version: 66.11
glider: 167
mission: 16
dive: 133
start: 7 8 113 1 7 16
data:
$ID,167
$MISSION,16
$DIVE,133
$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,-975116.75
$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,81
$R_STBD_OVSHOOT,45
$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
$GPS1,080713,010058,2120.139,12053.775,36,1.0,41,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.7
$GPS2,080713,010645,2120.269,12053.892,4,1.0,4,-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,147.3,94674,-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,-243.3,138,2135,405,530,0.0,0.0,0,136,0.00,0.00,-107.70,0.000,16386,0.000,0.000,138,2135,3137,3113,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,144,-1.10,-243.3,138,2135,3113,3163,3.8,-7.5,19,170,10.18,2.10,-9.95,0.000,18948,0.241,0.040,2697,712,3757,3750,3765,0,0,0,0,0,0,26.07,26.41,26.67
$GC,203,-0.76,-243.3,2697,712,3750,3764,35.8,-56.0,27,209,0.45,2.00,0.00,0.000,3078,0.207,0.016,2806,2136,3757,3750,3765,0,0,0,0,0,0,26.17,26.47,28.83
$GC,529,-0.63,-243.3,2806,2137,3751,3765,153.6,-28.9,44,535,0.12,2.05,0.00,0.000,2564,0.181,0.025,2845,713,3758,3751,3765,0,0,0,0,0,0,26.41,26.57,28.83
$GC,605,-0.53,-243.3,2844,713,3752,3765,171.6,-26.0,47,611,0.17,1.92,0.00,0.000,3078,0.151,0.020,2887,2083,3758,3752,3765,0,0,0,0,0,0,26.43,26.60,28.83
$GC,921,-0.56,-243.3,2887,2083,3752,3766,207.2,-3.0,63,927,0.00,2.05,0.00,0.000,260,0.000,0.031,2887,3501,3758,3752,3765,0,0,0,0,0,0,28.83,26.62,28.83
$GC,962,-0.58,-243.3,2887,3501,3751,3765,209.0,-4.1,64,969,0.00,1.98,0.00,0.000,1030,0.000,0.015,2887,2071,3758,3752,3765,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1268,-0.62,-243.3,2887,2071,3752,3765,251.1,-9.6,80,1273,0.00,1.90,0.00,0.000,516,0.000,0.028,2887,726,3758,3752,3765,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1297,-0.66,-243.3,1792,726,3747,3763,252.9,-8.4,81,1304,0.12,1.95,0.00,0.000,5126,0.080,0.021,2809,2117,3758,3752,3765,0,0,0,0,0,0,26.65,26.67,28.83
$GC,1619,-0.63,-243.3,2809,2117,3752,3762,299.3,-16.0,97,1624,0.12,2.00,0.00,0.000,2564,0.161,0.027,2849,730,3757,3752,3762,0,0,0,0,0,0,26.53,26.67,28.83
$GC,1716,-0.63,-243.3,2849,729,3752,3762,312.1,-14.9,101,1722,0.00,1.92,0.00,0.000,1030,0.000,0.021,2848,2094,3757,3752,3762,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2033,-0.63,-243.3,2847,2095,3752,3759,350.4,-9.2,117,2038,0.00,1.95,0.00,0.000,516,0.000,0.028,2848,735,3755,3752,3759,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2079,-0.64,-243.3,2848,734,3752,3758,354.4,-9.1,119,2084,0.00,1.92,0.00,0.000,1030,0.000,0.019,2848,2107,3755,3752,3758,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2405,-0.66,-243.3,2848,2107,3752,3753,381.6,-7.7,135,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2107,3752,3752,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2707,-0.68,-243.3,2847,2107,3752,3748,411.9,-11.2,150,2712,0.00,1.98,0.00,0.000,516,0.000,0.028,2848,734,3750,3752,3748,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2752,-0.70,-243.3,2848,735,3752,3748,418.1,-12.2,152,2758,0.00,1.92,0.00,0.000,1030,0.000,0.021,2848,2095,3749,3752,3747,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,2814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2814,begin apogee
$GC,2822,-0.23,0.0,2848,2311,3752,3747,426.4,-13.1,155,3020,0.40,0.00,190.68,0.786,10246,0.115,0.000,2983,2311,2754,2827,2681,0,0,0,0,0,0,26.55,28.83,24.73
$STATE,3023,end apogee,CONTROL_FINISHED_OK
$STATE,3023,begin climb
$GC,3026,1.10,243.3,2982,2310,2824,2670,434.1,0.0,165,3229,1.17,0.00,194.98,0.757,11014,0.065,0.000,3409,2310,1770,1862,1678,0,0,0,0,0,0,25.46,28.83,24.70
$GC,3522,0.99,243.3,3409,2311,1836,1640,355.2,19.0,190,3528,0.00,2.05,0.00,0.000,260,0.000,0.035,3409,3680,1737,1836,1639,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3695,0.89,243.3,3409,3680,1835,1637,319.3,20.9,198,3701,0.25,1.95,0.00,0.000,5126,0.160,0.021,3350,2322,1736,1835,1637,0,0,0,0,0,0,26.23,26.44,28.83
$GC,4016,0.83,243.3,3350,2318,1835,1634,270.2,13.5,214,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2318,1734,1835,1634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4320,0.78,243.3,3350,2318,1835,1631,230.1,13.1,229,4326,0.12,2.05,0.00,0.000,4356,0.176,0.034,3313,3690,1733,1835,1631,0,0,0,0,0,0,26.44,26.56,28.83
$GC,4517,0.85,311.9,3313,3690,1836,1629,210.3,9.6,238,4575,0.00,1.98,46.70,0.901,9222,0.000,0.021,3319,2290,1493,1584,1402,0,0,0,0,1,0,28.83,26.63,24.88
$GC,4891,1.04,452.4,3318,2289,1599,1421,171.1,7.2,257,5033,0.17,2.25,125.85,0.625,10500,0.057,0.035,3437,3679,899,850,948,0,0,0,0,0,0,26.44,25.51,24.96
$GC,5102,0.99,452.4,3437,3679,838,942,142.5,15.8,267,5108,0.22,2.00,0.00,0.000,5126,0.126,0.019,3374,2299,890,838,942,0,0,0,0,0,0,25.85,25.99,28.83
$GC,5423,1.14,531.8,3375,2296,838,938,110.9,9.2,283,5462,0.12,2.10,32.35,0.343,10756,0.075,0.029,3466,917,596,483,709,0,0,0,0,0,0,26.44,26.17,25.75
$GC,5638,1.12,531.8,3466,917,506,709,82.2,14.1,293,5650,0.15,1.98,2.00,0.158,13318,0.135,0.020,3423,2306,593,491,695,0,0,0,0,0,0,26.25,26.39,26.22
$GC,5950,1.23,580.6,3424,2306,516,694,45.1,10.2,311,5979,0.00,2.03,22.00,0.209,8708,0.000,0.026,3430,917,461,404,519,0,0,0,0,0,0,28.83,26.42,26.15
$GC,6008,1.34,621.1,2432,916,411,535,39.3,10.5,316,6016,0.17,1.95,2.15,0.159,11270,0.057,0.019,3539,2299,458,401,515,0,0,0,0,0,0,26.48,26.47,26.26
$STATE,6207,end climb,SURFACE_DEPTH_REACHED
$STATE,6207,begin surface coast
$FINISH,0.9,1.004810
$STATE,6224,end surface coast,CONTROL_FINISHED_OK
$STATE,6224,begin surface
$SM_CCo,6247,2.22,0.149,0,0,459,564.93
$SM_GC,1.78,8.50,0.25,2.22,0.025,0.045,0.149,140,2087,459,-9.07,2.06,564.93,0,0,0,0,0,0,26.49,26.58,26.37
$IRIDIUM_FIX,2111.01,12055.84,070713,232318
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.60
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,26.50
$XPDR_PINGS,2
$SC_FREEKB,7665856
$24V_AH,24.7,16.484
$10V_AH,10.4,10.575
$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,22.475,48.475,616.700,2.225,0.000,0.000,0.000,183.600,0.500,0.000,5.057,1081.547,3497.616,626.519,1101.648,297.148,0.000,1388.783,0.000,890.486,0.000,0.544,0.000
$DEVICE_MAMPS,240.975,48.195,901.170,149.175,0.000,0.000,0.000,115.515,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6231.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.498,0.000,0.000,0.000
$MEM,322864
$DATA_FILE_SIZE,13497,350
$CAP_FILE_SIZE,89133,0
$CFSIZE,260034560,240254976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.578, 19.6,1
$GPS,080713,025235,2121.483,12055.184,24,1.5,24,-3.0