version: 66.11
glider: 167
mission: 16
dive: 13
start: 6 24 113 1 20 26
data:
$ID,167
$MISSION,16
$DIVE,13
$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,-974691.12
$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,68
$R_STBD_OVSHOOT,52
$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
$GPS1,240613,011307,2205.774,12025.527,28,2.0,28,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.2
$GPS2,240613,012000,2205.809,12025.387,41,1.8,41,-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,146.7,13361,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.16,-175.2,109,1871,418,578,0.0,0.0,0,115,0.00,0.00,-87.40,0.000,16386,0.000,0.000,109,1871,2689,2667,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.16,-175.2,109,1871,2667,2712,3.9,-8.6,16,153,10.27,2.15,-12.52,0.000,18692,0.239,0.046,2707,3306,3480,3471,3489,0,0,0,0,0,0,26.06,26.31,26.58
$GC,367,-1.16,-175.2,2707,3307,3475,3490,91.3,-28.8,35,372,0.00,2.00,0.00,0.000,1030,0.000,0.021,2707,1910,3482,3475,3490,0,0,0,0,0,0,28.83,26.47,28.83
$GC,681,-1.16,-175.2,2707,1910,3478,3491,167.2,-21.7,51,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1909,3484,3478,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,984,-1.16,-175.2,2707,1909,3478,3490,229.0,-20.4,66,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1909,3484,3478,3490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1284,-1.16,-175.2,2707,1909,3478,3490,287.8,-19.9,81,1289,0.00,2.03,0.00,0.000,516,0.000,0.031,2707,500,3483,3478,3489,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1414,-1.16,-175.2,2707,500,3478,3488,313.3,-20.1,87,1419,0.00,2.00,0.00,0.000,1030,0.000,0.019,2697,1910,3483,3478,3488,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1734,-1.16,-175.2,2697,1910,3477,3485,371.6,-17.0,103,1739,0.12,2.03,0.00,0.000,2308,0.190,0.034,2725,3295,3481,3477,3485,0,0,0,0,0,0,26.58,26.69,28.83
$GC,1819,-1.16,-175.2,2724,3295,3477,3483,384.9,-15.6,107,1824,0.00,2.00,0.00,0.000,1030,0.000,0.019,2724,1887,3480,3478,3483,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2144,-1.16,-175.2,2724,1888,3477,3479,440.6,-17.1,123,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1887,3478,3478,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2447,-1.16,-175.2,2724,1887,3477,3474,487.9,-15.6,138,2452,0.00,2.08,0.00,0.000,260,0.000,0.035,2718,3293,3475,3477,3473,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2465,-1.16,-175.2,2717,3293,3477,3473,487.9,-15.6,138,2472,0.00,1.98,0.00,0.000,1030,0.000,0.019,2718,1896,3475,3478,3473,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,2528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2528,begin apogee
$GC,2536,-0.19,0.0,2717,2308,3477,3473,501.9,-16.1,142,2687,0.98,0.00,139.02,0.862,10246,0.140,0.000,3034,2308,2752,2814,2690,0,0,0,0,0,0,26.60,28.83,24.53
$STATE,2689,end apogee,CONTROL_FINISHED_OK
$STATE,2689,begin climb
$GC,2692,1.16,175.2,3034,2308,2813,2681,508.0,0.0,149,2847,1.15,2.22,142.60,0.824,10500,0.033,0.042,3491,3683,2036,2121,1951,0,0,0,0,0,0,25.32,25.00,24.43
$GC,3078,1.16,175.2,3491,3683,2112,1924,427.9,26.6,169,3083,0.00,2.05,0.00,0.000,1030,0.000,0.023,3501,2299,2017,2111,1924,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3403,1.16,175.2,3501,2299,2112,1919,344.5,25.7,185,3408,0.00,2.05,0.00,0.000,516,0.000,0.032,3511,902,2015,2112,1919,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3640,1.16,175.2,3511,903,2112,1916,287.0,23.9,196,3646,0.15,2.03,0.00,0.000,5126,0.195,0.024,3476,2292,2014,2112,1916,0,0,0,0,0,0,26.29,26.46,28.83
$GC,3955,1.16,175.2,3476,2292,2112,1912,216.8,19.3,212,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2293,2012,2112,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4258,1.16,175.2,3476,2292,2112,1909,162.3,18.2,227,4263,0.00,2.12,0.00,0.000,260,0.000,0.040,3476,3707,2011,2112,1910,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4495,1.16,175.2,3476,3707,2105,1910,113.3,19.2,238,4500,0.00,2.03,0.00,0.000,1030,0.000,0.022,3485,2290,2007,2105,1910,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4809,1.16,175.2,3484,2290,2105,1908,63.1,11.9,254,4814,0.00,2.00,0.00,0.000,516,0.000,0.030,3495,902,2006,2105,1908,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5020,1.36,240.5,3495,902,2104,1907,46.2,7.8,266,5057,0.12,2.03,27.30,0.207,11270,0.090,0.024,3554,2311,1781,1869,1693,0,0,0,0,0,0,26.65,26.68,26.33
$GC,5358,1.85,405.4,3553,2311,1869,1713,16.7,3.8,311,5441,0.35,2.05,71.53,0.156,10756,0.050,0.028,3721,908,1105,1127,1084,0,0,0,0,0,0,26.64,26.41,26.27
$STATE,5456,end climb,SURFACE_DEPTH_REACHED
$STATE,5456,begin surface coast
$FINISH,0.8,1.009227
$STATE,5468,end surface coast,CONTROL_FINISHED_OK
$STATE,5468,begin surface
$SM_CCo,5492,73.82,0.128,0,0,496,555.11
$SM_GC,1.59,9.18,1.48,73.82,0.037,0.020,0.128,136,1907,496,-9.20,-1.67,555.11,0,0,0,0,0,0,26.42,26.46,26.16
$IRIDIUM_FIX,2152.74,11755.05,230613,232315
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.90
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,7711200
$24V_AH,24.4,2.015
$10V_AH,10.4,2.038
$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,22.325,36.875,380.450,73.825,0.000,0.000,0.000,212.850,0.000,0.000,42.646,1012.252,3076.515,478.903,1154.132,264.390,0.000,1215.329,0.000,875.601,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,45.900,862.155,127.755,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5482.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.303,0.000,0.000,0.000
$MEM,324584
$DATA_FILE_SIZE,10108,330
$CAP_FILE_SIZE,76915,0
$CFSIZE,260034560,248037376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240613,025436,2205.722,12025.540,38,1.8,38,-3.1