version: 66.11
glider: 167
mission: 15
dive: 6
start: 6 5 113 21 10 3
data:
$ID,167
$MISSION,15
$DIVE,6
$N_DIVES,6
$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,-974284.44
$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,3015
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,100
$R_STBD_OVSHOOT,42
$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
$GPS1,050613,210336,4742.725,-12225.577,42,1.1,42,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.9
$GPS2,050613,210935,4742.598,-12225.615,9,0.7,10,16.6
$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,8.0,1838,-18.2,-10.000,-20.99,2236
$D_GRID,189
$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,-146.6,145,2009,1245,1175,0.0,0.0,0,103,0.00,0.00,-76.12,0.000,16386,0.000,0.000,145,2010,3078,3052,3104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.78,-146.6,145,2010,3051,3104,3.0,-5.4,14,144,10.80,0.00,-18.80,0.000,18950,0.260,0.000,2755,2008,3850,3847,3853,0,0,0,0,0,0,25.84,28.83,26.40
$GC,333,-0.38,-146.6,2754,2008,3847,3854,39.4,-19.5,49,339,0.43,2.22,0.00,0.000,2308,0.158,0.041,2878,3456,3850,3847,3854,0,0,0,0,0,0,26.11,26.24,28.83
$GC,402,-0.57,-146.6,2877,3456,3847,3854,46.8,-8.0,55,408,0.15,1.98,0.00,0.000,5126,0.077,0.020,2811,2082,3851,3848,3854,0,0,0,0,0,0,26.30,26.34,28.83
$GC,601,-0.48,-146.6,2811,2080,3848,3854,73.2,-13.9,66,603,0.17,0.00,0.00,0.000,2054,0.157,0.000,2858,2078,3851,3848,3854,0,0,0,0,0,0,26.25,28.83,28.83
$GC,841,-0.59,-146.6,2858,2078,3849,3854,95.7,-8.9,78,843,0.12,0.00,0.00,0.000,4102,0.085,0.000,2796,2078,3851,3848,3854,0,0,0,0,0,0,26.48,28.83,28.83
$GC,1082,-0.46,-146.6,2795,2078,3848,3854,129.0,-13.9,90,1084,0.22,0.00,0.00,0.000,2054,0.149,0.000,2860,2078,3851,3848,3854,0,0,0,0,0,0,26.35,28.83,28.83
$STATE,1294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1294,begin apogee
$GC,1303,-0.27,0.0,2859,2262,3848,3854,151.2,-9.1,101,1448,0.20,0.00,132.32,0.832,10246,0.138,0.000,2925,2262,3248,3282,3215,0,0,0,0,1,0,26.41,28.83,24.02
$STATE,1450,end apogee,CONTROL_FINISHED_OK
$STATE,1450,begin climb
$GC,1453,0.78,146.6,2925,2262,3282,3228,159.2,0.0,108,1583,1.02,0.00,117.03,1.144,10758,0.105,0.000,3260,2262,2650,2724,2576,0,0,0,0,1,0,24.93,28.83,23.82
$GC,1818,0.60,146.6,3259,2262,2724,2580,127.4,10.9,127,1820,0.20,0.00,0.00,0.000,4102,0.155,0.000,3207,2262,2652,2724,2580,0,0,0,0,0,0,25.73,28.83,28.83
$GC,2060,0.62,170.8,3206,2262,2724,2576,105.2,8.9,139,2076,0.00,0.00,9.95,0.366,8198,0.000,0.000,3207,2262,2552,2625,2479,0,0,0,0,0,0,28.83,28.83,25.73
$GC,2321,0.72,196.3,3206,2262,2625,2482,80.1,8.8,152,2340,0.12,2.20,10.60,0.308,10500,0.082,0.047,3272,3643,2447,2519,2376,0,0,0,0,0,0,26.29,26.16,25.89
$GC,2359,0.74,213.2,3272,3643,2519,2379,77.8,9.2,153,2374,0.00,2.05,7.68,0.298,9222,0.000,0.026,3282,2249,2379,2452,2306,0,0,0,0,0,0,28.83,26.22,25.87
$GC,2619,0.58,213.2,3282,2249,2452,2306,39.7,11.6,170,2625,0.25,2.15,0.00,0.000,4356,0.147,0.042,3206,3640,2379,2452,2306,0,0,0,0,0,0,26.19,26.29,28.83
$GC,2665,0.69,241.3,3205,3640,2452,2306,35.6,8.7,174,2687,0.00,2.03,12.50,0.215,9222,0.000,0.025,3211,2258,2263,2340,2186,0,0,0,0,0,0,28.83,26.36,26.06
$GC,2867,0.98,315.5,3210,2258,2340,2186,20.4,6.6,200,2909,0.30,2.08,34.05,0.171,10756,0.049,0.031,3364,858,1959,2042,1876,0,0,0,0,0,0,26.39,26.25,26.08
$STATE,2972,end climb,SURFACE_DEPTH_REACHED
$STATE,2972,begin surface coast
$FINISH,0.6,1.017190
$STATE,2988,end surface coast,CONTROL_FINISHED_OK
$STATE,2988,begin surface
$SM_CCo,3011,81.85,0.136,0,0,1209,500.17
$SM_GC,1.61,8.32,1.80,81.85,0.037,0.021,0.136,140,2056,1209,-8.92,-1.47,500.17,0,0,0,0,0,0,26.29,26.33,25.98
$IRIDIUM_FIX,4726.11,-12223.37,050613,202009
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.15
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,20.60
$XPDR_PINGS,5
$SC_FREEKB,7692480
$24V_AH,23.8,0.657
$10V_AH,10.1,1.058
$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,22.325,16.750,324.125,81.850,0.000,0.000,0.000,202.575,1.250,0.000,10.416,540.670,1621.661,437.791,667.012,196.204,0.000,948.065,0.000,439.914,0.000,0.537,0.000
$DEVICE_MAMPS,260.100,56.610,1144.440,136.170,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2997.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.542,0.000,0.000,0.000
$MEM,322772
$DATA_FILE_SIZE,6836,222
$CAP_FILE_SIZE,52469,0
$CFSIZE,260034560,249511936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,050613,220305,4742.586,-12225.657,44,1.1,44,16.6