version: 66.12
glider: 167
mission: 17
dive: 6
start: 5 1 114 20 53 26
data:
$ID,167
$MISSION,17
$DIVE,6
$N_DIVES,6
$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,-1383796
$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,1850
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2675
$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
$GPS1,010514,204623,4743.559,-12224.623,39,0.9,39,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-67.6
$GPS2,010514,205255,4743.447,-12224.612,4,0.9,4,16.6
$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,264.9,493,-27.2,-10.000,-30.00,963
$D_GRID,175
$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,-1.49,-63.2,142,1824,437,480,0.0,0.0,0,137,0.00,0.00,-105.38,0.000,16390,0.000,0.000,142,1825,2932,2921,2944,0,0,0,0,0,0,28.83,28.83,26.20
$GC,145,-1.60,-120.3,142,1825,2921,2945,3.3,-3.9,11,166,9.10,2.25,-4.78,0.000,18692,0.247,0.050,2367,3270,3167,3165,3169,0,0,0,0,0,0,25.47,25.84,26.14
$GC,397,-1.31,-120.3,2366,3269,3165,3169,73.8,-30.9,31,404,0.40,2.10,0.00,0.000,3078,0.197,0.023,2470,1840,3167,3166,3169,0,0,0,0,0,0,25.66,26.06,28.83
$GC,704,-1.19,-120.3,2470,1839,3166,3169,149.9,-22.4,47,710,0.15,2.20,0.00,0.000,2308,0.203,0.037,2503,3272,3167,3165,3169,0,0,0,0,0,0,25.85,26.11,28.83
$STATE,726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,726,begin apogee
$GC,737,-0.25,0.0,2502,2096,3166,3169,155.8,-21.9,48,857,1.02,0.00,113.72,0.667,10246,0.171,0.000,2807,2093,2671,2728,2615,0,0,0,0,0,0,25.81,28.83,24.36
$STATE,862,end apogee,CONTROL_FINISHED_OK
$STATE,862,begin climb
$GC,866,1.60,120.3,2807,2093,2719,2598,164.3,0.0,54,996,1.80,2.17,117.12,0.631,10756,0.091,0.032,3429,713,2173,2241,2106,0,0,0,0,0,0,25.03,24.79,24.18
$GC,1152,1.32,120.3,3429,713,2226,2081,114.8,24.1,68,1159,0.40,2.17,0.00,0.000,5126,0.193,0.033,3328,2105,2153,2226,2080,0,0,0,0,0,0,25.25,25.50,28.83
$GC,1458,1.17,120.3,3327,2106,2226,2073,51.5,18.5,84,1463,0.17,2.17,0.00,0.000,4356,0.188,0.043,3280,3514,2149,2226,2073,0,0,0,0,0,0,25.65,25.83,28.83
$GC,1576,1.05,120.3,3280,3514,2226,2072,31.3,16.5,94,1582,0.20,2.12,0.00,0.000,5126,0.174,0.027,3238,2098,2149,2226,2072,0,0,0,0,0,0,25.70,25.98,28.83
$STATE,1798,end climb,SURFACE_DEPTH_REACHED
$STATE,1798,begin surface coast
$FINISH,0.7,1.021163
$STATE,1820,end surface coast,CONTROL_FINISHED_OK
$STATE,1820,begin surface
$SM_CCo,1843,235.05,0.216,1,0,459,543.34
$SM_CCo,2088,-0.17,0.000,0,0,461,543.34
$SM_CCo,2093,0.05,1.667,0,0,460,543.34
$SM_GC,1.15,8.12,0.32,0.05,0.042,0.043,1.667,136,1849,460,-8.57,1.67,543.34,0,0,0,0,0,0,26.04,26.12,24.56
$IRIDIUM_FIX,4726.11,-12223.37,010514,202005
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.97
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,20.40
$XPDR_PINGS,0
$SC_FREEKB,7767648
$24V_AH,24.2,0.596
$10V_AH,10.3,0.231
$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,21.375,17.300,230.850,235.100,0.000,0.000,0.000,183.375,0.000,0.000,5.475,397.515,844.160,515.156,552.339,192.623,0.000,958.025,0.000,361.620,0.000,0.536,0.000
$DEVICE_MAMPS,247.095,50.490,667.080,1666.935,0.000,0.000,0.000,108.630,420.000,0.000,26.960,13.720,2.190,13.720,39.930,47.420,0.000,11.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1818.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.521,0.000,0.000,0.000
$MEM,322772
$DATA_FILE_SIZE,3504,118
$CAP_FILE_SIZE,38775,0
$CFSIZE,260034560,249905152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,010514,212937,4743.361,-12224.676,30,1.0,30,16.6