version: 66.11
glider: 167
mission: 16
dive: 17
start: 6 24 113 7 28 50
data:
$ID,167
$MISSION,16
$DIVE,17
$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,-974696.25
$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,70
$R_STBD_OVSHOOT,36
$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
$GPS1,240613,072229,2204.887,12027.300,38,1.3,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.7
$GPS2,240613,072822,2204.827,12027.300,9,1.3,9,-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,155.7,10071,-15.3,-10.417,-18.25,3214
$D_GRID,605
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.22,-219.0,109,1906,419,581,0.0,0.0,0,118,0.00,0.00,-87.90,0.000,16386,0.000,0.000,109,1906,2684,2654,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.22,-219.0,109,1906,2655,2714,3.6,-7.3,16,161,10.15,2.10,-15.88,0.000,18692,0.241,0.039,2675,3325,3660,3660,3661,0,0,0,0,0,0,26.09,26.34,26.59
$GC,176,-1.22,-219.0,2674,3325,3659,3662,27.2,-44.2,24,183,0.00,2.08,0.00,0.000,1030,0.000,0.028,2674,1916,3661,3660,3662,0,0,0,0,0,0,28.83,26.35,28.83
$GC,492,-1.22,-219.0,2674,1915,3661,3663,149.2,-32.6,43,498,0.00,2.08,0.00,0.000,516,0.000,0.030,2675,489,3662,3661,3663,0,0,0,0,0,0,28.83,26.52,28.83
$GC,678,-1.22,-219.0,2674,489,3661,3664,207.6,-26.7,52,683,0.00,2.03,0.00,0.000,1030,0.000,0.017,2665,1929,3663,3662,3664,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1003,-1.22,-219.0,2665,1929,3661,3664,288.1,-24.4,68,1008,0.00,2.10,0.00,0.000,516,0.000,0.029,2665,482,3662,3661,3664,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1107,-1.22,-219.0,2665,482,3661,3664,314.1,-24.9,73,1114,0.12,2.00,0.00,0.000,3078,0.193,0.017,2686,1896,3662,3661,3663,0,0,0,0,0,0,26.51,26.67,28.83
$GC,1433,-1.22,-219.0,2686,1896,3661,3661,378.6,-19.6,89,1438,0.00,2.03,0.00,0.000,260,0.000,0.034,2677,3292,3660,3661,3660,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1503,-1.22,-219.0,2677,3292,3661,3659,392.3,-20.8,92,1508,0.00,2.00,0.00,0.000,1030,0.000,0.019,2677,1877,3660,3662,3659,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1822,-1.22,-219.0,2677,1877,3661,3654,463.3,-21.7,108,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1877,3657,3661,3654,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1999,begin apogee
$GC,2007,-0.19,0.0,2676,2173,3661,3652,500.9,-20.4,117,2225,1.08,0.00,205.90,0.968,10246,0.148,0.000,3020,2173,2762,2831,2693,0,0,0,0,1,0,26.58,28.83,23.94
$STATE,2228,end apogee,CONTROL_FINISHED_OK
$STATE,2228,begin climb
$GC,2231,1.22,219.0,3019,2173,2831,2699,513.3,0.0,128,2426,1.23,2.25,181.23,1.347,10500,0.033,0.039,3499,3521,1870,1956,1784,0,0,0,0,1,0,25.01,24.70,23.88
$GC,2658,1.22,219.0,3498,3521,1956,1780,428.2,27.2,149,2664,0.00,2.03,0.00,0.000,1030,0.000,0.023,3508,2151,1868,1956,1780,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2973,1.22,219.0,3508,2151,1956,1776,341.0,26.1,165,2978,0.00,2.05,0.00,0.000,516,0.000,0.032,3519,747,1866,1956,1777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3133,1.22,219.0,3519,747,1956,1776,301.4,26.9,172,3141,0.15,2.00,0.00,0.000,5126,0.191,0.022,3483,2133,1866,1956,1776,0,0,0,0,0,0,26.25,26.41,28.83
$GC,3439,1.22,219.0,3483,2133,1956,1773,223.2,24.3,188,3445,0.00,2.10,0.00,0.000,260,0.000,0.038,3483,3544,1864,1956,1773,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3676,1.22,219.0,3483,3543,1956,1770,169.2,24.1,199,3682,0.00,2.03,0.00,0.000,1030,0.000,0.022,3491,2139,1863,1956,1770,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3991,1.22,219.0,3492,2138,1956,1768,102.8,18.6,215,3996,0.00,2.12,0.00,0.000,260,0.000,0.037,3492,3548,1862,1956,1768,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4227,1.22,219.0,3492,3548,1956,1767,71.9,12.0,226,4232,0.00,2.03,0.00,0.000,1030,0.000,0.021,3502,2127,1861,1956,1767,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4542,1.61,349.1,3501,2127,1956,1765,34.4,6.3,250,4605,0.25,2.05,53.95,0.200,10756,0.060,0.031,3628,761,1335,1408,1263,0,0,0,0,0,0,26.67,26.45,26.27
$STATE,4729,end climb,SURFACE_DEPTH_REACHED
$STATE,4730,begin surface coast
$FINISH,0.8,1.021057
$STATE,4741,end surface coast,CONTROL_FINISHED_OK
$STATE,4741,begin surface
$SM_CCo,4765,98.12,0.129,0,0,497,555.11
$SM_GC,1.61,8.85,1.67,98.12,0.035,0.016,0.129,141,1903,497,-9.13,-1.70,555.11,0,0,0,0,0,0,26.50,26.55,26.19
$IRIDIUM_FIX,2157.39,12029.11,240613,050549
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.31
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,7709664
$24V_AH,23.9,2.482
$10V_AH,10.4,2.276
$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,21.825,37.100,441.075,98.125,0.000,0.000,0.000,189.975,0.000,0.000,10.000,887.397,2512.527,545.829,1037.779,243.484,0.000,1248.392,0.000,811.409,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,39.015,1347.165,128.520,0.000,0.000,0.000,114.750,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4747.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.347,0.000,0.000,0.000
$MEM,324540
$DATA_FILE_SIZE,10124,281
$CAP_FILE_SIZE,69837,0
$CFSIZE,260034560,247828480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,240613,085107,2204.603,12028.146,28,1.7,28,-3.1