version: 66.11
glider: 167
mission: 16
dive: 52
start: 6 27 113 16 30 9
data:
$ID,167
$MISSION,16
$DIVE,52
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,240
$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,120
$T_MISSION,140
$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,2
$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,-974760.62
$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,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,39
$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
$GPS1,270613,162253,2153.894,12026.088,38,1.3,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.4
$GPS2,270613,162941,2153.913,12026.065,7,1.3,8,-3.1
$SPEED_LIMITS,0.115,0.255
$TGT_NAME,T3
$TGT_LATLONG,2151.500,12030.000
$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,126.0,8106,-10.4,-6.667,-14.66,4432
$D_GRID,888
$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,26,-0.97,-194.6,110,1920,419,578,0.0,0.0,0,112,0.00,0.00,-83.28,0.000,16386,0.000,0.000,109,1921,2551,2533,2569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.97,-194.6,110,1920,2533,2571,3.3,-4.5,15,157,10.48,2.12,-17.40,0.000,18692,0.238,0.042,2756,3324,3559,3557,3562,0,0,0,0,0,0,25.91,26.16,26.40
$GC,301,-0.97,-194.6,1704,3322,3542,3560,73.3,-34.6,33,307,0.00,2.08,0.00,0.000,1030,0.000,0.018,2755,1884,3559,3557,3562,0,0,0,0,0,0,28.83,26.28,28.83
$GC,621,-0.97,-194.6,2755,1883,3561,3563,142.2,-18.1,49,626,0.00,2.10,0.00,0.000,260,0.000,0.028,2745,3317,3562,3561,3563,0,0,0,0,0,0,28.83,26.41,28.83
$GC,670,-0.97,-194.6,2745,3317,3561,3564,151.2,-19.8,51,675,0.00,2.03,0.00,0.000,1030,0.000,0.017,2745,1890,3562,3561,3563,0,0,0,0,0,0,28.83,26.46,28.83
$GC,990,-0.97,-194.6,2745,1889,3562,3563,223.5,-19.7,67,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1889,3562,3562,3563,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1087,begin apogee
$GC,1096,-0.19,0.0,2738,3306,3562,3563,241.3,-18.3,72,1255,0.88,0.00,149.02,0.654,10246,0.145,0.000,3014,3305,2757,2824,2691,0,0,0,0,0,0,26.40,28.83,24.77
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1261,0.97,194.6,3014,3305,2823,2681,248.4,0.0,80,1425,1.02,0.70,152.35,0.631,10500,0.055,0.039,3395,3765,1953,2053,1854,0,0,0,0,0,0,25.29,25.02,24.57
$GC,1536,0.97,194.6,3395,3764,2050,1841,215.2,19.0,94,1541,0.00,0.65,0.00,0.000,1030,0.000,0.027,3398,3292,1945,2050,1841,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1861,0.97,194.6,3399,3292,2050,1836,158.1,16.8,110,1867,0.00,2.03,0.00,0.000,516,0.000,0.021,3408,1898,1942,2050,1835,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2098,0.97,194.6,3408,1898,2050,1833,122.5,17.7,121,2103,0.00,2.12,0.00,0.000,1030,0.000,0.031,3408,3309,1941,2050,1832,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2412,0.97,194.6,3408,3309,2050,1829,75.7,13.7,137,2417,0.00,0.68,0.00,0.000,260,0.000,0.046,3408,3769,1940,2050,1830,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2486,0.97,194.6,3408,3768,2050,1829,65.4,15.7,140,2492,0.00,0.62,0.00,0.000,1030,0.000,0.028,3412,3296,1939,2050,1829,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2802,1.58,399.6,3412,3296,2049,1827,44.5,1.9,163,2891,0.45,0.73,82.10,0.216,11012,0.044,0.043,3616,3765,1134,1169,1099,0,0,0,0,0,0,26.53,26.17,25.98
$GC,2966,1.58,399.6,2784,3765,1166,1097,20.1,24.0,181,2973,0.00,0.62,1.33,0.162,9222,0.000,0.025,3619,3288,1131,1170,1092,0,0,0,0,0,0,28.83,26.31,26.13
$STATE,3041,end climb,SURFACE_DEPTH_REACHED
$STATE,3041,begin surface coast
$FINISH,0.7,1.009741
$STATE,3052,end surface coast,CONTROL_FINISHED_OK
$STATE,3053,begin surface
$SM_CCo,3077,75.05,0.123,0,0,498,555.11
$SM_GC,1.45,8.93,2.00,75.05,0.035,0.018,0.123,141,1933,498,-9.13,2.71,555.11,0,0,0,0,0,0,26.29,26.34,26.06
$IRIDIUM_FIX,2145.77,12028.76,270613,131326
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.10
$XPDR_PINGS,1
$SC_FREEKB,7696224
$24V_AH,24.6,6.229
$10V_AH,10.3,4.842
$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,21.750,20.625,384.800,75.050,0.000,0.000,0.000,234.425,0.250,0.000,9.115,612.121,1479.506,475.137,773.650,223.368,0.000,1075.563,0.000,531.574,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,45.900,654.075,123.165,0.000,0.000,0.000,112.455,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3059.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.178,0.000,0.000,0.000
$MEM,324408
$DATA_FILE_SIZE,6843,197
$CAP_FILE_SIZE,52406,0
$CFSIZE,260034560,245714944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.120,316.4,1
$GPS,270613,172405,2153.817,12026.146,39,1.9,39,-3.1