version: 66.11
glider: 167
mission: 16
dive: 386
start: 8 30 113 0 50 26
data:
$ID,167
$MISSION,16
$DIVE,386
$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,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,-975697.62
$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,3000
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,49
$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,0.003
$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
$GPS1,300813,004035,1942.660,12333.664,40,1.2,40,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.7
$GPS2,300813,004953,1942.710,12333.595,40,1.1,40,-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,158.7,235142,-18.3,-10.000,-23.91,2793
$D_GRID,5190
$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,-1.23,-184.9,124,2183,680,662,0.0,0.0,0,114,0.00,0.00,-84.28,0.000,16386,0.000,0.000,122,2184,2789,2766,2813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-1.23,-184.9,122,2184,2767,2814,3.4,-3.7,15,161,10.65,2.17,-18.40,0.000,19204,0.242,0.049,2588,3602,3726,3723,3730,0,0,0,0,0,0,25.15,26.00,26.48
$GC,202,-1.23,-184.9,2588,3602,3723,3731,27.0,-29.9,28,209,0.00,2.03,0.00,0.000,1030,0.000,0.017,2588,2186,3727,3723,3731,0,0,0,0,0,0,28.83,26.19,28.83
$GC,530,-1.23,-184.9,2588,2186,3723,3731,112.3,-23.2,48,535,0.00,1.98,0.00,0.000,516,0.000,0.028,2589,815,3727,3723,3731,0,0,0,0,0,0,28.83,26.21,28.83
$GC,569,-1.23,-184.9,2588,814,3723,3731,118.1,-22.6,49,576,0.00,2.03,0.00,0.000,1030,0.000,0.024,2580,2217,3727,3723,3731,0,0,0,0,0,0,28.83,26.25,28.83
$GC,875,-1.23,-184.9,2579,2217,3723,3732,181.6,-18.2,65,881,0.00,2.03,0.00,0.000,260,0.000,0.033,2569,3598,3727,3723,3732,0,0,0,0,0,0,28.83,26.23,28.83
$GC,921,-1.23,-184.9,2569,3598,3723,3732,190.3,-18.2,67,927,0.12,1.98,0.00,0.000,3078,0.187,0.016,2596,2185,3727,3723,3732,0,0,0,0,0,0,25.93,26.41,28.83
$GC,1249,-1.23,-184.9,2596,2184,3724,3732,252.4,-19.1,83,1254,0.00,1.95,0.00,0.000,516,0.000,0.028,2596,817,3728,3724,3732,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1323,-1.23,-184.9,2596,817,3723,3732,265.5,-19.4,86,1328,0.00,2.00,0.00,0.000,1030,0.000,0.024,2588,2208,3728,3724,3733,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1638,-1.23,-184.9,2589,2209,3724,3732,322.6,-17.0,102,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2208,3728,3724,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1941,-1.23,-184.9,2589,2209,3725,3733,375.4,-18.2,117,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2209,3728,3724,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2241,-1.23,-184.9,2589,2209,3723,3732,432.2,-19.2,132,2247,0.00,2.08,0.00,0.000,260,0.000,0.037,2584,3605,3727,3724,3731,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2359,-1.23,-184.9,2584,3605,3724,3731,453.1,-19.0,137,2364,0.00,1.98,0.00,0.000,1030,0.000,0.016,2584,2200,3727,3724,3730,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2673,-1.23,-184.9,2583,2199,3724,3729,502.1,-13.8,153,2679,0.00,2.00,0.00,0.000,516,0.000,0.028,2585,813,3726,3724,3728,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2732,-1.23,-184.9,2584,813,3723,3728,508.5,-14.1,155,2739,0.00,2.00,0.00,0.000,1030,0.000,0.024,2575,2198,3725,3724,3727,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3038,-1.23,-184.9,2574,2198,3724,3723,555.9,-16.2,171,3043,0.00,2.08,0.00,0.000,260,0.000,0.035,2565,3599,3723,3724,3723,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3097,-1.23,-184.9,2565,3599,3723,3722,563.7,-16.8,173,3105,0.15,1.98,0.00,0.000,3078,0.175,0.018,2602,2191,3723,3724,3723,0,0,0,0,0,0,25.92,26.46,28.83
$GC,3423,-1.23,-184.9,2600,2191,3724,3719,621.2,-16.9,188,3429,0.00,1.98,0.00,0.000,516,0.000,0.028,2600,818,3721,3724,3718,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3468,-1.23,-184.9,2600,819,3724,3717,627.4,-17.0,189,3474,0.00,2.00,0.00,0.000,1030,0.000,0.025,2595,2199,3720,3724,3717,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3797,-1.23,-184.9,2594,2200,3724,3711,684.0,-16.5,200,3802,0.00,2.10,0.00,0.000,260,0.000,0.037,2587,3603,3717,3724,3711,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3928,-1.23,-184.9,2586,3604,3724,3709,705.8,-17.1,204,3934,0.00,2.00,0.00,0.000,1030,0.000,0.018,2588,2197,3716,3724,3709,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4262,-1.23,-184.9,2587,2197,3724,3704,761.0,-16.4,215,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2197,3714,3724,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4558,-1.23,-184.9,2587,2197,3724,3698,814.0,-17.6,225,4564,0.00,2.12,0.00,0.000,260,0.000,0.037,2579,3596,3710,3723,3698,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4628,-1.23,-184.9,2579,3596,3724,3696,826.3,-18.1,227,4634,0.00,2.00,0.00,0.000,1030,0.000,0.020,2579,2201,3710,3724,3696,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4962,-1.23,-184.9,2578,2200,3723,3689,885.5,-17.1,238,4968,0.00,2.12,0.00,0.000,260,0.000,0.037,2570,3595,3706,3723,3690,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4997,-1.23,-184.9,2569,3595,3722,3690,892.4,-17.2,239,5003,0.12,2.03,0.00,0.000,3078,0.184,0.020,2598,2190,3706,3722,3690,0,0,0,0,0,0,25.94,26.41,28.83
$GC,5333,-1.23,-184.9,2597,2190,3719,3685,947.4,-16.1,250,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2190,3702,3719,3686,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5599,begin apogee
$GC,5608,-0.19,0.0,2597,2031,3717,3683,992.5,-16.8,259,5835,1.10,0.00,219.62,1.056,10246,0.148,0.000,2932,2031,2967,3033,2901,0,0,0,0,0,0,25.27,28.83,23.84
$STATE,5838,end apogee,CONTROL_FINISHED_OK
$STATE,5838,begin climb
$GC,5842,1.23,184.9,2932,2031,3029,2890,1004.5,0.0,266,6014,1.33,2.20,163.20,1.190,10756,0.067,0.036,3406,697,2206,2293,2120,0,0,0,0,0,0,25.02,24.65,23.49
$GC,6072,1.23,184.9,3406,696,2270,2102,991.9,11.2,274,6076,0.00,2.10,0.00,0.000,1030,0.000,0.030,3406,2044,2185,2269,2102,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6386,1.23,184.9,3406,2044,2269,2092,947.9,13.2,285,6391,0.00,2.17,0.00,0.000,260,0.000,0.042,3406,3453,2180,2269,2091,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6500,1.23,184.9,3406,3453,2268,2090,933.9,14.2,288,6506,0.00,2.03,0.00,0.000,1030,0.000,0.025,3416,2090,2178,2267,2090,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6816,1.23,184.9,3416,2090,2269,2086,890.1,12.4,299,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2089,2177,2268,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7115,1.23,184.9,3416,2089,2268,2084,853.9,11.9,309,7120,0.00,2.12,0.00,0.000,260,0.000,0.041,3416,3459,2176,2269,2084,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7140,1.23,184.9,3416,3459,2268,2084,853.9,11.9,309,7145,0.00,2.10,0.00,0.000,1030,0.000,0.026,3426,2040,2176,2268,2084,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7455,1.23,184.9,3425,2040,2269,2081,813.8,12.1,320,7460,0.00,2.10,0.00,0.000,516,0.000,0.037,3435,649,2175,2268,2082,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7493,1.23,184.9,2528,649,2190,2068,809.3,12.4,321,7500,0.15,2.12,0.00,0.000,5126,0.180,0.031,3401,2063,2175,2268,2082,0,0,0,0,0,0,25.78,26.25,28.83
$GC,7828,1.23,184.9,3401,2064,2268,2079,771.2,11.4,332,7833,0.00,2.15,0.00,0.000,260,0.000,0.043,3402,3463,2173,2268,2079,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7867,1.23,184.9,3401,3462,2270,2079,766.5,11.5,333,7873,0.00,2.10,0.00,0.000,1030,0.000,0.026,3410,2040,2172,2265,2079,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8202,1.23,184.9,3409,2040,2265,2078,726.2,12.1,344,8207,0.00,2.10,0.00,0.000,516,0.000,0.037,3419,650,2171,2265,2078,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8221,1.23,184.9,3420,650,2262,2079,726.2,12.1,344,8226,0.00,2.10,0.00,0.000,1030,0.000,0.031,3420,2052,2170,2262,2079,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8543,1.23,184.9,3420,2052,2262,2078,686.9,11.1,355,8549,0.00,2.15,0.00,0.000,260,0.000,0.043,3420,3451,2170,2262,2078,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8603,1.23,184.9,3420,3451,2261,2078,682.5,11.1,356,8610,0.12,2.08,0.00,0.000,5126,0.194,0.026,3402,2049,2169,2261,2078,0,0,0,0,0,0,25.83,26.30,28.83
$GC,8911,1.23,184.9,3402,2049,2261,2077,647.8,10.5,367,8917,0.00,2.10,0.00,0.000,516,0.000,0.037,3411,652,2169,2261,2077,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8951,1.23,184.9,3411,652,2258,2077,643.9,10.6,368,8957,0.00,2.10,0.00,0.000,1030,0.000,0.031,3411,2055,2167,2258,2077,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9284,1.23,184.9,3410,2055,2258,2077,608.2,10.8,379,9289,0.00,2.15,0.00,0.000,516,0.000,0.036,3421,647,2167,2258,2076,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9308,1.23,184.9,3421,647,2258,2077,608.2,10.8,379,9313,0.00,2.10,0.00,0.000,1030,0.000,0.030,3421,2051,2168,2258,2078,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9623,1.23,184.9,3421,2051,2260,2077,571.9,11.0,394,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2051,2167,2258,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9926,1.23,184.9,3421,2051,2258,2077,539.3,10.4,409,9931,0.00,2.15,0.00,0.000,260,0.000,0.043,3421,3450,2167,2259,2076,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10000,1.23,184.9,3421,3450,2258,2076,531.9,10.7,412,10007,0.12,2.08,0.00,0.000,5126,0.196,0.026,3402,2046,2167,2258,2076,0,0,0,0,0,0,25.77,26.28,28.83
$GC,10318,1.31,212.2,3402,2046,2258,2076,503.3,9.0,428,10346,0.00,2.20,22.85,0.939,8452,0.000,0.041,3402,3452,2097,2187,2007,0,0,0,0,0,0,28.83,25.94,24.56
$GC,10477,1.31,212.2,3402,3451,2169,1986,487.4,11.4,435,10485,0.00,2.10,0.00,0.000,1030,0.000,0.026,3410,2046,2076,2168,1985,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10783,1.33,218.5,3410,2046,2169,1983,454.3,9.8,451,10789,0.00,2.10,0.00,0.000,516,0.000,0.037,3421,646,2076,2169,1983,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,14942,end climb,SURFACE_DEPTH_REACHED
$STATE,14942,begin surface coast
$FINISH,1.2,1.021351
$STATE,14964,end surface coast,CONTROL_FINISHED_OK
$STATE,14964,begin surface
$SM_CCo,14992,70.35,0.120,0,0,664,564.93
$SM_GC,2.08,8.85,1.85,70.35,0.025,0.018,0.120,137,2209,664,-8.87,2.01,564.93,0,0,0,0,0,0,26.16,26.35,25.58
$IRIDIUM_FIX,1934.38,12335.69,290813,202059
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.07
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,26.00
$XPDR_PINGS,3
$SC_FREEKB,7576992
$24V_AH,23.5,62.399
$10V_AH,10.0,38.629
$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,23.375,137.425,537.925,70.350,0.000,0.000,0.000,313.825,0.750,0.000,41.771,2267.960,9921.964,705.355,2127.217,595.702,0.000,2045.360,0.000,1742.896,0.000,0.543,0.000
$DEVICE_MAMPS,241.740,71.145,1190.340,120.105,0.000,0.000,0.000,117.810,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14987.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.679,0.000,0.000,0.000
$MEM,327876
$DATA_FILE_SIZE,26728,690
$CAP_FILE_SIZE,172812,0
$CFSIZE,260034560,216473600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.134,343.8,1
$GPS,300813,050254,1942.668,12333.680,39,1.1,39,-2.8