version: 66.11
glider: 167
mission: 16
dive: 69
start: 6 28 113 12 14 54
data:
$ID,167
$MISSION,16
$DIVE,69
$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,-974957.06
$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,50
$R_STBD_OVSHOOT,39
$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
$GPS1,280613,120805,2149.632,12029.891,35,0.8,35,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.3
$GPS2,280613,121425,2149.574,12030.023,9,0.8,9,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T4
$TGT_LATLONG,2100.000,12030.000
$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,214.4,91811,-15.7,-10.000,-18.68,2978
$D_GRID,764
$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,-1.16,-194.6,113,1910,442,588,0.0,0.0,0,126,0.00,0.00,-97.47,0.000,16386,0.000,0.000,113,1910,2893,2866,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.16,-194.6,112,1910,2866,2920,3.4,-5.5,17,166,10.12,2.15,-11.62,0.000,18692,0.236,0.044,2694,3325,3560,3554,3567,0,0,0,0,0,0,26.01,26.27,26.51
$GC,397,-1.16,-194.6,2693,3325,3556,3568,95.4,-27.1,37,404,0.00,2.05,0.00,0.000,1030,0.000,0.016,2694,1869,3562,3556,3568,0,0,0,0,0,0,28.83,26.45,28.83
$GC,703,-1.16,-194.6,2693,1870,3558,3568,178.8,-27.0,53,709,0.00,2.12,0.00,0.000,260,0.000,0.028,2683,3330,3562,3558,3567,0,0,0,0,0,0,28.83,26.53,28.83
$GC,863,-1.16,-194.6,2683,3330,3559,3568,214.4,-24.6,60,870,0.00,2.00,0.00,0.000,1030,0.000,0.017,2683,1906,3563,3559,3568,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1169,-1.16,-194.6,2683,1905,3559,3568,291.4,-21.6,76,1174,0.00,2.05,0.00,0.000,260,0.000,0.028,2673,3324,3563,3559,3568,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1299,-1.16,-194.6,2673,3324,3559,3568,316.2,-19.4,82,1306,0.12,2.00,0.00,0.000,3078,0.181,0.017,2703,1893,3563,3559,3568,0,0,0,0,0,0,26.48,26.65,28.83
$GC,1621,-1.16,-194.6,2703,1894,3559,3567,376.3,-20.9,98,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1893,3562,3558,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1924,-1.16,-194.6,2703,1892,3563,3559,430.9,-18.9,113,1929,0.00,1.98,0.00,0.000,516,0.000,0.031,2704,525,3561,3563,3559,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1983,-1.16,-194.6,2704,524,3563,3558,440.7,-19.7,115,1991,0.00,1.98,0.00,0.000,1030,0.000,0.017,2696,1925,3560,3563,3558,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2289,-1.16,-194.6,2697,1924,3563,3553,503.7,-18.2,131,2295,0.00,1.98,0.00,0.000,260,0.000,0.031,2687,3293,3558,3563,3553,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2406,-1.16,-194.6,2687,3292,3563,3551,525.5,-21.0,136,2411,0.00,1.95,0.00,0.000,1030,0.000,0.018,2687,1907,3556,3563,3550,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2721,-1.16,-194.6,2687,1907,3563,3546,589.9,-19.6,152,2726,0.00,2.03,0.00,0.000,516,0.000,0.033,2686,514,3554,3563,3545,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2749,-1.16,-194.6,1664,513,3549,3542,594.9,-19.5,153,2755,0.00,1.98,0.00,0.000,1030,0.000,0.018,2683,1904,3554,3563,3545,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3063,-1.16,-194.6,2683,1904,3563,3540,650.6,-16.7,164,3068,0.00,2.03,0.00,0.000,260,0.000,0.033,2673,3297,3551,3563,3540,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,3124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3124,begin apogee
$GC,3132,-0.19,0.0,2673,3297,3563,3540,661.8,-16.7,166,3298,1.08,0.00,157.15,0.982,10246,0.148,0.000,3016,3297,2762,2829,2695,0,0,0,0,0,0,26.55,28.83,24.35
$STATE,3300,end apogee,CONTROL_FINISHED_OK
$STATE,3300,begin climb
$GC,3303,1.16,194.6,3016,3297,2821,2677,663.8,0.0,171,3478,1.20,0.68,164.12,0.933,10500,0.041,0.041,3470,3735,1956,2053,1860,0,0,0,0,0,0,25.19,24.88,24.26
$GC,3511,1.16,194.6,3469,3734,2044,1842,628.9,23.4,178,3517,0.00,0.62,0.00,0.000,1030,0.000,0.031,3473,3309,1942,2044,1841,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3836,1.16,194.6,3472,3309,2044,1833,537.2,26.0,193,3841,0.00,2.10,0.00,0.000,516,0.000,0.024,3482,1882,1938,2044,1833,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3977,1.16,194.6,3482,1881,2044,1831,505.8,25.1,199,3983,0.00,2.12,0.00,0.000,1030,0.000,0.034,3482,3282,1937,2044,1831,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4283,1.16,194.6,3482,3282,2044,1828,415.5,28.0,215,4288,0.00,0.73,0.00,0.000,260,0.000,0.045,3482,3771,1935,2043,1828,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4328,1.16,194.6,3482,3771,2044,1828,403.1,27.7,217,4333,0.00,0.68,0.00,0.000,1030,0.000,0.031,3486,3299,1936,2044,1828,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4653,1.16,194.6,3485,3299,2044,1826,320.5,26.1,233,4658,0.00,2.05,0.00,0.000,516,0.000,0.025,3496,1880,1935,2044,1826,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4775,1.16,194.6,3495,1880,2043,1825,294.7,23.9,238,4783,0.15,2.12,0.00,0.000,5126,0.193,0.034,3460,3304,1934,2043,1825,0,0,0,0,0,0,26.33,26.50,28.83
$GC,5078,1.16,194.6,3459,3304,2044,1822,217.0,24.1,254,5084,0.00,0.68,0.00,0.000,260,0.000,0.047,3460,3764,1932,2043,1822,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5245,1.16,194.6,3459,3763,2043,1822,178.8,21.4,262,5251,0.00,0.65,0.00,0.000,1030,0.000,0.031,3462,3294,1933,2044,1822,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5570,1.16,194.6,3462,3294,2043,1820,115.7,21.4,278,5576,0.00,0.70,0.00,0.000,260,0.000,0.046,3462,3761,1932,2044,1820,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5808,1.16,194.6,3462,3761,2037,1822,74.9,16.3,289,5813,0.00,0.62,0.00,0.000,1030,0.000,0.031,3466,3300,1929,2037,1822,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6123,1.37,261.4,3465,3300,2036,1821,35.6,7.7,311,6157,0.12,0.73,28.02,0.190,10500,0.083,0.046,3531,3770,1694,1787,1601,0,0,0,0,0,0,26.67,26.52,26.32
$GC,6226,1.37,261.4,2640,3769,1727,1615,26.8,11.4,320,6234,0.00,0.65,1.30,0.169,9222,0.000,0.028,3535,3289,1695,1780,1611,0,0,0,0,0,0,28.83,26.60,26.39
$STATE,6358,end climb,SURFACE_DEPTH_REACHED
$STATE,6358,begin surface coast
$FINISH,0.9,1.020825
$STATE,6370,end surface coast,CONTROL_FINISHED_OK
$STATE,6370,begin surface
$SM_CCo,6396,135.00,0.128,0,0,517,550.21
$SM_GC,1.81,8.52,2.03,135.00,0.028,0.021,0.128,136,1911,517,-9.13,2.12,550.21,0,0,0,0,0,0,26.57,26.60,26.13
$IRIDIUM_FIX,2141.13,12028.76,280613,101035
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.06
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,7689696
$24V_AH,24.3,7.470
$10V_AH,10.3,5.475
$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,21.325,43.425,350.600,135.000,0.000,0.000,0.000,214.750,0.000,0.000,11.270,1211.844,3628.026,552.233,1224.298,303.673,0.000,1349.388,0.000,987.339,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,46.665,982.260,127.755,0.000,0.000,0.000,111.690,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6376.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.092,0.000,0.000,0.000
$MEM,324204
$DATA_FILE_SIZE,13413,347
$CAP_FILE_SIZE,87416,0
$CFSIZE,260034560,245010432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.038,157.7,1
$GPS,280613,140505,2148.765,12029.483,35,0.9,35,-3.1