version: 66.11
glider: 167
mission: 16
dive: 65
start: 6 28 113 3 45 37
data:
$ID,167
$MISSION,16
$DIVE,65
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,235
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,550
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-974936.44
$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,3085
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,46
$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,0.003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,48
$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
$GPS1,280613,034124,2151.891,12028.770,3,1.1,3,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.9
$GPS2,280613,034509,2151.843,12028.708,6,1.1,6,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T3
$TGT_LATLONG,2151.500,12030.000
$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,64.1,2309,-27.8,-10.000,-30.00,969
$D_GRID,904
$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,-1.22,-63.1,118,1923,430,599,0.0,0.0,0,132,0.00,0.00,-102.85,0.000,16390,0.000,0.000,113,1920,3022,2998,3046,0,0,0,0,0,0,28.83,28.83,26.88
$GC,140,-1.32,-96.8,112,1920,2998,3046,3.5,-6.4,18,161,9.57,2.08,-2.50,0.000,18948,0.226,0.041,2662,495,3160,3145,3176,0,0,0,0,0,0,26.36,26.60,26.80
$GC,226,-1.32,-96.8,2662,494,3146,3176,38.5,-37.1,29,233,0.00,2.00,0.00,0.000,1030,0.000,0.018,2654,1936,3161,3146,3176,0,0,0,0,0,0,28.83,26.65,28.83
$GC,543,-1.32,-96.8,2654,1936,3147,3176,116.0,-20.0,47,548,0.00,1.90,0.00,0.000,260,0.000,0.027,2644,3292,3161,3147,3176,0,0,0,0,0,0,28.83,26.71,28.83
$GC,601,-1.32,-96.8,2643,3291,3147,3176,124.7,-19.0,49,608,0.00,1.92,0.00,0.000,1030,0.000,0.015,2644,1886,3161,3147,3176,0,0,0,0,0,0,28.83,26.74,28.83
$GC,907,-1.32,-96.8,2643,1886,3147,3176,181.9,-15.4,65,913,0.00,1.92,0.00,0.000,516,0.000,0.029,2644,524,3161,3147,3176,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1043,-1.32,-96.8,2644,524,3147,3176,200.3,-15.1,71,1048,0.00,1.90,0.00,0.000,1030,0.000,0.018,2635,1906,3160,3147,3174,0,0,0,0,0,0,28.83,26.78,28.83
$GC,1357,-1.32,-96.8,2634,1906,3147,3171,257.2,-19.6,87,1363,0.00,1.95,0.00,0.000,260,0.000,0.028,2624,3287,3159,3147,3171,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1396,-1.32,-96.8,2625,3287,3147,3170,262.2,-19.9,88,1404,0.15,1.92,0.00,0.000,3078,0.189,0.016,2660,1881,3158,3147,3170,0,0,0,0,0,0,26.60,26.79,28.83
$GC,1702,-1.32,-96.8,2660,1881,3147,3164,322.9,-17.3,104,1707,0.00,2.03,0.00,0.000,260,0.000,0.028,2652,3287,3155,3147,3164,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1832,-1.32,-96.8,2652,3287,3147,3162,346.1,-18.6,110,1838,0.00,1.92,0.00,0.000,1030,0.000,0.017,2652,1898,3154,3147,3161,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2153,-1.32,-96.8,2652,1898,3147,3155,396.4,-14.0,126,2158,0.00,2.00,0.00,0.000,260,0.000,0.029,2643,3281,3150,3147,3154,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2389,-1.32,-96.8,2642,3281,3147,3150,427.5,-12.8,137,2395,0.00,1.92,-0.08,0.000,17414,0.000,0.017,2643,1892,3171,3170,3172,0,0,0,0,0,0,28.83,26.80,26.54
$GC,2705,-1.32,-96.8,2641,1891,3172,3166,475.1,-15.6,153,2711,0.00,2.03,0.00,0.000,260,0.000,0.030,2633,3281,3168,3171,3166,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2822,-1.32,-96.8,2633,3281,3172,3163,491.7,-15.8,158,2827,0.00,1.95,0.00,0.000,1030,0.000,0.017,2633,1887,3167,3172,3163,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3136,-1.32,-96.8,2633,1887,3171,3157,540.7,-13.8,174,3142,0.00,1.95,0.00,0.000,516,0.000,0.030,2633,523,3165,3173,3157,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3235,-1.32,-96.8,2634,523,3171,3155,552.7,-14.1,178,3243,0.15,1.92,0.00,0.000,3078,0.192,0.018,2661,1897,3163,3172,3154,0,0,0,0,0,0,26.62,26.79,28.83
$GC,3541,-1.32,-96.8,2661,1898,3171,3149,595.4,-12.7,194,3546,0.00,2.03,0.00,0.000,260,0.000,0.032,2656,3296,3160,3171,3149,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3615,-1.32,-96.8,2656,3296,3172,3147,603.9,-13.0,197,3621,0.00,1.95,0.00,0.000,1030,0.000,0.017,2656,1887,3159,3171,3147,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3943,-1.32,-96.8,2656,1887,3172,3141,653.9,-14.6,208,3949,0.00,2.05,0.00,0.000,260,0.000,0.031,2647,3288,3156,3171,3141,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,4005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4005,begin apogee
$GC,4013,-0.19,0.0,2646,3289,3172,3140,663.4,-14.1,210,4097,1.17,0.00,79.15,1.012,10246,0.157,0.000,3016,3288,2759,2813,2706,0,0,0,0,0,0,26.61,28.83,24.82
$STATE,4100,end apogee,CONTROL_FINISHED_OK
$STATE,4100,begin climb
$GC,4106,1.32,96.8,3015,3288,2810,2694,664.4,0.0,213,4192,1.30,0.70,80.15,0.960,10500,0.047,0.044,3512,3735,2364,2431,2297,0,0,0,0,0,0,25.64,25.27,24.62
$GC,4425,1.32,96.8,3512,3735,2427,2266,603.7,23.7,223,4430,0.00,0.57,0.00,0.000,1030,0.000,0.031,3515,3318,2346,2427,2266,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4740,1.32,96.8,3515,3317,2427,2260,530.5,21.6,239,4745,0.00,0.62,0.00,0.000,260,0.000,0.046,3515,3732,2343,2427,2259,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4976,1.32,96.8,3515,3732,2426,2257,479.2,22.4,250,4981,0.00,0.60,0.00,0.000,1030,0.000,0.031,3519,3293,2341,2426,2257,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5291,1.32,96.8,3518,3292,2426,2253,406.3,21.5,266,5296,0.00,0.65,0.00,0.000,260,0.000,0.046,3518,3727,2340,2427,2253,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5529,1.32,96.8,3518,3727,2426,2253,361.5,19.3,277,5534,0.00,0.57,0.00,0.000,1030,0.000,0.032,3522,3300,2339,2427,2252,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5844,1.32,96.8,3522,3299,2426,2248,305.6,15.7,293,5850,0.00,0.65,0.00,0.000,260,0.000,0.045,3522,3733,2337,2426,2248,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6081,1.32,96.8,3522,3733,2419,2250,268.8,16.5,304,6086,0.00,0.57,0.00,0.000,1030,0.000,0.031,3525,3304,2334,2419,2250,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6395,1.32,96.8,3525,3304,2419,2249,212.1,16.8,320,6400,0.00,2.00,0.00,0.000,516,0.000,0.023,3536,1887,2333,2419,2248,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6632,1.32,96.8,3535,1887,2419,2246,180.3,11.6,331,6637,0.00,2.05,0.00,0.000,1030,0.000,0.033,3536,3278,2332,2419,2246,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6947,1.32,96.8,3535,3278,2419,2246,141.8,10.3,347,6952,0.00,2.00,0.00,0.000,516,0.000,0.021,3546,1871,2332,2419,2245,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7035,1.40,124.5,2688,1870,2335,2229,135.7,7.1,351,7060,0.00,2.10,19.52,0.667,9222,0.000,0.031,3546,3304,2254,2334,2175,0,0,0,0,0,0,28.83,26.73,25.90
$GC,7375,1.40,124.5,3546,3304,2319,2150,94.1,10.6,368,7380,0.00,2.03,0.00,0.000,516,0.000,0.021,3556,1881,2234,2319,2150,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7566,1.53,167.4,3556,1881,2319,2148,80.3,5.4,377,7590,0.00,2.10,17.70,0.275,9222,0.000,0.031,3557,3311,2079,2161,1997,0,0,0,0,0,0,28.83,26.63,26.22
$GC,7905,1.63,198.2,3556,3311,2160,2006,52.8,6.7,394,7926,0.12,2.03,13.25,0.239,10756,0.084,0.018,3629,1878,1953,2037,1870,0,0,0,0,0,0,26.66,26.59,26.32
$GC,8003,1.63,198.2,3629,1878,2037,1879,43.5,11.7,401,8008,0.00,2.10,0.00,0.000,1030,0.000,0.029,3630,3313,1958,2037,1879,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8318,1.75,238.9,3629,3312,2037,1879,24.8,5.7,432,8343,0.00,0.65,17.77,0.177,8964,0.000,0.045,3630,3760,1785,1871,1700,0,0,0,0,0,0,28.83,26.58,26.40
$GC,8486,1.75,238.9,3629,3760,1871,1710,5.1,22.1,463,8492,0.00,0.62,0.00,0.000,1030,0.000,0.026,3633,3280,1790,1871,1710,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,8498,end climb,SURFACE_DEPTH_REACHED
$STATE,8498,begin surface coast
$FINISH,0.8,1.008525
$STATE,8510,end surface coast,CONTROL_FINISHED_OK
$STATE,8510,begin surface
$SM_CCo,8535,137.52,0.123,0,0,516,550.21
$SM_GC,1.60,8.77,1.98,137.52,0.031,0.018,0.123,137,1908,516,-9.15,2.43,550.21,0,0,0,0,0,0,26.61,26.67,26.22
$IRIDIUM_FIX,2145.77,12026.75,280613,030336
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.41
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.50
$XPDR_PINGS,4
$SC_FREEKB,7691232
$24V_AH,24.6,7.022
$10V_AH,10.4,5.279
$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,21.250,61.950,227.550,137.525,0.000,0.000,0.000,0.000,1.000,0.000,7.275,1729.385,4890.479,486.226,1369.474,270.569,0.000,1206.651,0.000,1347.511,0.000,0.546,0.000
$DEVICE_MAMPS,226.440,45.900,1012.095,123.165,0.000,0.000,0.000,0.000,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8463.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.475,0.000,0.000,0.000
$MEM,324216
$DATA_FILE_SIZE,16780,467
$CAP_FILE_SIZE,121268,0
$CFSIZE,260034560,245186560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142,331.9,1
$GPS,280613,061135,2152.732,12028.787,40,0.9,40,-3.1