version: 66.11
glider: 167
mission: 16
dive: 653
start: 10 22 113 0 38 15
data:
$ID,167
$MISSION,16
$DIVE,653
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1020
$D_NO_BLEED,500
$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,60
$T_MISSION,80
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52152
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025476699
$HD_B,0.0275445
$HD_C,1.10039e-05
$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,450
$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,4096
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-976726.06
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,90
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2715
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$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,21
$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,0
$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,0.0043557216
$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
$GPS1,221013,003135,2023.509,12346.701,34,0.9,34,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-69.5
$GPS2,221013,003726,2023.514,12346.724,8,0.9,8,-3.0
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,PICKUP
$TGT_LATLONG,2018.000,12336.000
$TGT_RADIUS,5000.000
$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,244.3,21242,-18.7,-10.000,-28.63,3078
$D_GRID,5478
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,24,-1.17,-116.8,110,2228,874,881,0.0,0.0,0,95,0.00,0.00,-69.28,0.000,16386,0.000,0.000,109,2228,2579,2565,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.17,-116.8,109,2228,2566,2593,3.2,-2.8,7,133,10.77,1.62,-13.62,0.000,19204,0.230,0.058,2657,3237,3193,3193,3193,0,0,0,0,0,0,24.84,26.03,26.60
$GC,333,-1.17,-116.8,2656,3236,3193,3194,52.1,-19.2,28,340,0.00,1.50,0.00,0.000,1030,0.000,0.022,2657,2186,3193,3193,3193,0,0,0,0,0,0,28.83,26.29,28.83
$GC,641,-1.17,-116.8,2656,2186,3193,3194,111.4,-17.1,44,646,0.00,1.50,0.00,0.000,516,0.000,0.032,2657,1161,3193,3193,3194,0,0,0,0,0,0,28.83,26.22,28.83
$GC,675,-1.17,-116.8,2657,1160,3193,3193,115.2,-15.9,45,680,0.00,1.50,0.00,0.000,1030,0.000,0.030,2650,2204,3194,3194,3194,0,0,0,0,0,0,28.83,26.22,28.83
$GC,991,-1.17,-116.8,2650,2204,3193,3194,158.6,-13.6,61,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2204,3193,3193,3193,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1146,begin apogee
$GC,1156,-0.25,0.0,2650,1888,3193,3193,181.4,-13.8,69,1257,1.02,0.00,93.40,0.602,10244,0.145,0.000,2962,1889,2707,2768,2647,0,0,0,0,0,0,25.32,28.83,24.25
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1265,1.17,116.8,2962,1889,2767,2638,187.9,0.0,74,1369,1.25,1.62,92.45,0.595,10500,0.070,0.033,3424,2943,2227,2305,2149,0,0,0,0,0,0,25.58,25.77,24.38
$GC,1439,1.36,209.9,3424,2942,2304,2134,181.8,6.9,83,1521,0.15,1.52,74.38,0.581,11270,0.067,0.025,3522,1888,1849,1940,1759,0,0,0,0,0,0,26.01,26.05,24.46
$GC,1843,1.37,215.1,3522,1888,1930,1741,140.5,9.8,103,1848,0.12,1.55,0.00,0.000,4356,0.175,0.031,3486,2943,1835,1930,1741,0,0,0,0,0,0,26.01,26.17,28.83
$GC,2040,1.49,274.4,3486,2942,1930,1738,124.5,8.0,112,2098,0.10,1.50,52.08,0.553,11270,0.092,0.024,3551,1888,1592,1677,1507,0,0,0,0,0,0,26.21,26.29,24.54
$GC,2413,1.49,274.4,3550,1887,1661,1485,83.0,10.7,131,2418,0.00,1.55,0.00,0.000,260,0.000,0.033,3550,2944,1573,1661,1485,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2467,1.49,274.4,3550,2944,1659,1485,78.5,10.4,133,2472,0.00,1.48,0.00,0.000,1030,0.000,0.024,3557,1937,1572,1659,1485,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2784,1.60,333.1,3557,1936,1659,1484,49.6,8.0,149,2818,0.00,1.50,28.45,0.203,8452,0.000,0.031,3557,2944,1363,1446,1280,0,0,0,0,0,0,28.83,26.08,25.07
$GC,2888,1.60,333.1,3557,2944,1455,1287,38.4,12.1,159,2894,0.00,1.48,1.80,0.156,9222,0.000,0.024,3563,1947,1355,1434,1276,0,0,0,0,0,0,28.83,26.25,25.44
$GC,3204,1.66,362.0,3564,1947,1453,1286,5.5,9.0,190,3225,0.00,1.50,14.50,0.121,8452,0.000,0.031,3564,2953,1236,1311,1161,0,0,0,0,0,0,28.83,26.12,25.50
$STATE,3236,end climb,SURFACE_DEPTH_REACHED
$STATE,3236,begin surface coast
$FINISH,1.3,1.013116
$STATE,3267,end surface coast,CONTROL_FINISHED_OK
$STATE,3267,begin surface
$SM_CCo,3293,39.80,0.111,0,0,879,450.13
$SM_GC,1.98,8.62,1.12,39.80,0.026,0.024,0.111,141,2192,879,-9.03,1.72,450.13,0,0,0,0,0,0,26.10,26.30,25.48
$IRIDIUM_FIX,2015.67,12345.87,211013,232346
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.20
$INTERNAL_PRESSURE,9.72694
$TCM_TEMP,26.50
$XPDR_PINGS,4
$24V_AH,24.3,106.816
$10V_AH,10.4,66.142
$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,22.050,21.375,357.050,39.800,0.000,0.000,0.000,196.775,1.000,0.000,9.746,624.185,1747.617,394.598,694.578,212.289,0.000,953.936,0.000,518.645,0.000,0.545,0.000
$DEVICE_MAMPS,229.500,58.140,602.055,110.925,0.000,0.000,0.000,106.335,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327416
$DATA_FILE_SIZE,6829,196
$CAP_FILE_SIZE,42851,1
$CFSIZE,260034560,192368640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221013,013505,2023.909,12346.764,33,0.9,33,-3.0