version: 66.11
glider: 167
mission: 16
dive: 28
start: 6 24 113 21 23 5
data:
$ID,167
$MISSION,16
$DIVE,28
$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,-974730.38
$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,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,40
$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
$GPS1,240613,211653,2201.262,12030.155,40,1.1,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.6
$GPS2,240613,212238,2201.196,12030.173,5,1.1,5,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T1
$TGT_LATLONG,2200.000,12024.000
$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,261.3,10829,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.16,-194.6,120,1901,424,586,0.0,0.0,0,116,0.00,0.00,-87.47,0.000,16386,0.000,0.000,118,1902,2676,2652,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.16,-194.6,118,1901,2653,2700,3.3,-5.3,16,154,10.05,2.20,-14.45,0.000,19204,0.236,0.054,2692,3323,3559,3552,3567,0,0,0,0,0,0,26.17,26.39,26.66
$GC,204,-1.16,-194.6,2692,3324,3552,3567,41.1,-50.3,26,211,0.00,2.05,0.00,0.000,1030,0.000,0.021,2692,1886,3559,3552,3567,0,0,0,0,0,0,28.83,26.47,28.83
$GC,511,-1.16,-194.6,2692,1886,3555,3567,138.2,-31.1,43,516,0.00,1.98,0.00,0.000,516,0.000,0.029,2692,503,3561,3555,3567,0,0,0,0,0,0,28.83,26.60,28.83
$GC,544,-1.16,-194.6,2692,503,3555,3567,145.8,-31.0,44,550,0.00,2.00,0.00,0.000,1030,0.000,0.017,2682,1925,3561,3555,3567,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,776,end dive,NO_VERTICAL_VELOCITY
$STATE,779,begin apogee
$GC,788,-0.19,0.0,2682,2794,3556,3566,154.7,0.0,56,992,0.88,0.00,191.73,0.562,10246,0.052,0.000,3033,2793,2765,2827,2703,0,0,0,0,1,0,26.65,28.83,24.73
$STATE,994,end apogee,CONTROL_FINISHED_OK
$STATE,995,begin climb
$GC,998,1.16,194.6,3033,2794,2827,2719,154.6,0.0,66,1162,1.10,2.20,146.07,1.079,10756,0.033,0.028,3487,1409,1972,2056,1888,0,0,0,0,1,0,25.58,25.08,24.33
$GC,1391,1.16,194.6,2560,1408,1974,1879,98.9,13.8,86,1396,0.00,2.08,0.00,0.000,1030,0.000,0.029,3486,2807,1973,2055,1892,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1711,1.23,216.3,3486,2807,2055,1888,52.0,9.3,102,1730,0.00,1.48,9.98,0.229,8452,0.000,0.041,3486,3767,1883,1966,1801,0,0,0,0,0,0,28.83,26.42,26.23
$GC,1962,1.36,260.4,3486,3767,1966,1801,34.1,8.5,125,1988,0.00,1.40,19.27,0.187,9222,0.000,0.019,3494,2795,1699,1783,1615,0,0,0,0,0,0,28.83,26.61,26.32
$STATE,2286,end climb,SURFACE_DEPTH_REACHED
$STATE,2286,begin surface coast
$FINISH,0.6,1.021021
$STATE,2322,end surface coast,CONTROL_FINISHED_OK
$STATE,2322,begin surface
$SM_CCo,2345,131.68,0.117,0,0,497,555.11
$SM_GC,1.39,8.30,1.25,131.68,0.025,0.020,0.117,143,1893,497,-9.13,2.01,555.11,0,0,0,0,0,0,26.60,26.64,26.27
$IRIDIUM_FIX,2152.74,12029.11,240613,202053
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.05
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,7705440
$24V_AH,24.3,3.457
$10V_AH,10.4,2.849
$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,20.325,17.900,367.050,131.675,0.000,0.000,0.000,195.450,0.000,0.000,6.462,514.544,929.162,506.327,699.077,185.717,0.000,1041.667,0.000,493.109,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,54.315,1079.415,117.045,0.000,0.000,0.000,110.160,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2332.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.690,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,6799,189
$CAP_FILE_SIZE,44973,0
$CFSIZE,260034560,247357440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,240613,220535,2200.960,12029.908,28,1.4,28,-3.1