version: 66.11
glider: 167
mission: 16
dive: 34
start: 6 25 113 9 28 1
data:
$ID,167
$MISSION,16
$DIVE,34
$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,-974737.88
$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,93
$R_STBD_OVSHOOT,60
$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
$GPS1,250613,091936,2200.038,12025.043,39,1.3,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.4
$GPS2,250613,092736,2200.042,12025.169,37,0.9,37,-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,270.9,2008,-27.8,-10.000,-30.00,969
$D_GRID,882
$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,-63.1,111,1932,428,565,0.0,0.0,0,115,0.00,0.00,-87.40,0.000,16386,0.000,0.000,111,1933,2670,2644,2696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.32,-95.0,112,1933,2645,2696,3.7,-6.6,16,148,9.95,2.05,-8.43,0.000,18948,0.234,0.042,2657,530,3151,3149,3154,0,0,0,0,0,0,25.96,26.20,26.45
$GC,213,-1.32,-95.0,2657,530,3149,3158,39.4,-41.5,28,219,0.00,1.98,0.00,0.000,1030,0.000,0.021,2649,1901,3153,3149,3158,0,0,0,0,0,0,28.83,26.27,28.83
$GC,519,-1.32,-95.0,2649,1901,3152,3159,115.2,-22.5,45,524,0.00,2.05,0.00,0.000,260,0.000,0.032,2639,3295,3155,3151,3159,0,0,0,0,0,0,28.83,26.41,28.83
$GC,754,-1.32,-95.0,2639,3296,3152,3160,160.4,-20.5,56,759,0.00,1.95,0.00,0.000,1030,0.000,0.018,2639,1916,3155,3152,3159,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1068,-1.32,-95.0,2639,1916,3152,3159,230.0,-20.6,72,1074,0.00,2.03,0.00,0.000,260,0.000,0.031,2630,3296,3156,3152,3160,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1209,-1.32,-95.0,2629,3296,3152,3159,257.6,-21.1,78,1217,0.12,1.98,0.00,0.000,3078,0.197,0.017,2657,1886,3156,3152,3160,0,0,0,0,0,0,26.44,26.62,28.83
$GC,1515,-1.32,-95.0,2657,1885,3152,3158,317.6,-18.4,94,1520,0.00,2.10,0.00,0.000,260,0.000,0.031,2649,3310,3154,3152,3156,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1656,-1.32,-95.0,2649,3310,3151,3155,338.5,-16.2,100,1663,0.00,2.00,0.00,0.000,1030,0.000,0.018,2650,1898,3153,3152,3155,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1962,-1.32,-95.0,2649,1898,3152,3153,394.8,-18.5,116,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1898,3152,3152,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2265,-1.32,-95.0,2650,1897,3152,3147,444.2,-15.2,131,2270,0.00,2.00,0.00,0.000,516,0.000,0.031,2650,513,3149,3152,3146,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2359,-1.32,-95.0,2649,513,3152,3145,458.5,-16.5,135,2364,0.00,1.98,0.00,0.000,1030,0.000,0.019,2640,1902,3148,3152,3144,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2673,-1.32,-95.0,2640,1901,3152,3140,515.6,-18.5,151,2678,0.00,2.05,0.00,0.000,260,0.000,0.035,2630,3294,3146,3152,3140,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2869,-1.32,-95.0,2629,3294,3152,3137,548.8,-17.0,160,2875,0.12,1.98,0.00,0.000,3078,0.197,0.018,2658,1886,3145,3153,3137,0,0,0,0,0,0,26.56,26.74,28.83
$GC,3185,-1.32,-95.0,2658,1885,3152,3131,599.4,-14.8,176,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1886,3142,3152,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3505,-1.32,-95.0,2658,1886,3152,3126,650.8,-15.9,187,3510,0.00,1.98,0.00,0.000,516,0.000,0.032,2658,520,3139,3152,3127,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3529,-1.32,-95.0,2658,520,3152,3126,650.8,-15.9,187,3534,0.00,1.98,0.00,0.000,1030,0.000,0.019,2651,1909,3139,3152,3126,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3843,-1.32,-95.0,2651,1910,3151,3121,693.2,-14.7,198,3849,0.00,2.03,0.00,0.000,260,0.000,0.035,2642,3294,3136,3151,3121,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4073,-1.32,-95.0,2641,3294,3151,3117,727.1,-16.1,205,4078,0.00,1.98,0.00,0.000,1030,0.000,0.019,2641,1897,3134,3152,3117,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4396,-1.32,-95.0,2640,1895,3149,3114,782.0,-14.5,216,4401,0.00,2.08,0.00,0.000,260,0.000,0.034,2632,3298,3131,3149,3114,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4490,-1.32,-95.0,2632,3299,3148,3113,797.1,-15.5,219,4496,0.00,2.00,0.00,0.000,1030,0.000,0.018,2632,1887,3131,3149,3113,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4829,-1.32,-95.0,2631,1887,3149,3109,841.4,-11.8,230,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1887,3129,3149,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5125,-1.32,-95.0,2632,1887,3149,3105,877.2,-12.1,240,5130,0.00,2.00,0.00,0.000,516,0.000,0.032,2632,512,3127,3149,3105,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5157,begin apogee
$GC,5168,-0.19,0.0,2618,2781,3149,3104,882.3,-13.4,241,5257,1.30,0.00,82.00,1.131,10246,0.172,0.000,3013,2781,2756,2811,2701,0,0,0,0,0,0,26.58,28.83,24.46
$STATE,5262,end apogee,CONTROL_FINISHED_OK
$STATE,5262,begin climb
$GC,5265,1.32,95.0,3013,2781,2807,2688,884.8,0.0,244,5363,1.35,1.65,86.95,1.077,10500,0.047,0.043,3518,3764,2362,2425,2300,0,0,0,0,0,0,25.27,24.75,24.08
$GC,5445,1.32,95.0,3519,3764,2420,2280,856.3,20.2,250,5450,0.00,1.45,0.00,0.000,1030,0.000,0.024,3526,2814,2349,2419,2279,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5772,1.32,95.0,3526,2808,2419,2269,779.9,22.7,261,5777,0.00,1.50,0.00,0.000,260,0.000,0.044,3526,3754,2345,2420,2270,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6007,1.32,95.0,3526,3754,2419,2266,722.9,27.0,268,6013,0.00,1.42,0.00,0.000,1030,0.000,0.025,3534,2791,2343,2420,2266,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6322,1.32,95.0,3533,2786,2420,2263,643.1,21.2,279,6327,0.00,1.52,0.00,0.000,260,0.000,0.042,3534,3790,2341,2420,2263,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6557,1.32,95.0,3533,3790,2419,2262,593.1,20.6,287,6563,0.08,1.45,0.00,0.000,5126,0.223,0.025,3514,2798,2340,2419,2261,0,0,0,0,0,0,26.25,26.48,28.83
$GC,6873,1.32,95.0,3513,2796,2419,2258,533.7,18.2,303,6878,0.00,2.03,0.00,0.000,516,0.000,0.027,3522,1408,2338,2419,2257,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7069,1.32,95.0,3522,1408,2419,2256,496.0,21.4,312,7075,0.00,2.08,0.00,0.000,1030,0.000,0.031,3521,2801,2338,2420,2256,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7384,1.32,95.0,3522,2801,2419,2255,432.1,19.4,328,7389,0.00,1.48,0.00,0.000,260,0.000,0.044,3523,3763,2336,2418,2255,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7605,1.32,95.0,3522,3763,2420,2254,392.0,19.1,338,7612,0.00,1.40,0.00,0.000,1030,0.000,0.025,3530,2795,2336,2419,2254,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7911,1.32,95.0,3530,2794,2419,2251,341.2,15.4,354,7916,0.00,1.50,0.00,0.000,260,0.000,0.044,3530,3757,2335,2419,2252,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8146,1.32,95.0,3530,3757,2420,2252,304.3,17.9,365,8152,0.00,1.38,0.00,0.000,1030,0.000,0.024,3538,2796,2336,2420,2252,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8461,1.32,95.0,3537,2792,2419,2250,251.9,15.5,381,8466,0.00,2.00,0.00,0.000,516,0.000,0.026,3547,1409,2334,2419,2250,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8697,1.32,95.0,3547,1409,2419,2249,219.5,13.8,392,8703,0.15,2.08,0.00,0.000,5126,0.216,0.029,3513,2817,2334,2420,2249,0,0,0,0,0,0,26.45,26.65,28.83
$GC,9012,1.32,95.0,3513,2817,2419,2249,174.0,14.9,408,9018,0.00,1.42,0.00,0.000,260,0.000,0.041,3513,3757,2334,2420,2249,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9251,1.32,95.0,3513,3757,2419,2249,141.6,13.5,419,9256,0.00,1.38,0.00,0.000,1030,0.000,0.023,3521,2787,2334,2419,2249,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9565,1.32,95.0,3520,2787,2419,2248,105.8,10.6,435,9570,0.00,1.50,0.00,0.000,260,0.000,0.041,3520,3764,2334,2420,2249,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9801,1.46,141.6,3520,3765,2420,2248,90.8,5.1,446,9830,0.00,1.38,19.92,0.272,9222,0.000,0.022,3527,2787,2184,2263,2106,0,0,0,0,0,0,28.83,26.74,26.25
$GC,10132,1.58,183.0,3527,2787,2263,2122,58.0,5.6,463,10156,0.15,1.52,18.58,0.260,10500,0.079,0.041,3604,3761,2013,2097,1930,0,0,0,0,0,0,26.63,26.50,26.25
$GC,10180,1.80,257.4,3604,3760,2096,1943,57.1,2.1,465,10219,0.10,1.35,32.20,0.263,11270,0.056,0.022,3667,2803,1709,1794,1624,0,0,0,0,0,0,26.51,26.57,26.10
$GC,10526,1.94,301.6,3666,2804,1796,1639,16.2,5.3,505,10551,0.12,2.08,19.45,0.164,10756,0.086,0.026,3738,1425,1529,1609,1450,0,0,0,0,0,0,26.48,26.42,26.25
$STATE,10629,end climb,SURFACE_DEPTH_REACHED
$STATE,10629,begin surface coast
$FINISH,0.8,1.020341
$STATE,10646,end surface coast,CONTROL_FINISHED_OK
$STATE,10646,begin surface
$SM_CCo,10669,120.60,0.132,0,0,496,555.11
$SM_GC,1.73,9.18,0.73,120.60,0.034,0.027,0.132,143,1933,496,-9.13,-1.39,555.11,0,0,0,0,0,0,26.41,26.47,26.04
$IRIDIUM_FIX,2152.74,12027.93,250613,060614
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.07
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.70
$XPDR_PINGS,2
$SC_FREEKB,7703136
$24V_AH,24.1,4.095
$10V_AH,10.2,3.342
$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,22.625,75.850,259.100,120.600,0.000,0.000,0.000,262.500,0.500,0.000,38.938,1919.686,6519.660,486.039,1936.776,404.973,0.000,1600.124,0.000,1598.791,0.000,0.541,0.000
$DEVICE_MAMPS,234.090,44.370,1131.435,132.345,0.000,0.000,0.000,117.810,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10656.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.631,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,20076,527
$CAP_FILE_SIZE,132731,0
$CFSIZE,260034560,246906880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250613,122923,2200.049,12024.382,46,0.8,46,-3.1