version: 66.11
glider: 167
mission: 16
dive: 344
start: 8 22 113 10 50 36
data:
$ID,167
$MISSION,16
$DIVE,344
$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,-975627.56
$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,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,56
$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
$GPS1,220813,104123,2002.423,12326.947,39,1.4,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.6
$GPS2,220813,105006,2002.442,12326.875,29,1.5,29,-2.8
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,154.8,273109,-18.3,-10.000,-23.91,2793
$D_GRID,5228
$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,-184.9,110,2211,699,639,0.0,0.0,0,122,0.00,0.00,-92.25,0.000,16386,0.000,0.000,110,2212,2983,2959,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.12,-184.9,110,2212,2960,3007,3.5,-4.1,16,161,10.57,0.00,-14.00,0.000,18950,0.233,0.000,2648,2212,3726,3722,3730,0,0,0,0,0,0,25.19,28.83,26.47
$GC,466,-1.04,-184.9,2647,2212,3722,3731,101.2,-25.7,45,472,0.12,2.08,0.00,0.000,2308,0.195,0.033,2674,3600,3726,3722,3731,0,0,0,0,0,0,25.93,26.15,28.83
$GC,609,-0.97,-184.9,2674,3600,3722,3731,130.0,-21.3,51,615,0.00,2.03,0.00,0.000,1030,0.000,0.017,2675,2167,3726,3722,3731,0,0,0,0,0,0,28.83,26.36,28.83
$GC,914,-0.92,-184.9,2674,2167,3724,3731,193.6,-19.6,67,916,0.15,0.00,0.00,0.000,2054,0.164,0.000,2713,2166,3727,3724,3730,0,0,0,0,0,0,26.09,28.83,28.83
$GC,1218,-0.89,-184.9,2713,2166,3725,3731,239.4,-14.2,82,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2167,3727,3725,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1518,-0.87,-184.9,2713,2166,3725,3731,281.6,-13.5,97,1524,0.00,1.92,0.00,0.000,516,0.000,0.028,2713,821,3728,3725,3731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1568,-0.84,-184.9,2713,820,3725,3731,288.5,-13.8,99,1574,0.15,2.00,0.00,0.000,3078,0.157,0.025,2746,2211,3728,3725,3731,0,0,0,0,0,0,25.99,26.36,28.83
$GC,1889,-0.83,-184.9,2745,2212,3725,3731,330.4,-13.0,115,1894,0.00,2.03,0.00,0.000,516,0.000,0.027,2746,813,3728,3725,3731,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1924,-0.81,-184.9,2746,813,3725,3731,333.5,-12.8,116,1929,0.00,2.00,0.00,0.000,1030,0.000,0.024,2739,2203,3728,3725,3731,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2239,-0.80,-184.9,2738,2203,3725,3729,375.8,-13.0,132,2244,0.00,2.08,0.00,0.000,260,0.000,0.037,2738,3599,3727,3725,3729,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2330,-0.79,-184.9,2737,3599,3725,3729,387.0,-13.2,136,2335,0.00,1.98,0.00,0.000,1030,0.000,0.018,2738,2198,3726,3725,3728,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2650,-0.79,-184.9,2737,2196,3726,3725,427.3,-12.4,152,2655,0.00,2.10,0.00,0.000,260,0.000,0.036,2735,3596,3725,3725,3725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2778,-0.79,-184.9,2735,3596,3725,3723,442.5,-12.0,158,2783,0.00,1.98,0.00,0.000,1030,0.000,0.018,2735,2195,3724,3725,3723,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3103,-0.79,-184.9,2735,2195,3725,3720,481.4,-11.9,174,3109,0.00,1.98,0.00,0.000,516,0.000,0.029,2736,821,3721,3725,3718,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3182,-0.79,-184.9,2735,822,3725,3719,489.0,-11.7,177,3190,0.12,2.00,0.00,0.000,3078,0.161,0.024,2758,2208,3721,3725,3718,0,0,0,0,0,0,26.05,26.37,28.83
$GC,3488,-0.79,-184.9,2758,2208,3725,3714,522.3,-10.0,193,3494,0.00,2.03,0.00,0.000,516,0.000,0.028,2758,820,3719,3725,3713,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3527,-0.79,-184.9,2758,820,3725,3713,524.8,-10.2,194,3534,0.00,2.03,0.00,0.000,1030,0.000,0.027,2758,2198,3719,3725,3713,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3833,-0.79,-184.9,2758,2199,3725,3708,558.1,-10.3,210,3838,0.00,2.03,0.00,0.000,516,0.000,0.028,2758,812,3716,3725,3708,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3882,-0.79,-184.9,2758,812,3724,3707,562.7,-10.3,212,3887,0.00,2.03,0.00,0.000,1030,0.000,0.025,2753,2205,3716,3725,3707,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4202,-0.79,-184.9,2753,2205,3725,3702,594.7,-9.6,228,4208,0.00,2.03,0.00,0.000,516,0.000,0.028,2753,822,3714,3725,3703,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4271,-0.79,-184.9,1728,821,3719,3700,601.4,-10.2,231,4276,0.00,2.03,0.00,0.000,1030,0.000,0.027,2751,2208,3713,3725,3702,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4605,-0.79,-184.9,2751,2208,3725,3696,635.7,-10.5,242,4610,0.00,2.03,0.00,0.000,516,0.000,0.029,2751,823,3709,3724,3695,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4643,-0.79,-184.9,1728,823,3719,3693,639.7,-10.5,243,4649,0.00,2.03,0.00,0.000,1030,0.000,0.028,2750,2207,3710,3725,3695,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4976,-0.79,-184.9,2751,2206,3724,3690,673.8,-10.1,254,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2206,3707,3724,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5274,-0.79,-184.9,2751,2206,3724,3684,704.7,-10.4,264,5279,0.00,2.05,0.00,0.000,516,0.000,0.030,2751,816,3704,3724,3684,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5333,-0.79,-184.9,2751,816,3723,3684,708.5,-10.3,265,5341,0.00,2.05,0.00,0.000,1030,0.000,0.028,2752,2208,3703,3722,3685,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5639,-0.79,-184.9,2749,2208,3720,3683,742.5,-10.3,276,5644,0.00,2.12,0.00,0.000,260,0.000,0.042,2751,3603,3701,3720,3682,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5663,-0.79,-184.9,2751,3603,3719,3682,742.5,-10.3,276,5668,0.00,2.03,0.00,0.000,1030,0.000,0.021,2751,2183,3700,3719,3682,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5978,-0.79,-184.9,2750,2183,3717,3677,779.8,-11.3,287,5984,0.00,1.98,0.00,0.000,516,0.000,0.031,2751,832,3697,3717,3678,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6057,-0.79,-184.9,2751,832,3716,3678,787.4,-11.7,289,6062,0.00,2.03,0.00,0.000,1030,0.000,0.029,2751,2201,3696,3715,3678,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6380,-0.79,-184.9,2751,2202,3715,3674,825.7,-11.5,300,6386,0.00,2.12,0.00,0.000,260,0.000,0.043,2751,3599,3694,3714,3674,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6409,-0.79,-184.9,2751,3599,3714,3674,825.7,-11.5,300,6417,0.00,2.00,0.00,0.000,1030,0.000,0.022,2751,2211,3694,3714,3674,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6715,-0.79,-184.9,2751,2212,3712,3671,865.2,-11.5,311,6720,0.00,2.05,0.00,0.000,516,0.000,0.031,2751,812,3691,3712,3671,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6781,-0.79,-184.9,2751,812,3712,3671,872.8,-11.5,313,6786,0.00,2.08,0.00,0.000,1030,0.000,0.030,2751,2203,3691,3711,3671,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7118,-0.79,-184.9,2750,2203,3711,3668,910.7,-11.2,324,7123,0.00,2.15,0.00,0.000,260,0.000,0.044,2751,3606,3689,3710,3668,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7173,-0.79,-184.9,2751,3606,3709,3668,914.8,-11.1,325,7179,0.00,2.05,0.00,0.000,1030,0.000,0.024,2750,2192,3688,3709,3668,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7492,-0.79,-184.9,2751,2192,3707,3665,949.2,-10.0,336,7497,0.00,2.03,0.00,0.000,516,0.000,0.032,2751,817,3687,3708,3666,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7538,-0.80,-184.9,2750,817,3707,3665,953.0,-9.9,337,7543,0.00,2.08,0.00,0.000,1030,0.000,0.031,2751,2208,3686,3707,3665,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7866,-0.80,-184.9,2750,2208,3706,3663,985.3,-9.6,348,7871,0.00,2.15,0.00,0.000,260,0.000,0.044,2750,3605,3684,3706,3663,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7917,-0.81,-184.9,2750,3605,3705,3662,988.9,-9.7,349,7923,0.00,2.05,0.00,0.000,1030,0.000,0.024,2750,2201,3683,3705,3662,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,7934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7934,begin apogee
$GC,7943,-0.18,0.0,2750,2045,3705,3662,992.2,-9.6,350,8165,0.62,0.00,214.70,1.071,10246,0.119,0.000,2953,2044,2965,3032,2898,0,0,0,0,0,0,25.53,28.83,23.82
$STATE,8168,end apogee,CONTROL_FINISHED_OK
$STATE,8168,begin climb
$GC,8172,1.12,184.9,2952,2044,3028,2890,1003.2,0.0,357,8349,1.17,2.42,167.50,1.178,10500,0.058,0.043,3370,3448,2206,2292,2121,0,0,0,0,0,0,24.93,24.39,23.34
$GC,8460,1.05,184.9,3370,3448,2280,2092,982.7,13.2,367,8465,0.00,2.12,0.00,0.000,1030,0.000,0.025,3380,2061,2185,2280,2091,0,0,0,0,0,0,28.83,25.54,28.83
$GC,8789,1.00,184.9,3380,2060,2280,2085,942.3,11.9,378,8795,0.12,2.17,0.00,0.000,4356,0.171,0.040,3344,3453,2183,2280,2086,0,0,0,0,0,0,25.83,25.99,28.83
$GC,8834,0.95,184.9,3344,3453,2280,2085,937.9,11.7,379,8840,0.12,2.10,0.00,0.000,5126,0.187,0.026,3323,2046,2182,2280,2085,0,0,0,0,0,0,25.75,26.13,28.83
$GC,9164,0.93,194.2,3324,2046,2280,2082,905.5,9.7,390,9169,0.00,2.10,0.00,0.000,516,0.000,0.037,3333,648,2181,2280,2082,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9188,0.92,203.6,3333,648,2277,2082,905.5,9.7,390,9209,0.00,2.10,15.00,1.126,9222,0.000,0.031,3333,2048,2138,2231,2045,0,0,0,0,0,0,28.83,26.18,24.69
$GC,9535,0.89,203.6,3332,2048,2216,2020,867.2,10.4,402,9541,0.12,2.17,0.00,0.000,4356,0.167,0.043,3296,3450,2117,2214,2020,0,0,0,0,0,0,25.94,26.04,28.83
$GC,9610,0.85,203.6,3296,3450,2216,2019,860.3,10.3,404,9615,0.00,2.08,0.00,0.000,1030,0.000,0.025,3305,2049,2118,2216,2020,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9940,0.89,229.8,3305,2049,2216,2017,829.9,9.0,415,9977,0.00,2.15,29.95,1.034,8708,0.000,0.036,3314,653,2026,2122,1930,0,0,0,0,0,0,28.83,25.72,24.67
$GC,10040,0.88,232.7,2272,653,2027,1907,820.0,9.9,418,10046,0.00,2.12,0.00,0.000,1030,0.000,0.031,3314,2049,2014,2107,1921,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10374,0.87,238.6,3315,2049,2106,1914,786.5,9.8,429,10385,0.00,2.25,2.00,0.183,8452,0.000,0.044,3316,3456,1996,2090,1902,0,0,0,0,0,0,28.83,26.01,23.06
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$STATE,17816,end climb,SURFACE_DEPTH_REACHED
$STATE,17817,begin surface coast
$FINISH,1.8,1.021442
$STATE,17835,end surface coast,CONTROL_FINISHED_OK
$STATE,17836,begin surface
$SM_CCo,17858,17.35,0.122,0,0,663,564.93
$SM_GC,2.11,8.50,0.22,17.35,0.024,0.048,0.122,140,2246,663,-8.91,-1.30,564.93,0,0,0,0,0,0,26.20,26.40,25.65
$IRIDIUM_FIX,1957.29,12325.49,220813,050559
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.59
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.40
$XPDR_PINGS,4
$SC_FREEKB,7585088
$24V_AH,22.8,55.833
$10V_AH,10.1,34.681
$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,23.525,176.125,708.975,17.350,0.000,0.000,0.000,287.200,1.000,0.000,30.286,2678.262,11794.351,839.182,2390.236,687.036,0.000,2348.517,0.000,2065.312,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,50.490,1178.100,122.400,0.000,0.000,0.000,120.870,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17855.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.638,0.000,0.000,0.000
$MEM,327876
$DATA_FILE_SIZE,30018,792
$CAP_FILE_SIZE,215381,0
$CFSIZE,260034560,220037120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$CURRENT,0.024,137.2,1
$GPS,220813,154959,2001.295,12327.648,42,1.0,42,-2.8