version: 66.11
glider: 167
mission: 16
dive: 42
start: 6 26 113 9 59 11
data:
$ID,167
$MISSION,16
$DIVE,42
$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,-974747.88
$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,41
$R_STBD_OVSHOOT,41
$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
$GPS1,260613,095123,2159.926,12024.238,44,1.2,44,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.7
$GPS2,260613,095845,2159.889,12024.315,10,1.2,10,-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,293.9,579,-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,-63.1,111,1926,409,509,0.0,0.0,0,115,0.00,0.00,-87.30,0.000,16386,0.000,0.000,112,1927,2630,2609,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.32,-96.7,112,1926,2609,2652,3.7,-6.4,16,149,10.30,2.22,-8.95,0.000,18948,0.246,0.047,2654,478,3160,3156,3165,0,0,0,0,0,0,25.88,26.12,26.36
$GC,225,-1.32,-96.7,2653,477,3157,3166,47.7,-36.5,29,231,0.00,2.08,0.00,0.000,1030,0.000,0.018,2646,1924,3161,3157,3166,0,0,0,0,0,0,28.83,26.22,28.83
$GC,540,-1.32,-96.7,2645,1925,3159,3166,126.8,-25.1,45,545,0.00,2.00,0.00,0.000,260,0.000,0.030,2635,3303,3163,3160,3167,0,0,0,0,0,0,28.83,26.38,28.83
$GC,775,-1.32,-96.7,2635,3303,3159,3167,175.2,-21.4,56,780,0.00,2.05,0.00,0.000,1030,0.000,0.018,2635,1863,3164,3159,3169,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1089,-1.32,-96.7,2635,1862,3160,3168,238.1,-21.9,72,1095,0.00,2.10,0.00,0.000,260,0.000,0.030,2625,3295,3163,3160,3167,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1326,-1.32,-96.7,2625,3295,3160,3167,283.4,-19.0,83,1332,0.12,1.98,0.00,0.000,3078,0.203,0.018,2653,1889,3163,3160,3167,0,0,0,0,0,0,26.41,26.60,28.83
$GC,1641,-1.32,-96.7,2652,1889,3160,3165,340.0,-18.5,99,1646,0.00,2.08,0.00,0.000,260,0.000,0.031,2645,3307,3162,3160,3164,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1740,-1.32,-96.7,2645,3306,3160,3163,356.0,-18.9,103,1747,0.00,2.00,0.00,0.000,1030,0.000,0.018,2645,1893,3161,3160,3163,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2046,-1.32,-96.7,2643,1892,3163,3157,410.7,-15.5,119,2051,0.00,2.00,0.00,0.000,516,0.000,0.032,2644,510,3159,3163,3155,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2120,-1.32,-96.7,2644,509,3163,3155,421.4,-16.3,122,2125,0.00,1.98,0.00,0.000,1030,0.000,0.020,2636,1899,3159,3163,3155,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2435,-1.32,-96.7,2635,1899,3163,3151,472.5,-16.1,138,2440,0.00,2.05,0.00,0.000,260,0.000,0.034,2626,3307,3156,3163,3150,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2504,-1.32,-96.7,2625,3307,3163,3149,483.8,-17.0,141,2510,0.12,2.00,0.00,0.000,3078,0.203,0.018,2653,1888,3156,3163,3149,0,0,0,0,0,0,26.51,26.70,28.83
$GC,2824,-1.32,-96.7,2653,1888,3164,3145,532.7,-14.2,157,2830,0.00,2.08,0.00,0.000,260,0.000,0.034,2645,3294,3153,3163,3144,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2971,-1.32,-96.7,2645,3294,3162,3142,554.2,-14.9,164,2976,0.00,2.00,0.00,0.000,1030,0.000,0.018,2645,1894,3152,3163,3141,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3296,-1.32,-96.7,2645,1893,3163,3137,601.3,-16.3,180,3301,0.00,2.00,0.00,0.000,516,0.000,0.033,2645,513,3150,3163,3137,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3361,-1.32,-96.7,2645,512,3163,3137,611.7,-16.4,182,3366,0.00,2.00,0.00,0.000,1030,0.000,0.021,2636,1904,3149,3163,3136,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3698,-1.32,-96.7,2636,1904,3163,3131,662.9,-16.9,193,3703,0.00,2.05,0.00,0.000,260,0.000,0.035,2626,3303,3146,3163,3130,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3903,-1.32,-96.7,2625,3302,3162,3129,699.5,-19.4,199,3909,0.12,2.00,0.00,0.000,3078,0.203,0.019,2653,1888,3145,3163,3128,0,0,0,0,0,0,26.55,26.74,28.83
$GC,4221,-1.32,-96.7,2653,1887,3163,3125,754.5,-16.2,210,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1887,3144,3163,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4519,-1.32,-96.7,2653,1887,3163,3121,799.5,-15.4,220,4524,0.00,2.10,0.00,0.000,260,0.000,0.037,2645,3303,3141,3163,3120,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4693,-1.32,-96.7,2645,3303,3163,3118,822.3,-14.0,225,4699,0.00,2.00,0.00,0.000,1030,0.000,0.020,2645,1897,3140,3163,3118,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5008,-1.32,-96.7,2645,1896,3163,3114,866.5,-12.3,236,5014,0.00,2.08,0.00,0.000,260,0.000,0.036,2640,3292,3138,3163,3114,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5243,-1.32,-96.7,2641,3293,3163,3112,898.0,-15.3,243,5249,0.00,2.00,0.00,0.000,1030,0.000,0.021,2641,1895,3137,3163,3112,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,5558,end dive,NO_VERTICAL_VELOCITY
$STATE,5558,begin apogee
$GC,5568,-0.19,0.0,2640,3080,3163,3108,911.1,0.0,254,5651,1.05,0.00,73.22,1.561,10246,0.085,0.000,3022,3080,2762,2815,2709,0,0,0,0,1,0,26.66,28.83,23.82
$STATE,5656,end apogee,CONTROL_FINISHED_OK
$STATE,5656,begin climb
$GC,5660,1.32,96.7,3022,3079,2815,2723,911.0,0.0,257,5770,1.40,2.25,90.72,1.655,10756,0.073,0.025,3506,1720,2368,2439,2297,0,0,0,0,1,0,24.98,24.49,23.44
$GC,6000,1.36,108.7,3506,1720,2438,2301,900.2,8.7,268,6028,0.00,2.15,13.70,1.144,9222,0.000,0.037,3506,3101,2315,2384,2246,0,0,0,0,1,0,28.83,25.81,24.82
$GC,6348,1.36,108.7,3507,3101,2384,2248,834.2,18.8,280,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,3101,2316,2384,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6648,1.36,108.7,3506,3101,2384,2245,777.7,18.5,290,6653,0.00,1.00,0.00,0.000,260,0.000,0.048,3506,3758,2314,2384,2245,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6882,1.36,108.7,3506,3758,2384,2243,735.1,21.0,297,6887,0.00,0.95,0.00,0.000,1030,0.000,0.029,3512,3104,2313,2384,2243,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7197,1.36,108.7,3511,3104,2385,2242,677.0,16.3,308,7202,0.00,1.00,0.00,0.000,260,0.000,0.047,3512,3754,2313,2384,2242,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7432,1.36,108.7,3511,3754,2384,2242,636.5,18.9,315,7437,0.00,0.95,0.00,0.000,1030,0.000,0.029,3517,3097,2312,2384,2241,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7750,1.36,108.7,3516,3097,2384,2239,574.7,19.1,328,7755,0.00,1.02,0.00,0.000,260,0.000,0.047,3517,3757,2311,2384,2239,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7987,1.36,108.7,3517,3757,2384,2239,529.1,18.8,339,7992,0.00,0.95,0.00,0.000,1030,0.000,0.029,3522,3098,2311,2384,2239,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8301,1.36,108.7,3522,3098,2384,2238,475.1,16.0,355,8307,0.00,1.02,0.00,0.000,260,0.000,0.046,3522,3760,2311,2384,2238,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8538,1.36,108.7,3521,3760,2384,2238,432.2,20.3,366,8543,0.00,0.95,0.00,0.000,1030,0.000,0.029,3527,3100,2310,2384,2237,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8853,1.36,108.7,3527,3100,2385,2237,377.4,15.5,382,8858,0.00,1.00,0.00,0.000,260,0.000,0.045,3527,3756,2310,2384,2236,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9088,1.36,108.7,3527,3756,2386,2236,340.7,16.2,393,9093,0.00,0.95,0.00,0.000,1030,0.000,0.029,3533,3094,2310,2384,2236,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9403,1.36,108.7,3532,3094,2384,2236,303.4,11.0,409,9408,0.00,1.02,0.00,0.000,260,0.000,0.044,3532,3763,2309,2384,2235,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9639,1.36,108.7,3532,3763,2384,2235,272.3,13.9,420,9644,0.00,0.95,0.00,0.000,1030,0.000,0.028,3537,3098,2310,2384,2236,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9954,1.36,108.7,3537,3098,2384,2235,234.6,10.9,436,9959,0.00,1.02,0.00,0.000,260,0.000,0.045,3538,3764,2310,2384,2236,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10190,1.36,108.7,3537,3764,2384,2235,209.5,10.5,447,10195,0.00,0.95,0.00,0.000,1030,0.000,0.028,3543,3097,2309,2384,2235,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10505,1.38,115.9,3542,3097,2384,2235,178.7,9.2,463,10515,0.00,1.02,3.67,0.862,8452,0.000,0.045,3543,3764,2292,2361,2223,0,0,0,0,0,0,28.83,26.60,25.63
$GC,10746,1.41,126.1,3542,3765,2361,2231,154.7,8.9,474,10765,0.00,0.95,14.48,0.816,9222,0.000,0.028,3548,3094,2244,2315,2174,0,0,0,0,0,0,28.83,26.67,25.83
$GC,11075,1.46,144.2,3548,3094,2310,2161,126.8,8.1,491,11094,0.00,2.10,13.95,0.776,8708,0.000,0.024,3557,1704,2167,2245,2090,0,0,0,0,0,0,28.83,26.27,25.72
$GC,11325,1.46,144.2,3557,1703,2242,2080,100.2,12.1,503,11330,0.00,2.10,0.00,0.000,1030,0.000,0.032,3557,3111,2160,2242,2079,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11645,1.59,185.6,3557,3110,2242,2078,68.4,5.6,519,11669,0.12,2.08,16.62,0.286,10756,0.091,0.020,3627,1693,2004,2086,1922,0,0,0,0,0,0,26.48,26.38,26.09
$GC,11725,1.71,225.6,3627,1693,2087,1926,64.4,5.8,522,11750,0.00,2.12,17.62,0.274,9222,0.000,0.031,3627,3108,1841,1925,1757,0,0,0,0,0,0,28.83,26.38,26.03
$GC,12049,1.75,238.5,3627,3109,1924,1760,27.0,8.6,549,12060,0.00,1.00,5.85,0.197,8452,0.000,0.045,3627,3757,1786,1870,1702,0,0,0,0,0,0,28.83,26.36,26.20
$GC,12100,1.88,282.8,3626,3757,1870,1709,24.1,5.3,555,12125,0.12,0.95,20.20,0.185,11270,0.047,0.024,3705,3080,1606,1687,1525,0,0,0,0,0,0,26.39,26.46,26.14
$STATE,12335,end climb,SURFACE_DEPTH_REACHED
$STATE,12335,begin surface coast
$FINISH,0.9,1.020783
$STATE,12364,end surface coast,CONTROL_FINISHED_OK
$STATE,12364,begin surface
$SM_CCo,12388,131.57,0.132,0,0,499,555.11
$SM_GC,1.70,9.18,1.73,131.57,0.036,0.024,0.132,136,1934,499,-9.15,2.18,555.11,0,0,0,0,0,0,26.41,26.44,25.99
$IRIDIUM_FIX,2152.74,12022.75,260613,060633
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.66
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,23.30
$XPDR_PINGS,3
$SC_FREEKB,7700064
$24V_AH,23.4,4.883
$10V_AH,10.3,4.148
$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,22.550,78.850,270.050,131.575,0.000,0.000,0.000,263.875,0.750,0.000,11.136,2286.176,7476.144,520.507,2240.572,440.505,0.000,1790.715,0.000,1933.063,0.000,0.541,0.000
$DEVICE_MAMPS,245.565,48.195,1654.695,131.580,0.000,0.000,0.000,115.515,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12363.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.389,0.000,0.000,0.000
$MEM,324560
$DATA_FILE_SIZE,23420,605
$CAP_FILE_SIZE,153054,0
$CFSIZE,260034560,246300672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,260613,132923,2200.393,12023.456,45,1.1,45,-3.1