version: 66.11
glider: 167
mission: 16
dive: 23
start: 6 24 113 16 10 42
data:
$ID,167
$MISSION,16
$DIVE,23
$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,-974714.38
$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,39
$R_STBD_OVSHOOT,49
$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
$GPS1,240613,160436,2202.694,12028.813,40,1.2,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-73.7
$GPS2,240613,161015,2202.756,12028.846,8,1.0,8,-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,161.9,5475,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.16,-194.6,110,1911,421,587,0.0,0.0,0,115,0.00,0.00,-87.30,0.000,16386,0.000,0.000,109,1912,2664,2643,2685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.16,-194.6,109,1911,2644,2686,3.5,-6.4,16,154,10.48,2.12,-14.35,0.000,18692,0.248,0.041,2694,3321,3559,3554,3565,0,0,0,0,0,0,26.03,26.29,26.54
$GC,250,-1.16,-194.6,2694,3320,3554,3565,58.1,-40.9,29,255,0.00,2.10,0.00,0.000,1030,0.000,0.021,2694,1872,3559,3554,3565,0,0,0,0,0,0,28.83,26.38,28.83
$GC,565,-1.16,-194.6,2694,1872,3557,3565,157.9,-25.8,45,570,0.00,2.00,0.00,0.000,516,0.000,0.032,2694,492,3560,3556,3565,0,0,0,0,0,0,28.83,26.51,28.83
$GC,658,-1.16,-194.6,2694,491,3557,3566,181.6,-27.8,49,664,0.00,2.03,0.00,0.000,1030,0.000,0.016,2684,1926,3561,3557,3565,0,0,0,0,0,0,28.83,26.56,28.83
$GC,973,-1.16,-194.6,2684,1926,3557,3566,263.1,-24.6,65,978,0.00,1.98,0.00,0.000,260,0.000,0.033,2674,3289,3561,3557,3566,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1109,-1.16,-194.6,2673,3290,3557,3565,293.3,-23.9,71,1115,0.12,2.00,0.00,0.000,3078,0.182,0.020,2703,1879,3561,3557,3565,0,0,0,0,0,0,26.49,26.65,28.83
$GC,1424,-1.16,-194.6,2703,1878,3557,3564,365.9,-22.3,87,1429,0.00,2.00,0.00,0.000,516,0.000,0.033,2703,505,3560,3557,3564,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1458,-1.16,-194.6,2703,505,3557,3563,371.2,-22.0,88,1463,0.00,1.98,0.00,0.000,1030,0.000,0.018,2696,1899,3560,3557,3563,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1773,-1.16,-194.6,2696,1899,3557,3560,433.8,-17.9,104,1778,0.00,2.03,0.00,0.000,260,0.000,0.034,2686,3294,3558,3557,3560,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1861,-1.16,-194.6,1664,3292,3542,3556,449.9,-19.1,108,1866,0.00,1.98,0.00,0.000,1030,0.000,0.020,2686,1902,3558,3557,3559,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,2037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2037,begin apogee
$GC,2046,-0.19,0.0,2683,2502,3557,3556,482.9,-18.6,117,2211,1.02,0.00,155.68,0.825,10246,0.142,0.000,3015,2501,2750,2817,2683,0,0,0,0,0,0,26.58,28.83,24.54
$STATE,2213,end apogee,CONTROL_FINISHED_OK
$STATE,2213,begin climb
$GC,2217,1.16,194.6,3015,2502,2813,2674,490.2,0.0,125,2386,1.17,2.03,158.50,0.791,10500,0.038,0.040,3469,3742,1954,2045,1863,0,0,0,0,0,0,25.27,25.00,24.46
$GC,2551,1.16,194.6,3469,3742,2034,1836,427.2,26.7,142,2556,0.00,1.85,0.00,0.000,1030,0.000,0.024,3478,2492,1935,2034,1836,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2871,1.16,194.6,3478,2491,2034,1831,356.1,21.3,158,2876,0.00,1.95,0.00,0.000,260,0.000,0.039,3478,3762,1932,2034,1831,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3107,1.16,194.6,3478,3762,2034,1828,303.7,23.4,169,3112,0.00,1.85,0.00,0.000,1030,0.000,0.023,3487,2484,1931,2035,1828,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3422,1.16,194.6,3487,2484,2034,1826,232.3,22.7,185,3427,0.00,1.92,0.00,0.000,260,0.000,0.039,3487,3750,1930,2034,1826,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3658,1.16,194.6,3487,3750,2034,1824,176.3,24.2,196,3664,0.15,1.80,0.00,0.000,5126,0.200,0.021,3460,2491,1929,2035,1823,0,0,0,0,0,0,26.40,26.60,28.83
$GC,3974,1.16,194.6,3460,2491,2034,1821,112.3,17.3,212,3979,0.00,2.03,0.00,0.000,516,0.000,0.029,3470,1096,1927,2034,1821,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4210,1.16,194.6,3469,1096,2034,1821,76.4,14.3,223,4215,0.00,2.05,0.00,0.000,1030,0.000,0.026,3469,2506,1927,2035,1820,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4525,1.86,426.0,3469,2506,2035,1819,67.9,2.0,239,4646,0.52,2.03,101.70,0.865,10500,0.044,0.038,3706,3754,1033,1019,1048,0,0,0,0,1,0,26.68,25.23,24.58
$STATE,4810,end climb,SURFACE_DEPTH_REACHED
$STATE,4810,begin surface coast
$FINISH,0.8,1.020749
$STATE,4815,end surface coast,CONTROL_FINISHED_OK
$STATE,4815,begin surface
$SM_CCo,4841,67.60,0.126,0,0,497,555.11
$SM_GC,1.54,9.05,2.80,67.60,0.025,0.021,0.126,142,1928,497,-9.14,2.04,555.11,0,0,0,0,0,0,26.01,26.02,25.86
$IRIDIUM_FIX,2155.06,12031.12,240613,141443
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.23
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,24.90
$XPDR_PINGS,3
$SC_FREEKB,7707360
$24V_AH,24.5,3.110
$10V_AH,10.4,2.626
$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,22.525,41.375,415.875,67.600,0.000,0.000,0.000,178.600,0.750,0.000,8.637,896.448,2585.347,498.206,1033.102,243.604,0.000,1192.137,0.000,829.491,0.000,0.542,0.000
$DEVICE_MAMPS,247.860,41.310,865.215,126.225,0.000,0.000,0.000,115.515,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4824.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.008,0.000,0.000,0.000
$MEM,324544
$DATA_FILE_SIZE,10100,268
$CAP_FILE_SIZE,69861,0
$CFSIZE,260034560,247529472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,240613,173400,2202.175,12029.111,44,1.2,44,-3.1