version: 66.11
glider: 167
mission: 16
dive: 4
start: 6 23 113 9 43 46
data:
$ID,167
$MISSION,16
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,135
$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,-974679.62
$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,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2000
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,45
$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,0.0020000001
$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
$GPS1,230613,093907,2205.940,12023.021,5,1.0,5,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.3
$GPS2,230613,094321,2205.953,12022.979,7,1.0,8,-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,135.5,16337,-15.7,-10.000,-18.68,2978
$D_GRID,573
$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,-1.02,-194.6,129,1990,443,530,0.0,0.0,0,115,0.00,0.00,-87.18,0.000,16386,0.000,0.000,120,1990,2716,2688,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.02,-194.6,120,1990,2688,2745,3.6,-9.1,16,154,10.50,2.20,-13.60,0.000,18692,0.243,0.057,2757,3409,3559,3557,3561,0,0,0,0,0,0,26.25,26.54,26.86
$GC,349,-1.02,-194.6,2757,3409,3558,3562,73.8,-22.0,35,355,0.00,2.00,0.00,0.000,1030,0.000,0.023,2757,1999,3560,3558,3562,0,0,0,0,0,0,28.83,26.69,28.83
$GC,664,-1.02,-194.6,2757,2000,3559,3562,136.9,-20.6,51,669,0.00,2.00,0.00,0.000,516,0.000,0.034,2757,598,3560,3559,3562,0,0,0,0,0,0,28.83,26.73,28.83
$GC,879,-1.02,-194.6,2757,598,3559,3562,174.5,-18.0,61,884,0.00,2.00,0.00,0.000,1030,0.000,0.024,2752,2004,3560,3559,3562,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1193,-1.02,-194.6,2751,2004,3559,3559,227.6,-15.7,77,1198,0.00,2.03,0.00,0.000,516,0.000,0.032,2751,599,3559,3560,3559,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1258,-1.02,-194.6,2751,599,3559,3558,238.3,-16.5,80,1263,0.00,2.00,0.00,0.000,1030,0.000,0.025,2751,2002,3558,3559,3558,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1582,-1.02,-194.6,2751,2003,3559,3554,286.2,-13.9,96,1587,0.00,2.05,0.00,0.000,260,0.000,0.039,2748,3408,3556,3559,3554,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1611,-1.02,-194.6,2748,3408,3559,3553,289.9,-14.5,97,1616,0.00,2.00,0.00,0.000,1030,0.000,0.019,2748,1982,3556,3559,3553,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1930,-1.02,-194.6,2748,1982,3559,3548,339.0,-15.4,113,1936,0.00,2.00,0.00,0.000,516,0.000,0.034,2748,596,3553,3559,3548,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,2055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2055,begin apogee
$GC,2065,-0.20,0.0,2738,2149,3559,3545,360.0,-17.2,119,2225,0.88,0.00,151.23,0.749,10246,0.130,0.000,3028,2148,2751,2817,2686,0,0,0,0,0,0,26.61,28.83,24.96
$STATE,2228,end apogee,CONTROL_FINISHED_OK
$STATE,2228,begin climb
$GC,2231,1.02,194.6,3028,2148,2816,2678,369.6,0.0,127,2397,1.02,2.22,154.45,0.724,10500,0.037,0.041,3438,3547,1953,2041,1866,0,0,0,0,0,0,25.70,25.48,24.92
$GC,2484,1.02,194.6,3438,3549,2032,1850,337.3,20.1,140,2489,0.00,2.08,0.00,0.000,1030,0.000,0.024,3448,2151,1941,2032,1851,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2809,1.02,194.6,3448,2151,2032,1844,265.2,23.0,156,2814,0.00,2.12,0.00,0.000,260,0.000,0.041,3448,3553,1938,2032,1844,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3045,1.02,194.6,3448,3553,2027,1843,211.6,23.5,167,3051,0.12,2.05,0.00,0.000,5126,0.203,0.024,3431,2135,1935,2027,1844,0,0,0,0,0,0,26.42,26.63,28.83
$GC,3361,1.02,194.6,3430,2135,2027,1840,152.0,18.5,183,3366,0.00,2.03,0.00,0.000,516,0.000,0.034,3440,746,1933,2027,1840,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3531,1.02,194.6,2496,745,1946,1827,120.8,18.5,191,3536,0.00,2.03,0.00,0.000,1030,0.000,0.028,3439,2151,1932,2024,1840,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3850,1.02,194.6,3439,2151,2024,1838,71.1,13.8,207,3856,0.00,2.08,0.00,0.000,260,0.000,0.041,3439,3554,1930,2024,1837,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4006,1.05,209.1,3439,3554,2021,1837,54.7,9.5,214,4018,0.00,2.03,4.70,0.141,9222,0.000,0.024,3450,2138,1907,1995,1820,0,0,0,0,0,0,28.83,26.77,26.58
$GC,4317,1.33,352.1,3449,2138,1996,1841,31.7,5.1,243,4387,0.17,2.12,61.60,0.189,10500,0.070,0.038,3537,3553,1325,1396,1254,0,0,0,0,0,0,26.78,26.51,26.31
$STATE,4523,end climb,SURFACE_DEPTH_REACHED
$STATE,4523,begin surface coast
$FINISH,0.5,1.017727
$STATE,4538,end surface coast,CONTROL_FINISHED_OK
$STATE,4538,begin surface
$SM_CCo,4563,93.55,0.125,0,0,500,555.11
$SM_GC,1.26,8.57,2.30,93.55,0.034,0.021,0.125,140,2001,500,-9.19,1.70,555.11,0,0,0,0,0,0,26.60,26.65,26.29
$IRIDIUM_FIX,2157.39,12015.55,230613,090940
$TT8_MAMPS,0.026964,0.026964
$HUMID,59.13
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.80
$XPDR_PINGS,1
$SC_FREEKB,7714656
$24V_AH,24.9,1.107
$10V_AH,10.5,1.428
$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,21.275,41.625,371.975,93.550,0.000,0.000,0.000,0.000,0.250,0.000,9.347,884.970,2379.838,485.834,820.960,157.043,0.000,973.617,0.000,804.378,0.000,0.545,0.000
$DEVICE_MAMPS,243.270,57.375,748.935,125.460,0.000,0.000,0.000,0.000,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4509.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.389,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,10153,277
$CAP_FILE_SIZE,77248,0
$CFSIZE,260034560,248516608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230613,110237,2206.006,12023.244,29,1.2,29,-3.1