version: 66.11
glider: 167
mission: 16
dive: 15
start: 6 24 113 4 30 10
data:
$ID,167
$MISSION,16
$DIVE,15
$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,225
$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,-974693.62
$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,3085
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,95
$R_STBD_OVSHOOT,58
$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
$GPS1,240613,042259,2205.579,12025.975,43,0.9,43,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-71.8
$GPS2,240613,042943,2205.544,12025.984,7,0.8,7,-3.1
$SPEED_LIMITS,0.180,0.316
$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,149.2,12368,-15.3,-10.417,-18.25,3214
$D_GRID,630
$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,-219.0,109,1868,418,586,0.0,0.0,0,115,0.00,0.00,-87.22,0.000,16386,0.000,0.000,109,1868,2667,2646,2689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.22,-219.0,109,1868,2646,2690,3.6,-5.8,16,159,10.32,2.17,-16.38,0.000,18692,0.245,0.044,2677,3307,3659,3656,3662,0,0,0,0,0,0,26.08,26.31,26.56
$GC,236,-1.22,-219.0,2676,3307,3655,3663,57.5,-47.3,30,241,0.00,2.00,0.00,0.000,1030,0.000,0.028,2677,1941,3659,3655,3663,0,0,0,0,0,0,28.83,26.38,28.83
$GC,560,-1.22,-219.0,2677,1940,3658,3663,167.9,-31.4,46,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1940,3660,3658,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,863,-1.22,-219.0,2677,1940,3659,3663,246.9,-25.3,61,868,0.00,2.00,0.00,0.000,260,0.000,0.031,2668,3307,3661,3659,3663,0,0,0,0,0,0,28.83,26.60,28.83
$GC,928,-1.22,-219.0,2668,3307,3658,3664,262.0,-22.4,64,933,0.00,2.03,0.00,0.000,1030,0.000,0.020,2668,1884,3660,3658,3663,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1253,-1.22,-219.0,2668,1884,3658,3663,342.9,-24.9,80,1258,0.00,1.98,0.00,0.000,516,0.000,0.031,2668,507,3660,3658,3663,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1363,-1.22,-219.0,1600,507,3649,3659,370.0,-26.0,85,1369,0.12,1.98,0.00,0.000,3078,0.191,0.018,2689,1910,3659,3657,3661,0,0,0,0,0,0,26.54,26.70,28.83
$GC,1684,-1.22,-219.0,2688,1910,3658,3657,441.5,-19.7,101,1689,0.00,2.00,0.00,0.000,260,0.000,0.034,2680,3287,3657,3658,3657,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1762,-1.22,-219.0,2680,3287,3658,3655,454.0,-19.3,104,1769,0.00,1.98,0.00,0.000,1030,0.000,0.019,2680,1888,3656,3658,3654,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,1965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1965,begin apogee
$GC,1973,-0.19,0.0,2679,2168,3658,3653,501.4,-22.0,115,2156,1.05,0.00,173.32,0.829,10246,0.145,0.000,3015,2167,2752,2823,2681,0,0,0,0,0,0,26.58,28.83,24.53
$STATE,2158,end apogee,CONTROL_FINISHED_OK
$STATE,2158,begin climb
$GC,2161,1.22,219.0,3015,2167,2820,2672,514.2,0.0,124,2348,1.23,2.22,177.70,0.809,10500,0.038,0.039,3488,3517,1859,1948,1770,0,0,0,0,0,0,25.25,25.00,24.44
$GC,2580,1.22,219.0,3488,3517,1934,1736,431.3,27.4,145,2585,0.00,2.00,0.00,0.000,1030,0.000,0.023,3498,2161,1835,1934,1736,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2900,1.22,219.0,3497,2160,1933,1732,343.3,27.7,161,2905,0.00,2.08,0.00,0.000,260,0.000,0.038,3497,3527,1833,1934,1732,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3136,1.22,219.0,3497,3527,1933,1730,275.1,30.0,172,3141,0.00,2.00,0.00,0.000,1030,0.000,0.022,3507,2146,1832,1934,1730,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3451,1.22,219.0,3507,2145,1934,1727,193.7,22.7,188,3456,0.00,2.03,0.00,0.000,516,0.000,0.032,3518,753,1830,1933,1727,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3480,1.22,219.0,3518,753,1934,1727,187.9,22.9,189,3486,0.15,1.98,0.00,0.000,5126,0.186,0.022,3482,2130,1830,1934,1727,0,0,0,0,0,0,26.39,26.55,28.83
$GC,3801,1.22,219.0,3482,2130,1935,1723,120.4,19.4,205,3807,0.00,2.10,0.00,0.000,260,0.000,0.037,3482,3544,1828,1934,1723,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4037,1.22,219.0,3482,3544,1934,1721,79.9,14.3,216,4042,0.00,2.00,0.00,0.000,1030,0.000,0.020,3490,2135,1827,1934,1721,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4351,1.22,219.0,3490,2135,1934,1720,39.6,10.7,236,4357,0.00,1.98,0.00,0.000,516,0.000,0.029,3500,759,1827,1934,1720,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4592,1.36,263.7,3500,759,1934,1720,21.0,9.0,263,4617,0.00,1.98,19.35,0.152,9222,0.000,0.020,3501,2143,1685,1778,1592,0,0,0,0,0,0,28.83,26.70,26.46
$STATE,4776,end climb,SURFACE_DEPTH_REACHED
$STATE,4776,begin surface coast
$FINISH,0.8,0.998295
$STATE,4802,end surface coast,CONTROL_FINISHED_OK
$STATE,4803,begin surface
$SM_CCo,4824,133.62,0.126,0,0,498,555.11
$SM_GC,1.71,8.48,0.32,133.62,0.034,0.036,0.126,141,1848,498,-9.14,1.92,555.11,0,0,0,0,0,0,26.62,26.68,26.23
$IRIDIUM_FIX,2157.39,12027.11,240613,020224
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.44
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,7710432
$24V_AH,24.4,2.227
$10V_AH,10.3,2.159
$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,21.350,37.150,370.375,133.625,0.000,0.000,0.000,236.725,0.000,0.000,9.279,936.350,2573.571,525.032,1084.676,251.550,0.000,1260.098,0.000,818.244,0.000,0.544,0.000
$DEVICE_MAMPS,244.800,44.370,829.260,126.225,0.000,0.000,0.000,112.455,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4813.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.532,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,10162,303
$CAP_FILE_SIZE,71779,0
$CFSIZE,260034560,247934976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240613,055405,2205.281,12026.582,31,1.2,31,-3.1