version: 66.11
glider: 167
mission: 16
dive: 14
start: 6 24 113 3 1 28
data:
$ID,167
$MISSION,16
$DIVE,14
$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,225
$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,-974692.38
$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,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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,61
$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
$GPS1,240613,025436,2205.722,12025.540,38,1.8,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.2
$GPS2,240613,030102,2205.750,12025.484,22,1.6,22,-3.1
$SPEED_LIMITS,0.180,0.316
$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,147.0,13174,-15.3,-10.417,-18.25,3214
$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,-1.22,-219.0,108,1917,418,588,0.0,0.0,0,115,0.00,0.00,-87.53,0.000,16386,0.000,0.000,108,1917,2682,2660,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.22,-219.0,108,1917,2661,2705,3.7,-6.5,16,154,10.07,2.08,-15.70,0.000,18692,0.236,0.039,2673,3307,3658,3655,3662,0,0,0,0,0,0,26.06,26.32,26.57
$GC,234,-1.22,-219.0,2673,3313,3655,3663,51.7,-48.2,28,241,0.00,2.05,0.00,0.000,1030,0.000,0.028,2673,1917,3659,3655,3663,0,0,0,0,0,0,28.83,26.37,28.83
$GC,540,-1.22,-219.0,2673,1917,3658,3664,161.7,-31.7,44,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1917,3660,3658,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,843,-1.22,-219.0,2673,1917,3658,3664,244.9,-28.2,59,848,0.00,2.03,0.00,0.000,260,0.000,0.034,2669,3293,3660,3658,3663,0,0,0,0,0,0,28.83,26.59,28.83
$GC,876,-1.22,-219.0,2669,3293,3659,3664,251.9,-26.8,60,882,0.00,2.00,0.00,0.000,1030,0.000,0.021,2669,1886,3660,3658,3663,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1192,-1.22,-219.0,2669,1886,3658,3663,333.9,-22.8,76,1197,0.00,2.00,0.00,0.000,516,0.000,0.031,2669,496,3660,3658,3663,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1309,-1.22,-219.0,2669,496,3657,3664,362.4,-27.1,81,1315,0.12,2.00,0.00,0.000,3078,0.192,0.019,2690,1908,3660,3658,3662,0,0,0,0,0,0,26.53,26.69,28.83
$GC,1624,-1.22,-219.0,2689,1909,3658,3658,436.4,-23.2,97,1629,0.00,2.03,0.00,0.000,260,0.000,0.034,2682,3302,3657,3658,3657,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1668,-1.22,-219.0,2680,3302,3658,3657,446.6,-23.1,99,1674,0.00,2.00,0.00,0.000,1030,0.000,0.019,2680,1896,3657,3658,3657,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,1913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1913,begin apogee
$GC,1921,-0.19,0.0,2679,2166,3658,3653,501.1,-21.9,111,2101,1.05,0.00,169.12,1.346,10246,0.148,0.000,3015,2165,2763,2832,2694,0,0,0,0,1,0,26.58,28.83,23.91
$STATE,2103,end apogee,CONTROL_FINISHED_OK
$STATE,2103,begin climb
$GC,2107,1.22,219.0,3015,2166,2831,2702,511.9,0.0,120,2304,1.25,2.17,185.07,0.809,11012,0.038,0.040,3492,3526,1858,1947,1769,0,0,0,0,0,0,24.95,24.98,24.44
$GC,2534,1.22,219.0,3492,3526,1941,1748,424.8,30.0,141,2540,0.00,2.03,0.00,0.000,1030,0.000,0.024,3502,2157,1844,1941,1748,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2840,1.22,219.0,3502,2157,1941,1745,340.6,23.9,157,2845,0.00,2.10,0.00,0.000,260,0.000,0.037,3502,3534,1843,1941,1745,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3051,1.22,219.0,3502,3534,1941,1743,280.7,29.9,167,3057,0.12,2.03,0.00,0.000,5126,0.211,0.024,3485,2149,1841,1941,1742,0,0,0,0,0,0,26.27,26.45,28.83
$GC,3371,1.22,219.0,3485,2150,1941,1739,206.4,19.8,183,3376,0.00,2.05,0.00,0.000,516,0.000,0.033,3494,740,1840,1942,1739,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3400,1.22,219.0,3494,740,1941,1738,200.8,20.3,184,3405,0.00,2.03,0.00,0.000,1030,0.000,0.023,3494,2142,1840,1941,1739,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3720,1.22,219.0,3494,2142,1941,1735,128.2,21.1,200,3725,0.00,2.10,0.00,0.000,260,0.000,0.038,3494,3549,1838,1941,1735,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3956,1.22,219.0,3494,3549,1941,1734,83.1,20.1,211,3961,0.00,2.03,0.00,0.000,1030,0.000,0.021,3503,2137,1837,1941,1734,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4271,1.22,219.0,3503,2137,1941,1732,36.3,14.5,231,4276,0.00,2.00,0.00,0.000,516,0.000,0.031,3514,747,1837,1942,1732,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4295,1.22,219.0,3514,748,1941,1731,33.9,10.8,233,4301,0.15,2.03,0.00,0.000,5126,0.185,0.023,3476,2166,1836,1941,1732,0,0,0,0,0,0,26.51,26.65,28.83
$GC,4608,1.92,452.7,2504,2164,1866,1719,17.5,2.9,280,4701,0.55,0.00,86.97,0.147,10754,0.043,0.000,3718,2167,1029,1017,1042,0,0,0,0,0,0,26.70,28.83,28.83
$STATE,4703,end climb,SURFACE_DEPTH_REACHED
$STATE,4703,begin surface coast
$FINISH,0.8,1.020747
$STATE,4714,end surface coast,CONTROL_FINISHED_OK
$STATE,4714,begin surface
$SM_CCo,4737,64.90,0.126,0,0,497,555.11
$SM_GC,1.63,9.10,0.35,64.90,0.034,0.036,0.126,141,1871,497,-9.15,2.09,555.11,0,0,0,0,0,0,26.41,26.47,26.20
$IRIDIUM_FIX,2157.39,12023.92,240613,010146
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.68
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.00
$XPDR_PINGS,2
$SC_FREEKB,7710816
$24V_AH,23.9,2.133
$10V_AH,10.4,2.098
$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,22.425,37.425,441.175,64.900,0.000,0.000,0.000,205.500,0.500,0.000,23.642,861.613,2553.535,528.970,998.063,252.612,0.000,1208.123,0.000,747.309,0.000,0.541,0.000
$DEVICE_MAMPS,236.385,39.780,1346.400,126.225,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4726.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.475,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,10120,298
$CAP_FILE_SIZE,70009,0
$CFSIZE,260034560,247988224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,240613,042259,2205.579,12025.975,43,0.9,43,-3.1