00,2.05,0.00,0.000,1030,0.000,0.024,3475,2288,2041,2128,1955,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5467,1.14,175.2,3474,2288,2128,1954,116.6,11.5,285,5472,0.00,2.00,0.00,0.000,516,0.000,0.031,3485,900,2040,2127,1954,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5702,1.14,175.2,3485,899,2128,1954,91.0,10.2,296,5708,0.00,2.03,0.00,0.000,1030,0.000,0.024,3485,2303,2040,2128,1953,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6018,1.32,235.0,3485,2303,2128,1952,60.6,7.7,312,6050,0.12,2.15,24.42,0.268,10500,0.090,0.041,3550,3698,1802,1887,1718,0,0,0,0,0,0,26.70,26.53,26.29
$GC,6115,1.49,292.6,3548,3698,1887,1719,54.1,7.8,316,6144,0.00,2.03,24.02,0.249,9222,0.000,0.022,3559,2288,1566,1649,1484,0,0,0,0,0,0,28.83,26.60,26.21
$GC,6451,1.49,292.6,3558,2288,1649,1484,18.7,11.4,353,6458,0.00,2.00,0.00,0.000,516,0.000,0.031,3569,899,1566,1649,1484,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6502,1.49,292.6,3569,898,1649,1484,12.5,12.3,362,6509,0.00,2.03,0.00,0.000,1030,0.000,0.024,3569,2312,1566,1649,1484,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,6578,end climb,SURFACE_DEPTH_REACHED
$STATE,6578,begin surface coast
$FINISH,0.8,0.999407
$STATE,6599,end surface coast,CONTROL_FINISHED_OK
$STATE,6599,begin surface
$SM_CCo,6621,121.65,0.129,0,0,497,555.11
$SM_GC,1.61,8.73,0.57,121.65,0.037,0.028,0.129,138,1891,497,-9.20,1.84,555.11,0,0,0,0,0,0,26.57,26.63,26.18
$IRIDIUM_FIX,2159.71,12023.92,230613,161623
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.60
$XPDR_PINGS,1
$SC_FREEKB,7712736
$24V_AH,23.8,1.671
$10V_AH,10.4,1.773
$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,21.775,58.125,334.925,121.650,0.000,0.000,0.000,188.075,0.250,0.000,9.395,1204.931,3844.564,536.785,1223.107,290.960,0.000,1307.078,0.000,999.871,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,43.605,1377.765,128.520,0.000,0.000,0.000,112.455,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6599.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.330,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,13458,380
$CAP_FILE_SIZE,90310,0
$CFSIZE,260034560,248233984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,230613,200836,2205.631,12025.349,38,0.9,38,-3.1