version: 66.11
glider: 167
mission: 16
dive: 431
start: 9 7 113 15 56 49
data:
$ID,167
$MISSION,16
$DIVE,431
$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,350
$T_MISSION,390
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-05
$HEADING,155
$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,-975756.44
$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,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,60
$R_STBD_OVSHOOT,55
$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,0.0015
$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,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
$GPS1,070913,154436,1940.593,12341.644,35,1.3,35,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-72.0
$GPS2,070913,155621,1940.688,12341.419,34,1.8,51,-2.8
$SPEED_LIMITS,0.163,0.221
$TGT_NAME,HEADING
$TGT_LATLONG,1930.900,12346.261
$TGT_RADIUS,1852.000
$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,157.8,20000,-17.1,-9.429,-23.09,2955
$D_GRID,5092
$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,-0.99,-184.9,116,2179,692,653,0.0,0.0,0,111,0.00,0.00,-81.68,0.000,16386,0.000,0.000,116,2180,2716,2695,2738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.99,-184.9,116,2179,2695,2739,3.1,-3.0,15,159,10.95,2.10,-21.92,0.000,18948,0.235,0.045,2693,803,3726,3723,3730,0,0,0,0,0,0,25.01,26.03,26.50
$GC,230,-0.99,-184.9,2693,803,3723,3731,27.4,-20.1,34,236,0.00,2.08,0.00,0.000,1030,0.000,0.031,2685,2197,3727,3723,3731,0,0,0,0,0,0,28.83,26.10,28.83
$GC,545,-0.99,-184.9,2685,2196,3723,3731,90.3,-18.2,55,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2197,3727,3723,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,849,-0.99,-184.9,2685,2197,3723,3731,142.5,-16.9,70,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2197,3727,3723,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1148,-0.99,-184.9,2685,2197,3723,3731,190.3,-14.7,85,1153,0.00,2.05,0.00,0.000,516,0.000,0.031,2685,800,3727,3723,3731,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1196,-0.99,-184.9,1640,800,3716,3729,197.1,-14.4,87,1201,0.00,2.05,0.00,0.000,1030,0.000,0.028,2676,2215,3727,3723,3731,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1516,-0.99,-184.9,2676,2215,3723,3732,242.9,-14.6,103,1521,0.00,2.08,0.00,0.000,516,0.000,0.030,2676,797,3727,3723,3731,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1549,-0.99,-184.9,2676,797,3723,3731,246.5,-14.6,104,1555,0.12,2.05,0.00,0.000,3078,0.173,0.028,2700,2209,3727,3723,3731,0,0,0,0,0,0,26.01,26.34,28.83
$GC,1865,-0.99,-184.9,2700,2210,3723,3731,290.4,-13.6,120,1870,0.00,2.05,0.00,0.000,516,0.000,0.029,2700,806,3727,3723,3731,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1884,-0.99,-184.9,2700,806,3722,3731,290.4,-13.6,120,1890,0.00,2.03,0.00,0.000,1030,0.000,0.028,2697,2200,3727,3723,3731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2190,-0.99,-184.9,2696,2201,3723,3731,335.1,-13.9,136,2195,0.00,2.05,0.00,0.000,516,0.000,0.030,2696,803,3727,3723,3731,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2244,-0.99,-184.9,2696,803,3723,3731,341.1,-13.4,138,2249,0.00,2.05,0.00,0.000,1030,0.000,0.028,2689,2216,3727,3723,3731,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2558,-0.99,-184.9,2688,2216,3723,3729,384.0,-14.1,154,2564,0.00,2.08,0.00,0.000,516,0.000,0.030,2689,803,3725,3723,3728,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2597,-0.99,-184.9,2688,803,3723,3728,387.7,-14.3,155,2604,0.00,2.03,0.00,0.000,1030,0.000,0.028,2683,2194,3725,3723,3728,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2903,-0.99,-184.9,2683,2194,3722,3725,432.9,-13.7,171,2909,0.00,2.05,0.00,0.000,516,0.000,0.031,2683,799,3724,3724,3724,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2977,-0.99,-184.9,2683,799,3723,3723,441.7,-13.6,174,2983,0.00,2.05,0.00,0.000,1030,0.000,0.028,2681,2206,3722,3721,3723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3292,-0.99,-184.9,2681,2206,3723,3720,482.4,-12.1,190,3297,0.00,2.08,0.00,0.000,516,0.000,0.031,2681,796,3721,3723,3720,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3341,-0.99,-184.9,2681,796,3723,3720,487.9,-12.3,192,3346,0.00,2.05,0.00,0.000,1030,0.000,0.028,2672,2201,3721,3723,3719,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3661,-0.99,-184.9,2672,2201,3723,3715,527.0,-11.9,208,3666,0.00,2.05,0.00,0.000,516,0.000,0.031,2673,806,3718,3722,3714,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3690,-0.99,-184.9,1616,806,3716,3712,530.0,-12.1,209,3696,0.12,2.05,0.00,0.000,3078,0.167,0.029,2701,2209,3718,3722,3714,0,0,0,0,0,0,26.01,26.34,28.83
$GC,4011,-0.99,-184.9,2701,2208,3722,3710,567.2,-11.6,225,4016,0.00,2.08,0.00,0.000,516,0.000,0.031,2701,803,3717,3723,3711,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4050,-0.99,-184.9,2701,804,3722,3710,570.1,-11.7,226,4057,0.00,2.05,0.00,0.000,1030,0.000,0.028,2697,2204,3715,3722,3709,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4356,-0.99,-184.9,2697,2204,3722,3704,607.9,-12.2,241,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2204,3713,3722,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4656,-0.99,-184.9,2698,2204,3722,3699,642.6,-11.3,251,4661,0.00,2.08,0.00,0.000,516,0.000,0.032,2697,803,3710,3722,3699,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4750,-0.99,-184.9,2697,803,3722,3698,653.1,-11.1,254,4756,0.00,2.08,0.00,0.000,1030,0.000,0.030,2697,2209,3709,3722,3697,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5089,-0.99,-184.9,2697,2211,3722,3691,688.8,-10.8,265,5094,0.00,2.10,0.00,0.000,516,0.000,0.033,2697,802,3706,3722,3690,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5138,-0.99,-184.9,2697,802,3722,3690,693.1,-10.9,266,5143,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2202,3706,3722,3690,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5463,-0.99,-184.9,2696,2202,3721,3684,729.3,-10.8,277,5468,0.00,2.10,0.00,0.000,516,0.000,0.041,2697,797,3702,3721,3684,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5511,-0.99,-184.9,2696,797,3721,3684,733.5,-10.9,278,5517,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2201,3702,3720,3684,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5832,-0.99,-184.9,2696,2201,3718,3681,770.7,-11.7,289,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2201,3699,3718,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6131,-0.99,-184.9,2697,2201,3715,3678,808.6,-13.1,299,6136,0.00,2.08,0.00,0.000,516,0.000,0.033,2697,809,3696,3715,3678,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6190,-0.99,-184.9,2697,809,3715,3677,813.4,-13.3,300,6197,0.00,2.10,0.00,0.000,1030,0.000,0.031,2697,2213,3695,3714,3677,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6497,-0.99,-184.9,2697,2213,3713,3674,860.5,-14.2,311,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2213,3693,3713,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6796,-0.99,-184.9,2696,2213,3711,3672,901.4,-13.3,321,6801,0.00,2.10,0.00,0.000,516,0.000,0.033,2697,809,3691,3711,3671,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6846,-0.99,-184.9,2697,809,3711,3671,905.9,-13.2,322,6851,0.00,2.08,0.00,0.000,1030,0.000,0.031,2697,2202,3690,3711,3670,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7170,-0.99,-184.9,2697,2202,3709,3668,946.5,-11.7,333,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2202,3688,3708,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7466,-0.99,-184.9,2695,2202,3707,3665,980.8,-11.2,343,7471,0.00,2.10,0.00,0.000,516,0.000,0.034,2697,803,3685,3706,3665,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7505,-0.99,-184.9,2697,803,3706,3665,984.8,-11.3,344,7510,0.00,2.10,0.00,0.000,1030,0.000,0.032,2697,2208,3685,3706,3665,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,7561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7561,begin apogee
$GC,7570,-0.21,0.0,2697,2030,3707,3664,992.1,-11.4,346,7792,0.77,0.00,216.57,1.004,10246,0.125,0.000,2944,2030,2970,3035,2906,0,0,0,0,0,0,25.52,28.83,23.81
$STATE,7795,end apogee,CONTROL_FINISHED_OK
$STATE,7795,begin climb
$GC,7798,0.99,184.9,2944,2029,3027,2892,1004.1,0.0,353,7976,1.10,2.38,167.98,1.142,10500,0.060,0.042,3338,3438,2204,2292,2116,0,0,0,0,0,0,25.12,24.82,23.56
$GC,8049,0.99,184.9,3338,3438,2283,2090,991.5,9.7,362,8054,0.00,2.10,0.00,0.000,1030,0.000,0.024,3347,2060,2186,2283,2089,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8388,0.99,187.3,3347,2060,2283,2082,959.1,9.3,373,8393,0.00,2.17,0.00,0.000,516,0.000,0.041,3358,649,2182,2282,2082,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8477,0.99,187.3,3358,649,2277,2082,952.3,9.5,375,8483,0.00,2.12,0.00,0.000,1030,0.000,0.032,3358,2056,2179,2277,2082,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8784,1.03,209.3,3358,2056,2277,2081,922.4,8.7,386,8812,0.00,2.25,21.67,1.098,8452,0.000,0.044,3358,3454,2106,2201,2011,0,0,0,0,0,0,28.83,25.79,24.36
$GC,8907,1.03,209.3,3358,3454,2187,1994,909.1,10.7,390,8913,0.00,2.12,0.00,0.000,1030,0.000,0.025,3368,2038,2090,2187,1994,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9246,1.03,209.3,3367,2037,2187,1988,875.1,10.5,401,9251,0.00,2.10,0.00,0.000,516,0.000,0.041,3378,660,2088,2187,1989,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9311,1.03,209.3,3377,659,2184,1989,867.4,11.0,403,9316,0.00,2.12,0.00,0.000,1030,0.000,0.033,3378,2059,2086,2184,1988,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9650,1.03,209.3,3377,2059,2184,1987,828.9,11.6,414,9655,0.00,2.15,0.00,0.000,260,0.000,0.044,3377,3459,2085,2184,1987,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9704,1.03,209.3,3377,3459,2181,1986,824.0,11.8,415,9710,0.15,2.10,0.00,0.000,5126,0.174,0.025,3351,2035,2083,2181,1986,0,0,0,0,0,0,25.82,26.28,28.83
$GC,10023,1.03,209.3,3350,2035,2181,1986,786.9,10.7,426,10028,0.00,2.10,0.00,0.000,516,0.000,0.040,3360,657,2083,2181,1986,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10088,1.03,209.3,3359,657,2178,1986,779.6,10.8,428,10093,0.00,2.10,0.00,0.000,1030,0.000,0.032,3360,2050,2083,2180,1986,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10426,1.03,209.3,3360,2050,2179,1985,745.4,10.0,439,10432,0.00,2.15,0.00,0.000,260,0.000,0.044,3360,3458,2082,2179,1985,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,17928,end climb,SURFACE_DEPTH_REACHED
$STATE,17929,begin surface coast
$FINISH,1.2,1.019420
$STATE,17968,end surface coast,CONTROL_FINISHED_OK
$STATE,17968,begin surface
$SM_CCo,17991,47.47,0.117,0,0,663,564.93
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$IRIDIUM_FIX,1934.38,12343.94,070913,101044
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.39
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.30
$XPDR_PINGS,5
$SC_FREEKB,7576992
$24V_AH,23.6,69.994
$10V_AH,10.0,43.148
$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
$DEVICE_SECS,22.025,173.025,654.050,47.475,0.000,0.000,0.000,371.625,1.250,0.000,52.139,2558.555,12132.832,792.265,2561.569,686.062,0.000,2401.242,0.000,2103.239,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.821,0.000,0.000,0.000
$MEM,328216
$DATA_FILE_SIZE,33425,835
$CAP_FILE_SIZE,207330,0
$CFSIZE,260034560,212467712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,070913,205853,1939.768,12341.765,38,1.3,38,-2.8