version: 66.11
glider: 167
mission: 16
dive: 124
start: 7 7 113 9 44 41
data:
$ID,167
$MISSION,16
$DIVE,124
$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,360
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,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,564.9259
$N_FILEKB,8
$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,-975105.5
$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,3060
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,123
$R_STBD_OVSHOOT,57
$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,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,49
$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
$GPS1,070713,093736,2112.722,12048.429,40,0.9,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.5
$GPS2,070713,094412,2112.963,12048.417,7,0.8,7,-3.0
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,T5
$TGT_LATLONG,2112.000,12148.000
$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,139.0,102895,-15.4,-9.167,-18.50,2921
$D_GRID,373
$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,-0.96,-175.2,132,2050,376,531,0.0,0.0,0,130,0.00,0.00,-100.85,0.000,16386,0.000,0.000,132,2050,2977,2950,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-0.96,-175.2,132,2050,2950,3006,3.5,-6.2,18,163,10.50,0.00,-8.57,0.000,18950,0.245,0.000,2743,2050,3481,3478,3485,0,0,0,0,0,0,25.99,28.83,26.57
$GC,483,-0.78,-175.2,2742,2050,3480,3485,126.8,-28.7,43,489,0.20,2.10,0.00,0.000,2308,0.182,0.025,2792,3508,3483,3480,3486,0,0,0,0,0,0,26.31,26.50,28.83
$GC,559,-0.65,-175.2,2792,3508,3481,3485,143.6,-25.7,46,565,0.20,1.90,0.00,0.000,3078,0.154,0.015,2848,2108,3482,3480,3485,0,0,0,0,0,0,26.36,26.56,28.83
$GC,875,-0.59,-175.2,2848,2109,3482,3485,195.3,-13.9,62,880,0.00,1.92,0.00,0.000,516,0.000,0.027,2848,749,3483,3482,3485,0,0,0,0,0,0,28.83,26.59,28.83
$GC,992,-0.53,-175.2,2848,749,3482,3485,210.7,-14.7,67,999,0.15,1.92,0.00,0.000,3078,0.156,0.018,2885,2128,3483,3482,3485,0,0,0,0,0,0,26.47,26.63,28.83
$GC,1309,-0.53,-175.2,2885,2127,3482,3485,245.5,-9.6,83,1314,0.00,1.95,0.00,0.000,260,0.000,0.031,2877,3487,3483,3482,3485,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1375,-0.55,-175.2,2877,3487,3482,3485,252.2,-10.2,86,1380,0.00,1.90,0.00,0.000,1030,0.000,0.015,2877,2106,3483,3482,3485,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1700,-0.56,-175.2,2877,2106,3482,3482,282.3,-7.9,102,1706,0.00,1.92,0.00,0.000,516,0.000,0.033,2877,742,3482,3482,3482,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1721,-0.57,-175.2,2877,742,3482,3482,282.3,-7.9,102,1728,0.00,1.90,0.00,0.000,1030,0.000,0.018,2875,2100,3482,3482,3482,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2027,-0.59,-175.2,2875,2100,3482,3480,307.8,-7.0,118,2032,0.00,2.03,0.00,0.000,260,0.000,0.033,2875,3493,3480,3482,3479,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2199,-0.63,-175.2,2875,3493,3482,3477,322.1,-8.7,126,2205,0.00,1.90,0.00,0.000,1030,0.000,0.015,2875,2093,3479,3482,3477,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2520,-0.65,-175.2,2875,2093,3482,3473,349.7,-9.4,142,2525,0.00,1.90,0.00,0.000,516,0.000,0.028,2875,750,3477,3482,3473,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2548,-0.68,-175.2,1808,750,3463,3469,352.0,-9.4,143,2553,0.00,1.90,0.00,0.000,1030,0.000,0.020,2875,2098,3477,3482,3473,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,2824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2824,begin apogee
$GC,2833,-0.23,0.0,2875,2315,3482,3468,374.0,-7.7,157,2978,0.32,0.00,135.90,0.765,10246,0.112,0.000,2987,2315,2753,2814,2693,0,0,0,0,0,0,26.58,28.83,24.77
$STATE,2980,end apogee,CONTROL_FINISHED_OK
$STATE,2981,begin climb
$GC,2984,0.96,175.2,2987,2315,2813,2683,380.5,0.0,164,3136,1.05,2.17,138.12,0.737,10500,0.070,0.034,3365,3677,2035,2128,1942,0,0,0,0,0,0,25.48,25.28,24.66
$GC,3185,0.85,175.2,3365,3677,2124,1926,366.0,13.6,174,3191,0.15,1.98,0.00,0.000,5126,0.168,0.021,3337,2344,2024,2123,1926,0,0,0,0,0,0,25.58,25.77,28.83
$GC,3501,0.77,175.2,3337,2344,2123,1917,320.4,14.4,190,3507,0.00,2.03,0.00,0.000,260,0.000,0.035,3337,3679,2020,2124,1917,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3738,0.68,175.2,3337,3679,2119,1915,289.9,11.8,201,3744,0.22,1.98,0.00,0.000,5126,0.158,0.021,3283,2294,2017,2118,1916,0,0,0,0,0,0,26.27,26.46,28.83
$GC,4055,0.65,175.2,3283,2294,2119,1911,263.2,9.7,217,4060,0.00,2.10,0.00,0.000,260,0.000,0.036,3283,3687,2015,2119,1912,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4293,0.61,175.2,3283,3687,2114,1911,239.5,9.7,228,4299,0.12,1.98,0.00,0.000,5126,0.151,0.021,3257,2297,2012,2114,1911,0,0,0,0,0,0,26.44,26.60,28.83
$GC,4609,0.66,209.0,3257,2297,2114,1908,211.8,8.0,244,4642,0.00,2.10,26.67,0.673,8452,0.000,0.033,3257,3683,1900,2000,1800,0,0,0,0,0,0,28.83,26.22,25.60
$GC,4709,0.74,257.5,3257,3683,1990,1788,205.6,7.5,248,4756,0.10,1.98,40.55,0.669,11270,0.092,0.020,3321,2290,1713,1811,1615,0,0,0,0,0,0,26.31,26.36,25.23
$GC,5053,0.72,257.5,3321,2290,1787,1586,166.3,12.0,266,5058,0.00,2.00,0.00,0.000,516,0.000,0.030,3331,921,1686,1787,1586,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5174,0.71,257.5,3330,921,1785,1586,151.8,14.0,271,5183,0.15,1.98,0.00,0.000,5126,0.136,0.020,3289,2295,1685,1785,1586,0,0,0,0,0,0,26.29,26.44,28.83
$GC,5478,0.92,384.1,3289,2295,1783,1585,124.8,4.7,287,5589,0.17,2.08,101.00,0.592,10756,0.060,0.027,3400,929,1187,1245,1129,0,0,0,0,0,0,26.57,25.61,25.06
$GC,5658,0.90,384.1,3399,929,1227,1115,106.9,11.4,295,5665,0.17,2.00,0.00,0.000,5126,0.132,0.019,3350,2301,1170,1225,1115,0,0,0,0,0,0,25.84,25.98,28.83
$GC,5964,0.93,384.1,3350,2301,1222,1113,72.5,9.7,311,5969,0.00,2.03,0.00,0.000,516,0.000,0.027,3358,927,1167,1222,1113,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6010,0.97,388.6,3357,927,1222,1112,68.7,9.0,313,6015,0.00,1.98,0.00,0.000,1030,0.000,0.018,3358,2309,1167,1222,1112,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6329,1.02,388.6,3358,2308,1221,1112,42.3,9.4,332,6334,0.00,2.03,0.00,0.000,516,0.000,0.026,3363,917,1166,1221,1112,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6397,1.10,409.8,2368,917,1195,1108,36.4,8.4,338,6417,0.15,1.98,11.15,0.159,11270,0.063,0.018,3467,2311,1095,1143,1048,0,0,0,0,0,0,26.55,26.55,26.26
$STATE,6652,end climb,SURFACE_DEPTH_REACHED
$STATE,6652,begin surface coast
$FINISH,1.0,1.020572
$STATE,6678,end surface coast,CONTROL_FINISHED_OK
$STATE,6678,begin surface
$SM_CCo,6703,74.20,0.119,0,0,456,564.93
$SM_GC,1.64,8.32,0.25,74.20,0.028,0.037,0.119,143,2083,456,-9.05,2.40,564.93,0,0,0,0,0,0,26.53,26.62,26.27
$IRIDIUM_FIX,2104.07,12048.32,070713,060606
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.39
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.30
$XPDR_PINGS,1
$SC_FREEKB,7669312
$24V_AH,24.7,15.486
$10V_AH,10.4,10.154
$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,22.000,56.100,453.400,74.200,0.000,0.000,0.000,217.800,0.250,0.000,7.940,1261.516,3775.991,559.382,1266.583,310.970,0.000,1396.639,0.000,1011.862,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,46.665,765.000,118.575,0.000,0.000,0.000,120.105,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6694.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.740,0.000,0.000,0.000
$MEM,322908
$DATA_FILE_SIZE,13413,385
$CAP_FILE_SIZE,96467,0
$CFSIZE,260034560,240730112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.443,  4.9,1
$GPS,070713,113905,2114.076,12049.232,40,1.1,40,-3.0