version: 66.11
glider: 167
mission: 16
dive: 88
start: 6 30 113 15 51 45
data:
$ID,167
$MISSION,16
$DIVE,88
$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,360
$T_MISSION,380
$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,564.9259
$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,-975042.56
$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,3073
$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,2100
$C_ROLL_CLIMB,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,38
$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
$GPS1,300613,154435,2131.306,12029.092,35,1.0,35,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-68.1
$GPS2,300613,155117,2131.339,12029.202,6,1.1,6,-3.0
$SPEED_LIMITS,0.159,0.274
$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,202.2,58056,-15.4,-9.167,-18.50,2921
$D_GRID,1427
$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,-1.09,-175.2,107,2107,406,508,0.0,0.0,0,126,0.00,0.00,-98.20,0.000,16386,0.000,0.000,107,2108,2854,2829,2879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.09,-175.2,108,2108,2829,2880,3.3,-4.4,17,161,10.32,2.17,-11.12,0.000,19204,0.240,0.039,2711,664,3480,3477,3483,0,0,0,0,0,0,25.96,26.22,26.45
$GC,302,-1.09,-175.2,2711,664,3478,3486,76.5,-39.7,34,307,0.00,2.10,0.00,0.000,1030,0.000,0.019,2703,2124,3482,3478,3486,0,0,0,0,0,0,28.83,26.33,28.83
$GC,627,-1.09,-175.2,2702,2124,3481,3486,157.4,-26.1,50,633,0.00,1.98,0.00,0.000,260,0.000,0.028,2692,3497,3483,3481,3486,0,0,0,0,0,0,28.83,26.46,28.83
$GC,858,-1.09,-175.2,2692,3497,3481,3487,219.8,-25.1,61,864,0.00,2.03,0.00,0.000,1030,0.000,0.016,2692,2056,3484,3481,3487,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1178,-1.09,-175.2,2692,2056,3481,3487,293.9,-22.0,77,1183,0.00,1.92,0.00,0.000,516,0.000,0.028,2693,709,3484,3481,3487,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1264,-1.09,-175.2,2692,707,3481,3487,313.2,-22.6,81,1270,0.15,1.98,0.00,0.000,3078,0.179,0.018,2720,2105,3485,3483,3487,0,0,0,0,0,0,26.45,26.61,28.83
$GC,1590,-1.09,-175.2,2720,2106,3486,3480,384.4,-20.9,97,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2107,3483,3486,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1894,-1.09,-175.2,2720,2106,3486,3476,434.8,-15.7,112,1899,0.00,2.03,0.00,0.000,516,0.000,0.028,2721,708,3481,3486,3477,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1959,-1.09,-175.2,2720,708,3486,3475,445.9,-16.0,115,1965,0.00,1.98,0.00,0.000,1030,0.000,0.018,2713,2101,3480,3486,3475,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2284,-1.09,-175.2,2713,2101,3486,3470,498.7,-17.0,131,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2102,3478,3486,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2586,-1.09,-175.2,2713,2102,3486,3465,552.2,-18.3,146,2592,0.00,2.03,0.00,0.000,260,0.000,0.033,2702,3492,3475,3486,3465,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2635,-1.09,-175.2,2702,3492,3486,3464,560.8,-18.4,148,2641,0.00,1.98,0.00,0.000,1030,0.000,0.017,2702,2084,3475,3487,3464,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2966,-1.09,-175.2,2702,2083,3486,3458,617.4,-16.4,163,2971,0.00,1.95,0.00,0.000,516,0.000,0.031,2702,724,3471,3485,3458,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3020,-1.09,-175.2,2702,724,3486,3457,623.4,-16.7,164,3025,0.00,1.95,0.00,0.000,1030,0.000,0.021,2697,2089,3471,3486,3456,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3335,-1.09,-175.2,2697,2089,3486,3451,681.5,-17.1,175,3340,0.00,2.00,0.00,0.000,516,0.000,0.029,2697,714,3468,3486,3451,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3373,-1.09,-175.2,1668,714,3467,3446,687.3,-16.9,176,3379,0.12,1.98,0.00,0.000,3078,0.188,0.019,2717,2107,3467,3486,3449,0,0,0,0,0,0,26.55,26.71,28.83
$GC,3704,-1.09,-175.2,2717,2106,3486,3445,736.5,-13.8,187,3709,0.00,2.03,0.00,0.000,260,0.000,0.034,2710,3485,3466,3488,3445,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3799,-1.09,-175.2,2709,3485,3486,3443,750.9,-14.8,190,3804,0.00,1.98,0.00,0.000,1030,0.000,0.018,2709,2093,3464,3486,3443,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4136,-1.09,-175.2,2709,2093,3486,3439,805.8,-17.0,201,4142,0.00,1.98,0.00,0.000,516,0.000,0.031,2710,726,3462,3486,3438,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4225,-1.09,-175.2,2709,726,3486,3437,817.9,-17.7,203,4233,0.00,1.98,0.00,0.000,1030,0.000,0.020,2701,2109,3461,3486,3437,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4531,-1.09,-175.2,2701,2109,3483,3435,876.2,-16.8,214,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2109,3459,3483,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4832,-1.09,-175.2,2700,2109,3481,3434,921.7,-14.7,224,4837,0.00,2.03,0.00,0.000,516,0.000,0.031,2701,723,3457,3481,3433,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4861,-1.09,-175.2,2700,723,3481,3433,921.7,-14.7,224,4868,0.00,1.98,0.00,0.000,1030,0.000,0.022,2698,2095,3457,3481,3433,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5167,-1.09,-175.2,2697,2095,3478,3431,976.8,-16.4,235,5172,0.00,2.08,0.00,0.000,260,0.000,0.037,2698,3491,3455,3478,3432,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5256,-1.09,-175.2,2697,3492,3477,3431,987.5,-16.2,237,5263,0.00,1.98,0.00,0.000,1030,0.000,0.021,2697,2097,3454,3477,3431,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,5289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5289,begin apogee
$GC,5299,-0.19,0.0,2697,3287,3477,3431,997.6,-16.7,239,5467,0.98,0.00,156.35,1.160,10246,0.145,0.000,3008,3288,2752,2819,2685,0,0,0,0,0,0,26.55,28.83,24.12
$STATE,5470,end apogee,CONTROL_FINISHED_OK
$STATE,5470,begin climb
$GC,5473,1.09,175.2,3009,3287,2818,2675,1003.2,0.0,244,5644,1.12,0.77,163.80,1.110,10500,0.042,0.047,3431,3757,2045,2137,1954,0,0,0,0,0,0,25.10,24.68,23.96
$GC,5737,1.09,175.2,3430,3757,2120,1920,960.2,22.3,253,5742,0.00,0.65,0.00,0.000,1030,0.000,0.032,3434,3322,2020,2120,1920,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6059,1.09,175.2,3434,3322,2120,1914,883.2,22.9,264,6064,0.00,2.15,0.00,0.000,516,0.000,0.027,3444,1887,2016,2120,1913,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6199,1.09,175.2,3444,1887,2120,1911,855.3,21.7,268,6204,0.00,2.17,0.00,0.000,1030,0.000,0.035,3444,3308,2015,2120,1911,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6518,1.09,175.2,3444,3308,2120,1909,778.4,23.3,279,6524,0.00,2.12,0.00,0.000,516,0.000,0.027,3455,1877,2014,2120,1909,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6607,1.09,175.2,3453,1877,2120,1908,763.4,23.3,281,6615,0.00,2.17,0.00,0.000,1030,0.000,0.035,3454,3310,2014,2120,1908,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6913,1.09,175.2,3453,3309,2120,1906,685.4,23.6,292,6918,0.00,2.10,0.00,0.000,516,0.000,0.026,3463,1891,2013,2120,1907,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6937,1.09,175.2,3463,1891,2120,1906,685.4,23.6,292,6943,0.15,2.12,0.00,0.000,5126,0.194,0.035,3429,3301,2013,2120,1906,0,0,0,0,0,0,26.26,26.42,28.83
$GC,7255,1.09,175.2,3429,3300,2120,1904,612.0,20.4,303,7260,0.00,2.08,0.00,0.000,516,0.000,0.026,3437,1885,2012,2120,1904,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7461,1.09,175.2,3437,1885,2120,1903,569.7,21.1,312,7466,0.00,2.15,0.00,0.000,1030,0.000,0.034,3437,3308,2011,2120,1903,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7785,1.09,175.2,3437,3308,2120,1902,498.4,22.4,328,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,3308,2011,2120,1902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8089,1.09,175.2,3437,3308,2120,1901,429.9,22.4,343,8094,0.00,2.10,0.00,0.000,516,0.000,0.025,3447,1877,2010,2120,1901,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8311,1.09,175.2,3447,1877,2120,1900,383.6,21.6,353,8318,0.00,2.12,0.00,0.000,1030,0.000,0.034,3447,3302,2011,2122,1901,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8616,1.09,175.2,3447,3302,2120,1900,317.3,20.0,369,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,3302,2010,2120,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8920,1.09,175.2,3447,3302,2120,1900,256.2,19.6,384,8925,0.00,2.08,0.00,0.000,516,0.000,0.024,3457,1881,2010,2120,1900,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9157,1.09,175.2,3456,1880,2120,1899,213.7,17.0,395,9163,0.12,2.12,0.00,0.000,5126,0.189,0.032,3429,3311,2009,2120,1899,0,0,0,0,0,0,26.46,26.62,28.83
$GC,9473,1.09,175.2,3429,3310,2120,1899,158.8,17.7,411,9478,0.00,2.08,0.00,0.000,516,0.000,0.022,3437,1879,2009,2120,1899,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9595,1.09,175.2,3437,1878,2120,1899,142.1,15.6,416,9602,0.00,2.12,0.00,0.000,1030,0.000,0.033,3437,3309,2009,2120,1899,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9898,1.09,175.2,3437,3308,2120,1899,96.5,15.1,432,9903,0.00,0.65,0.00,0.000,260,0.000,0.050,3437,3752,2009,2120,1899,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10136,1.09,175.2,3437,3752,2120,1899,66.6,12.9,443,10141,0.00,0.62,0.00,0.000,1030,0.000,0.028,3441,3279,2009,2120,1899,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10451,1.44,291.9,3440,3279,2120,1899,42.0,5.1,466,10506,0.22,0.75,49.28,0.211,11012,0.062,0.046,3546,3761,1570,1660,1481,0,0,0,0,0,0,26.66,26.43,26.23
$GC,10572,1.44,291.9,3545,3761,1661,1501,25.3,19.9,477,10579,0.00,0.62,1.12,0.175,9222,0.000,0.026,3549,3283,1569,1653,1486,0,0,0,0,0,0,28.83,26.53,26.34
$STATE,10688,end climb,SURFACE_DEPTH_REACHED
$STATE,10689,begin surface coast
$FINISH,1.0,1.001829
$STATE,10700,end surface coast,CONTROL_FINISHED_OK
$STATE,10701,begin surface
$SM_CCo,10724,132.82,0.129,0,0,459,564.93
$SM_GC,1.72,8.65,1.70,132.82,0.031,0.020,0.129,139,2148,459,-9.11,2.66,564.93,0,0,0,0,0,0,26.46,26.52,26.07
$IRIDIUM_FIX,2122.58,12029.22,300613,121215
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.91
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.80
$XPDR_PINGS,2
$SC_FREEKB,7682400
$24V_AH,24.0,9.904
$10V_AH,10.3,6.722
$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,21.850,81.625,370.550,132.825,0.000,0.000,0.000,224.900,0.500,0.000,7.888,1820.307,6759.994,598.017,1680.580,399.706,0.000,1630.303,0.000,1422.968,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,49.725,1159.740,129.285,0.000,0.000,0.000,117.045,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10714.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.684,0.000,0.000,0.000
$MEM,324152
$DATA_FILE_SIZE,16775,501
$CAP_FILE_SIZE,127372,0
$CFSIZE,260034560,243728384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.060,234.3,1
$GPS,300613,185406,2129.828,12028.246,38,1.0,38,-3.0