version: 66.11
glider: 167
mission: 16
dive: 3
start: 6 23 113 8 34 40
data:
$ID,167
$MISSION,16
$DIVE,3
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,65
$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,0
$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,554.9259
$N_FILEKB,4
$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,-974661.38
$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,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,53
$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,0.0020000001
$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
$GPS1,230613,083016,2206.024,12022.994,7,1.2,8,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.1
$GPS2,230613,083415,2206.019,12022.953,10,1.2,10,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T1
$TGT_LATLONG,2200.000,12030.000
$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,135.7,16452,-15.7,-10.000,-18.68,2978
$D_GRID,573
$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,-1.02,-194.6,131,2046,443,519,0.0,0.0,0,121,0.00,0.00,-93.20,0.000,16386,0.000,0.000,127,2047,2856,2821,2891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-1.02,-194.6,127,2047,2821,2892,3.9,-9.7,17,159,10.60,2.03,-10.32,0.000,18692,0.246,0.053,2759,3390,3559,3556,3563,0,0,0,0,0,0,26.22,26.60,26.89
$GC,216,-0.76,-194.6,2759,3392,3557,3564,42.3,-29.9,28,222,0.32,2.03,0.00,0.000,3078,0.149,0.031,2855,2000,3560,3557,3564,0,0,0,0,0,0,26.42,26.63,28.83
$GC,533,-0.72,-194.6,2855,1999,3557,3564,93.3,-12.9,45,538,0.00,2.05,0.00,0.000,516,0.000,0.036,2855,573,3561,3558,3564,0,0,0,0,0,0,28.83,26.72,28.83
$GC,627,-0.70,-194.6,2855,573,3558,3564,103.6,-11.7,49,632,0.00,2.05,0.00,0.000,1030,0.000,0.032,2849,1987,3561,3558,3564,0,0,0,0,0,0,28.83,26.72,28.83
$GC,942,-0.70,-194.6,2849,1988,3558,3563,140.4,-13.1,65,947,0.00,2.05,0.00,0.000,516,0.000,0.035,2849,581,3560,3558,3563,0,0,0,0,0,0,28.83,26.75,28.83
$GC,1116,-0.70,-194.6,2849,582,3558,3562,159.2,-11.0,73,1121,0.00,2.08,0.00,0.000,1030,0.000,0.034,2847,2017,3560,3558,3562,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,1307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1307,begin apogee
$GC,1315,-0.20,0.0,2847,2177,3558,3559,181.6,-11.5,83,1472,0.52,0.00,144.35,0.627,10246,0.109,0.000,3029,2177,2752,2816,2689,0,0,0,0,0,0,26.63,28.83,25.23
$STATE,1474,end apogee,CONTROL_FINISHED_OK
$STATE,1474,begin climb
$GC,1477,1.02,194.6,3029,2177,2815,2683,188.4,0.0,91,1641,1.05,2.08,150.95,0.588,10500,0.050,0.039,3435,3533,1956,2040,1873,0,0,0,0,0,0,25.89,25.69,25.18
$GC,1798,0.75,194.6,3435,3532,2035,1861,136.6,22.3,107,1804,0.38,2.05,0.00,0.000,5126,0.168,0.024,3341,2129,1948,2035,1861,0,0,0,0,0,0,26.19,26.40,28.83
$GC,2124,0.65,194.6,3341,2128,2035,1854,93.5,11.1,123,2126,0.12,0.00,0.00,0.000,4102,0.176,0.000,3308,2129,1944,2035,1854,0,0,0,0,0,0,26.48,28.83,28.83
$GC,2427,0.83,303.7,3308,2128,2035,1851,68.4,6.2,138,2477,0.15,2.12,43.60,0.255,10500,0.070,0.038,3393,3543,1524,1608,1441,0,0,0,0,0,0,26.76,26.46,26.17
$GC,2588,0.74,303.7,3393,3543,1616,1459,48.3,13.7,146,2600,0.22,2.03,1.58,0.176,13318,0.148,0.022,3335,2132,1524,1605,1444,0,0,0,0,0,0,26.45,26.63,26.42
$GC,2903,1.10,461.8,3335,2132,1616,1455,25.2,4.5,177,2984,0.30,2.08,68.32,0.167,11012,0.042,0.038,3504,756,882,830,935,0,0,0,0,0,0,26.76,26.48,26.30
$STATE,3055,end climb,SURFACE_DEPTH_REACHED
$STATE,3055,begin surface coast
$FINISH,0.3,1.012923
$STATE,3072,end surface coast,CONTROL_FINISHED_OK
$STATE,3073,begin surface
$SM_CCo,3096,41.72,0.121,0,0,498,555.11
$SM_GC,1.21,8.35,1.83,41.72,0.024,0.024,0.121,132,1981,498,-9.20,-1.95,555.11,0,0,0,0,0,0,26.59,26.60,26.36
$IRIDIUM_FIX,2157.39,12023.92,230613,080831
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.45
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,25.40
$XPDR_PINGS,11
$SC_FREEKB,7715040
$24V_AH,25.2,1.024
$10V_AH,10.3,1.361
$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,22.025,24.625,408.800,41.725,0.000,0.000,0.000,0.000,2.750,0.000,11.474,569.090,1512.068,455.093,557.400,119.278,0.000,826.840,0.000,547.171,0.000,0.547,0.000
$DEVICE_MAMPS,245.565,74.205,627.300,120.870,0.000,0.000,0.000,0.000,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3037.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.780,0.000,0.000,0.000
$MEM,324632
$DATA_FILE_SIZE,6822,207
$CAP_FILE_SIZE,74919,0
$CFSIZE,260034560,248573952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230613,092829,2205.917,12023.148,45,1.0,45,-3.1