version: 66.11
glider: 167
mission: 16
dive: 129
start: 7 7 113 17 37 26
data:
$ID,167
$MISSION,16
$DIVE,129
$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,-975111.75
$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,87
$R_STBD_OVSHOOT,66
$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
$GPS1,070713,173106,2117.085,12052.418,33,1.3,33,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.0
$GPS2,070713,173655,2117.204,12052.414,6,1.0,6,-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,143.7,96461,-16.1,-11.786,-18.84,3159
$D_GRID,376
$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,-243.3,135,2075,401,528,0.0,0.0,0,130,0.00,0.00,-101.97,0.000,16386,0.000,0.000,134,2075,2959,2935,2983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-1.10,-243.3,134,2075,2935,2984,3.1,-4.1,18,170,10.05,2.08,-13.77,0.000,18692,0.239,0.040,2689,3508,3757,3750,3764,0,0,0,0,0,0,26.15,26.45,26.71
$GC,249,-0.86,-243.3,1632,3506,3745,3764,52.3,-42.1,32,256,0.32,1.95,0.00,0.000,3078,0.185,0.015,2776,2094,3757,3750,3765,0,0,0,0,0,0,26.28,26.54,28.83
$GC,555,-0.73,-243.3,2775,2094,3751,3765,146.6,-23.0,48,561,0.12,1.95,0.00,0.000,2564,0.177,0.026,2815,722,3759,3752,3766,0,0,0,0,0,0,26.46,26.60,28.83
$GC,601,-0.63,-243.3,2815,722,3752,3766,155.5,-20.1,50,607,0.17,1.95,0.00,0.000,3078,0.152,0.018,2857,2117,3758,3751,3765,0,0,0,0,0,0,26.46,26.64,28.83
$GC,928,-0.62,-243.3,2856,2117,3753,3765,202.2,-15.3,66,933,0.00,2.00,0.00,0.000,516,0.000,0.028,2857,724,3759,3753,3766,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1027,-0.62,-243.3,2857,723,3752,3766,214.9,-14.9,70,1034,0.00,1.92,0.00,0.000,1030,0.000,0.018,2851,2104,3759,3753,3765,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1333,-0.62,-243.3,2851,2105,3753,3765,256.7,-13.5,86,1339,0.00,1.98,0.00,0.000,516,0.000,0.027,2851,725,3759,3753,3765,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1373,-0.62,-243.3,2851,725,3753,3765,260.3,-13.7,87,1379,0.00,1.92,0.00,0.000,1030,0.000,0.019,2848,2100,3758,3753,3764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1678,-0.62,-243.3,2848,2100,3753,3761,304.3,-11.2,103,1684,0.00,1.98,0.00,0.000,516,0.000,0.025,2848,714,3757,3753,3761,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1733,-0.62,-243.3,2848,714,3753,3761,309.6,-10.7,105,1739,0.00,1.95,0.00,0.000,1030,0.000,0.021,2848,2097,3756,3753,3760,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2048,-0.62,-243.3,2848,2107,3753,3757,349.1,-14.9,121,2053,0.00,2.03,0.00,0.000,260,0.000,0.031,2848,3505,3755,3753,3757,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2124,-0.63,-243.3,2848,3505,3753,3756,357.7,-12.9,124,2130,0.00,1.95,0.00,0.000,1030,0.000,0.016,2848,2088,3754,3753,3755,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,2277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2277,begin apogee
$GC,2285,-0.23,0.0,2848,2316,3753,3753,378.6,-12.9,132,2480,0.40,0.00,188.55,0.739,10246,0.114,0.000,2985,2316,2759,2832,2686,0,0,0,0,0,0,26.58,28.83,24.87
$STATE,2482,end apogee,CONTROL_FINISHED_OK
$STATE,2482,begin climb
$GC,2485,1.10,243.3,2984,2316,2827,2674,382.2,0.0,142,2689,1.15,2.17,192.98,0.705,11012,0.058,0.035,3414,3680,1758,1850,1666,0,0,0,0,0,0,25.55,25.42,24.83
$GC,2924,0.98,243.3,3412,3680,1842,1644,313.6,21.3,163,2931,0.17,1.95,0.00,0.000,5126,0.170,0.020,3379,2318,1743,1842,1644,0,0,0,0,0,0,26.11,26.32,28.83
$GC,3228,0.90,243.3,3379,2318,1842,1640,265.0,14.8,179,3233,0.00,2.05,0.00,0.000,516,0.000,0.031,3387,910,1741,1842,1640,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3283,0.82,243.3,3388,910,1842,1640,257.3,16.0,181,3289,0.22,1.98,0.00,0.000,5126,0.145,0.021,3323,2296,1741,1842,1640,0,0,0,0,0,0,26.36,26.53,28.83
$GC,3599,0.80,243.3,3322,2296,1841,1637,205.0,16.9,197,3605,0.00,2.03,0.00,0.000,516,0.000,0.030,3330,913,1740,1842,1638,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3639,0.77,243.3,3330,913,1842,1637,201.4,15.6,198,3646,0.00,1.98,0.00,0.000,1030,0.000,0.021,3330,2304,1739,1842,1637,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3946,0.79,271.6,3330,2304,1842,1635,164.2,10.9,214,3979,0.00,2.10,25.88,0.611,8708,0.000,0.028,3338,917,1645,1740,1551,0,0,0,0,0,0,28.83,26.32,25.72
$GC,4142,0.80,290.8,3338,917,1727,1542,142.1,11.2,223,4165,0.00,1.98,16.83,0.618,9222,0.000,0.021,3338,2304,1571,1662,1480,0,0,0,0,0,0,28.83,26.50,25.66
$GC,4475,0.80,290.8,3338,2305,1649,1465,105.3,13.0,240,4480,0.00,2.03,0.00,0.000,516,0.000,0.028,3346,920,1557,1649,1465,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4599,0.86,326.6,3346,919,1649,1465,93.9,10.6,245,4619,0.00,1.98,13.90,0.285,9222,0.000,0.021,3346,2309,1432,1518,1346,0,0,0,0,0,0,28.83,26.58,26.08
$GC,4930,1.14,497.4,3346,2309,1535,1363,67.4,6.2,262,5014,0.17,2.05,76.93,0.260,10500,0.059,0.032,3456,3690,734,619,850,0,0,0,0,0,0,26.64,26.23,25.93
$GC,5096,1.13,497.4,3455,3690,651,850,47.1,13.4,271,5107,0.15,1.98,1.92,0.164,13318,0.143,0.018,3424,2293,734,633,835,0,0,0,0,0,0,26.23,26.40,26.20
$GC,5409,1.24,548.5,2432,2290,658,833,15.6,10.1,311,5446,0.10,2.05,29.98,0.143,10756,0.092,0.030,3505,925,525,450,601,0,0,0,0,0,0,26.60,26.46,26.29
$STATE,5496,end climb,SURFACE_DEPTH_REACHED
$STATE,5496,begin surface coast
$FINISH,0.8,1.020355
$STATE,5512,end surface coast,CONTROL_FINISHED_OK
$STATE,5512,begin surface
$SM_CCo,5536,9.70,0.125,0,0,457,564.93
$SM_GC,1.50,8.35,1.73,9.70,0.022,0.015,0.125,142,2128,457,-9.05,-1.55,564.93,0,0,0,0,0,0,26.49,26.55,26.35
$IRIDIUM_FIX,2106.38,12052.67,070713,161643
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.68
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,26.50
$XPDR_PINGS,2
$SC_FREEKB,7667392
$24V_AH,24.8,15.968
$10V_AH,10.4,10.368
$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,21.400,51.975,546.950,9.700,0.000,0.000,0.000,191.725,0.500,0.000,7.316,1024.265,2958.764,568.607,1073.645,281.917,0.000,1320.826,0.000,863.002,0.000,0.544,0.000
$DEVICE_MAMPS,239.445,43.605,738.990,124.695,0.000,0.000,0.000,111.690,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5511.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.971,0.000,0.000,0.000
$MEM,322924
$DATA_FILE_SIZE,10108,329
$CAP_FILE_SIZE,83153,0
$CFSIZE,260034560,240496640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.433,  8.4,1
$GPS,070713,191105,2117.898,12053.074,28,0.9,28,-3.0