version: 66.11
glider: 167
mission: 16
dive: 67
start: 6 28 113 8 20 31
data:
$ID,167
$MISSION,16
$DIVE,67
$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,-974954.44
$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,70
$R_STBD_OVSHOOT,41
$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
$GPS1,280613,081405,2151.954,12029.419,28,0.9,28,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.1
$GPS2,280613,082000,2151.920,12029.447,10,0.9,10,-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,195.7,96161,-15.7,-10.000,-18.68,2978
$D_GRID,724
$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,-194.6,109,1882,447,595,0.0,0.0,0,132,0.00,0.00,-103.55,0.000,16386,0.000,0.000,109,1883,3055,3032,3078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,140,-1.16,-194.6,109,1883,3032,3079,3.5,-5.3,18,166,10.15,2.12,-8.38,0.000,18692,0.239,0.042,2692,3323,3558,3550,3566,0,0,0,0,0,0,26.06,26.33,26.58
$GC,400,-1.16,-194.6,2692,3324,3553,3568,98.9,-27.9,37,405,0.00,2.03,0.00,0.000,1030,0.000,0.016,2691,1883,3560,3553,3568,0,0,0,0,0,0,28.83,26.51,28.83
$GC,715,-1.16,-194.6,2692,1883,3556,3568,190.3,-28.9,53,720,0.00,2.08,0.00,0.000,260,0.000,0.027,2682,3320,3562,3556,3568,0,0,0,0,0,0,28.83,26.58,28.83
$GC,831,-1.16,-194.6,2681,3321,3556,3568,217.3,-24.4,58,837,0.00,2.00,0.00,0.000,1030,0.000,0.016,2681,1888,3562,3557,3568,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1146,-1.16,-194.6,2681,1887,3557,3568,293.8,-26.0,74,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1887,3562,3557,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1449,-1.16,-194.6,2681,1887,3557,3567,360.3,-20.7,89,1454,0.00,1.98,0.00,0.000,516,0.000,0.031,2681,515,3562,3557,3567,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1473,-1.16,-194.6,2681,515,3557,3567,366.7,-21.7,90,1479,0.15,2.00,0.00,0.000,3078,0.183,0.015,2709,1939,3561,3557,3566,0,0,0,0,0,0,26.52,26.70,28.83
$GC,1800,-1.16,-194.6,2709,1939,3557,3563,415.9,-13.3,106,1805,0.00,1.95,0.00,0.000,260,0.000,0.031,2701,3298,3560,3557,3563,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1825,-1.16,-194.6,2701,3298,3557,3562,419.5,-13.8,107,1830,0.00,1.98,0.00,0.000,1030,0.000,0.017,2701,1889,3559,3556,3562,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2150,-1.16,-194.6,2699,1888,3560,3555,476.9,-19.6,123,2156,0.00,1.98,0.00,0.000,516,0.000,0.031,2700,520,3557,3559,3555,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2179,-1.16,-194.6,1664,520,3546,3552,481.9,-19.5,124,2185,0.00,1.95,0.00,0.000,1030,0.000,0.018,2697,1901,3557,3560,3555,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2499,-1.16,-194.6,2697,1901,3560,3549,542.6,-18.8,140,2504,0.00,2.03,0.00,0.000,260,0.000,0.033,2697,3296,3554,3560,3549,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2574,-1.16,-194.6,2697,3296,3560,3548,554.8,-18.9,143,2579,0.00,1.95,0.00,0.000,1030,0.000,0.018,2697,1904,3554,3560,3548,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2889,-1.16,-194.6,2697,1904,3560,3543,613.9,-18.0,158,2894,0.00,2.00,0.00,0.000,516,0.000,0.032,2697,523,3551,3560,3542,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2924,-1.16,-194.6,2697,523,3560,3542,620.7,-18.6,159,2929,0.00,1.98,0.00,0.000,1030,0.000,0.018,2689,1915,3551,3560,3542,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,3165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3165,begin apogee
$GC,3175,-0.19,0.0,2683,3280,3559,3538,664.8,-16.9,167,3344,1.05,0.00,157.02,0.970,10246,0.155,0.000,3013,3280,2751,2820,2683,0,0,0,0,0,0,26.55,28.83,24.37
$STATE,3346,end apogee,CONTROL_FINISHED_OK
$STATE,3346,begin climb
$GC,3349,1.16,194.6,3013,3280,2819,2674,671.8,0.0,172,3520,1.20,0.75,160.32,0.941,10500,0.047,0.039,3460,3764,1956,2055,1857,0,0,0,0,0,0,25.24,24.94,24.29
$GC,3616,1.16,194.6,3460,3764,2043,1835,627.2,24.2,181,3621,0.00,0.65,0.00,0.000,1030,0.000,0.031,3464,3315,1939,2044,1835,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3941,1.16,194.6,3464,3316,2044,1829,536.4,24.9,196,3946,0.00,2.10,0.00,0.000,516,0.000,0.024,3474,1884,1936,2044,1829,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4030,1.16,194.6,3474,1884,2043,1828,516.1,23.8,200,4036,0.00,2.15,0.00,0.000,1030,0.000,0.034,3474,3309,1936,2044,1828,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4351,1.16,194.6,3474,3308,2043,1826,429.0,25.8,216,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,3308,1935,2044,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4653,1.16,194.6,3474,3308,2043,1822,357.1,23.5,231,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,3308,1933,2044,1823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4953,1.16,194.6,3474,3308,2043,1820,287.5,24.3,246,4959,0.00,2.08,0.00,0.000,516,0.000,0.024,3484,1893,1932,2044,1821,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5005,1.16,194.6,3483,1892,2043,1821,276.3,24.2,248,5010,0.00,2.10,0.00,0.000,1030,0.000,0.033,3484,3303,1931,2043,1820,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5324,1.16,194.6,3483,3303,2038,1822,197.3,24.9,264,5330,0.00,2.05,0.00,0.000,516,0.000,0.024,3493,1893,1929,2037,1821,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5353,1.16,194.6,2592,1891,1964,1809,192.0,23.6,265,5359,0.12,2.10,0.00,0.000,5126,0.190,0.033,3464,3306,1929,2038,1821,0,0,0,0,0,0,26.44,26.60,28.83
$GC,5674,1.16,194.6,3464,3305,2038,1820,129.9,21.0,281,5680,0.00,0.68,0.00,0.000,260,0.000,0.046,3464,3769,1929,2038,1820,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5890,1.16,194.6,3464,3769,2038,1820,83.8,20.5,291,5896,0.00,0.65,0.00,0.000,1030,0.000,0.030,3467,3290,1929,2038,1820,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6206,2.21,543.6,3466,3290,2038,1819,46.3,-2.0,311,6362,0.80,0.75,149.12,0.203,10500,0.037,0.038,3812,3780,545,452,638,0,0,0,0,0,0,26.68,26.13,25.99
$STATE,6367,end climb,SURFACE_DEPTH_REACHED
$STATE,6368,begin surface coast
$FINISH,0.8,1.019817
$STATE,6373,end surface coast,CONTROL_FINISHED_OK
$STATE,6374,begin surface
$SM_CCo,6399,12.52,0.239,1,0,520,550.21
$SM_GC,1.61,9.40,2.83,12.52,0.031,0.019,0.239,138,1901,520,-9.12,2.04,550.21,0,0,0,0,1,0,26.18,26.20,25.43
$IRIDIUM_FIX,2143.45,12026.75,280613,060640
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.64
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,7690464
$24V_AH,24.3,7.224
$10V_AH,10.3,5.375
$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,22.875,48.925,466.475,12.525,0.000,0.000,0.000,190.300,0.000,0.000,16.105,1040.381,3865.168,508.176,1081.206,288.081,0.000,1252.249,0.000,866.202,0.000,0.540,0.000
$DEVICE_MAMPS,238.680,45.900,970.020,238.680,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6385.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.794,0.000,0.000,0.000
$MEM,324200
$DATA_FILE_SIZE,10141,331
$CAP_FILE_SIZE,81741,0
$CFSIZE,260034560,245116928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.142,115.5,1
$GPS,280613,100854,2150.756,12029.653,41,1.0,41,-3.1