version: 66.11
glider: 167
mission: 16
dive: 53
start: 6 27 113 17 30 7
data:
$ID,167
$MISSION,16
$DIVE,53
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,240
$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,120
$T_MISSION,140
$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,2
$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,-974761.88
$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,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,39
$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
$GPS1,270613,172405,2153.817,12026.146,39,1.9,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.6
$GPS2,270613,172937,2153.919,12026.308,8,1.9,8,-3.1
$SPEED_LIMITS,0.115,0.255
$TGT_NAME,T3
$TGT_LATLONG,2151.500,12030.000
$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,133.6,7769,-10.4,-6.667,-14.66,4432
$D_GRID,849
$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,-0.97,-194.6,111,1927,424,574,0.0,0.0,0,117,0.00,0.00,-88.50,0.000,16386,0.000,0.000,111,1927,2711,2688,2734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.97,-194.6,111,1927,2689,2734,3.9,-6.2,15,157,10.43,2.08,-13.38,0.000,18692,0.237,0.044,2759,3324,3560,3553,3567,0,0,0,0,0,0,26.02,26.25,26.49
$GC,337,-0.97,-194.6,2759,3324,3555,3567,82.6,-31.6,32,344,0.00,2.05,0.00,0.000,1030,0.000,0.018,2759,1890,3560,3555,3566,0,0,0,0,0,0,28.83,26.39,28.83
$GC,643,-0.97,-194.6,2759,1890,3558,3567,149.8,-20.3,48,649,0.00,2.10,0.00,0.000,260,0.000,0.028,2751,3329,3562,3558,3567,0,0,0,0,0,0,28.83,26.48,28.83
$GC,717,-0.97,-194.6,2750,3329,3558,3567,163.0,-20.2,51,723,0.00,2.03,0.00,0.000,1030,0.000,0.016,2751,1886,3562,3558,3567,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1033,-0.97,-194.6,2750,1886,3558,3567,231.1,-22.1,67,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1885,3562,3558,3567,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1089,begin apogee
$GC,1099,-0.19,0.0,2741,3315,3558,3568,241.3,-18.0,70,1259,0.88,0.00,147.85,0.644,10246,0.144,0.000,3019,3315,2753,2822,2685,0,0,0,0,0,0,26.46,28.83,24.85
$STATE,1261,end apogee,CONTROL_FINISHED_OK
$STATE,1261,begin climb
$GC,1265,0.97,194.6,3019,3315,2822,2677,245.2,0.0,78,1424,1.00,0.70,150.27,0.624,10500,0.051,0.044,3396,3760,1964,2061,1868,0,0,0,0,0,0,25.41,25.13,24.70
$GC,1534,0.97,194.6,3396,3760,2052,1844,214.1,15.4,91,1541,0.00,0.62,0.00,0.000,1030,0.000,0.027,3400,3301,1947,2051,1844,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1840,0.97,194.6,3399,3301,2052,1839,164.2,17.7,107,1846,0.00,2.03,0.00,0.000,516,0.000,0.021,3409,1896,1945,2051,1839,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2077,0.97,194.6,3409,1896,2051,1835,124.0,17.6,118,2082,0.00,2.08,0.00,0.000,1030,0.000,0.031,3409,3294,1943,2051,1835,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2391,0.97,194.6,3409,3294,2052,1832,80.7,13.4,134,2396,0.00,0.68,0.00,0.000,260,0.000,0.045,3409,3763,1942,2052,1833,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2508,0.97,194.6,3409,3763,2051,1832,69.0,11.0,139,2513,0.00,0.62,0.00,0.000,1030,0.000,0.028,3413,3294,1941,2051,1832,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2823,0.97,194.6,3412,3294,2051,1829,43.6,9.3,158,2828,0.00,0.70,0.00,0.000,260,0.000,0.043,3413,3766,1939,2051,1828,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3061,0.97,194.6,3413,3766,2045,1829,24.6,9.6,181,3067,0.00,0.62,0.00,0.000,1030,0.000,0.028,3417,3292,1937,2045,1829,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3378,1.52,379.3,3416,3291,2045,1829,12.6,2.4,242,3461,0.38,1.98,73.00,0.137,10756,0.042,0.018,3606,1896,1210,1261,1160,0,0,0,0,0,0,26.67,26.47,26.33
$STATE,3472,end climb,SURFACE_DEPTH_REACHED
$STATE,3473,begin surface coast
$FINISH,0.8,1.020744
$STATE,3488,end surface coast,CONTROL_FINISHED_OK
$STATE,3488,begin surface
$SM_CCo,3510,81.12,0.120,0,0,498,555.11
$SM_GC,1.53,8.68,0.00,81.12,0.027,0.000,0.120,136,1890,498,-9.14,-0.28,555.11,0,0,0,0,0,0,26.46,28.83,26.21
$IRIDIUM_FIX,2145.77,12026.75,270613,161641
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.55
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.00
$XPDR_PINGS,0
$SC_FREEKB,7695840
$24V_AH,24.7,6.294
$10V_AH,10.5,4.878
$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,21.350,20.425,371.125,81.125,0.000,0.000,0.000,178.400,0.000,0.000,10.198,791.241,1590.938,472.503,858.575,223.753,0.000,1072.250,0.000,670.588,0.000,0.542,0.000
$DEVICE_MAMPS,237.150,45.135,644.130,120.105,0.000,0.000,0.000,110.160,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3488.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.854,0.000,0.000,0.000
$MEM,324360
$DATA_FILE_SIZE,10148,260
$CAP_FILE_SIZE,58804,0
$CFSIZE,260034560,245665792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.146,302.9,1
$GPS,270613,183124,2153.917,12026.195,40,1.1,40,-3.1