version: 66.11
glider: 167
mission: 15
dive: 4
start: 6 5 113 19 13 49
data:
$ID,167
$MISSION,15
$DIVE,4
$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,-974281.94
$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,40
$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,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
$GPS1,050613,190736,4742.966,-12225.001,42,1.0,42,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.6
$GPS2,050613,191322,4742.896,-12225.034,8,0.8,8,16.6
$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,345.6,1119,-18.2,-10.000,-20.99,2236
$D_GRID,185
$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,-146.6,137,2036,1244,1168,0.0,0.0,0,120,0.00,0.00,-92.88,0.000,16386,0.000,0.000,137,2036,3498,3471,3526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-0.78,-146.6,137,2036,3471,3527,3.8,-8.9,17,152,10.50,0.00,-6.62,0.000,18438,0.252,0.000,2738,2035,3849,3842,3857,0,0,0,0,0,0,25.91,28.83,26.49
$GC,354,-0.35,-146.6,2737,2035,3845,3857,55.4,-20.6,45,360,0.45,2.15,0.00,0.000,2308,0.160,0.040,2869,3448,3851,3845,3857,0,0,0,0,0,0,26.18,26.33,28.83
$GC,400,-0.17,-146.6,2869,3448,3846,3857,61.5,-16.4,47,406,0.25,2.05,0.00,0.000,3078,0.123,0.021,2946,1999,3851,3846,3857,0,0,0,0,0,0,26.25,26.41,28.83
$GC,666,-0.69,-146.6,2946,1996,3847,3857,76.4,-5.3,60,672,0.43,2.22,0.00,0.000,4356,0.041,0.041,2745,3455,3851,3846,3857,0,0,0,0,0,0,26.51,26.43,28.83
$GC,692,-1.02,-146.6,2744,3455,3846,3857,79.1,-6.4,61,698,0.20,2.08,0.00,0.000,5126,0.072,0.021,2661,2009,3852,3847,3857,0,0,0,0,0,0,26.47,26.52,28.83
$GC,958,-0.36,-146.6,2661,2006,3846,3857,141.1,-24.0,74,964,0.73,2.20,0.00,0.000,2308,0.174,0.039,2870,3458,3851,3846,3857,0,0,0,0,0,0,26.32,26.50,28.83
$GC,1013,-0.05,-146.6,2869,3458,3846,3857,148.2,-20.2,76,1019,0.35,2.03,0.00,0.000,3078,0.112,0.021,2983,2027,3852,3847,3857,0,0,0,0,0,0,26.42,26.58,28.83
$STATE,1026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1026,begin apogee
$GC,1034,-0.27,0.0,2983,2164,3846,3857,150.0,-15.5,77,1199,0.17,0.00,158.88,0.659,12294,0.068,0.000,2905,2164,3247,3283,3211,0,0,0,0,0,0,26.55,28.83,24.65
$STATE,1201,end apogee,CONTROL_FINISHED_OK
$STATE,1201,begin climb
$GC,1205,0.78,146.6,2905,2164,3276,3201,158.3,0.0,85,1336,1.05,0.00,126.40,0.650,10758,0.111,0.000,3243,2164,2651,2724,2578,0,0,0,0,0,0,25.16,28.83,24.51
$GC,1569,0.67,146.6,3243,2164,2704,2540,127.7,10.4,104,1574,0.00,2.12,0.00,0.000,260,0.000,0.044,3243,3536,2622,2704,2540,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1658,0.49,146.6,3243,3536,2704,2539,116.8,12.9,108,1664,0.32,2.03,0.00,0.000,5126,0.152,0.026,3158,2163,2621,2704,2539,0,0,0,0,0,0,25.97,26.14,28.83
$GC,1919,0.81,202.8,3157,2163,2703,2536,96.1,7.4,121,1947,0.25,2.08,21.15,0.318,10756,0.053,0.031,3289,760,2419,2496,2342,0,0,0,0,0,0,26.34,26.16,25.80
$GC,1982,0.81,202.8,3289,760,2496,2362,88.2,11.3,124,1987,0.00,2.05,0.00,0.000,1030,0.000,0.028,3289,2144,2429,2496,2362,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2251,0.62,202.8,3289,2144,2496,2367,53.7,12.1,137,2257,0.28,2.22,1.23,0.179,12548,0.148,0.044,3205,3554,2419,2492,2347,0,0,0,0,0,0,26.21,26.34,26.20
$GC,2419,0.75,235.9,3205,3554,2492,2369,36.6,8.5,151,2441,0.00,2.05,15.88,0.212,9222,0.000,0.025,3210,2141,2284,2362,2207,0,0,0,0,0,0,28.83,26.45,26.11
$GC,2621,1.01,271.9,2176,2138,2277,2214,21.0,8.4,176,2645,0.28,2.12,17.75,0.177,10756,0.053,0.034,3350,753,2139,2214,2064,0,0,0,0,0,0,26.46,26.36,26.17
$GC,2688,0.82,271.9,3349,753,2215,2076,12.0,15.8,187,2695,0.30,2.10,0.00,0.000,5126,0.151,0.029,3263,2164,2145,2215,2076,0,0,0,0,0,0,26.24,26.39,28.83
$STATE,2788,end climb,SURFACE_DEPTH_REACHED
$STATE,2788,begin surface coast
$FINISH,1.3,1.018384
$STATE,2847,end surface coast,CONTROL_FINISHED_OK
$STATE,2848,begin surface
$SM_CCo,2869,101.20,0.136,0,0,1208,500.17
$SM_GC,1.53,8.12,0.12,101.20,0.047,0.063,0.136,142,2051,1208,-8.87,2.04,500.17,0,0,0,0,0,0,26.42,26.52,26.04
$IRIDIUM_FIX,4726.11,-12227.78,050613,181830
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.85
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,20.70
$XPDR_PINGS,1
$SC_FREEKB,7693248
$24V_AH,24.5,0.489
$10V_AH,10.3,0.956
$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,23.675,29.800,341.275,101.200,0.000,0.000,0.000,190.225,0.250,0.000,9.387,602.726,1331.743,471.779,717.831,203.306,0.000,1006.507,0.000,504.633,0.000,0.539,0.000
$DEVICE_MAMPS,251.685,65.790,659.430,136.170,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2858.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.636,0.000,0.000,0.000
$MEM,322840
$DATA_FILE_SIZE,6790,217
$CAP_FILE_SIZE,57431,0
$CFSIZE,260034560,249589760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050613,200436,4742.858,-12225.346,30,0.9,30,16.6