version: 66.11
glider: 167
mission: 15
dive: 2
start: 6 5 113 17 23 17
data:
$ID,167
$MISSION,15
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,120
$D_NO_BLEED,50
$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,30
$T_MISSION,45
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51811
$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,701.8606
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-974260.25
$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,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,92
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3362
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012000001
$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,49
$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
$GPS1,050613,171854,4743.212,-12224.020,5,1.1,5,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.3
$GPS2,050613,172252,4743.187,-12224.029,9,1.1,9,16.6
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,279.0,1341,-18.2,-10.000,-20.99,2236
$D_GRID,172
$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,-0.78,-146.6,140,1979,501,491,0.0,0.0,0,156,0.00,0.00,-127.45,0.000,16386,0.000,0.000,141,1979,3683,3651,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,161,-0.78,-146.6,140,1979,3652,3714,3.7,-8.1,23,186,10.12,2.15,-5.05,0.000,18692,0.254,0.053,2629,3384,3962,3960,3964,0,0,0,0,0,0,26.03,26.39,26.67
$GC,313,0.00,-146.6,2629,3384,3960,3966,52.2,-27.0,42,319,0.93,1.98,0.00,0.000,3078,0.184,0.019,2893,1965,3963,3960,3966,0,0,0,0,0,0,26.22,26.53,28.83
$GC,572,-0.30,-146.6,2893,1965,3961,3966,78.9,-8.8,55,578,0.22,2.12,0.00,0.000,4356,0.059,0.040,2779,3378,3964,3962,3966,0,0,0,0,0,0,26.59,26.52,28.83
$STATE,654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,654,begin apogee
$GC,664,-0.27,0.0,2778,1979,3962,3966,91.7,-14.6,59,724,0.12,0.00,54.40,0.357,10246,0.164,0.000,2814,1978,3361,3392,3331,0,0,0,0,0,0,26.42,28.83,25.75
$STATE,727,end apogee,CONTROL_FINISHED_OK
$STATE,727,begin climb
$GC,730,0.78,146.6,2814,1978,3392,3337,100.3,0.0,62,796,1.02,0.00,56.90,0.371,10246,0.137,0.000,3144,1975,2761,2830,2692,0,0,0,0,0,0,26.02,28.83,25.46
$GC,1038,1.23,267.3,3144,1975,2830,2690,92.2,4.5,78,1097,0.38,2.22,48.25,0.342,10500,0.040,0.041,3320,3381,2269,2345,2193,0,0,0,0,0,0,26.36,25.99,25.62
$GC,1196,0.93,267.3,3319,3381,2345,2192,69.9,18.0,85,1204,0.45,2.05,0.00,0.000,5126,0.155,0.024,3201,1990,2267,2345,2190,0,0,0,0,0,0,26.01,26.23,28.83
$GC,1443,1.24,313.8,3201,1990,2345,2184,45.3,7.9,100,1468,0.25,2.12,19.73,0.232,10500,0.053,0.039,3319,3378,2079,2162,1997,0,0,0,0,0,0,26.44,26.27,26.00
$GC,1564,1.05,313.8,3319,3378,2162,1998,27.8,16.5,111,1572,0.32,2.05,0.00,0.000,5126,0.150,0.025,3236,1976,2079,2162,1997,0,0,0,0,0,0,26.18,26.41,28.83
$GC,1756,1.25,318.1,3236,1976,2162,1994,8.4,9.8,147,1764,0.15,2.20,1.67,0.176,10500,0.070,0.041,3314,3381,2061,2146,1976,0,0,0,0,0,0,26.52,26.44,26.26
$GC,1794,1.18,318.1,3314,3381,2146,1980,3.9,12.5,153,1801,0.15,2.05,0.00,0.000,5126,0.161,0.024,3281,1959,2063,2146,1980,0,0,0,0,0,0,26.31,26.50,28.83
$STATE,1807,end climb,SURFACE_DEPTH_REACHED
$STATE,1807,begin surface coast
$FINISH,0.6,1.019884
$STATE,1841,end surface coast,CONTROL_FINISHED_OK
$STATE,1842,begin surface
$SM_CCo,1862,169.62,0.132,0,0,498,702.05
$SM_GC,1.18,8.02,0.00,169.62,0.034,0.000,0.132,135,1955,498,-8.57,-0.57,702.05,0,0,0,0,0,0,26.46,28.83,25.96
$IRIDIUM_FIX,4719.74,-12417.69,050613,171748
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.61
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.90
$XPDR_PINGS,5
$SC_FREEKB,7694016
$24V_AH,25.5,0.348
$10V_AH,10.2,0.849
$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,22.150,20.975,180.950,169.625,0.000,0.000,0.000,0.000,1.250,0.000,10.326,438.161,747.785,453.768,369.497,96.106,0.000,697.631,0.000,366.046,0.000,0.539,0.000
$DEVICE_MAMPS,253.980,52.785,371.025,132.345,0.000,0.000,0.000,0.000,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1813.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.149,0.000,0.000,0.000
$MEM,322864
$DATA_FILE_SIZE,3513,161
$CAP_FILE_SIZE,52921,0
$CFSIZE,260034560,249688064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050613,175835,4743.082,-12224.347,41,0.9,41,16.6