version: 66.11
glider: 167
mission: 13
dive: 4
start: 8 22 112 19 30 0
data:
$ID,167
$MISSION,13
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$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,40
$T_MISSION,55
$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,51927
$NAV_MODE,2
$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,400
$N_FILEKB,8
$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,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-968072.19
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3202
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,220812,192607,4743.423,-12224.029,3,1.0,4,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.5
$GPS2,220812,192934,4743.435,-12224.026,4,1.0,4,16.6
$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,266.1,1219,-18.2,-10.000,-20.99
$D_GRID,173
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.51,-146.6,0.0,0.0,0,100,0.00,0.00,-80.65,0.000,2,0.000,0.000,121,2155,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.51,-146.6,3.1,-5.0,14,125,9.90,2.22,-4.25,0.000,4,0.246,0.061,2580,3553,3802,0,0,0,0,0,0,25.92,26.27,26.60
$GC,337,-0.58,-146.6,30.0,-8.4,53,344,0.00,2.03,0.00,0.000,6,0.000,0.022,2579,2113,3803,0,0,0,0,0,0,28.83,26.51,28.83
$GC,466,-0.63,-146.6,40.4,-7.9,66,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2112,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,604,-0.68,-146.6,54.4,-11.4,78,606,0.12,0.00,0.00,0.000,6,0.082,0.000,2516,2112,3803,0,0,0,0,0,0,26.60,28.83,28.83
$GC,724,-0.65,-146.6,69.6,-13.2,84,729,0.12,2.20,0.00,0.000,4,0.166,0.047,2547,3548,3803,0,0,0,0,0,0,26.38,26.48,28.83
$GC,818,-0.66,-146.6,77.9,-9.9,88,825,0.00,1.95,0.00,0.000,6,0.000,0.022,2547,2157,3803,0,0,0,0,0,0,28.83,26.64,28.83
$GC,953,-0.69,-146.6,90.5,-9.1,95,959,0.00,2.00,0.00,0.000,4,0.000,0.028,2547,762,3803,0,0,0,0,0,0,28.83,26.60,28.83
$GC,998,-0.73,-146.6,94.8,-9.6,97,1004,0.00,2.05,0.00,0.000,6,0.000,0.035,2547,2144,3803,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1142,-0.77,-146.6,107.0,-8.3,104,1144,0.10,0.00,0.00,0.000,6,0.099,0.000,2490,2144,3803,0,0,0,0,0,0,26.70,28.83,28.83
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1260,begin apogee
$GC,1266,-0.20,0.0,121.7,-13.0,110,1328,0.62,0.00,54.38,1.321,6,0.134,0.000,2690,2208,3200,0,0,0,0,0,0,26.34,28.83,24.14
$STATE,1329,end apogee,CONTROL_FINISHED_OK
$STATE,1329,begin climb
$GC,1332,0.51,146.6,125.1,0.0,113,1398,0.65,2.30,58.08,1.272,4,0.083,0.048,2918,3606,2601,0,0,0,0,0,0,25.27,24.88,23.91
$GC,1430,0.49,194.4,119.8,7.8,118,1455,0.00,2.08,19.08,1.183,6,0.000,0.023,2927,2214,2407,0,0,0,0,0,0,28.83,25.49,24.13
$GC,1589,0.49,194.4,102.5,10.3,126,1595,0.00,2.10,0.00,0.000,4,0.000,0.031,2937,807,2404,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1626,0.49,194.4,99.9,10.3,127,1633,0.00,2.10,0.00,0.000,6,0.000,0.032,2941,2200,2402,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1753,0.49,194.4,84.7,10.9,134,1758,0.00,2.15,0.00,0.000,4,0.000,0.047,2939,3599,2402,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1805,0.49,194.4,78.6,12.6,136,1810,0.00,2.03,0.00,0.000,6,0.000,0.024,2946,2195,2402,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1937,0.49,194.4,61.8,11.1,143,1943,0.00,2.17,0.00,0.000,4,0.000,0.047,2945,3604,2402,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2112,0.47,194.4,39.1,11.8,155,2118,0.15,2.03,0.00,0.000,6,0.161,0.025,2914,2199,2402,0,0,0,0,0,0,26.22,26.46,28.83
$GC,2248,0.53,250.7,28.9,7.4,168,2280,0.00,2.12,22.38,0.828,4,0.000,0.033,2916,812,2177,0,0,0,0,0,0,28.83,25.98,25.17
$GC,2315,0.65,294.4,23.2,8.0,176,2341,0.15,2.08,18.33,0.776,6,0.070,0.031,2994,2200,1997,0,0,0,0,0,0,26.13,26.10,24.98
$GC,2464,0.65,294.4,3.0,14.2,204,2471,0.00,2.17,0.00,0.000,4,0.000,0.045,2994,3610,1993,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,2476,end climb,SURFACE_DEPTH_REACHED
$STATE,2476,begin surface coast
$FINISH,0.4,1.018221
$STATE,2492,end surface coast,CONTROL_FINISHED_OK
$STATE,2492,begin surface
$SM_CCo,2511,41.22,0.138,0,0,1567,400.08
$SM_GC,1.28,7.47,2.20,41.22,0.038,0.024,0.138,128,2168,1567,-8.16,1.98,400.08,0,0,0,0,0,0,26.13,26.19,25.87
$IRIDIUM_FIX,4726.11,-12225.08,220812,191958
$TT8_MAMPS,0.028462,0.028462
$HUMID,59.37
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,21.40
$XPDR_PINGS,2
$24V_AH,23.9,6.966
$10V_AH,10.1,2.142
$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,19.300,38.050,172.225,41.225,0.000,0.000,0.000,0.000,0.500,0.000,5.853,653.516,1111.725,299.554,492.084,70.147,0.000,606.540,0.000,473.618,0.000,0.539,0.000
$DEVICE_MAMPS,246.330,120.870,1321.155,138.465,0.000,0.000,0.000,0.000,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2464.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,50.749,0.000,0.000,0.000
$MEM,322880
$DATA_FILE_SIZE,6811,209
$CAP_FILE_SIZE,63592,0
$CFSIZE,260165632,251273216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.009, 35.4,1
$GPS,220812,201359,4743.463,-12224.432,41,1.0,41,16.6