version: 66.11
glider: 167
mission: 16
dive: 85
start: 6 30 113 6 12 3
data:
$ID,167
$MISSION,16
$DIVE,85
$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,310
$T_MISSION,330
$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,2
$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,550
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-974977.19
$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,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$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
$GPS1,300613,055936,2133.928,12028.103,30,1.2,30,-3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.7
$GPS2,300613,061135,2133.984,12028.235,36,1.0,36,-3.0
$SPEED_LIMITS,0.184,0.288
$TGT_NAME,T4
$TGT_LATLONG,2100.000,12030.000
$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,177.2,63012,-17.5,-10.645,-20.26,2520
$D_GRID,1422
$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,-1.17,-175.2,108,1896,442,592,0.0,0.0,0,126,0.00,0.00,-97.80,0.000,16386,0.000,0.000,108,1896,2916,2893,2939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.17,-175.2,108,1897,2893,2940,3.1,-3.8,17,159,10.23,0.00,-10.23,0.000,18950,0.237,0.000,2698,1896,3481,3476,3487,0,0,0,0,0,0,25.96,28.83,26.44
$GC,474,-1.17,-175.2,2698,1896,3479,3489,119.8,-23.3,43,480,0.00,2.05,0.00,0.000,516,0.000,0.028,2697,485,3484,3479,3489,0,0,0,0,0,0,28.83,26.39,28.83
$GC,573,-1.17,-175.2,2698,484,3479,3489,138.8,-22.3,47,580,0.00,2.05,0.00,0.000,1030,0.000,0.017,2689,1936,3484,3479,3489,0,0,0,0,0,0,28.83,26.46,28.83
$GC,879,-1.17,-175.2,2690,1937,3481,3489,213.6,-22.8,63,885,0.00,1.95,0.00,0.000,260,0.000,0.028,2680,3298,3485,3481,3489,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1094,-1.17,-175.2,2679,3298,3481,3489,257.7,-20.4,73,1100,0.00,2.03,0.00,0.000,1030,0.000,0.016,2679,1858,3484,3480,3489,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1409,-1.17,-175.2,2679,1858,3481,3487,326.9,-21.7,89,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1858,3484,3481,3488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1712,-1.17,-175.2,2678,1856,3483,3480,391.9,-21.1,104,1717,0.00,2.10,0.00,0.000,260,0.000,0.028,2670,3299,3482,3484,3480,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1823,-1.17,-175.2,1600,3298,3464,3474,414.6,-21.4,109,1829,0.15,2.00,0.00,0.000,3078,0.175,0.018,2708,1887,3480,3484,3477,0,0,0,0,0,0,26.49,26.66,28.83
$GC,2144,-1.17,-175.2,2706,1887,3484,3472,476.8,-17.3,125,2150,0.00,1.98,0.00,0.000,516,0.000,0.032,2707,523,3477,3484,3471,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2238,-1.17,-175.2,2707,523,3484,3469,491.9,-17.5,129,2244,0.00,1.95,0.00,0.000,1030,0.000,0.017,2699,1910,3476,3484,3468,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2553,-1.17,-175.2,2699,1911,3484,3462,548.3,-17.9,145,2558,0.00,2.00,0.00,0.000,260,0.000,0.031,2697,3290,3472,3483,3462,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2749,-1.17,-175.2,2696,3290,3483,3458,578.8,-16.2,154,2754,0.00,1.95,0.00,0.000,1030,0.000,0.018,2698,1904,3471,3484,3458,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3066,-1.17,-175.2,2696,1904,3483,3453,627.4,-14.5,167,3071,0.00,2.03,0.00,0.000,516,0.000,0.032,2696,511,3468,3484,3452,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3105,-1.17,-175.2,2696,510,3484,3452,632.8,-14.5,168,3110,0.00,1.98,0.00,0.000,1030,0.000,0.018,2689,1907,3467,3483,3451,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3439,-1.17,-175.2,2688,1907,3484,3446,684.9,-16.6,179,3445,0.00,2.03,0.00,0.000,260,0.000,0.033,2682,3296,3464,3483,3446,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3580,-1.17,-175.2,2682,3296,3483,3443,705.9,-16.3,183,3586,0.00,1.98,0.00,0.000,1030,0.000,0.018,2682,1895,3462,3483,3442,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3903,-1.17,-175.2,2682,1894,3483,3437,758.8,-15.9,194,3909,0.00,2.05,0.00,0.000,260,0.000,0.033,2683,3284,3460,3483,3437,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3938,-1.17,-175.2,2683,3284,3481,3437,764.4,-15.5,195,3943,0.00,1.98,0.00,0.000,1030,0.000,0.018,2682,1893,3459,3482,3437,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4276,-1.17,-175.2,2682,1893,3477,3435,818.9,-17.1,206,4281,0.00,2.08,0.00,0.000,260,0.000,0.032,2673,3297,3456,3478,3435,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4364,-1.17,-175.2,2673,3297,3477,3435,830.8,-17.4,208,4373,0.12,1.98,0.00,0.000,3078,0.181,0.019,2703,1898,3455,3477,3434,0,0,0,0,0,0,26.56,26.73,28.83
$GC,4673,-1.17,-175.2,2703,1898,3476,3432,879.1,-14.2,219,4678,0.00,2.03,0.00,0.000,516,0.000,0.034,2703,513,3453,3475,3431,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4711,-1.17,-175.2,1696,513,3457,3427,884.5,-14.2,220,4717,0.00,1.98,0.00,0.000,1030,0.000,0.019,2697,1896,3453,3475,3431,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5046,-1.17,-175.2,2697,1896,3472,3428,931.0,-13.5,231,5051,0.00,2.05,0.00,0.000,260,0.000,0.035,2697,3291,3451,3473,3429,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5080,-1.17,-175.2,2697,3291,3472,3428,936.7,-13.8,232,5086,0.00,2.00,0.00,0.000,1030,0.000,0.020,2697,1904,3449,3470,3428,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5418,-1.17,-175.2,2697,1903,3470,3426,987.0,-15.5,243,5423,0.00,2.08,0.00,0.000,260,0.000,0.034,2697,3302,3447,3469,3426,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,5450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5450,begin apogee
$GC,5458,-0.19,0.0,2697,3302,3469,3426,992.6,-15.2,244,5618,1.00,0.00,150.90,1.185,10246,0.145,0.000,3017,3302,2757,2825,2690,0,0,0,0,0,0,26.55,28.83,24.08
$STATE,5620,end apogee,CONTROL_FINISHED_OK
$STATE,5620,begin climb
$GC,5624,1.17,175.2,3016,3302,2819,2675,997.9,0.0,249,5794,1.20,0.68,157.68,1.150,10500,0.041,0.043,3466,3729,2032,2124,1941,0,0,0,0,0,0,25.04,24.63,23.92
$GC,5904,1.17,175.2,3466,3729,2118,1919,950.8,24.3,258,5912,0.00,0.60,0.00,0.000,1030,0.000,0.032,3469,3320,2018,2118,1919,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6210,1.17,175.2,3469,3320,2118,1913,864.0,27.0,269,6215,0.00,2.12,0.00,0.000,516,0.000,0.027,3479,1893,2015,2118,1913,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6325,1.17,175.2,3478,1893,2118,1911,839.0,26.4,272,6330,0.00,2.12,0.00,0.000,1030,0.000,0.035,3479,3282,2014,2118,1911,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6640,1.17,175.2,3478,3282,2118,1908,746.8,28.1,283,6645,0.00,2.08,0.00,0.000,516,0.000,0.027,3488,1890,2013,2118,1909,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6684,1.17,175.2,3488,1890,2118,1908,737.2,28.0,284,6690,0.00,2.15,0.00,0.000,1030,0.000,0.035,3488,3305,2013,2118,1909,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7013,1.17,175.2,3488,3305,2118,1906,647.4,26.3,295,7018,0.00,0.68,0.00,0.000,260,0.000,0.050,3488,3757,2012,2118,1906,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7209,1.17,175.2,3488,3757,2118,1904,598.3,25.4,301,7214,0.00,0.65,0.00,0.000,1030,0.000,0.034,3491,3304,2011,2118,1904,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7524,1.17,175.2,3491,3304,2111,1904,516.7,26.4,317,7529,0.00,0.70,0.00,0.000,260,0.000,0.049,3491,3760,2008,2111,1905,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7664,1.17,175.2,3491,3760,2111,1904,481.9,28.3,323,7672,0.10,0.65,0.00,0.000,5126,0.202,0.033,3466,3302,2007,2111,1904,0,0,0,0,0,0,26.34,26.55,28.83
$GC,7971,1.17,175.2,3466,3302,2111,1903,401.2,25.2,339,7976,0.00,2.05,0.00,0.000,516,0.000,0.026,3475,1887,2007,2111,1903,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8172,1.17,175.2,3475,1887,2111,1902,357.7,22.0,348,8179,0.00,2.12,0.00,0.000,1030,0.000,0.034,3475,3305,2006,2111,1902,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8478,1.17,175.2,3475,3305,2111,1902,284.1,23.8,364,8484,0.00,2.08,0.00,0.000,516,0.000,0.025,3484,1889,2006,2111,1902,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8569,1.17,175.2,3484,1889,2111,1902,263.0,24.5,368,8575,0.00,2.12,0.00,0.000,1030,0.000,0.034,3484,3312,2006,2111,1901,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8889,1.17,175.2,3484,3312,2111,1901,185.2,22.0,384,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,3313,2006,2111,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9192,1.17,175.2,3484,3312,2111,1900,125.3,16.8,399,9197,0.00,0.65,0.00,0.000,260,0.000,0.050,3484,3754,2005,2111,1900,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9297,1.17,175.2,3484,3754,2111,1900,105.1,18.9,404,9302,0.00,0.65,0.00,0.000,1030,0.000,0.029,3487,3287,2005,2111,1900,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9623,1.24,197.1,3487,3287,2111,1899,66.6,9.7,420,9637,0.00,0.73,7.25,0.194,8452,0.000,0.049,3487,3760,1961,2056,1866,0,0,0,0,0,0,28.83,26.59,26.34
$GC,9660,1.24,197.1,3487,3759,2055,1884,63.1,11.6,421,9669,0.00,0.62,1.85,0.176,9222,0.000,0.030,3490,3297,1960,2051,1869,0,0,0,0,0,0,28.83,26.65,26.41
$GC,9967,1.87,406.7,3490,3297,2051,1894,41.3,2.1,447,10067,0.47,0.70,88.28,0.218,10500,0.044,0.041,3705,3763,1101,1124,1078,0,0,0,0,0,0,26.64,26.23,26.04
$STATE,10133,end climb,SURFACE_DEPTH_REACHED
$STATE,10133,begin surface coast
$FINISH,1.0,1.020663
$STATE,10141,end surface coast,CONTROL_FINISHED_OK
$STATE,10141,begin surface
$SM_CCo,10166,71.72,0.132,0,0,517,550.21
$SM_GC,1.73,9.32,2.78,71.72,0.044,0.019,0.132,136,1928,517,-9.15,2.12,550.21,0,0,0,0,0,0,26.29,26.32,26.03
$IRIDIUM_FIX,2124.90,12027.23,300613,060634
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.92
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,7683552
$24V_AH,23.9,9.452
$10V_AH,10.3,6.493
$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,22.600,73.175,405.950,71.725,0.000,0.000,0.000,391.050,0.000,0.000,37.826,1701.965,6491.817,563.255,1802.674,399.623,0.000,1736.306,0.000,1342.099,0.000,0.542,0.000
$DEVICE_MAMPS,237.150,50.490,1184.985,131.580,0.000,0.000,0.000,112.455,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10147.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.708,0.000,0.000,0.000
$MEM,324192
$DATA_FILE_SIZE,16803,469
$CAP_FILE_SIZE,123006,0
$CFSIZE,260034560,243945472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.085, 63.6,1
$GPS,300613,090406,2133.065,12028.609,39,1.1,39,-3.0