version: 66.11
glider: 167
mission: 16
dive: 326
start: 8 18 113 13 38 35
data:
$ID,167
$MISSION,16
$DIVE,326
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$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,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$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,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,-975602.25
$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,3015
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$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,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
$GPS1,180813,132924,2016.371,12308.873,42,1.1,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-71.2
$GPS2,180813,133805,2016.205,12308.956,30,0.9,30,-2.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,76.4,123461,-18.3,-10.000,-23.91,2793
$D_GRID,5333
$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,-1.12,-184.9,111,2229,690,644,0.0,0.0,0,120,0.00,0.00,-90.32,0.000,16386,0.000,0.000,110,2229,2912,2891,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-1.12,-184.9,110,2229,2891,2933,3.3,-3.8,16,160,10.50,2.17,-16.42,0.000,18948,0.233,0.041,2647,789,3726,3722,3730,0,0,0,0,0,0,25.28,26.10,26.48
$GC,276,-1.02,-184.9,1600,789,3717,3730,47.3,-30.9,35,283,0.17,2.03,0.00,0.000,3078,0.195,0.023,2681,2192,3726,3722,3731,0,0,0,0,0,0,25.61,26.18,28.83
$GC,583,-0.96,-184.9,2681,2192,3722,3731,124.3,-23.8,51,588,0.00,2.08,0.00,0.000,260,0.000,0.034,2671,3601,3727,3722,3732,0,0,0,0,0,0,28.83,26.22,28.83
$GC,699,-0.89,-184.9,2672,3600,3722,3731,148.8,-23.3,56,706,0.20,2.00,0.00,0.000,3078,0.164,0.016,2724,2170,3726,3722,3731,0,0,0,0,0,0,25.81,26.40,28.83
$GC,1017,-0.86,-184.9,2724,2170,3722,3732,207.3,-15.8,72,1022,0.00,1.92,0.00,0.000,516,0.000,0.028,2724,820,3727,3724,3731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1066,-0.83,-184.9,2724,819,3723,3731,214.3,-15.4,74,1072,0.12,1.98,0.00,0.000,3078,0.170,0.024,2748,2201,3727,3723,3731,0,0,0,0,0,0,26.02,26.37,28.83
$GC,1387,-0.81,-184.9,2748,2200,3724,3732,258.1,-13.3,90,1393,0.00,2.00,0.00,0.000,516,0.000,0.027,2748,814,3728,3724,3732,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1442,-0.79,-184.9,2748,813,3724,3732,264.2,-13.5,92,1447,0.00,2.00,0.00,0.000,1030,0.000,0.024,2741,2213,3728,3724,3732,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1757,-0.78,-184.9,2741,2213,3724,3731,308.9,-14.1,108,1762,0.00,2.05,0.00,0.000,260,0.000,0.037,2738,3599,3727,3724,3731,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1786,-0.76,-184.9,2738,3599,3725,3732,312.4,-14.0,109,1793,0.12,1.95,0.00,0.000,3078,0.152,0.016,2770,2196,3728,3724,3732,0,0,0,0,0,0,26.15,26.51,28.83
$GC,2108,-0.76,-184.9,2770,2194,3724,3731,348.8,-11.2,125,2113,0.00,1.95,0.00,0.000,516,0.000,0.028,2770,829,3727,3724,3731,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2202,-0.76,-184.9,2770,828,3724,3731,358.5,-11.4,129,2209,0.00,1.98,0.00,0.000,1030,0.000,0.024,2766,2204,3727,3724,3730,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2518,-0.76,-184.9,2765,2203,3726,3728,395.9,-11.9,145,2524,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,829,3726,3724,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2557,-0.76,-184.9,2765,829,3724,3728,399.1,-12.2,146,2565,0.00,2.00,0.00,0.000,1030,0.000,0.026,2765,2208,3726,3724,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2863,-0.76,-184.9,2765,2208,3723,3724,436.0,-11.2,162,2869,0.00,2.00,0.00,0.000,516,0.000,0.027,2765,826,3723,3724,3723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2879,-0.76,-184.9,2765,826,3724,3723,436.0,-11.2,162,2884,0.00,2.00,0.00,0.000,1030,0.000,0.026,2765,2211,3723,3724,3723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3193,-0.76,-184.9,2765,2211,3724,3719,472.0,-10.7,178,3198,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,829,3721,3724,3719,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3258,-0.76,-184.9,2765,829,3724,3719,479.1,-11.1,181,3263,0.00,2.00,0.00,0.000,1030,0.000,0.025,2765,2205,3721,3724,3718,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3583,-0.76,-184.9,2765,2205,3724,3713,513.5,-10.7,197,3588,0.00,2.00,0.00,0.000,516,0.000,0.028,2766,828,3718,3724,3713,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3628,-0.76,-184.9,2765,828,3724,3712,518.3,-10.9,199,3633,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2198,3718,3724,3712,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3953,-0.76,-184.9,2765,2199,3724,3707,553.1,-10.7,215,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2199,3715,3724,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4255,-0.76,-184.9,2765,2199,3724,3703,585.5,-10.7,230,4261,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,827,3713,3724,3702,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4330,-0.76,-184.9,2765,827,3724,3701,592.9,-10.7,233,4336,0.00,2.00,0.00,0.000,1030,0.000,0.026,2766,2205,3712,3724,3701,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4648,-0.76,-184.9,2765,2205,3724,3695,625.8,-9.7,245,4653,0.00,2.03,0.00,0.000,516,0.000,0.028,2765,819,3709,3724,3695,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4698,-0.76,-184.9,2765,818,3724,3694,629.4,-9.7,246,4704,0.00,2.03,0.00,0.000,1030,0.000,0.027,2765,2209,3709,3724,3694,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5022,-0.76,-184.9,2765,2209,3724,3689,659.3,-9.1,257,5027,0.00,2.03,0.00,0.000,516,0.000,0.028,2765,826,3706,3724,3689,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5082,-0.76,-184.9,2765,826,3724,3688,662.8,-9.3,258,5089,0.00,2.00,0.00,0.000,1030,0.000,0.026,2766,2198,3705,3723,3687,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5390,-0.77,-184.9,2765,2198,3722,3684,694.3,-9.7,269,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2199,3703,3722,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5689,-0.78,-184.9,2765,2198,3719,3681,724.0,-10.0,279,5694,0.00,2.03,0.00,0.000,516,0.000,0.030,2766,822,3700,3719,3681,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5733,-0.79,-184.9,2765,822,3718,3681,727.9,-10.1,280,5739,0.00,2.03,0.00,0.000,1030,0.000,0.028,2766,2202,3699,3718,3681,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6062,-0.80,-184.9,2765,2202,3716,3676,762.8,-10.6,291,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2202,3696,3716,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6359,-0.82,-184.9,2765,2201,3714,3673,795.4,-10.8,301,6364,0.00,2.03,0.00,0.000,516,0.000,0.030,2765,829,3693,3714,3673,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6404,-0.83,-184.9,2765,829,3714,3673,799.2,-10.8,302,6409,0.00,2.03,0.00,0.000,1030,0.000,0.028,2766,2206,3693,3714,3673,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6733,-0.84,-184.9,2765,2205,3712,3670,833.0,-9.9,313,6738,0.00,2.12,0.00,0.000,260,0.000,0.042,2765,3602,3691,3712,3670,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6757,-0.85,-184.9,2765,3601,3711,3670,833.0,-9.9,313,6763,0.00,2.00,0.00,0.000,1030,0.000,0.021,2765,2213,3691,3712,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7076,-0.86,-184.9,2765,2213,3710,3667,865.9,-9.4,324,7082,0.00,2.05,0.00,0.000,516,0.000,0.031,2765,813,3688,3710,3667,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7152,-0.88,-184.9,2765,812,3709,3667,872.7,-9.4,326,7157,0.00,2.05,0.00,0.000,1030,0.000,0.028,2766,2200,3688,3709,3667,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7480,-0.89,-184.9,2765,2200,3707,3664,904.4,-9.3,337,7486,0.12,2.15,0.00,0.000,4356,0.085,0.041,2697,3601,3685,3707,3663,0,0,0,0,0,0,26.51,26.11,28.83
$GC,7550,-0.89,-184.9,2696,3602,3706,3663,912.7,-10.8,339,7557,0.12,2.03,0.00,0.000,3078,0.160,0.022,2727,2191,3685,3706,3664,0,0,0,0,0,0,26.01,26.41,28.83
$GC,7885,-0.89,-184.9,2727,2191,3705,3662,952.4,-12.0,350,7890,0.00,2.00,0.00,0.000,516,0.000,0.032,2728,829,3683,3704,3662,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7923,-0.89,-184.9,1712,828,3697,3659,957.2,-12.1,351,7929,0.00,2.03,0.00,0.000,1030,0.000,0.029,2728,2197,3682,3704,3661,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,8190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8190,begin apogee
$GC,8199,-0.18,0.0,2728,2058,3703,3659,991.2,-12.4,360,8406,0.70,0.00,199.52,1.094,10246,0.125,0.000,2951,2056,2962,3028,2897,0,0,0,0,0,0,25.49,28.83,23.75
$STATE,8409,end apogee,CONTROL_FINISHED_OK
$STATE,8409,begin climb
$GC,8413,1.12,184.9,2951,2056,3026,2890,1003.6,0.0,367,8588,1.20,2.40,160.75,1.209,11012,0.063,0.041,3373,3449,2203,2289,2117,0,0,0,0,0,0,24.93,24.40,23.42
$GC,8628,1.07,192.6,3373,3448,2287,2103,992.8,9.7,374,8638,0.00,2.15,1.98,0.173,9222,0.000,0.024,3383,2061,2182,2272,2092,0,0,0,0,0,0,28.83,25.11,24.83
$GC,8956,1.01,192.6,3382,2061,2271,2100,949.8,12.8,385,8962,0.15,2.17,0.00,0.000,4356,0.174,0.038,3341,3451,2185,2271,2099,0,0,0,0,0,0,25.73,25.96,28.83
$GC,9067,0.96,192.6,3341,3451,2271,2099,937.0,12.9,388,9072,0.00,2.10,0.00,0.000,1030,0.000,0.024,3349,2039,2185,2271,2099,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9394,0.91,192.6,3349,2037,2271,2096,896.7,12.0,399,9400,0.12,2.20,0.00,0.000,4356,0.179,0.039,3314,3461,2183,2271,2096,0,0,0,0,0,0,25.96,26.12,28.83
$GC,9425,0.87,192.6,3314,3460,2271,2096,896.7,12.0,399,9432,0.00,2.10,0.00,0.000,1030,0.000,0.024,3322,2036,2183,2271,2096,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9733,0.83,192.6,3322,2036,2271,2095,861.5,10.2,410,9739,0.12,2.08,0.00,0.000,4612,0.173,0.035,3295,654,2182,2271,2094,0,0,0,0,0,0,26.03,26.18,28.83
$GC,9778,0.80,194.0,3294,654,2271,2094,857.8,9.9,411,9784,0.00,2.10,0.00,0.000,1030,0.000,0.030,3295,2055,2182,2271,2093,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10108,0.83,213.9,3295,2055,2271,2092,827.0,9.3,422,10140,0.00,2.17,25.67,1.120,8452,0.000,0.041,3295,3451,2089,2182,1997,0,0,0,0,0,0,28.83,25.80,24.74
$GC,10213,0.80,213.9,3295,3451,2175,1983,816.7,10.2,425,10219,0.12,2.10,0.00,0.000,5126,0.172,0.025,3275,2049,2078,2175,1982,0,0,0,0,0,0,25.65,25.96,28.83
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$STATE,18334,end climb,SURFACE_DEPTH_REACHED
$STATE,18334,begin surface coast
$FINISH,1.2,1.021365
$STATE,18362,end surface coast,CONTROL_FINISHED_OK
$STATE,18362,begin surface
$SM_CCo,18385,17.73,0.123,0,0,666,564.93
$SM_GC,2.03,8.40,0.17,17.73,0.020,0.059,0.123,136,2227,666,-8.91,-1.39,564.93,0,0,0,0,0,0,26.27,26.41,25.72
$IRIDIUM_FIX,2008.77,12310.19,180813,080811
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.17
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,26.80
$XPDR_PINGS,7
$SC_FREEKB,7592000
$24V_AH,23.4,52.363
$10V_AH,10.0,32.691
$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,23.200,170.175,648.250,17.725,0.000,0.000,0.000,285.050,1.750,0.000,31.787,2743.645,12272.395,810.008,2391.268,697.708,0.000,2286.444,0.000,2059.117,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,58.905,1208.700,123.165,0.000,0.000,0.000,120.105,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18370.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.638,0.000,0.000,0.000
$MEM,327864
$DATA_FILE_SIZE,30060,822
$CAP_FILE_SIZE,214953,0
$CFSIZE,260034560,221777920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.077,207.5,1
$GPS,180813,184635,2015.997,12309.953,31,0.9,31,-2.9