version: 66.11
glider: 167
mission: 16
dive: 22
start: 6 24 113 14 42 42
data:
$ID,167
$MISSION,16
$DIVE,22
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,350
$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,200
$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,-974713.12
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,66
$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
$GPS1,240613,143605,2203.027,12028.797,32,1.2,32,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.0
$GPS2,240613,144215,2203.020,12028.737,8,1.2,8,-3.1
$SPEED_LIMITS,0.173,0.296
$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,161.9,5998,-15.7,-10.000,-18.68,2978
$D_GRID,479
$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,-194.6,108,1933,426,579,0.0,0.0,0,109,0.00,0.00,-81.72,0.000,16386,0.000,0.000,108,1933,2503,2485,2522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.16,-194.6,108,1933,2485,2523,3.1,-4.6,15,154,10.40,2.03,-18.58,0.000,18692,0.246,0.047,2693,3287,3558,3555,3561,0,0,0,0,0,0,26.02,26.26,26.52
$GC,357,-1.16,-194.6,2693,3289,3555,3564,84.7,-31.1,36,364,0.00,1.98,0.00,0.000,1030,0.000,0.019,2693,1903,3559,3556,3563,0,0,0,0,0,0,28.83,26.44,28.83
$GC,660,-1.16,-194.6,2693,1902,3557,3564,169.9,-24.8,52,665,0.00,2.03,0.00,0.000,516,0.000,0.030,2693,496,3560,3557,3564,0,0,0,0,0,0,28.83,26.54,28.83
$GC,820,-1.16,-194.6,2693,496,3557,3564,210.1,-27.0,59,826,0.00,2.00,0.00,0.000,1030,0.000,0.018,2683,1902,3561,3557,3565,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1126,-1.16,-194.6,2682,1901,3557,3564,286.0,-23.2,75,1131,0.00,2.03,0.00,0.000,260,0.000,0.032,2672,3298,3560,3557,3564,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1224,-1.16,-194.6,2672,3298,3557,3564,303.6,-20.6,79,1232,0.15,2.00,0.00,0.000,3078,0.175,0.020,2710,1884,3560,3557,3563,0,0,0,0,0,0,26.51,26.67,28.83
$GC,1530,-1.16,-194.6,2710,1883,3556,3562,367.2,-20.2,95,1536,0.00,1.98,0.00,0.000,516,0.000,0.032,2710,512,3559,3558,3561,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1569,-1.16,-194.6,2710,512,3558,3561,372.5,-20.6,96,1576,0.00,1.98,0.00,0.000,1030,0.000,0.018,2703,1906,3559,3558,3560,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1875,-1.16,-194.6,2702,1906,3558,3557,438.0,-19.5,112,1880,0.00,2.03,0.00,0.000,260,0.000,0.034,2697,3294,3557,3557,3557,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1894,-1.16,-194.6,2697,3294,3557,3556,438.0,-19.5,112,1900,0.00,1.98,0.00,0.000,1030,0.000,0.019,2697,1897,3557,3557,3557,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,2096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2096,begin apogee
$GC,2105,-0.19,0.0,2697,2496,3557,3554,482.8,-20.7,123,2274,1.00,0.00,161.65,0.818,10246,0.144,0.000,3018,2496,2756,2821,2692,0,0,0,0,0,0,26.58,28.83,24.56
$STATE,2276,end apogee,CONTROL_FINISHED_OK
$STATE,2276,begin climb
$GC,2280,1.16,194.6,3018,2496,2814,2678,491.9,0.0,131,2450,1.17,2.05,159.12,0.789,10500,0.039,0.041,3470,3744,1954,2045,1863,0,0,0,0,0,0,25.25,25.00,24.45
$GC,2679,1.16,194.6,3470,3744,2038,1837,413.0,28.9,151,2686,0.00,1.83,0.00,0.000,1030,0.000,0.022,3479,2501,1937,2038,1837,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2985,1.16,194.6,3478,2501,2038,1833,338.4,22.4,167,2990,0.00,1.92,0.00,0.000,260,0.000,0.040,3479,3756,1935,2038,1833,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3221,1.16,194.6,3478,3756,2038,1830,285.2,23.4,178,3226,0.00,1.83,0.00,0.000,1030,0.000,0.023,3488,2489,1934,2039,1830,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3535,1.16,194.6,3488,2488,2039,1827,213.2,20.7,194,3541,0.00,1.92,0.00,0.000,260,0.000,0.040,3488,3756,1932,2038,1827,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3771,1.16,194.6,3488,3757,2038,1826,162.0,22.4,205,3777,0.15,1.80,0.00,0.000,5126,0.204,0.022,3462,2497,1932,2039,1826,0,0,0,0,0,0,26.41,26.60,28.83
$GC,4087,1.16,194.6,3462,2496,2038,1824,100.0,15.4,221,4092,0.00,2.00,0.00,0.000,516,0.000,0.029,3471,1106,1930,2038,1823,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4256,1.16,194.6,2560,1105,1964,1811,74.0,17.7,229,4262,0.00,2.03,0.00,0.000,1030,0.000,0.024,3471,2510,1930,2038,1823,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4576,2.14,518.6,3471,2510,2038,1821,52.5,-1.2,245,4724,0.73,1.88,135.38,0.222,10500,0.039,0.032,3784,3757,647,507,787,0,0,0,0,0,0,26.68,26.12,25.96
$STATE,4770,end climb,SURFACE_DEPTH_REACHED
$STATE,4770,begin surface coast
$FINISH,0.9,1.008293
$STATE,4779,end surface coast,CONTROL_FINISHED_OK
$STATE,4779,begin surface
$SM_CCo,4804,24.30,0.130,0,0,499,555.11
$SM_GC,1.63,9.25,2.78,24.30,0.028,0.020,0.130,146,1929,499,-9.13,2.09,555.11,0,0,0,0,0,0,26.21,26.23,26.07
$IRIDIUM_FIX,2152.74,12027.93,240613,131317
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.30
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,7707744
$24V_AH,24.4,3.006
$10V_AH,10.4,2.567
$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,22.850,40.900,456.150,24.300,0.000,0.000,0.000,209.450,0.000,0.000,9.404,864.909,2561.149,482.941,1051.933,247.320,0.000,1211.086,0.000,815.246,0.000,0.541,0.000
$DEVICE_MAMPS,245.565,46.665,817.785,130.050,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4792.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.990,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,10179,267
$CAP_FILE_SIZE,69121,0
$CFSIZE,260034560,247582720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240613,160436,2202.694,12028.813,40,1.2,40,-3.1