version: 66.11
glider: 167
mission: 16
dive: 8
start: 6 23 113 16 41 56
data:
$ID,167
$MISSION,16
$DIVE,8
$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,180
$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,-974684.88
$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,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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,86
$R_STBD_OVSHOOT,51
$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
$GPS1,230613,163436,2206.207,12024.357,31,1.1,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.3
$GPS2,230613,164129,2206.241,12024.469,42,1.3,42,-3.1
$SPEED_LIMITS,0.173,0.282
$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,143.7,14960,-16.6,-10.000,-19.50,2680
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.14,-175.2,110,1868,409,577,0.0,0.0,0,110,0.00,0.00,-81.62,0.000,16386,0.000,0.000,110,1868,2495,2475,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-1.14,-175.2,109,1868,2476,2516,3.0,-4.2,15,154,10.57,2.12,-17.62,0.000,18692,0.249,0.043,2718,3307,3481,3477,3485,0,0,0,0,0,0,26.06,26.33,26.60
$GC,261,-1.14,-175.2,2718,3307,3477,3487,62.9,-33.9,32,266,0.00,2.00,0.00,0.000,1030,0.000,0.022,2718,1916,3481,3477,3486,0,0,0,0,0,0,28.83,26.43,28.83
$GC,586,-1.14,-175.2,2718,1915,3481,3487,152.1,-22.5,48,591,0.00,2.05,0.00,0.000,516,0.000,0.032,2718,496,3483,3481,3486,0,0,0,0,0,0,28.83,26.55,28.83
$GC,716,-1.14,-175.2,1632,496,3460,3483,183.6,-25.8,54,722,0.00,2.03,0.00,0.000,1030,0.000,0.019,2709,1914,3484,3481,3487,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1036,-1.14,-175.2,2709,1914,3481,3487,248.9,-18.6,70,1041,0.00,2.00,0.00,0.000,260,0.000,0.034,2699,3294,3484,3481,3487,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1115,-1.14,-175.2,2698,3294,3480,3487,261.3,-18.7,73,1122,0.12,1.98,0.00,0.000,3078,0.180,0.020,2728,1890,3484,3481,3487,0,0,0,0,0,0,26.51,26.68,28.83
$GC,1422,-1.14,-175.2,2728,1890,3481,3486,314.7,-15.6,89,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1889,3483,3481,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1723,-1.14,-175.2,2727,1890,3481,3483,370.5,-21.0,104,1728,0.00,2.00,0.00,0.000,516,0.000,0.031,2728,497,3481,3480,3482,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1736,-1.14,-175.2,2727,497,3480,3482,370.5,-21.0,104,1742,0.00,2.00,0.00,0.000,1030,0.000,0.020,2722,1903,3480,3480,3481,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2051,-1.14,-175.2,2722,1903,3481,3479,418.9,-11.6,120,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1903,3479,3481,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2354,-1.14,-175.2,2722,1903,3480,3474,462.2,-17.4,135,2359,0.00,2.03,0.00,0.000,516,0.000,0.032,2722,513,3477,3480,3474,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2439,-1.14,-175.2,2722,513,3480,3472,478.8,-18.9,139,2444,0.00,1.98,0.00,0.000,1030,0.000,0.019,2713,1904,3477,3481,3473,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2763,-1.14,-175.2,2712,1904,3480,3467,530.5,-16.0,155,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1904,3473,3480,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3066,-1.14,-175.2,2712,1905,3480,3463,559.6,-0.7,170,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1905,3471,3480,3463,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3140,end dive,NO_VERTICAL_VELOCITY
$STATE,3140,begin apogee
$GC,3148,-0.19,0.0,2711,2297,3480,3462,559.8,0.0,174,3305,0.93,0.00,139.55,0.946,10246,0.111,0.000,3032,2297,2764,2822,2706,0,0,0,0,1,0,26.65,28.83,24.14
$STATE,3307,end apogee,CONTROL_FINISHED_OK
$STATE,3307,begin climb
$GC,3311,1.14,175.2,3032,2296,2822,2710,559.5,0.0,182,3474,1.23,2.17,154.23,0.865,10756,0.073,0.028,3465,908,2039,2138,1940,0,0,0,0,0,0,25.21,25.01,24.39
$GC,3705,1.89,424.5,3465,908,2130,1921,559.2,0.4,201,3939,0.62,2.08,222.05,0.831,11270,0.039,0.027,3723,2293,1021,1039,1004,0,0,0,0,0,0,26.08,26.06,24.40
$GC,4253,1.89,424.5,3723,2297,1006,988,309.5,47.1,229,4258,0.00,2.08,0.00,0.000,516,0.000,0.031,3733,910,997,1006,988,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4281,1.89,424.5,3016,909,992,985,297.7,46.7,230,4287,0.00,2.08,0.00,0.000,1030,0.000,0.024,3733,2320,996,1006,987,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4602,1.89,424.5,3733,2321,1006,983,146.2,45.1,246,4607,0.00,2.10,0.00,0.000,516,0.000,0.033,3743,910,994,1006,983,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4697,1.89,424.5,3742,910,1006,981,107.8,44.8,250,4703,0.15,2.03,0.00,0.000,5126,0.220,0.024,3710,2309,993,1006,981,0,0,0,0,0,0,26.22,26.44,28.83
$GC,5007,1.89,424.5,2960,2306,988,975,4.1,30.5,280,5013,0.00,2.08,0.00,0.000,260,0.000,0.039,3711,3694,990,1003,978,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,5019,end climb,SURFACE_DEPTH_REACHED
$STATE,5019,begin surface coast
$FINISH,0.8,1.020952
$STATE,5031,end surface coast,CONTROL_FINISHED_OK
$STATE,5031,begin surface
$SM_CCo,5055,61.17,0.134,0,0,498,555.11
$SM_GC,1.66,9.02,2.67,61.17,0.031,0.023,0.134,140,1914,498,-9.19,1.98,555.11,0,0,0,0,0,0,26.49,26.53,26.22
$IRIDIUM_FIX,2155.06,12023.92,230613,141451
$TT8_MAMPS,0.027713,0.027713
$HUMID,64.84
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,7713120
$24V_AH,24.1,1.549
$10V_AH,10.2,1.698
$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,22.650,38.100,515.825,61.175,0.000,0.000,0.000,207.025,0.250,0.000,43.499,807.748,2911.025,559.120,1010.534,246.544,0.000,1263.388,0.000,742.608,0.000,0.541,0.000
$DEVICE_MAMPS,248.625,69.615,945.540,133.875,0.000,0.000,0.000,117.045,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5036.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.047,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,10137,284
$CAP_FILE_SIZE,70115,0
$CFSIZE,260034560,248307712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,230613,180835,2205.949,12024.963,37,1.1,37,-3.1