version: 66.12
glider: 167
mission: 17
dive: 3
start: 5 1 114 18 33 16
data:
$ID,167
$MISSION,17
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,65
$T_ABORT,720
$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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52047
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,627.53467
$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,-1383792.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3944
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0020000001
$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,142.7
$AH0_10V,94.860001
$MINV_24V,21
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.360729
$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,0.0044105793
$SEABIRD_T_H,0.0006516556
$SEABIRD_T_I,2.6831356e-05
$SEABIRD_T_J,2.8916174e-06
$SEABIRD_C_G,-9.9680109
$SEABIRD_C_H,1.1318187
$SEABIRD_C_I,-0.0013148892
$SEABIRD_C_J,0.00016919049
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010514,182933,4743.737,-12224.595,2,0.9,2,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.8
$GPS2,010514,183248,4743.748,-12224.565,4,0.8,5,16.6
$SPEED_LIMITS,0.173,0.260
$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,213.1,710,-19.5,-10.000,-22.91,1816
$D_GRID,174
$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,-1.22,-119.6,139,2225,434,491,0.0,0.0,0,150,0.00,0.00,-120.32,0.000,16390,0.000,0.000,139,2226,3235,3212,3259,0,0,0,0,0,0,28.83,28.83,26.41
$GC,159,-1.27,-146.6,138,2226,3213,3259,2.5,-2.6,12,177,9.77,2.15,-2.10,0.000,18692,0.256,0.054,2473,3597,3349,3332,3367,0,0,0,0,0,0,25.57,26.00,26.29
$GC,411,-0.98,-146.6,2473,3599,3333,3367,75.5,-28.2,32,417,0.40,2.08,0.00,0.000,3078,0.179,0.025,2580,2179,3350,3333,3367,0,0,0,0,0,0,25.69,26.17,28.83
$GC,733,-0.88,-146.6,2579,2179,3333,3366,139.7,-19.1,48,739,0.12,2.17,0.00,0.000,2308,0.184,0.043,2607,3593,3349,3332,3367,0,0,0,0,0,0,25.98,26.16,28.83
$STATE,795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,795,begin apogee
$GC,806,-0.25,0.0,2606,2105,3333,3367,151.0,-17.5,51,954,0.65,0.00,135.02,0.842,10246,0.143,0.000,2812,2104,2749,2804,2694,0,0,0,0,1,0,25.86,28.83,23.44
$STATE,957,end apogee,CONTROL_FINISHED_OK
$STATE,957,begin climb
$GC,960,1.27,146.6,2812,2105,2803,2695,159.1,0.0,58,1104,1.45,2.35,125.60,1.252,10500,0.086,0.047,3303,3482,2149,2223,2076,0,0,0,0,1,0,24.87,24.51,23.46
$GC,1114,1.00,180.9,3303,3481,2223,2075,152.0,8.1,65,1159,0.32,2.15,32.30,1.017,13318,0.177,0.027,3230,2101,2009,2092,1927,0,0,0,0,1,0,24.68,24.91,23.61
$GC,1460,0.84,180.9,3230,2097,2093,1921,96.0,14.7,83,1466,0.20,2.20,0.00,0.000,4356,0.170,0.045,3175,3483,2007,2093,1921,0,0,0,0,0,0,25.60,25.74,28.83
$GC,1576,0.75,180.9,3173,3484,2093,1919,80.5,14.1,88,1582,0.15,2.08,0.00,0.000,5126,0.160,0.027,3143,2093,2006,2093,1920,0,0,0,0,0,0,25.72,25.94,28.83
$GC,1892,0.73,180.9,3143,2092,2093,1917,44.6,11.4,106,1897,0.00,2.08,0.00,0.000,516,0.000,0.037,3151,693,2005,2093,1917,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1970,0.73,180.9,3152,692,2093,1917,36.3,10.4,113,1977,0.00,2.10,0.00,0.000,1030,0.000,0.033,3152,2080,2005,2093,1917,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2277,0.75,191.3,3151,2080,2094,1915,6.1,9.4,144,2288,0.00,2.20,4.68,0.167,8452,0.000,0.046,3152,3512,1964,2054,1875,0,0,0,0,0,0,28.83,26.12,25.91
$STATE,2309,end climb,SURFACE_DEPTH_REACHED
$STATE,2309,begin surface coast
$FINISH,0.4,1.021587
$STATE,2330,end surface coast,CONTROL_FINISHED_OK
$STATE,2334,begin surface
$SM_CCo,2358,225.25,0.219,1,0,457,561.74
$SM_CCo,2593,-0.20,0.000,0,0,462,561.49
$SM_CCo,2599,0.60,0.264,0,0,459,561.74
$SM_GC,1.11,7.90,2.00,0.60,0.044,0.026,0.264,136,2200,459,-8.57,1.58,561.74,0,0,0,0,0,0,26.17,26.25,25.27
$IRIDIUM_FIX,4726.11,-12229.50,010514,181853
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.76
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,20.40
$XPDR_PINGS,0
$SC_FREEKB,7768800
$24V_AH,23.4,0.372
$10V_AH,10.4,0.166
$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,20.975,25.800,297.600,225.850,0.000,0.000,0.000,0.000,0.000,0.000,5.477,462.605,1067.077,578.190,446.427,117.166,0.000,885.874,0.000,437.534,0.000,0.537,0.000
$DEVICE_MAMPS,255.510,54.315,1252.305,263.925,0.000,0.000,0.000,0.000,420.000,0.000,26.960,13.720,2.190,13.720,39.930,47.420,0.000,11.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2298.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.854,0.000,0.000,0.000
$MEM,322864
$DATA_FILE_SIZE,3510,149
$CAP_FILE_SIZE,58109,0
$CFSIZE,260034560,249987072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,010514,191804,4743.794,-12224.658,37,1.3,42,16.6