version: 66.11
glider: 167
mission: 16
dive: 21
start: 6 24 113 13 15 53
data:
$ID,167
$MISSION,16
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,350
$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,200
$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,-974711.75
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,48
$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
$GPS1,240613,130936,2203.486,12028.732,40,0.9,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-68.5
$GPS2,240613,131524,2203.467,12028.661,7,0.8,7,-3.1
$SPEED_LIMITS,0.173,0.296
$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,163.4,6820,-15.7,-10.000,-18.68,2978
$D_GRID,479
$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,-194.6,108,1910,427,587,0.0,0.0,0,115,0.00,0.00,-87.50,0.000,16386,0.000,0.000,108,1910,2683,2662,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.16,-194.6,108,1910,2662,2705,3.6,-6.0,16,154,10.43,2.12,-14.20,0.000,18692,0.245,0.041,2697,3314,3560,3556,3564,0,0,0,0,0,0,25.97,26.22,26.48
$GC,386,-1.16,-194.6,2696,3315,3558,3565,93.8,-29.1,37,392,0.00,2.03,0.00,0.000,1030,0.000,0.022,2696,1909,3561,3558,3564,0,0,0,0,0,0,28.83,26.42,28.83
$GC,701,-1.16,-194.6,2696,1909,3560,3565,177.0,-25.9,53,706,0.00,2.05,0.00,0.000,516,0.000,0.031,2696,490,3563,3561,3565,0,0,0,0,0,0,28.83,26.53,28.83
$GC,850,-1.16,-194.6,1664,490,3547,3563,213.7,-25.5,60,855,0.00,2.03,0.00,0.000,1030,0.000,0.018,2686,1922,3563,3561,3566,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1169,-1.16,-194.6,2686,1922,3560,3565,290.6,-23.0,76,1174,0.00,2.00,0.00,0.000,260,0.000,0.034,2676,3300,3562,3560,3565,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1234,-1.16,-194.6,2675,3299,3560,3565,305.9,-23.3,79,1240,0.12,2.00,0.00,0.000,3078,0.185,0.019,2705,1884,3562,3560,3565,0,0,0,0,0,0,26.49,26.65,28.83
$GC,1559,-1.16,-194.6,2706,1883,3560,3562,371.6,-19.1,95,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1884,3561,3560,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1862,-1.16,-194.6,2705,1884,3560,3558,428.0,-19.8,110,1867,0.00,1.98,0.00,0.000,516,0.000,0.032,2705,513,3559,3560,3558,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1896,-1.16,-194.6,2705,513,3560,3558,434.0,-20.7,111,1901,0.00,1.98,0.00,0.000,1030,0.000,0.018,2698,1910,3559,3560,3558,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,2087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2087,begin apogee
$GC,2096,-0.19,0.0,2695,2490,3560,3555,479.2,-20.9,121,2256,1.00,0.00,149.68,1.338,10246,0.143,0.000,3017,2490,2763,2826,2700,0,0,0,0,1,0,26.57,28.83,23.92
$STATE,2259,end apogee,CONTROL_FINISHED_OK
$STATE,2259,begin climb
$GC,2262,1.16,194.6,3016,2490,2826,2707,486.4,0.0,129,2438,1.17,2.00,166.65,0.796,10500,0.037,0.039,3467,3744,1958,2050,1866,0,0,0,0,0,0,24.96,24.98,24.46
$GC,2518,1.16,194.6,3467,3744,2042,1845,443.4,27.2,142,2523,0.00,1.85,0.00,0.000,1030,0.000,0.022,3476,2505,1944,2042,1846,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2838,1.16,194.6,3475,2505,2042,1840,361.9,24.3,158,2843,0.00,1.92,0.00,0.000,260,0.000,0.040,3475,3756,1941,2042,1840,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3074,1.16,194.6,3476,3756,2042,1837,304.2,25.2,169,3080,0.00,1.83,0.00,0.000,1030,0.000,0.022,3485,2492,1939,2042,1837,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3389,1.16,194.6,3484,2492,2042,1834,224.5,24.8,185,3394,0.00,1.90,0.00,0.000,260,0.000,0.037,3485,3747,1938,2043,1834,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3625,1.16,194.6,3484,3748,2042,1833,170.9,22.4,196,3631,0.12,1.80,0.00,0.000,5126,0.207,0.021,3465,2488,1937,2042,1833,0,0,0,0,0,0,26.39,26.58,28.83
$GC,3940,1.16,194.6,3464,2486,2042,1831,103.5,21.0,212,3945,0.00,1.98,0.00,0.000,516,0.000,0.027,3474,1103,1936,2042,1831,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4156,1.16,194.6,3474,1103,2042,1830,65.6,18.1,222,4161,0.00,2.03,0.00,0.000,1030,0.000,0.024,3475,2497,1936,2042,1830,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4471,2.01,476.7,3474,2498,2042,1828,40.2,0.3,249,4605,0.62,2.05,121.55,0.202,10756,0.042,0.028,3750,1109,813,716,910,0,0,0,0,0,0,26.67,26.21,26.06
$STATE,4646,end climb,SURFACE_DEPTH_REACHED
$STATE,4646,begin surface coast
$FINISH,0.8,1.015113
$STATE,4656,end surface coast,CONTROL_FINISHED_OK
$STATE,4656,begin surface
$SM_CCo,4680,49.67,0.178,1,0,498,555.36
$SM_GC,1.54,9.43,1.20,49.67,0.046,0.021,0.178,141,1925,498,-9.15,-1.33,555.36,0,0,0,0,1,0,26.26,26.32,25.62
$IRIDIUM_FIX,2155.06,12031.12,240613,111149
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.83
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,7708128
$24V_AH,23.9,2.917
$10V_AH,10.2,2.507
$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,22.900,35.550,437.875,49.675,0.000,0.000,0.000,188.000,0.000,0.000,11.140,857.705,2491.185,491.289,1011.393,243.376,0.000,1181.289,0.000,790.262,0.000,0.541,0.000
$DEVICE_MAMPS,244.800,41.310,1337.985,178.245,0.000,0.000,0.000,113.985,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4661.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.447,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,10126,273
$CAP_FILE_SIZE,67991,0
$CFSIZE,260034560,247631872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,240613,143605,2203.027,12028.797,32,1.2,32,-3.1