version: 66.11
glider: 167
mission: 16
dive: 91
start: 7 1 113 1 21 59
data:
$ID,167
$MISSION,16
$DIVE,91
$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,-975046.31
$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,59
$R_STBD_OVSHOOT,41
$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
$GPS1,010713,011205,2127.637,12029.431,39,0.9,39,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-69.0
$GPS2,010713,012129,2127.862,12029.575,40,1.3,40,-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,204.2,51605,-15.4,-9.167,-18.50,2921
$D_GRID,1654
$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,-1.09,-175.2,115,2090,404,512,0.0,0.0,0,129,0.00,0.00,-100.80,0.000,16386,0.000,0.000,114,2091,2944,2919,2970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.09,-175.2,113,2091,2920,2971,3.4,-5.5,18,164,10.15,2.10,-9.30,0.000,18948,0.234,0.041,2711,693,3481,3477,3486,0,0,0,0,0,0,25.98,26.22,26.46
$GC,189,-1.09,-175.2,2711,691,3477,3487,27.5,-44.4,26,194,0.00,2.05,0.00,0.000,1030,0.000,0.015,2703,2154,3482,3477,3487,0,0,0,0,0,0,28.83,26.28,28.83
$GC,504,-1.09,-175.2,2702,2154,3479,3487,122.8,-28.8,45,509,0.00,1.98,0.00,0.000,260,0.000,0.028,2693,3528,3483,3479,3488,0,0,0,0,0,0,28.83,26.41,28.83
$GC,589,-1.09,-175.2,2692,3529,3480,3488,149.1,-31.0,49,595,0.00,2.05,0.00,0.000,1030,0.000,0.016,2693,2067,3484,3480,3488,0,0,0,0,0,0,28.83,26.48,28.83
$GC,915,-1.09,-175.2,2692,2067,3481,3488,227.4,-22.4,65,921,0.00,2.12,0.00,0.000,260,0.000,0.028,2682,3526,3484,3481,3488,0,0,0,0,0,0,28.83,26.53,28.83
$GC,934,-1.09,-175.2,2681,3525,3481,3488,227.4,-22.4,65,941,0.15,2.00,0.00,0.000,3078,0.175,0.016,2719,2088,3484,3481,3488,0,0,0,0,0,0,26.39,26.57,28.83
$GC,1240,-1.09,-175.2,2719,2087,3481,3488,292.4,-18.9,81,1245,0.00,2.10,0.00,0.000,260,0.000,0.030,2711,3523,3484,3480,3488,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1275,-1.09,-175.2,2711,3523,3480,3489,297.2,-19.2,82,1280,0.00,2.00,0.00,0.000,1030,0.000,0.016,2712,2096,3484,3481,3488,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1589,-1.09,-175.2,2711,2095,3480,3485,360.9,-19.1,98,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2096,3483,3481,3485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1893,-1.09,-175.2,2710,2094,3484,3475,417.5,-19.4,113,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2094,3479,3484,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2192,-1.09,-175.2,2710,2094,3483,3470,475.3,-18.1,128,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2094,3477,3484,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2493,-1.09,-175.2,2710,2094,3484,3464,527.6,-17.3,143,2499,0.00,1.98,0.00,0.000,516,0.000,0.031,2710,725,3473,3484,3463,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2572,-1.09,-175.2,2710,725,3484,3463,540.3,-18.3,146,2579,0.00,2.00,0.00,0.000,1030,0.000,0.020,2702,2131,3474,3487,3462,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2878,-1.09,-175.2,2702,2130,3484,3456,599.9,-18.0,162,2883,0.00,1.98,0.00,0.000,260,0.000,0.032,2693,3490,3470,3484,3456,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2913,-1.09,-175.2,2693,3490,3484,3455,605.1,-16.7,164,2919,0.00,1.98,0.00,0.000,1030,0.000,0.018,2693,2085,3470,3485,3455,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3251,-1.09,-175.2,2693,2085,3484,3450,666.6,-19.1,175,3257,0.00,1.95,0.00,0.000,516,0.000,0.031,2693,730,3467,3484,3450,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3317,-1.09,-175.2,2692,730,3484,3448,680.2,-19.7,177,3323,0.12,1.98,0.00,0.000,3078,0.184,0.019,2714,2111,3466,3484,3448,0,0,0,0,0,0,26.55,26.70,28.83
$GC,3656,-1.09,-175.2,2713,2112,3484,3442,740.4,-17.2,188,3662,0.00,2.03,0.00,0.000,260,0.000,0.036,2709,3489,3463,3484,3442,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3706,-1.09,-175.2,2708,3489,3484,3442,747.0,-17.3,189,3711,0.00,1.95,0.00,0.000,1030,0.000,0.018,2709,2102,3462,3484,3441,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4028,-1.09,-175.2,2708,2100,3483,3437,803.7,-16.2,200,4034,0.00,2.00,0.00,0.000,516,0.000,0.031,2709,717,3460,3483,3437,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4142,-1.09,-175.2,2708,717,3481,3437,819.1,-15.7,203,4148,0.00,1.98,0.00,0.000,1030,0.000,0.021,2700,2095,3459,3481,3437,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4458,-1.09,-175.2,2698,2096,3479,3435,872.1,-15.2,214,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2095,3457,3479,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4758,-1.09,-175.2,2699,2096,3477,3432,914.5,-13.8,224,4763,0.00,2.08,0.00,0.000,260,0.000,0.037,2697,3500,3454,3477,3432,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4797,-1.09,-175.2,2696,3500,3476,3433,919.7,-14.2,225,4803,0.00,1.98,0.00,0.000,1030,0.000,0.020,2697,2105,3454,3476,3432,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5130,-1.09,-175.2,2696,2105,3474,3430,970.3,-15.2,236,5136,0.00,2.00,0.00,0.000,516,0.000,0.032,2697,723,3452,3475,3429,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5252,-1.09,-175.2,2696,723,3473,3428,985.7,-15.6,239,5259,0.00,1.98,0.00,0.000,1030,0.000,0.022,2692,2098,3450,3473,3428,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,5283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5283,begin apogee
$GC,5292,-0.19,0.0,2684,3284,3473,3427,995.3,-15.9,241,5455,1.00,0.00,153.07,1.190,10246,0.148,0.000,3002,3284,2755,2822,2689,0,0,0,0,0,0,26.55,28.83,24.10
$STATE,5458,end apogee,CONTROL_FINISHED_OK
$STATE,5458,begin climb
$GC,5462,1.09,175.2,3002,3284,2817,2674,1000.4,0.0,246,5636,1.15,0.77,162.98,1.119,10500,0.044,0.046,3428,3757,2034,2127,1941,0,0,0,0,0,0,25.08,24.68,23.98
$GC,5665,1.09,175.2,3429,3757,2117,1922,970.8,20.2,253,5670,0.00,0.65,0.00,0.000,1030,0.000,0.033,3433,3327,2019,2118,1921,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5987,1.09,175.2,3432,3327,2117,1909,886.2,25.8,264,5992,0.00,2.15,0.00,0.000,516,0.000,0.026,3443,1885,2013,2118,1909,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6204,1.09,175.2,3442,1885,2118,1906,835.1,22.5,271,6210,0.00,2.17,0.00,0.000,1030,0.000,0.035,3443,3301,2011,2117,1906,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6542,1.09,175.2,3442,3301,2117,1902,760.4,22.4,282,6547,0.00,2.10,0.00,0.000,516,0.000,0.026,3452,1884,2010,2117,1903,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6681,1.09,175.2,3452,1884,2118,1902,732.2,22.1,286,6687,0.00,2.15,0.00,0.000,1030,0.000,0.036,3452,3302,2010,2118,1902,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7002,1.09,175.2,3452,3302,2118,1899,655.0,24.4,297,7007,0.00,2.10,0.00,0.000,516,0.000,0.026,3462,1882,2008,2117,1899,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7056,1.09,175.2,3462,1883,2118,1899,646.5,24.5,298,7062,0.15,2.15,0.00,0.000,5126,0.192,0.035,3427,3302,2008,2118,1899,0,0,0,0,0,0,26.29,26.45,28.83
$GC,7372,1.09,175.2,3427,3302,2117,1897,569.8,21.7,311,7378,0.00,2.10,0.00,0.000,516,0.000,0.025,3436,1876,2007,2118,1897,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7438,1.09,175.2,3436,1877,2118,1897,556.7,20.1,314,7443,0.00,2.15,0.00,0.000,1030,0.000,0.034,3436,3299,2007,2118,1897,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7762,1.09,175.2,3435,3299,2117,1896,486.3,21.9,330,7768,0.00,2.10,0.00,0.000,516,0.000,0.026,3446,1869,2006,2118,1895,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7892,1.09,175.2,3447,1869,2118,1895,459.3,21.6,336,7898,0.00,2.15,0.00,0.000,1030,0.000,0.034,3446,3299,2006,2117,1895,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8218,1.09,175.2,3446,3299,2117,1895,383.7,22.7,352,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,3299,2006,2117,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8520,1.09,175.2,3446,3299,2117,1894,313.6,22.4,367,8525,0.00,2.08,0.00,0.000,516,0.000,0.024,3455,1879,2006,2118,1894,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8549,1.09,175.2,3455,1878,2118,1894,307.6,22.2,368,8554,0.00,2.12,0.00,0.000,1030,0.000,0.034,3455,3301,2005,2117,1894,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8869,1.09,175.2,3455,3301,2118,1894,238.5,21.5,384,8874,0.00,0.68,0.00,0.000,260,0.000,0.047,3455,3763,2006,2118,1894,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9079,1.09,175.2,2560,3762,2043,1882,195.0,20.0,394,9085,0.10,0.65,0.00,0.000,5126,0.194,0.031,3430,3291,2006,2118,1895,0,0,0,0,0,0,26.44,26.66,28.83
$GC,9400,1.09,175.2,3430,3291,2117,1893,141.3,14.8,410,9406,0.00,2.00,0.00,0.000,516,0.000,0.022,3439,1889,2004,2116,1893,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9445,1.09,175.2,3439,1889,2117,1893,134.7,14.7,412,9452,0.00,2.10,0.00,0.000,1030,0.000,0.033,3439,3307,2005,2117,1893,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9771,1.09,175.2,3438,3307,2117,1893,91.5,12.9,428,9776,0.00,2.03,0.00,0.000,516,0.000,0.022,3449,1884,2005,2117,1893,0,0,0,0,0,0,28.83,26.66,28.83
$GC,10009,1.09,175.2,3449,1884,2117,1893,65.1,9.7,439,10014,0.00,2.10,0.00,0.000,1030,0.000,0.033,3449,3303,2005,2117,1893,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10323,1.71,381.1,3449,3303,2118,1893,40.2,1.9,463,10423,0.43,0.68,88.38,0.208,11012,0.045,0.041,3635,3767,1206,1262,1151,0,0,0,0,0,0,26.68,26.27,26.08
$STATE,10527,end climb,SURFACE_DEPTH_REACHED
$STATE,10527,begin surface coast
$FINISH,1.0,1.020691
$STATE,10532,end surface coast,CONTROL_FINISHED_OK
$STATE,10532,begin surface
$SM_CCo,10557,95.85,0.131,0,0,457,564.93
$SM_GC,1.74,9.05,2.50,95.85,0.040,0.019,0.131,141,2079,457,-9.11,1.78,564.93,0,0,0,0,0,0,26.32,26.40,26.03
$IRIDIUM_FIX,2122.58,12029.22,010713,010158
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.38
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.80
$XPDR_PINGS,2
$SC_FREEKB,7681248
$24V_AH,24.0,10.326
$10V_AH,10.3,6.932
$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,22.300,85.700,404.425,95.850,0.000,0.000,0.000,293.350,0.500,0.000,41.581,1687.950,6858.332,593.184,1679.616,402.064,0.000,1659.029,0.000,1317.329,0.000,0.542,0.000
$DEVICE_MAMPS,234.090,47.430,1189.575,130.815,0.000,0.000,0.000,115.515,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10543.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.687,0.000,0.000,0.000
$MEM,324172
$DATA_FILE_SIZE,16809,491
$CAP_FILE_SIZE,124587,0
$CFSIZE,260034560,243523584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.108, 65.5,1
$GPS,010713,042059,2126.740,12029.492,41,1.4,41,-3.0