version: 66.11
glider: 167
mission: 16
dive: 125
start: 7 7 113 11 45 19
data:
$ID,167
$MISSION,16
$DIVE,125
$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,8
$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,-975106.75
$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,3060
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,98
$R_STBD_OVSHOOT,62
$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,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,49
$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
$GPS1,070713,113905,2114.076,12049.232,40,1.1,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.5
$GPS2,070713,114450,2114.254,12049.260,4,1.2,4,-3.0
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,T5
$TGT_LATLONG,2112.000,12148.000
$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,140.4,101510,-15.4,-9.167,-18.50,2921
$D_GRID,342
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.96,-175.2,141,2075,389,535,0.0,0.0,0,129,0.00,0.00,-99.75,0.000,16386,0.000,0.000,141,2076,2924,2898,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-0.96,-175.2,141,2076,2899,2951,3.2,-4.0,17,164,10.38,2.15,-10.05,0.000,18692,0.243,0.040,2733,3524,3480,3477,3484,0,0,0,0,0,0,26.05,26.38,26.63
$GC,219,-0.71,-175.2,2733,3524,3478,3485,35.4,-39.1,28,227,0.35,1.98,0.00,0.000,3078,0.186,0.018,2827,2119,3481,3478,3485,0,0,0,0,0,0,26.20,26.44,28.83
$GC,537,-0.62,-175.2,2827,2119,3481,3485,118.4,-17.3,46,543,0.12,2.00,0.00,0.000,2564,0.177,0.024,2865,709,3483,3481,3485,0,0,0,0,0,0,26.40,26.55,28.83
$GC,598,-0.54,-175.2,2865,709,3482,3485,124.6,-14.1,48,605,0.00,1.95,0.00,0.000,1030,0.000,0.018,2861,2102,3483,3482,3485,0,0,0,0,0,0,28.83,26.58,28.83
$GC,904,-0.49,-175.2,2861,2103,3481,3485,164.3,-14.3,64,909,0.12,2.00,0.00,0.000,2564,0.164,0.024,2901,702,3483,3482,3484,0,0,0,0,0,0,26.50,26.62,28.83
$GC,934,-0.45,-175.2,1792,701,3462,3482,167.8,-14.4,65,940,0.00,1.98,0.00,0.000,1030,0.000,0.018,2897,2112,3484,3483,3485,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1254,-0.45,-175.2,2896,2112,3483,3485,200.1,-8.3,81,1261,0.00,2.00,0.00,0.000,260,0.000,0.031,2887,3492,3483,3483,3484,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1359,-0.47,-175.2,2888,3492,3484,3486,207.8,-8.9,85,1366,0.00,1.92,0.00,0.000,1030,0.000,0.015,2888,2078,3484,3483,3485,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1660,-0.47,-175.2,2888,2078,3482,3482,237.8,-10.9,101,1666,0.00,1.90,0.00,0.000,516,0.000,0.027,2888,737,3482,3483,3482,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1766,-0.47,-175.2,2888,736,3483,3481,250.6,-12.4,106,1771,0.00,1.92,0.00,0.000,1030,0.000,0.019,2888,2106,3482,3483,3481,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2092,-0.48,-175.2,2888,2106,3483,3478,284.0,-9.9,122,2097,0.00,2.00,0.00,0.000,260,0.000,0.033,2888,3491,3480,3482,3478,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2117,-0.50,-175.2,2888,3492,3482,3478,286.5,-10.1,123,2122,0.00,1.92,0.00,0.000,1030,0.000,0.016,2888,2084,3480,3483,3477,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2442,-0.51,-175.2,2888,2082,3482,3474,323.3,-12.2,139,2448,0.00,2.05,0.00,0.000,260,0.000,0.032,2888,3485,3478,3483,3474,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2477,-0.53,-175.2,2888,3485,3482,3474,326.2,-12.4,140,2482,0.00,1.90,0.00,0.000,1030,0.000,0.015,2888,2095,3478,3483,3473,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,2688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2688,begin apogee
$GC,2699,-0.23,0.0,2888,2312,3482,3471,342.5,-6.5,151,2891,0.28,0.00,182.27,0.659,10246,0.116,0.000,2982,2313,2755,2817,2694,0,0,0,0,0,0,26.58,28.83,24.88
$STATE,2893,end apogee,CONTROL_FINISHED_OK
$STATE,2893,begin climb
$GC,2896,0.96,175.2,2982,2313,2817,2686,355.5,0.0,161,3048,1.08,2.12,138.30,0.705,10500,0.075,0.036,3364,3674,2036,2128,1944,0,0,0,0,0,0,25.52,25.34,24.74
$GC,3179,0.85,175.2,3364,3674,2121,1925,336.6,14.4,175,3185,0.15,1.95,0.00,0.000,5126,0.171,0.021,3336,2331,2023,2122,1924,0,0,0,0,0,0,25.89,26.08,28.83
$GC,3505,0.79,175.2,3335,2331,2122,1917,294.4,14.1,191,3511,0.00,2.03,0.00,0.000,260,0.000,0.034,3336,3676,2020,2122,1918,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3733,0.70,175.2,3335,3676,2122,1916,257.8,16.2,202,3741,0.20,2.00,0.00,0.000,5126,0.155,0.021,3289,2283,2018,2122,1915,0,0,0,0,0,0,26.35,26.53,28.83
$GC,4061,0.75,217.5,3288,2281,2122,1911,225.9,7.7,218,4103,0.00,2.17,34.85,0.651,8452,0.000,0.036,3289,3673,1865,1964,1766,0,0,0,0,0,0,28.83,26.12,25.51
$GC,4180,0.84,288.9,3288,3673,1957,1752,217.3,6.7,223,4245,0.10,1.98,57.47,0.654,11270,0.090,0.021,3350,2291,1579,1669,1490,0,0,0,0,0,0,26.26,26.31,25.10
$GC,4546,0.81,288.9,3350,2291,1644,1466,165.1,12.5,242,4551,0.12,2.00,0.00,0.000,4612,0.158,0.028,3321,916,1556,1645,1467,0,0,0,0,0,0,26.22,26.34,28.83
$GC,4606,0.78,288.9,3320,915,1645,1467,160.4,11.4,244,4613,0.00,1.95,0.00,0.000,1030,0.000,0.020,3321,2282,1555,1644,1467,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4912,0.78,288.9,3321,2281,1643,1465,123.3,12.7,260,4917,0.00,2.00,0.00,0.000,516,0.000,0.028,3329,913,1554,1642,1466,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4940,0.78,288.9,2336,912,1590,1459,120.3,12.3,261,4946,0.00,2.00,0.00,0.000,1030,0.000,0.021,3328,2305,1553,1641,1466,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5260,0.78,288.9,3329,2304,1642,1464,88.7,9.5,277,5266,0.00,2.05,0.00,0.000,260,0.000,0.034,3329,3691,1553,1642,1464,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5341,0.84,326.0,3329,3691,1639,1464,83.8,7.9,280,5361,0.00,1.98,14.60,0.249,9222,0.000,0.018,3335,2286,1433,1516,1350,0,0,0,0,0,0,28.83,26.64,26.16
$GC,5671,0.99,410.7,3334,2286,1540,1366,62.4,6.2,297,5720,0.12,2.03,38.95,0.251,10756,0.075,0.028,3438,924,1092,1133,1051,0,0,0,0,0,0,26.65,26.41,26.10
$GC,5877,0.98,410.7,3438,924,1156,1050,41.6,10.0,311,5890,0.22,1.95,1.95,0.164,13318,0.127,0.020,3371,2308,1087,1136,1039,0,0,0,0,0,0,26.37,26.53,26.34
$GC,6193,1.13,483.0,3370,2308,1158,1039,18.5,6.6,351,6230,0.12,0.00,33.12,0.151,10246,0.074,0.000,3468,2308,789,717,862,0,0,0,0,0,0,26.63,28.83,26.31
$STATE,6329,end climb,SURFACE_DEPTH_REACHED
$STATE,6330,begin surface coast
$FINISH,1.0,1.020680
$STATE,6351,end surface coast,CONTROL_FINISHED_OK
$STATE,6355,begin surface
$SM_CCo,6376,41.75,0.119,0,0,459,564.93
$SM_GC,1.63,8.38,0.25,41.75,0.030,0.037,0.119,142,2065,459,-9.07,2.32,564.93,0,0,0,0,0,0,26.50,26.60,26.32
$IRIDIUM_FIX,2101.76,12048.32,070713,090932
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.02
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,26.70
$XPDR_PINGS,0
$SC_FREEKB,7668928
$24V_AH,24.7,15.577
$10V_AH,10.5,10.205
$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,21.750,56.375,501.525,41.750,0.000,0.000,0.000,181.725,0.000,0.000,5.055,1187.276,3535.077,566.223,1171.120,310.393,0.000,1357.688,0.000,964.433,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,39.780,704.565,118.575,0.000,0.000,0.000,116.280,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6355.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.117,0.000,0.000,0.000
$MEM,322884
$DATA_FILE_SIZE,13430,380
$CAP_FILE_SIZE,93695,0
$CFSIZE,260034560,240676864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.409, 12.6,1
$GPS,070713,133335,2115.029,12050.238,31,1.2,31,-3.0