version: 66.11
glider: 167
mission: 16
dive: 128
start: 7 7 113 16 23 22
data:
$ID,167
$MISSION,16
$DIVE,128
$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,-975110.5
$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,77
$R_STBD_OVSHOOT,71
$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
$GPS1,070713,161706,2116.496,12051.762,39,1.0,39,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-71.2
$GPS2,070713,162251,2116.610,12051.720,4,0.9,4,-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,143.0,97552,-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,-243.3,132,2095,390,548,0.0,0.0,0,129,0.00,0.00,-100.82,0.000,16386,0.000,0.000,132,2096,2926,2903,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.10,-243.3,132,2096,2902,2951,3.1,-4.6,18,168,10.12,0.00,-14.68,0.000,18950,0.240,0.000,2698,2096,3755,3747,3764,0,0,0,0,0,0,26.15,28.83,26.72
$GC,478,-0.92,-243.3,2697,2099,3748,3764,141.6,-29.8,43,484,0.20,1.98,0.00,0.000,2564,0.181,0.027,2756,717,3756,3748,3764,0,0,0,0,0,0,26.41,26.59,28.83
$GC,518,-0.76,-243.3,2755,717,3749,3764,149.6,-29.8,44,525,0.22,1.92,0.00,0.000,3078,0.162,0.017,2811,2104,3756,3749,3764,0,0,0,0,0,0,26.44,26.63,28.83
$GC,824,-0.70,-243.3,2811,2104,3750,3764,206.9,-12.8,60,829,0.00,2.00,0.00,0.000,516,0.000,0.028,2811,709,3757,3750,3764,0,0,0,0,0,0,28.83,26.65,28.83
$GC,858,-0.65,-243.3,2811,709,3751,3764,210.0,-12.9,61,865,0.15,1.95,0.00,0.000,3078,0.152,0.018,2848,2102,3757,3751,3764,0,0,0,0,0,0,26.52,26.67,28.83
$GC,1175,-0.65,-243.3,2848,2102,3750,3764,257.3,-16.5,77,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2102,3757,3750,3764,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1300,-0.23,0.0,2848,2320,3751,3762,278.7,-18.6,83,1579,0.40,0.00,270.40,0.607,10246,0.117,0.000,2984,2320,2757,2830,2684,0,0,0,0,0,0,26.57,28.83,24.98
$STATE,1584,end apogee,CONTROL_FINISHED_OK
$STATE,1584,begin climb
$GC,1588,1.10,243.3,2984,2320,2828,2675,307.5,0.0,97,1788,1.20,2.10,189.02,0.651,10500,0.075,0.031,3412,3667,1758,1852,1664,0,0,0,0,0,0,25.60,25.47,24.89
$GC,1844,1.00,243.3,3413,3667,1845,1646,276.4,20.4,110,1850,0.17,1.98,0.00,0.000,5126,0.167,0.019,3380,2309,1745,1845,1646,0,0,0,0,0,0,25.77,25.94,28.83
$GC,2165,0.92,243.3,3379,2308,1845,1640,223.9,15.3,126,2171,0.00,2.05,0.00,0.000,516,0.000,0.031,3387,906,1743,1845,1641,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2240,0.85,243.3,3387,906,1844,1641,213.7,15.4,129,2246,0.17,1.95,0.00,0.000,5126,0.145,0.021,3339,2282,1743,1845,1641,0,0,0,0,0,0,26.32,26.48,28.83
$GC,2556,0.82,243.3,3338,2281,1844,1636,173.9,13.3,145,2561,0.00,2.00,0.00,0.000,516,0.000,0.028,3346,910,1740,1844,1636,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2601,0.79,243.3,3346,910,1844,1636,167.1,14.7,147,2607,0.12,1.98,0.00,0.000,5126,0.151,0.021,3314,2308,1740,1844,1636,0,0,0,0,0,0,26.44,26.60,28.83
$GC,2927,1.03,406.9,3313,2308,1845,1633,136.1,6.5,163,3074,0.20,2.17,134.18,0.571,10756,0.054,0.028,3433,909,1091,1121,1062,0,0,0,0,0,0,26.67,25.66,25.12
$GC,3204,1.01,406.9,3433,910,1102,1055,99.9,15.1,176,3211,0.17,2.00,0.00,0.000,5126,0.138,0.020,3385,2305,1078,1101,1055,0,0,0,0,0,0,26.06,26.22,28.83
$GC,3521,1.08,433.0,3385,2304,1098,1051,59.1,10.9,192,3541,0.00,2.10,11.07,0.184,8708,0.000,0.028,3390,883,1005,1014,997,0,0,0,0,0,0,28.83,26.44,26.16
$GC,3605,1.22,507.4,3390,883,1044,997,52.9,9.4,195,3652,0.17,2.00,36.22,0.221,11270,0.057,0.019,3497,2301,698,593,804,0,0,0,0,0,0,26.52,26.51,26.08
$STATE,3911,end climb,SURFACE_DEPTH_REACHED
$STATE,3911,begin surface coast
$FINISH,0.9,1.020805
$STATE,3930,end surface coast,CONTROL_FINISHED_OK
$STATE,3930,begin surface
$SM_CCo,3952,32.80,0.118,0,0,458,564.93
$SM_GC,1.50,8.45,0.25,32.80,0.029,0.037,0.118,137,2081,458,-9.07,2.12,564.93,0,0,0,0,0,0,26.52,26.60,26.33
$IRIDIUM_FIX,2106.38,12052.67,070713,151535
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.83
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,26.20
$XPDR_PINGS,3
$SC_FREEKB,7667776
$24V_AH,24.9,15.869
$10V_AH,10.5,10.322
$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,21.775,28.650,640.900,32.800,0.000,0.000,0.000,190.125,0.750,0.000,5.129,667.685,1979.478,618.097,842.869,234.420,0.000,1280.980,0.000,640.708,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,48.960,651.015,117.810,0.000,0.000,0.000,110.160,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3932.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.167,0.000,0.000,0.000
$MEM,322896
$DATA_FILE_SIZE,6811,242
$CAP_FILE_SIZE,62118,0
$CFSIZE,260034560,240562176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.430, 12.3,1
$GPS,070713,173106,2117.085,12052.418,33,1.3,33,-3.0