version: 66.11
glider: 167
mission: 13
dive: 5
start: 8 22 112 20 46 15
data:
$ID,167
$MISSION,13
$DIVE,5
$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,4
$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,-968091.81
$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,47
$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,48
$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
$GPS1,220812,204211,4743.628,-12224.353,3,1.3,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.7
$GPS2,220812,204549,4743.640,-12224.351,4,1.0,4,16.6
$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,234.4,849,-18.2,-10.000,-20.99
$D_GRID,174
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.51,-146.6,0.0,0.0,0,145,0.00,0.00,-122.07,0.000,2,0.000,0.000,127,2203,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,148,-0.51,-146.6,3.0,-4.4,21,169,9.90,2.15,-6.20,0.000,4,0.248,0.062,2576,3550,3801,0,0,0,0,0,0,25.88,26.25,26.58
$GC,398,-0.57,-146.6,31.4,-9.6,63,404,0.00,2.05,0.00,0.000,6,0.000,0.022,2576,2098,3802,0,0,0,0,0,0,28.83,26.48,28.83
$GC,534,-0.62,-146.6,43.9,-9.1,76,540,0.00,2.25,0.00,0.000,4,0.000,0.049,2574,3557,3802,0,0,0,0,0,0,28.83,26.40,28.83
$GC,591,-0.67,-146.6,48.4,-8.1,81,598,0.00,2.05,0.00,0.000,6,0.000,0.021,2574,2101,3802,0,0,0,0,0,0,28.83,26.55,28.83
$GC,728,-0.73,-146.6,62.4,-10.4,89,734,0.12,2.22,0.00,0.000,4,0.084,0.048,2502,3549,3802,0,0,0,0,0,0,26.58,26.45,28.83
$GC,823,-0.70,-146.6,73.9,-13.9,93,829,0.12,1.98,0.00,0.000,6,0.168,0.021,2533,2130,3802,0,0,0,0,0,0,26.32,26.60,28.83
$GC,957,-0.70,-146.6,91.9,-12.1,100,962,0.00,1.92,0.00,0.000,4,0.000,0.028,2533,786,3802,0,0,0,0,0,0,28.83,26.57,28.83
$GC,994,-0.70,-146.6,94.9,-12.4,101,1002,0.00,2.03,0.00,0.000,6,0.000,0.035,2532,2152,3802,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1120,-0.70,-146.6,110.6,-10.6,108,1125,0.00,2.00,0.00,0.000,4,0.000,0.028,2532,782,3802,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1153,-0.70,-146.6,113.0,-10.3,109,1158,0.00,2.05,0.00,0.000,6,0.000,0.036,2532,2150,3802,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,1223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1223,begin apogee
$GC,1229,-0.20,0.0,121.2,-10.0,113,1289,0.47,0.00,54.00,1.305,6,0.125,0.000,2689,2199,3199,0,0,0,0,0,0,26.37,28.83,24.13
$STATE,1291,end apogee,CONTROL_FINISHED_OK
$STATE,1291,begin climb
$GC,1293,0.51,146.6,123.2,0.0,116,1359,0.65,2.17,57.85,1.251,4,0.083,0.031,2925,833,2601,0,0,0,0,0,0,25.22,24.88,23.90
$GC,1378,0.53,193.4,118.8,7.9,120,1403,0.00,2.12,18.75,1.164,6,0.000,0.032,2925,2202,2411,0,0,0,0,0,0,28.83,25.29,24.06
$GC,1532,0.55,193.4,100.1,11.8,128,1538,0.00,2.20,0.00,0.000,4,0.000,0.046,2920,3610,2407,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1629,0.55,193.4,89.9,12.1,132,1636,0.00,2.03,0.00,0.000,6,0.000,0.023,2934,2227,2408,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1757,0.56,207.8,76.2,9.3,139,1767,0.00,2.17,5.45,0.845,4,0.000,0.032,2935,822,2352,0,0,0,0,0,0,28.83,26.05,25.14
$GC,1781,0.59,240.5,74.3,8.5,140,1801,0.00,2.08,13.10,0.977,6,0.000,0.031,2935,2203,2219,0,0,0,0,0,0,28.83,26.08,24.89
$GC,1921,0.64,265.2,62.5,8.9,147,1937,0.00,2.17,10.07,0.901,4,0.000,0.044,2934,3600,2117,0,0,0,0,0,0,28.83,25.80,24.99
$GC,2026,0.66,265.2,50.5,12.0,152,2032,0.12,2.05,0.00,0.000,6,0.085,0.024,2999,2187,2116,0,0,0,0,0,0,26.06,26.10,28.83
$GC,2162,0.64,265.2,28.5,16.2,164,2168,0.12,2.20,0.00,0.000,4,0.145,0.044,2961,3601,2115,0,0,0,0,0,0,26.11,26.17,28.83
$GC,2195,0.64,265.2,22.9,16.0,168,2203,0.00,2.03,0.00,0.000,6,0.000,0.024,2966,2199,2115,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2328,0.66,265.2,6.2,12.5,193,2334,0.00,2.15,0.00,0.000,4,0.000,0.044,2967,3602,2114,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,2350,end climb,SURFACE_DEPTH_REACHED
$STATE,2350,begin surface coast
$FINISH,0.3,1.009816
$STATE,2372,end surface coast,CONTROL_FINISHED_OK
$STATE,2372,begin surface
$SM_CCo,2391,52.35,0.138,0,0,1567,400.08
$SM_GC,1.17,7.35,2.17,52.35,0.038,0.024,0.138,119,2145,1567,-8.18,1.84,400.08,0,0,0,0,0,0,26.34,26.40,25.99
$IRIDIUM_FIX,4726.11,-12220.67,220812,202035
$TT8_MAMPS,0.028462,0.028462
$HUMID,59.09
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,21.50
$XPDR_PINGS,4
$24V_AH,23.9,7.051
$10V_AH,10.2,2.208
$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,18.875,46.300,159.225,52.350,0.000,0.000,0.000,0.000,1.000,0.000,5.839,637.108,987.055,331.620,488.998,73.938,0.000,647.014,0.000,469.763,0.000,0.539,0.000
$DEVICE_MAMPS,247.860,155.295,1305.090,138.465,0.000,0.000,0.000,0.000,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2345.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,50.618,0.000,0.000,0.000
$MEM,322780
$DATA_FILE_SIZE,6806,201
$CAP_FILE_SIZE,73917,0
$CFSIZE,260165632,251207680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,146.3,1
$GPS,220812,212823,4743.518,-12224.647,38,1.4,38,16.6