version: 66.11
glider: 167
mission: 16
dive: 18
start: 6 24 113 8 58 55
data:
$ID,167
$MISSION,16
$DIVE,18
$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,-974697.5
$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,71
$R_STBD_OVSHOOT,59
$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
$GPS1,240613,085107,2204.603,12028.146,28,1.7,28,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.0
$GPS2,240613,085829,2204.540,12028.170,44,0.9,44,-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,162.6,8977,-15.3,-10.417,-18.25,3214
$D_GRID,511
$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,-219.0,111,1927,411,576,0.0,0.0,0,109,0.00,0.00,-81.68,0.000,16386,0.000,0.000,109,1927,2491,2474,2508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.22,-219.0,109,1927,2473,2511,3.1,-4.7,15,154,10.00,2.10,-21.10,0.000,18692,0.236,0.045,2674,3309,3659,3658,3660,0,0,0,0,0,0,26.08,26.33,26.58
$GC,201,-1.22,-219.0,2673,3314,3658,3663,36.3,-44.1,27,206,0.00,2.08,0.00,0.000,1030,0.000,0.031,2674,1918,3660,3658,3663,0,0,0,0,0,0,28.83,26.36,28.83
$GC,515,-1.22,-219.0,2673,1917,3660,3663,147.6,-30.3,44,521,0.00,2.03,0.00,0.000,260,0.000,0.030,2664,3304,3661,3660,3663,0,0,0,0,0,0,28.83,26.52,28.83
$GC,614,-1.22,-219.0,2664,3304,3660,3663,173.5,-30.3,48,621,0.00,2.03,0.00,0.000,1030,0.000,0.020,2664,1876,3661,3660,3663,0,0,0,0,0,0,28.83,26.58,28.83
$GC,920,-1.22,-219.0,2663,1876,3663,3663,257.9,-24.5,64,925,0.00,1.98,0.00,0.000,516,0.000,0.030,2664,502,3662,3661,3663,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1025,-1.22,-219.0,2663,502,3661,3663,286.2,-27.4,69,1031,0.12,1.98,0.00,0.000,3078,0.193,0.018,2686,1902,3662,3661,3663,0,0,0,0,0,0,26.51,26.65,28.83
$GC,1350,-1.22,-219.0,2686,1902,3662,3662,364.4,-22.5,85,1355,0.00,2.03,0.00,0.000,260,0.000,0.033,2677,3295,3661,3661,3661,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1389,-1.22,-219.0,2677,3296,3662,3661,370.5,-23.0,86,1396,0.00,1.98,0.00,0.000,1030,0.000,0.018,2677,1894,3661,3661,3661,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1695,-1.22,-219.0,2677,1894,3661,3657,444.1,-22.5,102,1700,0.00,2.00,0.00,0.000,516,0.000,0.031,2677,505,3658,3661,3656,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1734,-1.22,-219.0,2677,504,3661,3655,449.5,-22.4,103,1741,0.00,2.00,0.00,0.000,1030,0.000,0.018,2670,1906,3657,3661,3654,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,1936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1936,begin apogee
$GC,1945,-0.19,0.0,2668,2174,3661,3653,501.1,-23.6,114,2123,1.10,0.00,170.60,0.845,10246,0.148,0.000,3020,2175,2756,2827,2686,0,0,0,0,0,0,26.58,28.83,24.53
$STATE,2125,end apogee,CONTROL_FINISHED_OK
$STATE,2125,begin climb
$GC,2129,1.22,219.0,3020,2174,2824,2676,506.7,0.0,123,2319,1.20,2.15,179.00,0.805,10500,0.037,0.040,3487,3521,1855,1943,1768,0,0,0,0,0,0,25.25,25.01,24.46
$GC,2553,1.22,219.0,3486,3521,1937,1745,405.4,28.5,144,2558,0.00,2.03,0.00,0.000,1030,0.000,0.022,3497,2150,1841,1937,1745,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2872,1.22,219.0,3496,2150,1937,1741,318.5,26.6,160,2878,0.00,2.05,0.00,0.000,516,0.000,0.033,3507,748,1839,1937,1741,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3059,1.22,219.0,3506,748,1937,1740,270.3,24.9,169,3065,0.00,2.03,0.00,0.000,1030,0.000,0.021,3506,2129,1838,1937,1740,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3385,1.22,219.0,3505,2129,1937,1736,186.1,25.1,185,3390,0.00,2.05,0.00,0.000,516,0.000,0.031,3517,738,1836,1937,1736,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3520,1.22,219.0,3516,738,1937,1735,154.4,25.9,191,3526,0.15,2.05,0.00,0.000,5126,0.190,0.021,3481,2172,1836,1937,1735,0,0,0,0,0,0,26.40,26.56,28.83
$GC,3835,1.22,219.0,3480,2171,1937,1731,90.7,15.9,207,3841,0.00,2.03,0.00,0.000,260,0.000,0.038,3481,3532,1834,1937,1731,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4071,1.22,219.0,3481,3533,1937,1730,55.5,15.1,218,4077,0.00,2.00,0.00,0.000,1030,0.000,0.021,3489,2129,1833,1937,1730,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4387,1.69,374.6,3489,2129,1937,1728,28.4,5.4,248,4460,0.32,2.08,65.93,0.177,10756,0.053,0.031,3643,753,1231,1291,1171,0,0,0,0,0,0,26.68,26.44,26.27
$STATE,4529,end climb,SURFACE_DEPTH_REACHED
$STATE,4529,begin surface coast
$FINISH,0.9,1.020785
$STATE,4540,end surface coast,CONTROL_FINISHED_OK
$STATE,4543,begin surface
$SM_CCo,4567,104.62,0.159,1,0,497,555.11
$SM_GC,1.65,8.93,1.70,104.62,0.037,0.021,0.159,142,1885,497,-9.13,-1.78,555.11,0,0,0,0,1,0,26.46,26.51,25.70
$IRIDIUM_FIX,2155.06,12051.04,240613,070708
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.15
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,7709280
$24V_AH,24.5,2.579
$10V_AH,10.1,2.334
$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,21.825,40.650,415.525,104.625,0.000,0.000,0.000,242.700,0.000,0.000,45.667,839.322,2439.928,535.948,1063.867,247.442,0.000,1264.319,0.000,760.622,0.000,0.542,0.000
$DEVICE_MAMPS,235.620,45.135,845.325,159.120,0.000,0.000,0.000,110.160,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4549.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.285,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,10157,273
$CAP_FILE_SIZE,68632,0
$CFSIZE,260034560,247779328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,240613,101805,2204.083,12028.631,28,1.2,28,-3.1