version: 66.11
glider: 167
mission: 16
dive: 16
start: 6 24 113 6 0 43
data:
$ID,167
$MISSION,16
$DIVE,16
$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,-974694.88
$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,74
$R_STBD_OVSHOOT,79
$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
$GPS1,240613,055405,2205.281,12026.582,31,1.2,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.4
$GPS2,240613,060016,2205.243,12026.614,10,1.2,10,-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,152.2,11317,-15.3,-10.417,-18.25,3214
$D_GRID,677
$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,22,begin dive
$GC,25,-1.22,-219.0,111,1934,423,588,0.0,0.0,0,110,0.00,0.00,-81.60,0.000,16386,0.000,0.000,110,1934,2517,2494,2540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.22,-219.0,110,1934,2493,2542,3.3,-5.9,15,154,10.07,2.05,-20.20,0.000,18692,0.238,0.044,2678,3290,3658,3657,3660,0,0,0,0,0,0,26.09,26.33,26.59
$GC,244,-1.22,-219.0,2678,3290,3657,3661,56.6,-51.0,30,249,0.00,2.00,0.00,0.000,1030,0.000,0.027,2678,1917,3659,3657,3661,0,0,0,0,0,0,28.83,26.41,28.83
$GC,558,-1.22,-219.0,2678,1916,3660,3663,167.6,-30.1,46,563,0.00,2.00,0.00,0.000,260,0.000,0.031,2669,3281,3660,3659,3662,0,0,0,0,0,0,28.83,26.54,28.83
$GC,685,-1.22,-219.0,2668,3281,3659,3662,203.9,-28.5,52,691,0.00,2.00,0.00,0.000,1030,0.000,0.021,2669,1884,3660,3659,3662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1010,-1.22,-219.0,2668,1884,3659,3662,285.4,-23.8,68,1016,0.00,1.98,0.00,0.000,516,0.000,0.030,2669,507,3661,3660,3662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1161,-1.22,-219.0,2668,507,3659,3662,321.5,-24.8,75,1167,0.12,1.95,0.00,0.000,3078,0.187,0.018,2690,1896,3660,3659,3662,0,0,0,0,0,0,26.53,26.69,28.83
$GC,1481,-1.22,-219.0,2689,1894,3659,3658,389.3,-21.4,91,1486,0.00,2.03,0.00,0.000,260,0.000,0.034,2681,3287,3658,3659,3657,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1551,-1.22,-219.0,2681,3287,3659,3657,403.1,-21.5,94,1556,0.00,1.98,0.00,0.000,1030,0.000,0.019,2681,1884,3658,3659,3657,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1871,-1.22,-219.0,2681,1884,3658,3652,473.1,-21.4,110,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1884,3655,3658,3653,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2007,begin apogee
$GC,2016,-0.19,0.0,2680,2165,3658,3649,502.9,-21.4,117,2198,1.05,0.00,170.20,1.349,10246,0.144,0.000,3018,2165,2763,2832,2695,0,0,0,0,1,0,26.60,28.83,23.94
$STATE,2200,end apogee,CONTROL_FINISHED_OK
$STATE,2200,begin climb
$GC,2204,1.22,219.0,3018,2165,2832,2702,512.2,0.0,126,2399,1.23,2.15,184.62,0.807,10500,0.035,0.037,3491,3511,1858,1948,1769,0,0,0,0,0,0,24.99,25.00,24.47
$GC,2630,1.22,219.0,3491,3512,1941,1748,430.1,27.7,147,2637,0.00,2.00,0.00,0.000,1030,0.000,0.024,3501,2161,1844,1941,1748,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2934,1.22,219.0,3500,2160,1941,1745,342.0,26.9,163,2939,0.00,2.08,0.00,0.000,260,0.000,0.037,3501,3513,1843,1941,1745,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3170,1.22,219.0,3500,3513,1941,1742,278.3,27.6,174,3176,0.12,2.00,0.00,0.000,5126,0.212,0.024,3483,2137,1841,1940,1742,0,0,0,0,0,0,26.29,26.47,28.83
$GC,3485,1.22,219.0,3482,2137,1940,1738,201.1,22.2,190,3490,0.00,2.03,0.00,0.000,516,0.000,0.033,3492,750,1840,1941,1739,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3601,1.22,219.0,3492,750,1941,1739,177.2,23.1,195,3607,0.00,2.00,0.00,0.000,1030,0.000,0.021,3492,2125,1840,1941,1739,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3916,1.22,219.0,3492,2125,1941,1736,106.4,19.9,211,3921,0.00,2.12,0.00,0.000,260,0.000,0.036,3492,3557,1838,1941,1736,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4153,1.22,219.0,3492,3556,1941,1733,69.4,15.1,222,4158,0.00,2.03,0.00,0.000,1030,0.000,0.021,3501,2138,1837,1941,1733,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4468,1.46,297.7,3500,2138,1941,1731,30.8,7.9,247,4508,0.12,1.98,32.62,0.186,10756,0.090,0.027,3578,757,1548,1633,1463,0,0,0,0,0,0,26.67,26.55,26.36
$STATE,4664,end climb,SURFACE_DEPTH_REACHED
$STATE,4664,begin surface coast
$FINISH,0.9,1.020707
$STATE,4680,end surface coast,CONTROL_FINISHED_OK
$STATE,4680,begin surface
$SM_CCo,4703,119.28,0.128,0,0,499,555.11
$SM_GC,1.57,8.55,1.70,119.28,0.024,0.020,0.128,134,1891,499,-9.15,-1.44,555.11,0,0,0,0,0,0,26.58,26.62,26.21
$IRIDIUM_FIX,2157.39,12027.11,240613,040443
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.41
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.60
$XPDR_PINGS,3
$SC_FREEKB,7710048
$24V_AH,23.9,2.345
$10V_AH,10.2,2.217
$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,21.275,36.450,387.450,119.275,0.000,0.000,0.000,204.250,0.750,0.000,11.270,901.668,2492.920,520.097,1040.126,247.307,0.000,1221.494,0.000,810.004,0.000,0.542,0.000
$DEVICE_MAMPS,237.915,129.285,1348.695,127.755,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4691.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.550,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,10128,282
$CAP_FILE_SIZE,69689,0
$CFSIZE,260034560,247881728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,240613,072229,2204.887,12027.300,38,1.3,38,-3.1