version: 66.11
glider: 167
mission: 16
dive: 132
start: 7 7 113 23 13 36
data:
$ID,167
$MISSION,16
$DIVE,132
$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,-975115.5
$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,126
$R_STBD_OVSHOOT,67
$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
$GPS1,070713,230335,2119.352,12053.022,42,2.0,42,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.7
$GPS2,070713,231305,2119.513,12053.083,32,1.1,32,-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,146.3,95838,-16.1,-11.786,-18.84,3159
$D_GRID,425
$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,-243.3,135,2072,408,491,0.0,0.0,0,129,0.00,0.00,-100.78,0.000,16386,0.000,0.000,135,2073,2977,2953,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.10,-243.3,135,2072,2954,3000,3.1,-4.5,18,169,10.10,2.10,-13.62,0.000,18692,0.238,0.041,2690,3516,3758,3750,3766,0,0,0,0,0,0,26.07,26.41,26.67
$GC,211,-0.84,-243.3,2689,3517,3750,3766,37.2,-47.0,28,218,0.35,1.95,0.00,0.000,3078,0.184,0.020,2784,2144,3758,3750,3766,0,0,0,0,0,0,26.20,26.46,28.83
$GC,528,-0.69,-243.3,2784,2143,3750,3766,152.4,-34.9,45,530,0.20,0.00,0.00,0.000,2054,0.182,0.000,2837,2143,3758,3750,3766,0,0,0,0,0,0,26.36,28.83,28.83
$GC,830,-0.66,-243.3,2837,2143,3752,3766,203.4,-13.2,60,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2143,3758,3751,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1130,-0.65,-243.3,2837,2143,3752,3766,237.1,-12.1,75,1136,0.00,2.05,0.00,0.000,516,0.000,0.028,2837,696,3759,3752,3766,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1247,-0.65,-243.3,2837,696,3752,3766,248.4,-10.2,80,1253,0.00,1.98,0.00,0.000,1030,0.000,0.018,2834,2097,3758,3752,3765,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1564,-0.63,-243.3,2834,2096,3752,3762,283.3,-11.0,96,1569,0.00,2.03,0.00,0.000,260,0.000,0.032,2825,3504,3757,3752,3762,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1643,-0.63,-243.3,2824,3505,3752,3761,291.2,-11.9,99,1652,0.12,1.98,0.00,0.000,3078,0.142,0.016,2860,2071,3756,3752,3761,0,0,0,0,0,0,26.55,26.72,28.83
$GC,1951,-0.66,-243.3,2860,2069,3752,3757,328.4,-9.4,115,1957,0.00,1.90,0.00,0.000,516,0.000,0.029,2860,732,3754,3752,3756,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1987,-0.69,-243.3,2860,732,3752,3756,331.7,-10.2,116,1992,0.00,1.95,0.00,0.000,1030,0.000,0.021,2860,2107,3753,3752,3755,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2302,-0.72,-243.3,2860,2107,3752,3750,372.0,-13.6,132,2307,0.00,1.98,0.00,0.000,516,0.000,0.028,2860,732,3750,3752,3749,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2331,-0.76,-243.3,2860,732,3752,3749,375.0,-13.0,133,2338,0.15,1.95,0.00,0.000,5126,0.073,0.020,2778,2116,3750,3752,3749,0,0,0,0,0,0,26.67,26.70,28.83
$STATE,2609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2609,begin apogee
$GC,2617,-0.23,0.0,2776,2331,3752,3745,425.9,-18.1,147,2816,0.62,0.00,192.05,0.789,10246,0.129,0.000,2981,2330,2758,2834,2682,0,0,0,0,0,0,26.51,28.83,24.72
$STATE,2818,end apogee,CONTROL_FINISHED_OK
$STATE,2818,begin climb
$GC,2822,1.10,243.3,2981,2331,2827,2668,438.2,0.0,157,3026,1.20,2.12,192.93,0.760,10500,0.071,0.036,3409,3658,1757,1851,1663,0,0,0,0,0,0,25.43,25.32,24.70
$GC,3259,0.98,243.3,3409,3659,1841,1638,363.0,24.2,179,3265,0.17,1.92,0.00,0.000,5126,0.175,0.021,3375,2323,1739,1841,1638,0,0,0,0,0,0,26.03,26.25,28.83
$GC,3585,0.90,243.3,3375,2323,1841,1635,308.0,14.2,195,3591,0.00,2.03,0.00,0.000,260,0.000,0.034,3375,3667,1738,1842,1634,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3742,0.81,243.3,3375,3667,1841,1632,283.5,17.1,202,3748,0.22,1.98,0.00,0.000,5126,0.153,0.021,3320,2283,1736,1841,1631,0,0,0,0,0,0,26.33,26.53,28.83
$GC,4058,0.78,243.3,3320,2284,1841,1630,240.2,14.1,218,4063,0.00,1.98,0.00,0.000,516,0.000,0.030,3328,920,1735,1841,1629,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4265,0.77,254.7,3329,920,1841,1629,214.7,11.4,228,4276,0.00,1.95,3.33,0.519,9222,0.000,0.021,3328,2287,1720,1822,1619,0,0,0,0,0,0,28.83,26.62,25.64
$GC,4591,0.75,265.5,3328,2287,1822,1622,182.5,11.4,244,4615,0.00,2.15,16.20,0.651,8452,0.000,0.035,3329,3689,1674,1772,1576,0,0,0,0,0,0,28.83,26.38,25.78
$GC,4738,0.76,285.7,3328,3689,1769,1562,167.4,11.1,251,4767,0.12,1.98,21.27,0.645,13318,0.168,0.020,3305,2294,1593,1690,1497,0,0,0,0,0,0,26.32,26.51,25.61
$GC,5083,1.00,432.5,3305,2293,1677,1481,144.6,7.0,268,5212,0.17,0.00,125.28,0.614,10502,0.059,0.000,3410,2291,998,999,997,0,0,0,0,0,0,26.52,28.83,25.00
$GC,5501,1.00,432.5,3410,2291,952,984,88.8,13.5,289,5506,0.00,2.00,0.00,0.000,516,0.000,0.029,3419,924,967,951,984,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5536,1.00,432.5,3419,924,951,984,85.4,13.6,290,5542,0.15,1.98,0.00,0.000,5126,0.137,0.019,3377,2311,967,951,984,0,0,0,0,0,0,26.20,26.36,28.83
$GC,5852,1.15,498.7,3378,2310,951,984,54.0,9.6,306,5886,0.12,2.10,27.50,0.217,10756,0.076,0.028,3482,927,730,638,823,0,0,0,0,0,0,26.53,26.37,26.08
$GC,5942,1.13,498.7,3482,926,677,822,42.2,15.0,312,5950,0.20,1.95,2.28,0.156,13318,0.129,0.019,3423,2307,725,644,807,0,0,0,0,0,0,26.28,26.45,26.24
$GC,6253,1.25,555.0,3423,2307,686,807,11.4,10.0,356,6292,0.12,2.10,32.20,0.132,10756,0.076,0.029,3525,921,497,427,568,0,0,0,0,0,0,26.60,26.46,26.29
$STATE,6311,end climb,SURFACE_DEPTH_REACHED
$STATE,6311,begin surface coast
$FINISH,0.8,1.008323
$STATE,6327,end surface coast,CONTROL_FINISHED_OK
$STATE,6327,begin surface
$SM_CCo,6350,6.25,0.128,0,0,459,564.93
$SM_GC,1.33,8.43,1.73,6.25,0.022,0.018,0.128,139,2079,459,-9.06,-2.01,564.93,0,0,0,0,0,0,26.47,26.53,26.33
$IRIDIUM_FIX,2113.32,12053.86,070713,232318
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.85
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,26.80
$XPDR_PINGS,1
$SC_FREEKB,7666240
$24V_AH,24.7,16.356
$10V_AH,10.4,10.526
$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,22.475,48.025,613.025,6.250,0.000,0.000,0.000,316.925,0.250,0.000,33.380,1132.657,3583.595,605.593,1294.041,317.199,0.000,1524.790,0.000,941.818,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,48.960,789.480,127.755,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6332.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.798,0.000,0.000,0.000
$MEM,322840
$DATA_FILE_SIZE,13500,368
$CAP_FILE_SIZE,92570,0
$CFSIZE,260034560,240308224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.356,359.3,1
$GPS,080713,010058,2120.139,12053.775,36,1.0,41,-3.0