version: 66.11
glider: 167
mission: 16
dive: 66
start: 6 28 113 6 21 23
data:
$ID,167
$MISSION,16
$DIVE,66
$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,-974937.69
$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,73
$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
$GPS1,280613,061135,2152.732,12028.787,40,0.9,40,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.3
$GPS2,280613,062053,2152.702,12028.689,41,0.9,41,-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,145.9,3168,-15.7,-10.000,-18.68,2978
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.16,-194.6,109,1900,457,579,0.0,0.0,0,128,0.00,0.00,-100.62,0.000,16386,0.000,0.000,109,1901,2958,2933,2984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-1.16,-194.6,108,1901,2934,2985,3.2,-4.7,18,163,10.00,2.12,-10.65,0.000,18692,0.232,0.041,2697,3324,3559,3552,3567,0,0,0,0,0,0,26.14,26.40,26.65
$GC,200,-1.16,-194.6,2696,3324,3552,3568,34.6,-59.7,27,206,0.00,2.03,0.00,0.000,1030,0.000,0.014,2697,1875,3559,3552,3567,0,0,0,0,0,0,28.83,26.47,28.83
$GC,526,-1.16,-194.6,2696,1874,3556,3568,140.9,-31.5,44,531,0.00,1.92,0.00,0.000,516,0.000,0.028,2696,525,3562,3556,3568,0,0,0,0,0,0,28.83,26.57,28.83
$GC,666,-1.16,-194.6,2696,524,3557,3568,175.3,-27.3,50,673,0.00,1.95,0.00,0.000,1030,0.000,0.016,2687,1927,3562,3557,3568,0,0,0,0,0,0,28.83,26.64,28.83
$GC,972,-1.16,-194.6,2686,1928,3557,3568,258.3,-23.1,66,977,0.00,1.95,0.00,0.000,260,0.000,0.028,2676,3299,3562,3557,3568,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1046,-1.16,-194.6,2676,3300,3557,3568,272.7,-22.2,69,1052,0.12,1.92,0.00,0.000,3078,0.177,0.017,2706,1912,3561,3556,3567,0,0,0,0,0,0,26.52,26.70,28.83
$GC,1361,-1.16,-194.6,2706,1911,3556,3567,343.2,-20.4,85,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1912,3561,3557,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1664,-1.16,-194.6,2706,1912,3556,3562,389.2,-15.6,100,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1912,3559,3557,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1964,-1.16,-194.6,2706,1910,3560,3554,437.0,-17.4,115,1969,0.00,2.03,0.00,0.000,516,0.000,0.031,2706,516,3556,3559,3554,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1998,-1.16,-194.6,2706,516,3559,3554,442.2,-18.0,116,2004,0.00,1.95,0.00,0.000,1030,0.000,0.017,2699,1907,3556,3559,3553,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2314,-1.16,-194.6,2698,1908,3558,3547,502.6,-18.3,132,2319,0.00,2.00,0.00,0.000,260,0.000,0.031,2688,3296,3552,3559,3546,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2359,-1.16,-194.6,2688,3296,3559,3546,510.9,-18.4,134,2364,0.00,1.95,0.00,0.000,1030,0.000,0.018,2688,1904,3552,3559,3545,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2683,-1.16,-194.6,2688,1903,3559,3540,565.1,-16.5,150,2689,0.00,2.00,0.00,0.000,516,0.000,0.032,2688,520,3549,3559,3539,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2738,-1.16,-194.6,2688,520,3558,3539,572.9,-16.9,152,2744,0.12,1.95,0.00,0.000,3078,0.186,0.019,2710,1905,3548,3559,3538,0,0,0,0,0,0,26.58,26.76,28.83
$GC,3064,-1.16,-194.6,2710,1905,3559,3532,626.9,-16.1,166,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1905,3546,3560,3532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3300,begin apogee
$GC,3310,-0.19,0.0,2702,3283,3559,3527,663.2,-14.1,174,3474,0.98,0.00,153.57,0.999,10246,0.145,0.000,3015,3283,2757,2826,2688,0,0,0,0,0,0,26.58,28.83,24.39
$STATE,3476,end apogee,CONTROL_FINISHED_OK
$STATE,3476,begin climb
$GC,3479,1.16,194.6,3014,3283,2820,2675,666.0,0.0,179,3649,1.20,0.70,161.38,0.959,10500,0.042,0.039,3469,3761,1960,2058,1863,0,0,0,0,0,0,25.28,25.01,24.37
$GC,3719,1.16,194.6,3469,3761,2046,1837,624.3,24.8,187,3724,0.00,0.65,0.00,0.000,1030,0.000,0.030,3472,3312,1941,2046,1837,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4034,1.16,194.6,3472,3312,2046,1831,538.7,25.0,202,4039,0.00,2.08,0.00,0.000,516,0.000,0.024,3482,1891,1938,2046,1831,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4215,1.16,194.6,3482,1891,2046,1828,498.7,24.4,210,4222,0.00,2.12,0.00,0.000,1030,0.000,0.034,3483,3306,1937,2046,1828,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4521,1.16,194.6,3482,3306,2046,1826,412.9,26.2,226,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,3306,1936,2046,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4823,1.16,194.6,3482,3306,2045,1823,339.5,23.4,241,4828,0.00,0.68,0.00,0.000,260,0.000,0.047,3483,3766,1934,2046,1823,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5061,1.16,194.6,3482,3766,2039,1824,280.2,26.3,252,5066,0.00,0.65,0.00,0.000,1030,0.000,0.031,3486,3299,1932,2041,1824,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5375,1.16,194.6,3486,3299,2039,1822,198.6,24.8,268,5380,0.00,2.03,0.00,0.000,516,0.000,0.024,3495,1891,1930,2039,1822,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5400,1.16,194.6,3495,1891,2040,1822,193.1,23.9,269,5406,0.15,2.10,0.00,0.000,5126,0.187,0.033,3459,3309,1931,2040,1822,0,0,0,0,0,0,26.46,26.63,28.83
$GC,5726,1.16,194.6,3459,3309,2039,1821,132.1,19.8,285,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,3309,1930,2039,1821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6028,1.16,194.6,3459,3310,2039,1820,69.8,19.8,300,6034,0.00,0.65,0.00,0.000,260,0.000,0.047,3459,3757,1929,2039,1820,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6082,1.16,194.6,3459,3757,2039,1820,63.1,15.8,302,6088,0.00,0.62,0.00,0.000,1030,0.000,0.031,3462,3295,1929,2039,1820,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6399,1.63,348.7,3461,3295,2039,1819,26.4,4.7,328,6468,0.35,2.08,62.97,0.177,10756,0.049,0.021,3630,1888,1336,1406,1266,0,0,0,0,0,0,26.72,26.49,26.28
$STATE,6557,end climb,SURFACE_DEPTH_REACHED
$STATE,6557,begin surface coast
$FINISH,0.7,1.008026
$STATE,6571,end surface coast,CONTROL_FINISHED_OK
$STATE,6572,begin surface
$SM_CCo,6593,95.15,0.128,0,0,518,550.21
$SM_GC,1.73,8.80,0.00,95.15,0.029,0.000,0.128,136,1884,518,-9.14,-0.45,550.21,0,0,0,0,0,0,26.51,28.83,26.18
$IRIDIUM_FIX,2143.45,12026.75,280613,060629
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.78
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,23.70
$XPDR_PINGS,1
$SC_FREEKB,7690848
$24V_AH,24.4,7.123
$10V_AH,10.4,5.329
$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,21.725,40.200,377.925,95.150,0.000,0.000,0.000,287.550,0.250,0.000,42.574,1091.767,4135.351,516.698,1203.742,302.929,0.000,1334.763,0.000,866.504,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,47.430,999.090,127.755,0.000,0.000,0.000,115.515,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6584.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.985,0.000,0.000,0.000
$MEM,324188
$DATA_FILE_SIZE,13462,356
$CAP_FILE_SIZE,84495,0
$CFSIZE,260034560,245157888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.068, 92.6,1
$GPS,280613,081405,2151.954,12029.419,28,0.9,28,-3.1