version: 66.11
glider: 167
mission: 16
dive: 130
start: 7 7 113 19 17 32
data:
$ID,167
$MISSION,16
$DIVE,130
$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,-975113
$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,81
$R_STBD_OVSHOOT,79
$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
$GPS1,070713,191105,2117.898,12053.074,28,0.9,28,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.5
$GPS2,070713,191702,2118.035,12053.060,7,0.9,7,-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,144.7,95520,-16.1,-11.786,-18.84,3159
$D_GRID,403
$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,-1.10,-243.3,141,2139,408,525,0.0,0.0,0,131,0.00,0.00,-102.70,0.000,16386,0.000,0.000,142,2139,2983,2960,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,139,-1.10,-243.3,141,2139,2960,3007,3.4,-5.4,18,171,10.00,2.10,-13.10,0.000,18948,0.236,0.041,2700,707,3758,3749,3768,0,0,0,0,0,0,26.13,26.46,26.70
$GC,198,-0.75,-243.3,2699,707,3749,3768,30.5,-55.9,26,205,0.45,1.98,0.00,0.000,3078,0.200,0.017,2812,2108,3759,3749,3769,0,0,0,0,0,0,26.22,26.50,28.83
$GC,516,-0.65,-243.3,2812,2108,3751,3768,123.3,-22.1,44,521,0.12,1.98,0.00,0.000,2308,0.176,0.024,2842,3500,3759,3751,3768,0,0,0,0,0,0,26.45,26.60,28.83
$GC,596,-0.59,-243.3,2841,3500,3751,3768,136.1,-19.6,47,604,0.00,1.95,0.00,0.000,1030,0.000,0.015,2842,2086,3759,3751,3768,0,0,0,0,0,0,28.83,26.65,28.83
$GC,901,-0.55,-243.3,2841,2080,3752,3768,186.5,-16.5,63,908,0.12,1.92,0.00,0.000,2564,0.161,0.024,2881,720,3760,3752,3768,0,0,0,0,0,0,26.53,26.65,28.83
$GC,1021,-0.55,-243.3,2882,720,3752,3768,198.5,-10.6,68,1027,0.00,1.92,0.00,0.000,1030,0.000,0.018,2876,2096,3760,3752,3768,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1337,-0.57,-243.3,2876,2096,3752,3769,231.6,-9.7,84,1342,0.00,1.98,0.00,0.000,516,0.000,0.027,2876,723,3760,3752,3768,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1366,-0.58,-243.3,1792,722,3746,3766,233.8,-9.4,85,1372,0.00,1.95,0.00,0.000,1030,0.000,0.020,2876,2112,3760,3752,3768,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1687,-0.61,-243.3,2875,2112,3752,3766,268.0,-10.9,101,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2112,3759,3752,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.63,-243.3,2875,2112,3752,3762,295.9,-8.8,116,1995,0.00,2.00,0.00,0.000,516,0.000,0.028,2875,715,3756,3752,3761,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2019,-0.66,-243.3,1800,714,3746,3758,298.6,-9.0,117,2024,0.00,1.95,0.00,0.000,1030,0.000,0.020,2876,2100,3756,3752,3761,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2340,-0.70,-243.3,2875,2101,3753,3758,327.5,-9.9,133,2346,0.12,2.03,0.00,0.000,4356,0.079,0.030,2795,3505,3754,3752,3757,0,0,0,0,0,0,26.73,26.67,28.83
$GC,2449,-0.70,-243.3,2794,3504,3752,3756,344.3,-16.1,138,2456,0.15,1.95,0.00,0.000,3078,0.142,0.016,2837,2087,3754,3752,3756,0,0,0,0,0,0,26.55,26.74,28.83
$GC,2776,-0.72,-243.3,2837,2085,3752,3753,382.8,-9.4,154,2781,0.00,1.92,0.00,0.000,516,0.000,0.031,2837,732,3751,3752,3750,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2852,-0.75,-243.3,2837,732,3752,3750,389.2,-9.6,157,2857,0.00,1.92,0.00,0.000,1030,0.000,0.021,2837,2096,3750,3751,3750,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,2984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2984,begin apogee
$GC,2992,-0.23,0.0,2837,2316,3752,3748,405.1,-11.4,164,3194,0.43,0.00,193.93,0.770,10246,0.112,0.000,2983,2315,2754,2830,2678,0,0,0,0,0,0,26.57,28.83,24.78
$STATE,3196,end apogee,CONTROL_FINISHED_OK
$STATE,3196,begin climb
$GC,3200,1.10,243.3,2982,2316,2827,2669,407.8,0.0,174,3410,1.20,2.17,193.60,0.734,10756,0.069,0.030,3423,942,1752,1843,1662,0,0,0,0,0,0,25.50,25.38,24.77
$GC,3418,0.97,243.3,3422,942,1835,1656,378.7,18.4,185,3425,0.20,2.00,0.00,0.000,5126,0.161,0.021,3372,2296,1744,1834,1655,0,0,0,0,0,0,25.46,25.63,28.83
$GC,3739,0.89,243.3,3372,2296,1831,1640,319.7,16.2,201,3746,0.00,2.08,0.00,0.000,260,0.000,0.034,3371,3689,1735,1831,1640,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3943,0.80,243.3,3372,3689,1830,1638,284.9,19.1,210,3950,0.22,1.98,0.00,0.000,5126,0.153,0.022,3318,2307,1734,1831,1638,0,0,0,0,0,0,26.29,26.50,28.83
$GC,4247,0.77,243.3,3317,2306,1830,1635,240.8,12.5,226,4253,0.00,2.03,0.00,0.000,516,0.000,0.031,3326,909,1732,1830,1635,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4375,0.74,243.3,3326,909,1830,1634,225.7,11.8,232,4381,0.00,1.98,0.00,0.000,1030,0.000,0.021,3326,2295,1732,1830,1635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4702,0.77,286.4,3326,2296,1830,1631,185.0,10.4,248,4748,0.00,2.10,37.90,0.633,8708,0.000,0.030,3334,918,1582,1675,1490,0,0,0,0,0,0,28.83,26.15,25.54
$GC,4920,0.76,286.4,3334,917,1660,1480,159.8,13.4,258,4927,0.00,2.00,0.00,0.000,1030,0.000,0.021,3334,2308,1569,1660,1479,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5225,0.96,422.1,3334,2308,1659,1476,125.2,7.4,274,5352,0.10,2.17,113.95,0.592,10500,0.091,0.032,3401,3693,1025,1034,1017,0,0,0,0,0,0,26.59,25.63,25.08
$GC,5413,0.97,422.1,3401,3693,1021,999,105.3,12.8,283,5419,0.15,2.03,0.00,0.000,5126,0.136,0.019,3368,2295,1009,1021,998,0,0,0,0,0,0,25.89,26.03,28.83
$GC,5740,1.01,422.1,3367,2291,1021,995,69.7,12.0,299,5746,0.00,2.00,0.00,0.000,516,0.000,0.028,3375,916,1008,1021,995,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5882,1.12,479.9,3374,916,1021,994,56.9,9.9,305,5914,0.12,1.98,25.58,0.210,11270,0.075,0.019,3457,2314,803,728,878,0,0,0,0,0,0,26.49,26.51,26.08
$GC,6222,1.10,479.9,3457,2314,775,877,5.6,15.0,349,6230,0.15,0.00,2.25,0.143,12294,0.155,0.000,3412,2314,803,742,864,0,0,0,0,0,0,26.39,28.83,26.36
$STATE,6235,end climb,SURFACE_DEPTH_REACHED
$STATE,6235,begin surface coast
$FINISH,0.8,1.020945
$STATE,6251,end surface coast,CONTROL_FINISHED_OK
$STATE,6252,begin surface
$SM_CCo,6273,44.42,0.119,0,0,456,564.93
$SM_GC,1.48,8.12,0.28,44.42,0.022,0.036,0.119,141,2038,456,-9.05,2.06,564.93,0,0,0,0,0,0,26.51,26.59,26.29
$IRIDIUM_FIX,2111.01,12050.68,070713,171741
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.21
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,26.30
$XPDR_PINGS,2
$SC_FREEKB,7667008
$24V_AH,24.8,16.085
$10V_AH,10.4,10.418
$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,21.675,52.575,567.200,44.425,0.000,0.000,0.000,194.225,0.500,0.000,7.941,1137.090,3451.696,639.402,1154.400,301.913,0.000,1427.545,0.000,933.263,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,47.430,769.590,119.340,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6260.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.721,0.000,0.000,0.000
$MEM,322872
$DATA_FILE_SIZE,13483,354
$CAP_FILE_SIZE,91188,0
$CFSIZE,260034560,240431104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.382,337.2,1
$GPS,070713,210405,2118.556,12052.998,28,0.9,28,-3.0