version: 66.11
glider: 167
mission: 16
dive: 95
start: 7 1 113 14 17 3
data:
$ID,167
$MISSION,16
$DIVE,95
$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,-8
$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,-975051.31
$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,43
$R_STBD_OVSHOOT,39
$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
$GPS1,010713,140905,2124.956,12030.742,30,1.4,30,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.0
$GPS2,010713,141635,2125.003,12030.984,37,0.8,37,-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,217.8,46337,-15.4,-9.167,-18.50,2921
$D_GRID,1449
$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,-175.2,113,2090,403,512,0.0,0.0,0,126,0.00,0.00,-98.55,0.000,16386,0.000,0.000,113,2091,2882,2857,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-1.09,-175.2,113,2091,2858,2908,3.3,-4.5,17,161,10.60,2.12,-10.40,0.000,18948,0.249,0.041,2715,680,3481,3477,3486,0,0,0,0,0,0,25.96,26.22,26.46
$GC,191,-1.09,-175.2,2715,679,3477,3487,29.6,-45.4,25,197,0.00,2.08,0.00,0.000,1030,0.000,0.018,2707,2129,3481,3477,3486,0,0,0,0,0,0,28.83,26.26,28.83
$GC,516,-1.09,-175.2,2706,2129,3480,3487,137.5,-30.7,43,522,0.00,1.98,0.00,0.000,260,0.000,0.028,2697,3499,3483,3480,3486,0,0,0,0,0,0,28.83,26.42,28.83
$GC,687,-1.09,-175.2,1632,3498,3462,3483,181.2,-25.0,51,693,0.00,2.03,0.00,0.000,1030,0.000,0.015,2697,2051,3484,3482,3487,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1007,-1.09,-175.2,2697,2051,3483,3487,250.4,-21.8,67,1013,0.00,2.10,0.00,0.000,260,0.000,0.028,2686,3494,3485,3483,3487,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1046,-1.09,-175.2,2686,3494,3483,3487,255.6,-21.4,68,1054,0.12,1.95,0.00,0.000,3078,0.189,0.016,2715,2096,3485,3483,3487,0,0,0,0,0,0,26.40,26.59,28.83
$GC,1352,-1.09,-175.2,2715,2096,3483,3487,323.7,-22.4,84,1357,0.00,1.95,0.00,0.000,516,0.000,0.029,2715,730,3484,3483,3486,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1503,-1.09,-175.2,2715,731,3482,3486,353.5,-20.8,91,1508,0.00,1.92,0.00,0.000,1030,0.000,0.018,2708,2103,3484,3483,3485,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1823,-1.09,-175.2,2705,2104,3486,3478,417.9,-19.7,107,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2104,3482,3486,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2125,-1.09,-175.2,2705,2104,3485,3474,475.3,-18.1,122,2131,0.00,2.00,0.00,0.000,260,0.000,0.032,2697,3483,3479,3485,3473,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2171,-1.09,-175.2,2697,3483,3486,3473,484.5,-18.5,124,2177,0.00,1.95,0.00,0.000,1030,0.000,0.017,2697,2096,3479,3486,3473,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2496,-1.09,-175.2,2697,2096,3485,3467,543.2,-18.1,140,2502,0.00,1.98,0.00,0.000,516,0.000,0.031,2697,720,3475,3485,3466,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2608,-1.09,-175.2,2697,720,3485,3465,564.1,-20.2,145,2615,0.12,1.95,0.00,0.000,3078,0.192,0.018,2718,2093,3474,3485,3464,0,0,0,0,0,0,26.53,26.70,28.83
$GC,2919,-1.09,-175.2,2717,2094,3485,3459,617.7,-16.2,159,2925,0.00,2.05,0.00,0.000,260,0.000,0.034,2709,3497,3472,3485,3459,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3019,-1.09,-175.2,2709,3497,3485,3457,632.9,-15.9,162,3024,0.00,1.98,0.00,0.000,1030,0.000,0.018,2708,2094,3471,3485,3457,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3351,-1.09,-175.2,2709,2093,3485,3452,686.6,-16.0,173,3357,0.00,1.98,0.00,0.000,516,0.000,0.031,2709,723,3468,3485,3451,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3417,-1.09,-175.2,2709,722,3485,3450,697.7,-16.2,175,3422,0.00,1.98,0.00,0.000,1030,0.000,0.019,2700,2107,3467,3485,3450,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3754,-1.09,-175.2,2700,2106,3485,3445,753.6,-16.1,186,3759,0.00,2.05,0.00,0.000,516,0.000,0.030,2700,713,3464,3485,3444,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3808,-1.09,-175.2,2700,713,3485,3444,760.0,-16.2,187,3814,0.00,1.98,0.00,0.000,1030,0.000,0.020,2697,2094,3464,3485,3443,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4124,-1.09,-175.2,2697,2095,3485,3439,819.2,-18.3,198,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2094,3462,3485,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4424,-1.09,-175.2,2697,2094,3481,3437,871.0,-18.7,208,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2095,3459,3481,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4724,-1.09,-175.2,2696,2094,3480,3434,918.4,-15.9,218,4730,0.00,2.03,0.00,0.000,516,0.000,0.031,2697,724,3457,3480,3434,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4749,-1.09,-175.2,2696,724,3480,3434,918.4,-15.9,218,4755,0.00,1.98,0.00,0.000,1030,0.000,0.022,2693,2097,3457,3480,3434,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5064,-1.09,-175.2,2693,2097,3477,3432,972.6,-15.5,229,5070,0.00,2.08,0.00,0.000,260,0.000,0.036,2684,3507,3454,3477,3432,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5100,-1.09,-175.2,2684,3507,3476,3432,978.2,-15.5,230,5106,0.12,2.00,0.00,0.000,3078,0.183,0.020,2714,2095,3454,3477,3432,0,0,0,0,0,0,26.55,26.73,28.83
$STATE,5192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5192,begin apogee
$GC,5202,-0.19,0.0,2709,3292,3477,3432,991.8,-14.7,233,5366,0.93,0.00,149.30,1.262,10246,0.151,0.000,3002,3292,2765,2829,2701,0,0,0,0,1,0,26.55,28.83,23.68
$STATE,5368,end apogee,CONTROL_FINISHED_OK
$STATE,5368,begin climb
$GC,5372,1.09,175.2,3002,3292,2829,2710,997.0,0.0,238,5542,1.15,0.75,156.00,1.730,10500,0.044,0.044,3429,3756,2049,2138,1960,0,0,0,0,1,0,25.01,24.35,23.36
$GC,5713,1.09,175.2,3430,3756,2138,1954,934.3,24.8,250,5718,0.00,0.65,0.00,0.000,1030,0.000,0.033,3432,3325,2046,2138,1954,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6051,1.09,175.2,3432,3325,2138,1949,854.6,23.6,261,6056,0.00,2.15,0.00,0.000,516,0.000,0.027,3442,1875,2043,2138,1949,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6187,1.09,175.2,3442,1875,2138,1948,826.8,21.8,265,6193,0.00,2.17,0.00,0.000,1030,0.000,0.035,3442,3298,2043,2138,1948,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6516,1.09,175.2,3442,3298,2138,1946,750.4,22.0,276,6522,0.00,2.10,0.00,0.000,516,0.000,0.026,3452,1883,2042,2138,1947,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6630,1.09,175.2,3452,1882,2138,1945,728.8,21.9,279,6636,0.00,2.15,0.00,0.000,1030,0.000,0.035,3452,3303,2041,2138,1945,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6945,1.09,175.2,3452,3303,2138,1944,650.6,23.6,290,6950,0.00,2.10,0.00,0.000,516,0.000,0.026,3462,1882,2041,2138,1944,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6994,1.09,175.2,3461,1882,2138,1943,642.5,23.8,291,7001,0.15,2.15,0.00,0.000,5126,0.194,0.034,3427,3306,2040,2138,1943,0,0,0,0,0,0,26.29,26.45,28.83
$GC,7305,1.09,175.2,3426,3307,2138,1942,564.7,22.4,304,7311,0.00,2.10,0.00,0.000,516,0.000,0.026,3435,1883,2039,2137,1942,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7482,1.09,175.2,3435,1883,2138,1940,530.2,19.8,312,7487,0.00,2.12,0.00,0.000,1030,0.000,0.034,3435,3302,2039,2138,1941,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7796,1.09,175.2,3435,3302,2138,1940,467.2,18.9,328,7801,0.00,0.68,0.00,0.000,260,0.000,0.048,3435,3762,2039,2139,1940,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7875,1.09,175.2,3435,3762,2138,1940,454.4,19.5,331,7882,0.00,0.68,0.00,0.000,1030,0.000,0.033,3439,3286,2039,2138,1940,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8182,1.09,175.2,3439,3286,2138,1940,388.1,21.0,347,8187,0.00,2.03,0.00,0.000,516,0.000,0.025,3449,1893,2039,2138,1940,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8323,1.09,175.2,3447,1893,2138,1939,362.9,19.4,353,8330,0.00,2.10,0.00,0.000,1030,0.000,0.034,3448,3301,2038,2138,1939,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8629,1.09,175.2,3448,3301,2138,1939,297.2,20.1,369,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,3301,2038,2138,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8931,1.09,175.2,3448,3300,2138,1939,238.5,18.7,384,8937,0.00,2.08,0.00,0.000,516,0.000,0.024,3459,1876,2038,2138,1939,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9016,1.09,175.2,3458,1875,2138,1938,223.5,17.3,388,9022,0.12,2.12,0.00,0.000,5126,0.189,0.033,3430,3308,2038,2138,1938,0,0,0,0,0,0,26.46,26.61,28.83
$GC,9342,1.09,175.2,3430,3308,2138,1938,169.2,16.9,404,9347,0.00,2.08,0.00,0.000,516,0.000,0.023,3439,1878,2038,2138,1938,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9579,1.09,175.2,3439,1878,2139,1938,134.8,14.9,415,9585,0.00,2.12,0.00,0.000,1030,0.000,0.033,3439,3310,2038,2138,1938,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9895,1.09,175.2,3439,3309,2138,1938,85.9,12.8,431,9900,0.00,0.65,0.00,0.000,260,0.000,0.048,3439,3755,2038,2138,1938,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10132,1.57,332.4,3439,3756,2138,1938,72.5,3.6,442,10203,0.30,0.62,65.12,0.294,11270,0.038,0.028,3587,3284,1403,1479,1328,0,0,0,0,0,0,26.65,26.70,25.99
$STATE,10491,end climb,SURFACE_DEPTH_REACHED
$STATE,10491,begin surface coast
$FINISH,1.1,1.013450
$STATE,10503,end surface coast,CONTROL_FINISHED_OK
$STATE,10503,begin surface
$SM_CCo,10529,115.12,0.129,0,0,456,564.93
$SM_GC,1.71,8.80,1.73,115.12,0.033,0.020,0.129,139,2133,456,-9.10,2.32,564.93,0,0,0,0,0,0,26.41,26.46,26.05
$IRIDIUM_FIX,2120.26,12022.89,010713,111140
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.62
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.50
$XPDR_PINGS,2
$SC_FREEKB,7679712
$24V_AH,23.4,10.915
$10V_AH,10.3,7.225
$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,22.425,81.250,370.425,115.125,0.000,0.000,0.000,244.700,0.500,0.000,38.553,1762.224,6657.028,586.098,1694.775,396.194,0.000,1625.907,0.000,1385.375,0.000,0.541,0.000
$DEVICE_MAMPS,248.625,48.195,1729.665,129.285,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10513.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.566,0.000,0.000,0.000
$MEM,323064
$DATA_FILE_SIZE,16741,482
$CAP_FILE_SIZE,124292,0
$CFSIZE,260034560,243240960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.041, 89.5,1
$GPS,010713,171554,2123.970,12030.281,41,1.1,41,-3.0