version: 66.11
glider: 167
mission: 16
dive: 11
start: 6 23 113 21 56 30
data:
$ID,167
$MISSION,16
$DIVE,11
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1010
$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,160
$T_MISSION,175
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,0.0038360001
$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,554.9259
$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,-974688.62
$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,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2763
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$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,150
$AH0_10V,100
$MINV_24V,22
$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,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,0.0043557216
$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
$GPS1,230613,215001,2205.639,12025.487,41,1.3,41,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.3
$GPS2,230613,215604,2205.680,12025.430,7,1.1,7,-3.1
$SPEED_LIMITS,0.180,0.286
$TGT_NAME,T1
$TGT_LATLONG,2200.000,12030.000
$TGT_RADIUS,2000.000
$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,146.4,13124,-17.2,-10.417,-19.99,2574
$D_GRID,614
$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,-1.16,-175.2,110,1890,419,580,0.0,0.0,0,115,0.00,0.00,-87.20,0.000,16386,0.000,0.000,110,1890,2654,2632,2676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.16,-175.2,109,1890,2632,2676,3.2,-4.9,16,154,10.27,2.15,-13.80,0.000,18692,0.239,0.042,2708,3314,3481,3474,3489,0,0,0,0,0,0,26.03,26.30,26.55
$GC,235,-1.16,-175.2,2707,3318,3474,3490,49.7,-31.7,30,241,0.00,2.03,0.00,0.000,1030,0.000,0.024,2707,1913,3482,3474,3490,0,0,0,0,0,0,28.83,26.38,28.83
$GC,550,-1.16,-175.2,2706,1912,3478,3490,138.4,-30.0,46,555,0.00,2.05,0.00,0.000,516,0.000,0.033,2707,496,3484,3478,3490,0,0,0,0,0,0,28.83,26.51,28.83
$GC,695,-1.16,-175.2,2707,496,3478,3490,174.4,-23.5,53,701,0.00,2.00,0.00,0.000,1030,0.000,0.019,2698,1907,3483,3478,3489,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1020,-1.16,-175.2,2697,1908,3478,3490,240.2,-21.1,69,1025,0.00,2.03,0.00,0.000,260,0.000,0.034,2687,3304,3483,3477,3490,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1141,-1.16,-175.2,2687,3304,3478,3490,262.2,-21.1,74,1149,0.15,2.03,0.00,0.000,3078,0.174,0.020,2725,1880,3484,3478,3490,0,0,0,0,0,0,26.51,26.67,28.83
$GC,1445,-1.16,-175.2,2724,1880,3478,3488,321.5,-16.7,90,1450,0.00,1.98,0.00,0.000,516,0.000,0.032,2725,508,3482,3478,3487,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1509,-1.16,-175.2,2724,507,3478,3487,332.1,-16.2,93,1515,0.00,2.00,0.00,0.000,1030,0.000,0.019,2718,1901,3482,3478,3487,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1834,-1.16,-175.2,2717,1901,3478,3482,385.5,-17.7,109,1839,0.00,2.03,0.00,0.000,516,0.000,0.031,2718,507,3480,3478,3482,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1872,-1.16,-175.2,2717,507,3478,3481,390.1,-18.4,110,1879,0.00,1.98,0.00,0.000,1030,0.000,0.020,2709,1899,3479,3478,3481,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2179,-1.16,-175.2,2708,1899,3478,3477,448.2,-17.7,126,2184,0.00,2.05,0.00,0.000,260,0.000,0.037,2699,3300,3477,3478,3477,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2306,-1.16,-175.2,2698,3300,3478,3475,469.7,-16.9,132,2311,0.00,1.98,0.00,0.000,1030,0.000,0.018,2699,1896,3476,3478,3474,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,2507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2507,begin apogee
$GC,2518,-0.19,0.0,2696,2302,3478,3472,503.5,-16.8,142,2666,1.05,0.00,139.95,0.851,10246,0.144,0.000,3034,2302,2761,2823,2700,0,0,0,0,0,0,26.59,28.83,24.54
$STATE,2668,end apogee,CONTROL_FINISHED_OK
$STATE,2669,begin climb
$GC,2672,1.16,175.2,3034,2302,2813,2681,509.1,0.0,149,2828,1.15,2.25,142.90,0.819,10500,0.036,0.041,3485,3693,2033,2119,1947,0,0,0,0,0,0,25.29,24.99,24.43
$GC,3059,1.16,175.2,2576,3692,2032,1906,430.0,25.4,168,3064,0.00,2.05,0.00,0.000,1030,0.000,0.024,3495,2313,2015,2111,1919,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3379,1.16,175.2,3494,2312,2111,1913,352.8,22.0,184,3384,0.00,2.08,0.00,0.000,516,0.000,0.033,3505,900,2012,2111,1913,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3608,1.16,175.2,2624,900,2032,1897,301.4,23.7,195,3615,0.12,2.05,0.00,0.000,5126,0.194,0.025,3477,2306,2010,2111,1910,0,0,0,0,0,0,26.29,26.46,28.83
$GC,3929,1.16,175.2,3476,2306,2111,1907,227.2,23.2,211,3934,0.00,2.10,0.00,0.000,260,0.000,0.041,3475,3699,2009,2111,1907,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4166,1.16,175.2,3477,3698,2104,1907,177.9,19.4,222,4171,0.00,2.03,0.00,0.000,1030,0.000,0.022,3486,2287,2005,2103,1907,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4480,1.16,175.2,3486,2287,2103,1905,118.4,16.7,238,4486,0.00,2.15,0.00,0.000,260,0.000,0.038,3486,3707,2003,2102,1904,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4621,1.16,175.2,3486,3707,2104,1904,97.2,17.4,244,4628,0.00,2.03,0.00,0.000,1030,0.000,0.022,3496,2290,2004,2104,1904,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4927,1.16,175.2,3496,2291,2103,1903,56.4,11.4,260,4932,0.00,2.00,0.00,0.000,516,0.000,0.030,3506,900,2003,2103,1903,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5012,1.18,182.1,3506,900,2104,1903,47.0,10.1,265,5017,0.00,2.03,0.00,0.000,1030,0.000,0.024,3505,2315,2003,2104,1903,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5327,1.78,380.2,3506,2315,2104,1902,26.6,2.5,296,5424,0.40,2.12,87.12,0.174,10500,0.050,0.035,3684,3694,1208,1263,1154,0,0,0,0,0,0,26.70,26.39,26.22
$STATE,5470,end climb,SURFACE_DEPTH_REACHED
$STATE,5470,begin surface coast
$FINISH,0.8,1.020734
$STATE,5481,end surface coast,CONTROL_FINISHED_OK
$STATE,5482,begin surface
$SM_CCo,5509,85.07,0.128,0,0,499,555.11
$SM_GC,1.77,8.85,2.65,85.07,0.024,0.021,0.128,137,1913,499,-9.19,2.26,555.11,0,0,0,0,0,0,26.42,26.46,26.15
$IRIDIUM_FIX,2157.39,12027.11,230613,202021
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.59
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.70
$XPDR_PINGS,0
$SC_FREEKB,7711968
$24V_AH,24.4,1.832
$10V_AH,10.2,1.906
$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,22.000,50.375,369.975,85.075,0.000,0.000,0.000,197.300,0.000,0.000,9.086,1028.913,3040.393,491.903,1129.291,272.450,0.000,1232.293,0.000,901.088,0.000,0.541,0.000
$DEVICE_MAMPS,239.445,42.075,850.680,127.755,0.000,0.000,0.000,116.280,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5485.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.284,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,10142,320
$CAP_FILE_SIZE,79087,0
$CFSIZE,260034560,248139776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230613,233105,2205.663,12025.530,36,1.9,36,-3.1