version: 66.11
glider: 167
mission: 16
dive: 126
start: 7 7 113 13 39 59
data:
$ID,167
$MISSION,16
$DIVE,126
$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,-975108
$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,112
$R_STBD_OVSHOOT,70
$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
$GPS1,070713,133335,2115.029,12050.238,31,1.2,31,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.7
$GPS2,070713,133929,2115.166,12050.254,6,1.2,7,-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,141.4,99881,-15.4,-9.167,-18.50,2921
$D_GRID,284
$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,-175.2,139,2059,391,532,0.0,0.0,0,130,0.00,0.00,-102.10,0.000,16386,0.000,0.000,139,2059,2996,2972,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-0.96,-175.2,138,2059,2972,3022,3.6,-6.3,18,165,10.27,1.90,-8.30,0.000,18948,0.239,0.039,2743,736,3479,3474,3484,0,0,0,0,0,0,26.09,26.41,26.66
$GC,196,-0.65,-175.2,2743,735,3474,3484,27.5,-45.6,26,204,0.43,1.92,0.00,0.000,3078,0.197,0.019,2848,2100,3479,3474,3485,0,0,0,0,0,0,26.20,26.46,28.83
$GC,513,-0.56,-175.2,2848,2101,3477,3484,98.0,-14.7,45,519,0.12,2.00,0.00,0.000,2308,0.174,0.027,2880,3498,3480,3477,3484,0,0,0,0,0,0,26.44,26.56,28.83
$GC,594,-0.50,-175.2,2879,3498,3477,3484,106.3,-13.1,48,601,0.00,1.90,0.00,0.000,1030,0.000,0.015,2879,2108,3480,3477,3484,0,0,0,0,0,0,28.83,26.64,28.83
$GC,900,-0.48,-175.2,2880,2107,3478,3484,157.6,-15.8,64,905,0.00,1.95,0.00,0.000,516,0.000,0.028,2880,728,3481,3478,3485,0,0,0,0,0,0,28.83,26.64,28.83
$GC,926,-0.46,-175.2,2879,728,3479,3485,160.7,-14.2,65,931,0.12,1.92,0.00,0.000,3078,0.151,0.019,2912,2103,3482,3479,3485,0,0,0,0,0,0,26.52,26.66,28.83
$GC,1251,-0.48,-175.2,2912,2102,3479,3484,193.5,-9.4,81,1257,0.00,1.95,0.00,0.000,516,0.000,0.026,2911,733,3481,3479,3484,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1287,-0.50,-175.2,2912,733,3479,3484,195.6,-8.9,82,1292,0.00,1.92,0.00,0.000,1030,0.000,0.019,2911,2109,3481,3479,3484,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1602,-0.53,-175.2,2910,2109,3479,3482,221.0,-9.4,98,1607,0.00,1.98,0.00,0.000,516,0.000,0.026,2911,729,3480,3479,3481,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1622,-0.56,-175.2,2910,729,3479,3482,221.0,-9.4,98,1628,0.00,1.92,0.00,0.000,1030,0.000,0.019,2910,2107,3480,3479,3481,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1928,-0.59,-175.2,2910,2107,3479,3479,248.5,-8.4,114,1934,0.12,2.00,0.00,0.000,4356,0.079,0.030,2822,3493,3479,3479,3479,0,0,0,0,0,0,26.73,26.67,28.83
$GC,1958,-0.61,-175.2,1736,3492,3459,3475,250.9,-8.8,115,1964,0.15,1.92,0.00,0.000,3078,0.145,0.015,2864,2088,3479,3479,3479,0,0,0,0,0,0,26.55,26.73,28.83
$STATE,2255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2255,begin apogee
$GC,2263,-0.23,0.0,2864,2317,3479,3475,285.0,-10.4,130,2406,0.35,0.00,134.48,0.691,10246,0.122,0.000,2982,2317,2761,2819,2703,0,0,0,0,0,0,26.56,28.83,24.92
$STATE,2408,end apogee,CONTROL_FINISHED_OK
$STATE,2408,begin climb
$GC,2412,0.96,175.2,2983,2317,2814,2685,295.1,0.0,137,2562,1.10,2.08,136.68,0.669,10500,0.083,0.033,3369,3669,2035,2130,1941,0,0,0,0,0,0,25.58,25.43,24.85
$GC,2670,0.84,175.2,3369,3669,2126,1926,271.3,16.6,150,2677,0.17,1.98,0.00,0.000,5126,0.159,0.020,3332,2323,2026,2126,1926,0,0,0,0,0,0,25.89,26.08,28.83
$GC,2997,1.00,316.4,3333,2323,2127,1919,235.3,4.2,166,3119,0.12,2.17,111.78,0.632,10500,0.083,0.034,3397,3674,1462,1545,1380,0,0,0,0,0,0,26.45,25.56,24.98
$GC,3204,0.94,316.4,3397,3675,1526,1366,201.1,18.1,176,3211,0.17,2.00,0.00,0.000,5126,0.156,0.020,3361,2297,1446,1526,1366,0,0,0,0,0,0,25.89,26.06,28.83
$GC,3531,0.91,316.4,3360,2293,1524,1361,150.1,14.6,192,3537,0.00,2.03,0.00,0.000,516,0.000,0.030,3369,902,1442,1523,1361,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3620,0.87,316.4,2368,901,1478,1355,138.3,14.0,196,3626,0.00,1.98,0.00,0.000,1030,0.000,0.021,3368,2289,1442,1524,1361,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3941,0.85,316.4,3368,2289,1522,1359,100.0,10.6,212,3947,0.12,2.05,0.00,0.000,4356,0.150,0.031,3330,3689,1440,1522,1359,0,0,0,0,0,0,26.44,26.55,28.83
$GC,4001,0.84,316.4,3329,3689,1520,1358,95.9,9.6,214,4008,0.00,1.98,0.00,0.000,1030,0.000,0.019,3332,2289,1439,1520,1358,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4307,0.98,392.9,3332,2288,1520,1357,73.6,6.5,230,4347,0.12,2.05,32.10,0.252,10756,0.075,0.030,3436,921,1167,1226,1108,0,0,0,0,0,0,26.67,26.45,26.13
$GC,4467,0.95,392.9,3436,920,1255,1109,55.8,13.0,237,4477,0.25,1.98,2.47,0.155,13318,0.128,0.020,3361,2318,1160,1221,1099,0,0,0,0,0,0,26.39,26.55,26.34
$GC,4777,1.11,466.1,3361,2318,1256,1100,32.5,6.6,266,4820,0.12,2.10,35.00,0.182,10756,0.073,0.028,3466,924,863,823,904,0,0,0,0,0,0,26.65,26.47,26.25
$GC,4928,1.09,466.1,3466,923,855,904,13.0,13.5,288,4936,0.20,1.95,2.17,0.156,13318,0.128,0.019,3407,2316,858,821,895,0,0,0,0,0,0,26.41,26.56,26.37
$STATE,5024,end climb,SURFACE_DEPTH_REACHED
$STATE,5024,begin surface coast
$FINISH,1.1,1.020673
$STATE,5056,end surface coast,CONTROL_FINISHED_OK
$STATE,5056,begin surface
$SM_CCo,5079,49.85,0.117,0,0,457,564.93
$SM_GC,1.50,8.12,0.28,49.85,0.024,0.037,0.117,135,2059,457,-9.08,2.09,564.93,0,0,0,0,0,0,26.55,26.63,26.32
$IRIDIUM_FIX,2106.38,12047.51,070713,111150
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.06
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,26.60
$XPDR_PINGS,0
$SC_FREEKB,7668544
$24V_AH,24.9,15.661
$10V_AH,10.5,10.249
$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,22.100,48.175,454.675,49.850,0.000,0.000,0.000,187.175,0.000,0.000,7.916,932.013,2787.349,535.647,961.803,272.877,0.000,1211.152,0.000,758.193,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,39.015,690.795,117.045,0.000,0.000,0.000,117.045,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5063.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.667,0.000,0.000,0.000
$MEM,322844
$DATA_FILE_SIZE,10145,312
$CAP_FILE_SIZE,79708,0
$CFSIZE,260034560,240631808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.457, 18.0,1
$GPS,070713,150654,2115.853,12051.087,40,1.3,40,-3.0