version: 66.11
glider: 167
mission: 15
dive: 3
start: 6 5 113 18 12 14
data:
$ID,167
$MISSION,15
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$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,50
$T_MISSION,64
$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,500
$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,-974280.69
$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,3000
$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,2050
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3250
$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
$GPS1,050613,180748,4742.988,-12224.354,5,0.8,6,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.1
$GPS2,050613,181149,4742.938,-12224.362,13,0.9,14,16.6
$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,306.0,1309,-18.2,-10.000,-20.99,2236
$D_GRID,177
$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,-146.6,134,2069,458,507,0.0,0.0,0,151,0.00,0.00,-120.07,0.000,16386,0.000,0.000,134,2070,3429,3395,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,156,-0.78,-146.6,133,2070,3396,3463,3.1,-6.0,22,181,10.52,2.08,-7.85,0.000,18692,0.252,0.053,2732,3431,3849,3844,3854,0,0,0,0,0,0,25.97,26.32,26.63
$GC,238,-0.31,-146.6,2732,3431,3845,3854,23.8,-19.7,36,245,0.55,1.98,0.00,0.000,3078,0.161,0.020,2893,2020,3849,3846,3853,0,0,0,0,0,0,26.17,26.44,28.83
$GC,426,-0.56,-146.6,2893,2019,3847,3854,43.1,-9.9,55,432,0.17,2.15,0.00,0.000,4356,0.069,0.041,2806,3431,3850,3847,3854,0,0,0,0,0,0,26.49,26.42,28.83
$GC,471,-0.56,-146.6,2805,3431,3847,3854,49.1,-13.1,59,477,0.00,1.95,0.00,0.000,1030,0.000,0.020,2806,2044,3850,3847,3854,0,0,0,0,0,0,28.83,26.52,28.83
$GC,667,-0.46,-146.6,2805,2040,3847,3854,76.1,-13.9,69,672,0.12,2.12,0.00,0.000,2308,0.172,0.040,2836,3438,3850,3847,3854,0,0,0,0,0,0,26.37,26.49,28.83
$GC,726,-0.46,-146.6,2835,3437,3847,3854,81.5,-12.7,71,733,0.00,1.98,0.00,0.000,1030,0.000,0.021,2836,2045,3850,3847,3853,0,0,0,0,0,0,28.83,26.58,28.83
$GC,975,-0.46,-146.6,2835,2042,3847,3854,105.1,-9.5,84,980,0.00,2.12,0.00,0.000,260,0.000,0.043,2834,3435,3850,3847,3854,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1009,-0.46,-146.6,2833,3435,3847,3854,108.4,-10.4,85,1014,0.00,1.95,0.00,0.000,1030,0.000,0.020,2834,2038,3850,3847,3853,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1266,-0.51,-146.6,2833,2034,3847,3854,139.7,-13.4,98,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2034,3850,3847,3854,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1360,begin apogee
$GC,1368,-0.27,0.0,2833,2131,3847,3853,150.9,-11.3,103,1513,0.22,0.00,130.57,0.812,10246,0.137,0.000,2908,2131,3250,3279,3221,0,0,0,0,1,0,26.47,28.83,24.25
$STATE,1516,end apogee,CONTROL_FINISHED_OK
$STATE,1516,begin climb
$GC,1519,0.78,146.6,2907,2131,3279,3225,160.2,0.0,110,1654,1.02,0.00,127.25,0.689,10758,0.109,0.000,3242,2131,2651,2715,2587,0,0,0,0,0,0,25.18,28.83,24.56
$GC,1884,0.69,155.8,3242,2131,2704,2556,133.6,9.6,129,1894,0.00,2.25,2.95,0.474,8452,0.000,0.044,3242,3549,2613,2683,2543,0,0,0,0,0,0,28.83,26.02,25.24
$GC,1953,0.53,155.8,2208,3547,2600,2539,126.0,11.1,132,1959,0.28,2.03,0.00,0.000,5126,0.158,0.025,3171,2176,2618,2683,2554,0,0,0,0,0,0,26.00,26.16,28.83
$GC,2214,0.87,285.0,3171,2176,2684,2554,109.4,4.1,145,2277,0.28,2.20,54.00,0.380,10500,0.051,0.045,3298,3547,2088,2165,2012,0,0,0,0,0,0,26.37,25.92,25.57
$GC,2312,0.71,285.0,3298,3547,2165,2016,100.0,11.3,149,2320,0.28,2.08,0.00,0.000,5126,0.151,0.027,3231,2151,2090,2165,2016,0,0,0,0,0,0,25.88,26.07,28.83
$GC,2561,0.87,286.5,3232,2150,2165,2011,70.6,9.9,162,2563,0.15,0.00,0.00,0.000,2054,0.073,0.000,3302,2148,2088,2165,2011,0,0,0,0,0,0,26.33,28.83,28.83
$GC,2799,0.78,286.5,3302,2147,2165,2010,35.9,14.0,178,2804,0.15,2.15,0.00,0.000,4356,0.153,0.043,3256,3551,2087,2165,2010,0,0,0,0,0,0,26.29,26.39,28.83
$GC,2871,0.87,286.5,3256,3551,2165,2009,28.1,11.4,184,2878,0.00,2.08,0.00,0.000,1030,0.000,0.026,3263,2142,2087,2165,2009,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3061,0.96,286.5,2192,2139,2080,1992,6.5,11.7,219,3069,0.12,2.15,0.00,0.000,2308,0.083,0.041,3328,3551,2086,2165,2007,0,0,0,0,0,0,26.53,26.46,28.83
$STATE,3090,end climb,SURFACE_DEPTH_REACHED
$STATE,3090,begin surface coast
$FINISH,0.5,1.019329
$STATE,3118,end surface coast,CONTROL_FINISHED_OK
$STATE,3118,begin surface
$SM_CCo,3141,93.68,0.135,0,0,1209,500.17
$SM_GC,1.43,8.07,2.25,93.68,0.029,0.022,0.135,137,2065,1209,-8.88,1.67,500.17,0,0,0,0,0,0,26.48,26.52,26.11
$IRIDIUM_FIX,4726.11,-12220.67,050613,181838
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.05
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,20.70
$XPDR_PINGS,2
$SC_FREEKB,7693632
$24V_AH,24.2,0.422
$10V_AH,10.2,0.906
$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,21.950,33.625,314.775,93.675,0.000,0.000,0.000,0.000,0.500,0.000,15.416,592.306,1589.578,478.632,514.948,137.541,0.000,823.386,0.000,489.694,0.000,0.538,0.000
$DEVICE_MAMPS,251.685,78.795,812.430,134.640,0.000,0.000,0.000,0.000,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3089.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.832,0.000,0.000,0.000
$MEM,322872
$DATA_FILE_SIZE,6820,229
$CAP_FILE_SIZE,66109,0
$CFSIZE,260034560,249626624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,050613,190736,4742.966,-12225.001,42,1.0,42,16.6