version: 66.11
glider: 167
mission: 16
dive: 652
start: 10 21 113 23 32 37
data:
$ID,167
$MISSION,16
$DIVE,652
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1020
$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,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,0.0025476699
$HD_B,0.0275445
$HD_C,1.10039e-05
$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,450
$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,4096
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-976724.81
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2715
$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,2
$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,21
$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,0
$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
$GPS1,211013,232606,2022.990,12346.505,33,1.1,33,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-69.2
$GPS2,211013,233148,2023.042,12346.513,8,1.1,8,-3.0
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,PICKUP
$TGT_LATLONG,2018.000,12336.000
$TGT_RADIUS,5000.000
$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,245.9,20510,-18.7,-10.000,-28.63,3078
$D_GRID,5477
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.17,-116.8,113,2172,872,885,0.0,0.0,0,95,0.00,0.00,-69.70,0.000,16386,0.000,0.000,113,2172,2582,2571,2594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.17,-116.8,113,2172,2571,2595,3.1,-2.4,7,133,10.65,1.73,-14.88,0.000,18692,0.226,0.054,2657,3261,3192,3191,3194,0,0,0,0,0,0,24.84,26.03,26.60
$GC,323,-1.17,-116.8,2656,3262,3192,3195,39.9,-16.7,28,330,0.00,1.52,0.00,0.000,1030,0.000,0.022,2657,2184,3193,3192,3195,0,0,0,0,0,0,28.83,26.27,28.83
$GC,642,-1.17,-116.8,2657,2184,3193,3195,94.4,-15.5,47,647,0.00,1.50,0.00,0.000,516,0.000,0.031,2657,1133,3195,3194,3196,0,0,0,0,0,0,28.83,26.19,28.83
$GC,761,-1.17,-116.8,2656,1133,3193,3196,111.2,-15.6,52,767,0.00,1.55,0.00,0.000,1030,0.000,0.030,2650,2208,3194,3193,3196,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1067,-1.17,-116.8,2649,2207,3194,3196,156.1,-13.5,68,1072,0.00,1.55,0.00,0.000,516,0.000,0.029,2650,1165,3195,3194,3196,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1197,-1.17,-116.8,2649,1165,3194,3197,172.3,-12.9,74,1203,0.00,1.48,0.00,0.000,1030,0.000,0.029,2643,2162,3195,3194,3196,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,1253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1254,begin apogee
$GC,1263,-0.25,0.0,2643,1877,3194,3196,180.5,-12.3,77,1365,1.05,0.00,93.88,0.605,10244,0.142,0.000,2963,1877,2705,2767,2644,0,0,0,0,0,0,25.26,28.83,24.26
$STATE,1366,end apogee,CONTROL_FINISHED_OK
$STATE,1366,begin climb
$GC,1375,1.17,116.8,2963,1877,2766,2635,186.5,0.0,82,1476,1.27,0.00,92.50,0.596,11270,0.072,0.000,3424,1877,2226,2307,2145,0,0,0,0,0,0,25.59,28.83,24.37
$GC,1779,1.42,241.8,3424,1877,2303,2129,163.6,5.8,103,1885,0.20,1.67,99.85,0.581,10500,0.055,0.032,3540,2944,1721,1811,1632,0,0,0,0,0,0,26.36,25.68,24.41
$GC,1928,1.42,241.8,3540,2944,1797,1616,150.1,10.4,110,1933,0.15,1.48,0.00,0.000,5126,0.180,0.026,3510,1958,1706,1797,1616,0,0,0,0,0,0,25.51,25.95,28.83
$GC,2250,1.42,241.8,3510,1958,1797,1610,113.9,11.3,126,2255,0.00,1.58,0.00,0.000,516,0.000,0.037,3518,887,1703,1797,1610,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2364,1.42,241.8,3518,887,1797,1610,102.8,10.2,131,2369,0.00,1.50,0.00,0.000,1030,0.000,0.030,3518,1916,1703,1796,1611,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2680,1.56,311.2,3518,1916,1797,1608,77.1,7.7,147,2722,0.00,1.58,34.60,0.257,8452,0.000,0.036,3518,2958,1456,1542,1370,0,0,0,0,0,0,28.83,26.05,24.93
$GC,2867,1.56,311.2,3518,2958,1546,1379,59.8,10.0,156,2873,0.00,1.48,2.17,0.156,9222,0.000,0.025,3525,1962,1444,1527,1362,0,0,0,0,0,0,28.83,26.23,25.32
$GC,3179,1.67,368.5,3525,1962,1544,1378,28.4,8.1,182,3216,0.15,0.00,30.33,0.164,10502,0.068,0.000,3612,1961,1214,1287,1141,0,0,0,0,0,0,26.44,28.83,25.18
$STATE,3390,end climb,SURFACE_DEPTH_REACHED
$STATE,3390,begin surface coast
$FINISH,1.3,1.013116
$STATE,3395,end surface coast,CONTROL_FINISHED_OK
$STATE,3395,begin surface
$SM_CCo,3419,39.25,0.112,0,0,878,450.13
$SM_GC,2.01,8.77,0.35,39.25,0.025,0.037,0.112,141,2210,878,-9.04,-1.44,450.13,0,0,0,0,0,0,26.10,26.34,25.44
$IRIDIUM_FIX,2015.67,12342.68,211013,212129
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.60
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,24.3,106.755
$10V_AH,10.3,66.120
$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,22.250,19.300,353.325,39.250,0.000,0.000,0.000,188.800,0.000,0.000,9.244,662.359,1799.081,393.288,721.914,213.681,0.000,961.565,0.000,553.997,0.000,0.546,0.000
$DEVICE_MAMPS,226.440,54.315,605.115,111.690,0.000,0.000,0.000,106.335,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327380
$DATA_FILE_SIZE,6796,204
$CAP_FILE_SIZE,43300,1
$CFSIZE,260034560,192393216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221013,003135,2023.509,12346.701,34,0.9,34,-3.0