version: 66.11
glider: 167
mission: 16
dive: 131
start: 7 7 113 21 11 6
data:
$ID,167
$MISSION,16
$DIVE,131
$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,-975114.25
$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,79
$R_STBD_OVSHOOT,69
$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
$GPS1,070713,210405,2118.556,12052.998,28,0.9,28,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.3
$GPS2,070713,211035,2118.753,12052.981,32,1.0,32,-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,145.5,95818,-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,22,begin dive
$GC,25,-1.10,-243.3,139,2032,401,533,0.0,0.0,0,130,0.00,0.00,-102.05,0.000,16386,0.000,0.000,138,2032,2977,2951,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-1.10,-243.3,138,2032,2951,3004,3.5,-6.2,18,170,10.00,1.92,-13.32,0.000,18948,0.236,0.044,2700,703,3757,3751,3764,0,0,0,0,0,0,26.10,26.43,26.69
$GC,192,-0.75,-243.3,1600,703,3746,3763,29.6,-55.6,26,198,0.47,1.98,0.00,0.000,3078,0.213,0.013,2814,2139,3758,3752,3764,0,0,0,0,0,0,26.17,26.51,28.83
$GC,508,-0.65,-243.3,2813,2151,3752,3764,137.3,-29.0,43,514,0.12,1.90,0.00,0.000,2308,0.184,0.026,2844,3470,3758,3754,3763,0,0,0,0,0,0,26.41,26.57,28.83
$GC,579,-0.59,-243.3,2844,3469,3753,3764,147.7,-19.0,46,585,0.00,1.92,0.00,0.000,1030,0.000,0.015,2844,2084,3758,3753,3764,0,0,0,0,0,0,28.83,26.63,28.83
$GC,900,-0.57,-243.3,2844,2082,3754,3764,192.3,-12.2,62,905,0.12,1.92,0.00,0.000,2564,0.151,0.026,2885,723,3759,3755,3764,0,0,0,0,0,0,26.52,26.63,28.83
$GC,970,-0.58,-243.3,2886,723,3754,3764,198.7,-10.0,65,976,0.00,1.90,0.00,0.000,1030,0.000,0.019,2882,2084,3759,3754,3764,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1293,-0.61,-243.3,2882,2084,3755,3764,226.6,-8.6,81,1298,0.00,1.95,0.00,0.000,516,0.000,0.026,2882,720,3759,3755,3764,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1390,-0.64,-243.3,2882,720,3755,3764,235.9,-10.8,85,1396,0.00,1.95,0.00,0.000,1030,0.000,0.020,2878,2109,3759,3755,3764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1707,-0.67,-243.3,2878,2109,3754,3761,271.9,-11.2,101,1713,0.00,2.00,0.00,0.000,516,0.000,0.027,2878,720,3757,3754,3761,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1727,-0.70,-243.3,2878,720,3754,3761,271.9,-11.2,101,1735,0.12,1.95,0.00,0.000,5126,0.081,0.019,2802,2112,3757,3754,3760,0,0,0,0,0,0,26.66,26.70,28.83
$GC,2033,-0.66,-243.3,2801,2112,3755,3757,316.5,-12.6,117,2040,0.12,2.00,0.00,0.000,2308,0.161,0.028,2834,3500,3755,3754,3757,0,0,0,0,0,0,26.54,26.67,28.83
$GC,2080,-0.66,-243.3,2834,3500,3754,3757,320.5,-9.9,119,2086,0.00,1.95,0.00,0.000,1030,0.000,0.016,2834,2101,3756,3755,3757,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2406,-0.66,-243.3,2834,2099,3754,3752,351.8,-11.8,135,2411,0.00,1.98,0.00,0.000,516,0.000,0.029,2834,718,3753,3754,3752,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2528,-0.67,-243.3,2833,718,3755,3750,364.2,-11.4,140,2535,0.00,1.95,0.00,0.000,1030,0.000,0.019,2834,2095,3752,3754,3751,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2830,-0.67,-243.3,2833,2095,3754,3745,404.6,-13.5,156,2835,0.00,2.03,0.00,0.000,260,0.000,0.034,2832,3487,3750,3754,3746,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2859,-0.67,-243.3,2832,3487,3754,3745,407.7,-13.2,157,2864,0.00,1.92,0.00,0.000,1030,0.000,0.016,2832,2093,3749,3754,3745,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,2996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2997,begin apogee
$GC,3005,-0.23,0.0,2832,2315,3754,3742,425.3,-11.6,164,3251,0.45,0.00,238.25,0.737,10246,0.115,0.000,2985,2315,2757,2832,2683,0,0,0,0,0,0,26.55,28.83,24.79
$STATE,3253,end apogee,CONTROL_FINISHED_OK
$STATE,3253,begin climb
$GC,3257,1.10,243.3,2984,2314,2828,2675,437.3,0.0,176,3463,1.17,2.15,195.85,0.753,10500,0.058,0.036,3417,3683,1757,1848,1667,0,0,0,0,0,0,25.46,25.32,24.72
$GC,3659,0.98,243.3,3417,3683,1837,1641,373.5,20.7,196,3667,0.20,1.98,0.00,0.000,5126,0.167,0.021,3375,2322,1739,1837,1641,0,0,0,0,0,0,25.98,26.18,28.83
$GC,3965,0.91,243.3,3375,2319,1837,1638,313.3,18.7,212,3971,0.00,2.08,0.00,0.000,516,0.000,0.034,3384,912,1737,1837,1637,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4137,0.83,243.3,2400,911,1769,1627,286.2,16.9,220,4143,0.20,1.98,0.00,0.000,5126,0.151,0.023,3329,2285,1736,1835,1637,0,0,0,0,0,0,26.32,26.51,28.83
$GC,4458,0.79,243.3,3329,2285,1835,1634,239.9,12.4,236,4463,0.00,2.10,0.00,0.000,260,0.000,0.036,3329,3694,1734,1835,1634,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4498,0.75,243.3,3329,3694,1835,1633,236.7,12.5,237,4505,0.12,2.00,0.00,0.000,5126,0.171,0.021,3305,2291,1734,1835,1633,0,0,0,0,0,0,26.41,26.60,28.83
$GC,4804,0.74,243.3,3304,2290,1835,1630,197.6,12.9,253,4809,0.00,1.98,0.00,0.000,516,0.000,0.028,3313,916,1733,1835,1631,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5035,0.84,312.3,3312,916,1835,1630,173.2,9.5,264,5117,0.00,1.98,73.70,0.620,9222,0.000,0.020,3313,2305,1481,1572,1390,0,0,0,0,0,0,28.83,26.65,25.26
$GC,5433,1.16,506.9,3313,2305,1553,1375,147.1,5.5,284,5657,0.28,2.17,213.32,0.573,10500,0.044,0.036,3459,3694,685,588,783,0,0,0,0,0,0,26.44,25.46,24.94
$GC,5720,1.14,506.9,3459,3694,570,769,107.4,13.2,298,5726,0.15,2.03,0.00,0.000,5126,0.148,0.018,3428,2270,669,570,769,0,0,0,0,0,0,25.74,25.91,28.83
$GC,6046,1.16,506.9,3428,2266,570,764,64.1,12.9,314,6053,0.00,1.92,0.00,0.000,516,0.000,0.028,3433,940,667,570,764,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6087,1.19,506.9,3432,940,570,764,60.8,12.7,315,6094,0.00,1.95,0.00,0.000,1030,0.000,0.019,3433,2311,667,570,764,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6393,1.26,528.9,3433,2311,570,763,26.5,11.1,341,6410,0.00,1.98,10.68,0.144,8708,0.000,0.025,3441,946,607,515,699,0,0,0,0,0,0,28.83,26.48,26.27
$GC,6483,1.28,528.9,3441,946,549,699,15.7,12.2,356,6491,0.00,1.92,2.55,0.149,9222,0.000,0.018,3441,2315,602,520,685,0,0,0,0,0,0,28.83,26.54,26.34
$STATE,6592,end climb,SURFACE_DEPTH_REACHED
$STATE,6593,begin surface coast
$FINISH,0.8,1.010139
$STATE,6619,end surface coast,CONTROL_FINISHED_OK
$STATE,6619,begin surface
$SM_CCo,6642,19.40,0.120,0,0,456,564.93
$SM_GC,1.35,8.32,0.22,19.40,0.031,0.044,0.120,136,2078,456,-9.07,3.08,564.93,0,0,0,0,0,0,26.51,26.60,26.34
$IRIDIUM_FIX,2111.01,12055.84,070713,191952
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.74
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,26.70
$XPDR_PINGS,0
$SC_FREEKB,7666624
$24V_AH,24.7,16.230
$10V_AH,10.3,10.472
$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,21.875,59.925,734.350,19.400,0.000,0.000,0.000,199.100,0.000,0.000,33.443,1185.652,3554.398,711.570,1293.466,315.122,0.000,1600.251,0.000,1038.903,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,44.370,752.760,120.105,0.000,0.000,0.000,114.750,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6631.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.745,0.000,0.000,0.000
$MEM,322880
$DATA_FILE_SIZE,13414,382
$CAP_FILE_SIZE,97633,0
$CFSIZE,260034560,240365568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.354,339.2,1
$GPS,070713,230335,2119.352,12053.022,42,2.0,42,-3.0