version: 66.11
glider: 167
mission: 16
dive: 40
start: 6 26 113 4 4 12
data:
$ID,167
$MISSION,16
$DIVE,40
$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,180
$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,-974745.38
$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,3100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,54
$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
$GPS1,260613,035659,2200.498,12023.063,43,1.3,43,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-70.5
$GPS2,260613,040345,2200.464,12022.900,9,1.2,9,-3.1
$SPEED_LIMITS,0.173,0.282
$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,117.6,2074,-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,-63.1,108,1927,436,570,0.0,0.0,0,110,0.00,0.00,-81.78,0.000,16386,0.000,0.000,108,1927,2514,2495,2534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.40,-122.3,108,1927,2495,2536,3.2,-3.7,15,146,9.95,2.15,-14.32,0.000,19204,0.238,0.040,2628,496,3264,3257,3271,0,0,0,0,0,0,25.92,26.18,26.42
$GC,211,-1.40,-122.3,2627,496,3257,3273,41.3,-38.7,28,216,0.00,2.05,0.00,0.000,1030,0.000,0.021,2620,1909,3265,3257,3273,0,0,0,0,0,0,28.83,26.25,28.83
$GC,535,-1.40,-122.3,2620,1911,3259,3274,142.2,-26.0,45,540,0.00,2.03,0.00,0.000,260,0.000,0.031,2609,3305,3266,3259,3274,0,0,0,0,0,0,28.83,26.41,28.83
$GC,609,-1.40,-122.3,2609,3305,3259,3274,159.9,-26.8,48,615,0.00,2.03,0.00,0.000,1030,0.000,0.018,2609,1891,3267,3259,3275,0,0,0,0,0,0,28.83,26.46,28.83
$GC,924,-1.40,-122.3,2609,1890,3260,3274,245.1,-22.8,64,929,0.00,2.00,0.00,0.000,516,0.000,0.030,2610,502,3267,3259,3275,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1045,-1.40,-122.3,2609,502,3259,3275,269.9,-23.9,69,1053,0.15,2.03,0.00,0.000,3078,0.203,0.019,2634,1908,3267,3259,3275,0,0,0,0,0,0,26.39,26.56,28.83
$GC,1349,-1.40,-122.3,2634,1909,3259,3274,341.4,-21.8,85,1354,0.00,2.03,0.00,0.000,260,0.000,0.033,2625,3303,3266,3259,3274,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1489,-1.40,-122.3,2625,3303,3260,3272,368.4,-21.4,91,1496,0.00,2.00,0.00,0.000,1030,0.000,0.018,2625,1886,3265,3259,3272,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1795,-1.40,-122.3,2625,1886,3259,3268,423.8,-18.5,107,1801,0.00,2.08,0.00,0.000,260,0.000,0.031,2615,3301,3263,3259,3267,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1922,-1.40,-122.3,2616,3301,3259,3266,449.3,-21.1,113,1928,0.00,2.00,0.00,0.000,1030,0.000,0.018,2616,1895,3262,3259,3265,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2247,-1.40,-122.3,2616,1894,3259,3261,516.9,-19.8,129,2252,0.00,2.00,0.00,0.000,516,0.000,0.031,2616,507,3259,3259,3260,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2272,-1.40,-122.3,2615,507,3259,3260,521.9,-19.6,130,2277,0.00,2.00,0.00,0.000,1030,0.000,0.020,2607,1913,3259,3259,3259,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2596,-1.40,-122.3,2606,1912,3259,3255,584.3,-19.7,146,2602,0.00,2.03,0.00,0.000,260,0.000,0.034,2600,3302,3257,3259,3255,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2732,-1.40,-122.3,2600,3302,3259,3252,609.3,-20.3,152,2738,0.12,2.00,0.00,0.000,3078,0.208,0.018,2628,1881,3255,3258,3253,0,0,0,0,0,0,26.53,26.72,28.83
$GC,3060,-1.40,-122.3,2628,1878,3258,3248,673.0,-19.2,163,3065,0.00,2.10,0.00,0.000,260,0.000,0.034,2620,3304,3252,3258,3247,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3225,-1.40,-122.3,2620,3304,3258,3245,702.2,-18.2,168,3231,0.00,2.00,0.00,0.000,1030,0.000,0.019,2620,1892,3251,3258,3245,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3553,-1.40,-122.3,2620,1892,3258,3242,756.5,-16.4,179,3558,0.00,2.08,0.00,0.000,260,0.000,0.034,2611,3296,3250,3258,3242,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3622,-1.40,-122.3,1576,3295,3219,3233,768.2,-16.9,181,3627,0.00,1.98,0.00,0.000,1030,0.000,0.019,2610,1902,3249,3258,3240,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3954,-1.40,-122.3,2611,1902,3258,3236,823.2,-16.5,192,3960,0.00,2.05,0.00,0.000,260,0.000,0.034,2602,3290,3246,3258,3235,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4140,-1.40,-122.3,2600,3290,3258,3233,857.9,-18.7,198,4146,0.12,2.00,0.00,0.000,3078,0.211,0.020,2628,1886,3245,3258,3233,0,0,0,0,0,0,26.55,26.74,28.83
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4292,begin apogee
$GC,4302,-0.19,0.0,2622,3085,3258,3231,885.2,-17.5,203,4415,1.30,0.00,100.50,1.662,10246,0.171,0.000,3018,3085,2763,2815,2711,0,0,0,0,1,0,26.56,28.83,23.61
$STATE,4420,end apogee,CONTROL_FINISHED_OK
$STATE,4420,begin climb
$GC,4423,1.40,122.3,3018,3085,2815,2717,890.0,0.0,207,4547,1.42,1.12,114.15,1.092,10500,0.048,0.044,3540,3758,2259,2328,2190,0,0,0,0,0,0,24.87,24.65,23.99
$GC,4777,1.40,122.3,3539,3760,2320,2161,824.7,25.6,218,4784,0.00,0.95,0.00,0.000,1030,0.000,0.027,3545,3111,2240,2321,2160,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5083,1.40,122.3,3545,3111,2320,2155,745.4,24.2,229,5089,0.00,1.02,0.00,0.000,260,0.000,0.044,3545,3764,2237,2320,2155,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5318,1.40,122.3,3545,3765,2319,2152,691.8,25.1,236,5324,0.00,0.98,0.00,0.000,1030,0.000,0.028,3550,3094,2236,2320,2152,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5633,1.40,122.3,3549,3094,2320,2149,611.1,23.2,247,5638,0.00,1.02,0.00,0.000,260,0.000,0.044,3550,3756,2234,2320,2149,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5869,1.40,122.3,3550,3756,2320,2148,553.7,25.5,257,5874,0.00,0.95,0.00,0.000,1030,0.000,0.029,3555,3099,2233,2320,2147,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6184,1.40,122.3,3555,3099,2320,2144,468.5,25.0,273,6189,0.00,2.03,0.00,0.000,516,0.000,0.027,3565,1700,2232,2320,2145,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6420,1.40,122.3,3564,1699,2320,2142,415.7,22.0,284,6425,0.12,2.10,0.00,0.000,5126,0.211,0.032,3538,3105,2231,2320,2142,0,0,0,0,0,0,26.36,26.54,28.83
$GC,6735,1.40,122.3,3538,3105,2320,2141,345.9,21.5,300,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,3105,2230,2320,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7038,1.40,122.3,3538,3105,2320,2139,285.6,20.1,315,7043,0.00,0.98,0.00,0.000,260,0.000,0.044,3538,3759,2230,2320,2140,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7244,1.40,122.3,3538,3759,2320,2139,246.3,19.0,325,7250,0.00,0.95,0.00,0.000,1030,0.000,0.027,3542,3086,2230,2322,2139,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7569,1.40,122.3,3542,3086,2320,2138,184.2,16.8,341,7574,0.00,2.00,0.00,0.000,516,0.000,0.024,3552,1698,2228,2320,2137,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7587,1.40,122.3,3551,1698,2320,2139,184.2,16.8,341,7594,0.00,2.10,0.00,0.000,1030,0.000,0.031,3552,3102,2228,2320,2137,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7894,1.40,122.3,3551,3102,2320,2137,137.1,11.3,357,7899,0.00,0.98,0.00,0.000,260,0.000,0.043,3552,3759,2228,2320,2137,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8130,1.41,127.2,3552,3759,2320,2137,113.9,9.5,368,8135,0.00,0.93,0.00,0.000,1030,0.000,0.027,3557,3099,2229,2320,2139,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8446,1.42,128.9,3557,3099,2320,2137,87.4,9.8,384,8451,0.00,1.00,0.00,0.000,260,0.000,0.041,3557,3759,2228,2320,2137,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8660,1.53,167.3,3557,3759,2320,2136,71.3,5.9,394,8683,0.00,0.93,16.60,0.271,9222,0.000,0.025,3562,3090,2080,2166,1994,0,0,0,0,0,0,28.83,26.72,26.31
$GC,8993,1.70,221.4,3562,3090,2165,2000,60.6,4.3,411,9021,0.15,2.05,22.65,0.263,10756,0.075,0.022,3641,1708,1858,1946,1770,0,0,0,0,0,0,26.64,26.52,26.25
$GC,9168,1.70,221.7,3641,1707,1945,1779,41.5,10.0,423,9174,0.00,2.08,0.00,0.000,1030,0.000,0.031,3641,3110,1862,1946,1779,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9480,1.84,270.8,2816,3108,1870,1766,21.5,4.8,460,9510,0.10,2.08,21.08,0.171,10756,0.106,0.021,3702,1714,1657,1738,1576,0,0,0,0,0,0,26.60,26.54,26.35
$STATE,9655,end climb,SURFACE_DEPTH_REACHED
$STATE,9655,begin surface coast
$FINISH,0.8,1.008108
$STATE,9676,end surface coast,CONTROL_FINISHED_OK
$STATE,9677,begin surface
$SM_CCo,9699,130.05,0.127,0,0,498,555.11
$SM_GC,1.63,8.90,0.28,130.05,0.025,0.037,0.127,142,1927,498,-9.14,-1.44,555.11,0,0,0,0,0,0,26.53,26.59,26.14
$IRIDIUM_FIX,2155.06,12022.75,260613,010131
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.22
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.90
$XPDR_PINGS,2
$SC_FREEKB,7700832
$24V_AH,23.6,4.685
$10V_AH,10.3,3.937
$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,22.350,68.925,274.975,130.050,0.000,0.000,0.000,224.900,0.500,0.000,11.131,1788.299,5791.831,503.442,1765.436,388.979,0.000,1535.084,0.000,1512.299,0.000,0.541,0.000
$DEVICE_MAMPS,237.915,44.370,1661.580,126.990,0.000,0.000,0.000,118.575,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9679.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.695,0.000,0.000,0.000
$MEM,324584
$DATA_FILE_SIZE,16741,497
$CAP_FILE_SIZE,124011,0
$CFSIZE,260034560,246480896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,260613,064930,2200.166,12023.176,43,1.4,43,-3.1