version: 66.11
glider: 167
mission: 16
dive: 127
start: 7 7 113 15 13 11
data:
$ID,167
$MISSION,16
$DIVE,127
$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,280
$T_MISSION,310
$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,250
$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,-975109.25
$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,110
$R_STBD_OVSHOOT,72
$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
$GPS1,070713,150654,2115.853,12051.087,40,1.3,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.1
$GPS2,070713,151241,2115.972,12051.058,4,1.0,4,-3.0
$SPEED_LIMITS,0.204,0.345
$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,142.3,98595,-16.1,-11.786,-18.84,3159
$D_GRID,276
$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,-1.10,-243.3,126,2052,391,535,0.0,0.0,0,127,0.00,0.00,-99.10,0.000,16386,0.000,0.000,126,2052,2898,2876,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-1.10,-243.3,126,2052,2876,2920,3.1,-4.5,17,166,10.15,0.00,-15.32,0.000,18950,0.239,0.000,2701,2051,3757,3753,3762,0,0,0,0,0,0,26.12,28.83,26.70
$GC,476,-0.92,-243.3,2701,2051,3754,3763,139.3,-28.7,42,478,0.22,0.00,0.00,0.000,2054,0.181,0.000,2762,2051,3758,3754,3763,0,0,0,0,0,0,26.39,28.83,28.83
$GC,779,-0.82,-243.3,2761,2051,3756,3764,210.6,-23.1,57,785,0.12,1.88,0.00,0.000,2564,0.178,0.026,2802,735,3759,3756,3763,0,0,0,0,0,0,26.49,26.64,28.83
$GC,845,-0.75,-243.3,2801,735,3757,3763,223.9,-20.2,60,850,0.00,1.90,0.00,0.000,1030,0.000,0.019,2794,2096,3760,3757,3763,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,1126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1126,begin apogee
$GC,1135,-0.23,0.0,2792,2340,3757,3763,279.1,-18.7,74,1408,0.57,0.00,262.25,0.604,10246,0.127,0.000,2983,2339,2755,2827,2684,0,0,0,0,0,0,26.53,28.83,24.96
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1417,1.10,243.3,2982,2340,2827,2679,288.3,0.0,88,1614,1.17,2.00,187.98,0.643,10500,0.070,0.030,3409,3659,1762,1855,1669,0,0,0,0,0,0,25.61,25.45,24.88
$GC,1741,1.01,243.3,2432,3658,1777,1639,241.9,21.8,104,1747,0.15,1.90,0.00,0.000,5126,0.170,0.020,3382,2340,1747,1846,1649,0,0,0,0,0,0,25.94,26.13,28.83
$GC,2062,0.94,243.3,3382,2340,1846,1643,185.2,16.5,120,2068,0.00,2.08,0.00,0.000,516,0.000,0.031,3391,916,1744,1846,1643,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2088,0.87,243.3,3390,916,1846,1643,181.1,16.3,121,2095,0.17,1.92,0.00,0.000,5126,0.148,0.022,3343,2271,1744,1845,1643,0,0,0,0,0,0,26.31,26.48,28.83
$GC,2415,0.84,243.3,3343,2272,1845,1639,138.6,13.0,137,2421,0.00,1.98,0.00,0.000,516,0.000,0.029,3351,913,1742,1846,1639,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2450,0.81,243.3,3350,913,1845,1639,135.5,13.0,138,2456,0.00,1.98,0.00,0.000,1030,0.000,0.020,3351,2301,1742,1846,1639,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2766,0.92,325.3,3351,2301,1846,1636,106.8,9.1,154,2808,0.00,2.10,34.85,0.317,8452,0.000,0.034,3351,3687,1442,1529,1356,0,0,0,0,0,0,28.83,26.39,26.01
$GC,2871,0.96,354.7,3351,3687,1541,1369,96.1,10.8,159,2891,0.00,1.98,15.32,0.302,9222,0.000,0.018,3358,2285,1315,1385,1245,0,0,0,0,0,0,28.83,26.51,25.99
$GC,3189,1.29,556.5,3358,2285,1422,1253,76.2,5.2,175,3293,0.28,2.08,97.18,0.273,10756,0.044,0.029,3519,917,494,408,580,0,0,0,0,0,0,26.60,26.13,25.82
$GC,3389,1.26,556.5,2592,916,419,601,44.8,17.5,186,3399,0.17,1.98,2.53,0.152,13318,0.137,0.019,3469,2309,492,406,579,0,0,0,0,0,0,26.19,26.34,26.14
$STATE,3698,end climb,SURFACE_DEPTH_REACHED
$STATE,3698,begin surface coast
$FINISH,0.9,1.020815
$STATE,3720,end surface coast,CONTROL_FINISHED_OK
$STATE,3720,begin surface
$SM_CCo,3743,6.55,0.125,0,0,457,564.93
$SM_GC,1.35,8.27,0.25,6.55,0.024,0.038,0.125,137,2103,457,-9.07,2.37,564.93,0,0,0,0,0,0,26.52,26.60,26.39
$IRIDIUM_FIX,2106.38,12049.50,070713,131321
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.77
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,26.50
$XPDR_PINGS,1
$SC_FREEKB,7668160
$24V_AH,24.9,15.757
$10V_AH,10.5,10.285
$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,21.300,24.250,600.100,6.550,0.000,0.000,0.000,187.625,0.250,0.000,5.089,654.138,1857.533,552.441,816.624,225.181,0.000,1186.999,0.000,616.697,0.000,0.545,0.000
$DEVICE_MAMPS,239.445,42.840,642.600,124.695,0.000,0.000,0.000,114.750,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3721.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.599,0.000,0.000,0.000
$MEM,322904
$DATA_FILE_SIZE,6812,238
$CAP_FILE_SIZE,58788,0
$CFSIZE,260034560,240611328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.448, 17.6,1
$GPS,070713,161706,2116.496,12051.762,39,1.0,39,-3.0