version: 66.11
glider: 167
mission: 16
dive: 33
start: 6 25 113 6 13 23
data:
$ID,167
$MISSION,16
$DIVE,33
$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,-974736.62
$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,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,44
$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
$GPS1,250613,060629,2200.189,12025.419,41,1.3,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.1
$GPS2,250613,061258,2200.192,12025.400,9,1.3,9,-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,264.7,2431,-27.8,-10.000,-30.00,969
$D_GRID,882
$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,-63.1,110,1933,421,580,0.0,0.0,0,115,0.00,0.00,-87.70,0.000,16386,0.000,0.000,110,1934,2694,2676,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.32,-94.9,110,1933,2676,2714,3.8,-6.6,16,148,9.98,2.12,-7.75,0.000,18948,0.236,0.041,2651,490,3151,3140,3162,0,0,0,0,0,0,25.96,26.21,26.46
$GC,255,-1.32,-94.9,2652,490,3142,3164,60.7,-37.3,31,260,0.00,2.08,0.00,0.000,1030,0.000,0.022,2644,1919,3153,3142,3164,0,0,0,0,0,0,28.83,26.30,28.83
$GC,580,-1.32,-94.9,2644,1919,3146,3164,144.9,-18.8,47,585,0.00,2.05,0.00,0.000,260,0.000,0.033,2634,3313,3155,3146,3164,0,0,0,0,0,0,28.83,26.44,28.83
$GC,749,-1.32,-94.9,2633,3313,3146,3164,177.8,-21.0,55,754,0.00,2.03,0.00,0.000,1030,0.000,0.018,2634,1885,3155,3146,3164,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1069,-1.32,-94.9,2633,1884,3147,3164,241.3,-20.3,71,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1885,3155,3147,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1371,-1.32,-94.9,2633,1885,3147,3164,293.2,-16.4,86,1376,0.00,2.08,0.00,0.000,260,0.000,0.031,2624,3304,3155,3147,3163,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1607,-1.32,-94.9,2623,3304,3147,3162,334.8,-17.6,97,1613,0.15,2.00,0.00,0.000,3078,0.196,0.018,2659,1876,3154,3147,3162,0,0,0,0,0,0,26.48,26.67,28.83
$GC,1922,-1.32,-94.9,2659,1876,3149,3156,387.2,-15.7,113,1927,0.00,1.95,0.00,0.000,516,0.000,0.030,2659,517,3153,3149,3157,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1956,-1.32,-94.9,2659,517,3149,3156,391.3,-15.9,114,1961,0.00,1.98,0.00,0.000,1030,0.000,0.019,2652,1908,3152,3149,3155,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2271,-1.32,-94.9,2651,1909,3149,3152,442.8,-16.5,130,2276,0.00,2.03,0.00,0.000,260,0.000,0.034,2641,3297,3150,3149,3152,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2506,-1.32,-94.9,2641,3297,3149,3148,477.6,-14.8,141,2512,0.00,1.98,0.00,0.000,1030,0.000,0.018,2641,1894,3148,3149,3148,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2821,-1.32,-94.9,2641,1894,3149,3143,524.4,-15.4,157,2826,0.00,2.08,0.00,0.000,260,0.000,0.034,2631,3303,3146,3149,3143,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3013,-1.32,-94.9,2632,3303,3149,3140,554.5,-16.1,166,3018,0.00,1.98,0.00,0.000,1030,0.000,0.018,2632,1901,3145,3149,3141,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3333,-1.32,-94.9,2631,1901,3149,3136,602.2,-16.3,182,3339,0.12,2.03,0.00,0.000,2564,0.207,0.029,2666,509,3142,3149,3135,0,0,0,0,0,0,26.56,26.72,28.83
$GC,3398,-1.32,-94.9,2666,509,3149,3134,612.1,-15.6,184,3404,0.00,2.00,0.00,0.000,1030,0.000,0.019,2658,1909,3141,3149,3134,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3736,-1.32,-94.9,2658,1909,3149,3129,659.1,-14.4,195,3741,0.00,2.05,0.00,0.000,260,0.000,0.037,2656,3295,3139,3149,3129,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3922,-1.32,-94.9,2655,3295,3149,3128,688.3,-15.0,201,3927,0.00,1.98,0.00,0.000,1030,0.000,0.018,2656,1901,3138,3149,3127,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4259,-1.32,-94.9,2655,1900,3149,3123,737.7,-14.8,212,4265,0.00,2.08,0.00,0.000,260,0.000,0.036,2647,3300,3136,3149,3123,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4333,-1.32,-94.9,2647,3300,3149,3122,747.5,-14.2,214,4339,0.00,2.00,0.00,0.000,1030,0.000,0.018,2647,1893,3135,3149,3122,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4661,-1.32,-94.9,2646,1893,3149,3118,796.9,-13.9,225,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1893,3133,3149,3118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4959,-1.35,-107.5,2646,1892,3149,3114,836.7,-8.7,235,4964,0.00,2.00,0.00,0.000,516,0.000,0.032,2647,512,3131,3149,3114,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5072,-1.35,-107.5,2646,512,3149,3113,852.3,-15.4,238,5078,0.00,1.98,0.00,0.000,1030,0.000,0.021,2637,1900,3131,3149,3113,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,5324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5324,begin apogee
$GC,5333,-0.19,0.0,2630,2791,3148,3111,883.3,-10.0,247,5421,1.23,0.00,76.62,1.634,10246,0.160,0.000,3013,2792,2765,2813,2717,0,0,0,0,1,0,26.59,28.83,23.79
$STATE,5426,end apogee,CONTROL_FINISHED_OK
$STATE,5426,begin climb
$GC,5430,1.35,107.5,3013,2792,2813,2721,883.7,0.0,250,5544,1.38,1.62,98.55,1.639,11012,0.043,0.038,3527,3759,2324,2384,2265,0,0,0,0,1,0,24.99,24.45,23.50
$GC,5773,1.35,107.5,3527,3759,2384,2256,820.5,22.9,261,5778,0.00,1.42,0.00,0.000,1030,0.000,0.025,3535,2807,2319,2384,2255,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6088,1.35,107.5,3535,2806,2384,2249,746.3,22.5,272,6093,0.00,2.08,0.00,0.000,516,0.000,0.029,3545,1411,2316,2384,2249,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6258,1.35,107.5,3544,1411,2384,2247,708.7,24.4,277,6263,0.00,2.10,0.00,0.000,1030,0.000,0.032,3544,2801,2315,2384,2247,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6580,1.35,107.5,3544,2800,2384,2244,634.5,21.0,288,6586,0.00,1.48,0.00,0.000,260,0.000,0.044,3545,3764,2314,2384,2244,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6815,1.35,107.5,3543,3763,2384,2244,581.3,23.6,297,6821,0.08,1.42,0.00,0.000,5126,0.228,0.026,3524,2785,2313,2384,2243,0,0,0,0,0,0,26.26,26.49,28.83
$GC,7131,1.35,107.5,3524,2782,2384,2241,512.7,20.5,313,7136,0.00,2.00,0.00,0.000,516,0.000,0.028,3533,1415,2311,2384,2239,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7286,1.35,107.5,3533,1415,2384,2238,481.9,20.8,320,7292,0.00,2.08,0.00,0.000,1030,0.000,0.031,3533,2810,2311,2384,2239,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7601,1.35,107.5,3533,2809,2384,2238,420.0,18.6,336,7606,0.00,1.45,0.00,0.000,260,0.000,0.042,3533,3760,2311,2384,2238,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7838,1.35,107.5,3533,3759,2385,2239,376.9,18.9,347,7843,0.00,1.40,0.00,0.000,1030,0.000,0.025,3541,2792,2311,2384,2239,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8152,1.35,107.5,3541,2791,2383,2236,315.2,17.2,363,8157,0.00,1.50,0.00,0.000,260,0.000,0.043,3541,3757,2310,2384,2236,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8388,1.35,107.5,3540,3757,2384,2236,273.3,18.3,374,8393,0.00,1.38,0.00,0.000,1030,0.000,0.024,3549,2796,2310,2384,2236,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8704,1.35,107.5,3549,2794,2384,2235,221.7,16.2,390,8709,0.00,2.00,0.00,0.000,516,0.000,0.026,3558,1405,2309,2384,2235,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8859,1.35,107.5,3558,1405,2384,2235,200.1,14.6,397,8865,0.15,2.05,0.00,0.000,5126,0.216,0.029,3524,2803,2309,2384,2234,0,0,0,0,0,0,26.46,26.65,28.83
$GC,9176,1.35,107.5,3524,2803,2384,2235,165.2,13.0,413,9181,0.00,2.03,0.00,0.000,516,0.000,0.025,3533,1414,2309,2384,2235,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9412,1.35,107.5,3532,1412,2384,2234,135.7,13.1,424,9417,0.00,2.05,0.00,0.000,1030,0.000,0.029,3533,2807,2309,2384,2234,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9727,1.53,165.0,3533,2806,2384,2234,110.1,3.9,440,9755,0.12,1.40,22.17,0.390,11012,0.091,0.038,3598,3766,2087,2162,2013,0,0,0,0,0,0,26.69,26.48,26.16
$GC,9953,1.53,165.0,2768,3765,2083,1997,71.1,19.9,451,9959,0.10,1.38,0.00,0.000,5126,0.221,0.022,3565,2798,2086,2162,2010,0,0,0,0,0,0,26.36,26.60,28.83
$GC,10274,1.71,225.8,3564,2796,2162,2007,52.7,3.6,467,10307,0.17,1.50,25.15,0.250,10500,0.080,0.041,3639,3760,1839,1921,1757,0,0,0,0,0,0,26.58,26.45,26.22
$GC,10538,1.71,225.8,3639,3760,1921,1754,19.6,16.1,494,10545,0.00,1.35,0.00,0.000,1030,0.000,0.021,3646,2796,1838,1921,1755,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10855,1.88,284.5,3646,2793,1921,1754,8.7,3.8,555,10886,0.12,2.05,24.45,0.142,10756,0.090,0.025,3717,1412,1598,1676,1520,0,0,0,0,0,0,26.61,26.51,26.37
$STATE,10918,end climb,SURFACE_DEPTH_REACHED
$STATE,10918,begin surface coast
$FINISH,0.8,1.000518
$STATE,10939,end surface coast,CONTROL_FINISHED_OK
$STATE,10939,begin surface
$SM_CCo,10963,125.00,0.128,0,0,498,555.11
$SM_GC,1.67,9.07,0.75,125.00,0.034,0.027,0.128,140,1921,498,-9.14,-1.24,555.11,0,0,0,0,0,0,26.50,26.55,26.13
$IRIDIUM_FIX,2150.42,12024.75,250613,030345
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.15
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,25.70
$XPDR_PINGS,3
$SC_FREEKB,7703520
$24V_AH,23.5,4.022
$10V_AH,10.3,3.238
$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,22.675,78.225,246.950,125.000,0.000,0.000,0.000,215.950,0.750,0.000,10.329,2072.600,6529.518,482.054,1986.337,410.800,0.000,1599.837,0.000,1736.554,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,44.370,1639.395,127.755,0.000,0.000,0.000,115.515,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10939.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.022,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,20096,570
$CAP_FILE_SIZE,138020,0
$CFSIZE,260034560,246980608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,250613,091936,2200.038,12025.043,39,1.3,39,-3.1