version: 66.11
glider: 167
mission: 16
dive: 20
start: 6 24 113 11 53 36
data:
$ID,167
$MISSION,16
$DIVE,20
$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,-974700
$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,68
$R_STBD_OVSHOOT,41
$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
$GPS1,240613,114706,2203.711,12028.828,33,1.1,33,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.1
$GPS2,240613,115311,2203.701,12028.725,8,0.8,8,-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,165.4,7195,-15.3,-10.417,-18.25,3214
$D_GRID,511
$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,-1.22,-219.0,109,1922,418,589,0.0,0.0,0,111,0.00,0.00,-81.82,0.000,16386,0.000,0.000,108,1922,2513,2493,2534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.22,-219.0,108,1922,2493,2535,3.1,-4.8,15,155,9.98,2.12,-20.20,0.000,18692,0.235,0.046,2674,3318,3659,3659,3660,0,0,0,0,0,0,26.08,26.32,26.58
$GC,193,-1.22,-219.0,2674,3319,3659,3661,37.2,-56.8,25,198,0.00,2.05,0.00,0.000,1030,0.000,0.026,2674,1912,3660,3659,3662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,517,-1.22,-219.0,2674,1910,3660,3663,151.7,-34.3,42,522,0.00,2.08,0.00,0.000,260,0.000,0.031,2665,3327,3662,3661,3664,0,0,0,0,0,0,28.83,26.51,28.83
$GC,723,-1.22,-219.0,2664,3327,3660,3664,210.1,-28.4,52,728,0.00,2.05,0.00,0.000,1030,0.000,0.021,2664,1887,3661,3660,3663,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1048,-1.22,-219.0,2664,1886,3660,3663,292.6,-23.8,68,1053,0.00,2.00,0.00,0.000,516,0.000,0.031,2664,493,3661,3660,3662,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1072,-1.22,-219.0,2664,493,3660,3663,299.0,-24.5,69,1078,0.12,2.03,0.00,0.000,3078,0.194,0.017,2685,1927,3661,3660,3663,0,0,0,0,0,0,26.50,26.66,28.83
$GC,1398,-1.22,-219.0,2684,1927,3660,3659,379.9,-26.1,85,1403,0.00,2.00,0.00,0.000,260,0.000,0.033,2677,3306,3659,3660,3659,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1452,-1.22,-219.0,2677,3307,3660,3659,391.1,-25.4,87,1457,0.00,2.00,0.00,0.000,1030,0.000,0.019,2677,1891,3659,3660,3659,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1768,-1.22,-219.0,2677,1890,3660,3654,470.7,-22.8,103,1773,0.00,2.00,0.00,0.000,516,0.000,0.031,2677,500,3657,3660,3654,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1863,-1.22,-219.0,2676,499,3658,3654,490.4,-22.9,107,1868,0.00,2.00,0.00,0.000,1030,0.000,0.018,2670,1907,3656,3660,3653,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,1894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1894,begin apogee
$GC,1902,-0.19,0.0,2669,2168,3660,3653,500.7,-23.1,109,2096,1.10,0.00,184.40,0.809,10246,0.151,0.000,3018,2167,2751,2823,2680,0,0,0,0,0,0,26.57,28.83,24.55
$STATE,2098,end apogee,CONTROL_FINISHED_OK
$STATE,2099,begin climb
$GC,2102,1.22,219.0,3018,2168,2820,2672,509.5,0.0,119,2291,1.20,2.15,178.80,0.796,10500,0.037,0.036,3486,3529,1858,1946,1770,0,0,0,0,0,0,25.25,25.01,24.46
$GC,2525,1.22,219.0,3486,3529,1932,1739,404.1,30.4,140,2530,0.00,2.05,0.00,0.000,1030,0.000,0.023,3496,2151,1835,1933,1738,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2849,1.22,219.0,3497,2150,1933,1734,318.2,25.5,156,2854,0.00,2.10,0.00,0.000,260,0.000,0.036,3496,3540,1833,1933,1734,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2874,1.22,219.0,3495,3540,1932,1734,311.5,26.5,157,2879,0.00,2.05,0.00,0.000,1030,0.000,0.024,3505,2146,1833,1933,1733,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3199,1.22,219.0,3505,2146,1932,1731,226.6,27.4,173,3204,0.00,2.05,0.00,0.000,516,0.000,0.033,3516,747,1832,1933,1731,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3374,1.22,219.0,3516,747,1933,1731,181.2,27.7,181,3380,0.15,2.03,0.00,0.000,5126,0.187,0.021,3480,2149,1831,1932,1731,0,0,0,0,0,0,26.38,26.55,28.83
$GC,3690,1.22,219.0,3480,2149,1933,1727,109.2,21.9,197,3695,0.00,2.08,0.00,0.000,260,0.000,0.037,3481,3546,1830,1933,1727,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3926,1.22,219.0,3480,3546,1933,1726,55.0,21.4,208,3931,0.00,2.03,0.00,0.000,1030,0.000,0.020,3489,2125,1829,1933,1725,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4241,1.91,447.4,3488,2125,1932,1723,30.4,3.1,238,4364,0.50,2.15,106.82,0.699,10756,0.045,0.033,3721,763,934,881,988,0,0,0,0,1,0,26.66,25.42,24.89
$STATE,4385,end climb,SURFACE_DEPTH_REACHED
$STATE,4386,begin surface coast
$FINISH,0.8,1.021326
$STATE,4391,end surface coast,CONTROL_FINISHED_OK
$STATE,4391,begin surface
$SM_CCo,4416,57.47,0.128,0,0,499,555.11
$SM_GC,1.49,9.30,1.75,57.47,0.030,0.019,0.128,143,1899,499,-9.13,-1.50,555.11,0,0,0,0,0,0,25.72,25.70,25.67
$IRIDIUM_FIX,2157.39,12029.11,240613,101043
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.16
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,7708512
$24V_AH,24.5,2.808
$10V_AH,10.4,2.449
$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,22.350,41.075,470.025,57.475,0.000,0.000,0.000,199.825,0.000,0.000,9.432,799.898,2305.057,521.889,975.444,243.000,0.000,1216.585,0.000,751.078,0.000,0.541,0.000
$DEVICE_MAMPS,234.855,45.900,808.605,127.755,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4395.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.924,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,10154,259
$CAP_FILE_SIZE,67413,0
$CFSIZE,260034560,247676928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,240613,130936,2203.486,12028.732,40,0.9,40,-3.1