version: 66.11
glider: 167
mission: 16
dive: 10
start: 6 23 113 20 15 12
data:
$ID,167
$MISSION,16
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,160
$T_MISSION,175
$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,-974687.38
$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,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,70
$R_STBD_OVSHOOT,59
$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
$GPS1,230613,200836,2205.631,12025.349,38,0.9,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.4
$GPS2,230613,201445,2205.661,12025.387,7,0.9,7,-3.1
$SPEED_LIMITS,0.180,0.286
$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,146.0,13141,-17.2,-10.417,-19.99,2574
$D_GRID,614
$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,-1.16,-175.2,112,1874,407,582,0.0,0.0,0,116,0.00,0.00,-87.62,0.000,16386,0.000,0.000,112,1874,2692,2666,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.16,-175.2,112,1874,2666,2719,3.8,-6.7,16,155,10.38,2.12,-12.50,0.000,18692,0.243,0.040,2709,3314,3481,3476,3486,0,0,0,0,0,0,26.03,26.30,26.55
$GC,236,-1.16,-175.2,2709,3314,3477,3488,54.1,-31.0,30,241,0.00,2.03,0.00,0.000,1030,0.000,0.024,2709,1917,3482,3477,3487,0,0,0,0,0,0,28.83,26.37,28.83
$GC,561,-1.16,-175.2,2709,1916,3480,3488,149.7,-23.2,46,566,0.00,2.08,0.00,0.000,516,0.000,0.032,2709,483,3484,3480,3488,0,0,0,0,0,0,28.83,26.51,28.83
$GC,645,-1.16,-175.2,2709,483,3480,3488,168.6,-22.2,50,651,0.00,2.03,0.00,0.000,1030,0.000,0.018,2698,1913,3484,3480,3488,0,0,0,0,0,0,28.83,26.56,28.83
$GC,970,-1.16,-175.2,2699,1913,3480,3488,233.2,-19.5,66,975,0.00,2.03,0.00,0.000,260,0.000,0.034,2689,3298,3484,3480,3488,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1098,-1.16,-175.2,2689,3298,3480,3487,259.2,-20.6,72,1104,0.15,2.03,0.00,0.000,3078,0.173,0.021,2726,1883,3484,3480,3488,0,0,0,0,0,0,26.49,26.65,28.83
$GC,1423,-1.16,-175.2,2726,1883,3480,3487,319.9,-17.8,88,1428,0.00,2.00,0.00,0.000,516,0.000,0.032,2726,495,3483,3480,3486,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1508,-1.16,-175.2,2727,496,3480,3485,334.7,-17.7,92,1513,0.00,2.00,0.00,0.000,1030,0.000,0.021,2720,1902,3482,3480,3485,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1832,-1.16,-175.2,2719,1902,3480,3481,391.3,-18.0,108,1837,0.00,2.05,0.00,0.000,260,0.000,0.037,2710,3304,3480,3480,3480,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1911,-1.16,-175.2,2710,3304,3480,3480,402.3,-17.1,111,1918,0.00,2.00,0.00,0.000,1030,0.000,0.019,2710,1889,3480,3480,3480,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2217,-1.16,-175.2,2710,1888,3480,3475,457.4,-16.7,127,2222,0.00,2.00,0.00,0.000,516,0.000,0.031,2710,497,3477,3480,3475,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2241,-1.16,-175.2,2710,497,3480,3475,461.5,-16.7,128,2247,0.00,2.03,0.00,0.000,1030,0.000,0.022,2709,1905,3477,3480,3475,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,2505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2505,begin apogee
$GC,2513,-0.19,0.0,2709,2307,3480,3471,500.7,-14.4,141,2661,1.00,0.00,137.23,0.863,10246,0.138,0.000,3034,2306,2754,2818,2691,0,0,0,0,0,0,26.60,28.83,24.56
$STATE,2663,end apogee,CONTROL_FINISHED_OK
$STATE,2663,begin climb
$GC,2667,1.16,175.2,3034,2306,2815,2681,503.2,0.0,148,2822,1.15,2.22,144.27,0.819,10500,0.034,0.041,3485,3685,2038,2123,1954,0,0,0,0,0,0,25.30,24.98,24.41
$GC,3053,1.16,175.2,3485,3685,2113,1926,421.9,25.2,168,3059,0.00,2.05,0.00,0.000,1030,0.000,0.023,3495,2308,2020,2114,1926,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3378,1.16,175.2,3495,2308,2114,1921,338.7,25.8,184,3383,0.00,2.12,0.00,0.000,260,0.000,0.041,3495,3687,2017,2114,1920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3615,1.16,175.2,3495,3687,2114,1918,280.9,24.0,195,3621,0.12,2.03,0.00,0.000,5126,0.212,0.023,3477,2295,2015,2113,1918,0,0,0,0,0,0,26.27,26.47,28.83
$GC,3930,1.16,175.2,3477,2295,2113,1914,208.3,21.0,211,3936,0.00,2.15,0.00,0.000,260,0.000,0.039,3477,3696,2013,2113,1914,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4166,1.16,175.2,3477,3696,2113,1912,163.5,17.8,222,4172,0.00,2.03,0.00,0.000,1030,0.000,0.023,3486,2294,2012,2113,1912,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4481,1.16,175.2,3486,2294,2113,1909,105.6,18.3,238,4486,0.00,2.03,0.00,0.000,516,0.000,0.031,3496,896,2011,2114,1909,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4717,1.16,175.2,3496,896,2113,1908,71.5,13.7,249,4723,0.00,2.03,0.00,0.000,1030,0.000,0.024,3496,2309,2011,2114,1908,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5032,1.43,264.9,3496,2309,2113,1907,47.1,6.8,267,5076,0.15,2.05,37.35,0.215,10756,0.083,0.028,3580,906,1682,1766,1598,0,0,0,0,0,0,26.67,26.50,26.28
$GC,5138,1.43,264.9,3580,906,1774,1611,32.8,17.3,277,5143,0.00,2.00,0.00,0.000,1030,0.000,0.023,3581,2298,1692,1773,1611,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,5418,end climb,SURFACE_DEPTH_REACHED
$STATE,5418,begin surface coast
$FINISH,0.8,1.003527
$STATE,5447,end surface coast,CONTROL_FINISHED_OK
$STATE,5447,begin surface
$SM_CCo,5469,134.27,0.128,0,0,500,555.11
$SM_GC,1.63,8.52,0.55,134.27,0.023,0.031,0.128,138,1898,500,-9.17,1.95,555.11,0,0,0,0,0,0,26.60,26.64,26.18
$IRIDIUM_FIX,2157.39,12023.92,230613,181814
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.25
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,7712352
$24V_AH,24.4,1.752
$10V_AH,10.4,1.839
$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,21.475,46.175,318.850,134.275,0.000,0.000,0.000,196.000,0.000,0.000,9.305,1071.160,2994.402,495.669,1150.411,266.383,0.000,1228.827,0.000,922.369,0.000,0.541,0.000
$DEVICE_MAMPS,242.505,40.545,862.920,127.755,0.000,0.000,0.000,119.340,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5465.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.374,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,10155,331
$CAP_FILE_SIZE,79380,0
$CFSIZE,260034560,248193024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230613,215001,2205.639,12025.487,41,1.3,41,-3.1