version: 66.11
glider: 167
mission: 16
dive: 436
start: 9 8 113 16 48 52
data:
$ID,167
$MISSION,16
$DIVE,436
$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,320
$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,200
$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,-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,-975762.69
$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,2125
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,65
$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
$GPS1,080913,163224,1938.077,12339.520,40,1.1,40,-2.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.7
$GPS2,080913,164823,1938.168,12339.271,29,1.8,45,-2.8
$SPEED_LIMITS,0.179,0.233
$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,156.7,223123,-18.3,-10.312,-23.85,2851
$D_GRID,5111
$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,-1.05,-194.6,115,2051,692,649,0.0,0.0,0,111,0.00,0.00,-81.55,0.000,16386,0.000,0.000,116,2051,2711,2689,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.05,-194.6,115,2052,2689,2733,3.0,-2.7,15,159,11.05,1.98,-22.95,0.000,18948,0.240,0.044,2675,721,3764,3759,3769,0,0,0,0,0,0,25.02,26.04,26.51
$GC,206,-1.05,-194.6,2675,721,3759,3770,23.5,-22.0,30,213,0.00,2.05,0.00,0.000,1030,0.000,0.029,2668,2108,3764,3759,3770,0,0,0,0,0,0,28.83,26.09,28.83
$GC,523,-1.05,-194.6,2668,2108,3759,3769,92.8,-20.4,52,529,0.00,2.12,0.00,0.000,260,0.000,0.036,2657,3534,3764,3759,3770,0,0,0,0,0,0,28.83,26.17,28.83
$GC,645,-1.05,-194.6,2657,3534,3758,3770,111.9,-18.0,57,652,0.00,2.03,0.00,0.000,1030,0.000,0.019,2657,2120,3764,3759,3769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,952,-1.05,-194.6,2657,2119,3759,3770,167.4,-17.5,73,957,0.00,2.03,0.00,0.000,516,0.000,0.032,2657,724,3764,3759,3770,0,0,0,0,0,0,28.83,26.27,28.83
$GC,986,-1.05,-194.6,2657,724,3759,3770,172.3,-17.4,74,991,0.00,2.08,0.00,0.000,1030,0.000,0.030,2656,2132,3764,3759,3770,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1300,-1.05,-194.6,2655,2132,3759,3770,222.6,-14.9,90,1306,0.00,2.08,0.00,0.000,260,0.000,0.037,2646,3541,3764,3759,3770,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1334,-1.05,-194.6,2646,3540,3759,3770,226.4,-15.2,91,1340,0.12,2.03,0.00,0.000,3078,0.170,0.019,2676,2118,3764,3759,3770,0,0,0,0,0,0,26.01,26.40,28.83
$GC,1651,-1.05,-194.6,2676,2118,3759,3770,275.9,-15.5,107,1656,0.00,2.00,0.00,0.000,516,0.000,0.032,2676,733,3764,3759,3770,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1724,-1.05,-194.6,2676,733,3759,3770,285.7,-15.0,110,1730,0.00,2.05,0.00,0.000,1030,0.000,0.028,2669,2135,3763,3758,3769,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2040,-1.05,-194.6,2669,2135,3759,3770,332.1,-14.2,126,2045,0.00,2.08,0.00,0.000,516,0.000,0.031,2669,721,3763,3757,3769,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2104,-1.05,-194.6,2669,721,3758,3769,341.7,-14.6,129,2110,0.00,2.08,0.00,0.000,1030,0.000,0.030,2669,2125,3763,3758,3769,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2430,-1.05,-194.6,2669,2126,3758,3767,386.7,-13.1,145,2435,0.00,2.10,0.00,0.000,260,0.000,0.037,2670,3542,3763,3759,3767,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2459,-1.05,-194.6,2670,3542,3759,3767,390.2,-13.0,146,2464,0.00,2.03,0.00,0.000,1030,0.000,0.019,2668,2121,3763,3759,3767,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2780,-1.05,-194.6,2668,2121,3759,3764,434.5,-13.6,162,2785,0.00,2.03,0.00,0.000,516,0.000,0.032,2668,726,3761,3759,3763,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2869,-1.05,-194.6,1616,725,3754,3761,446.3,-13.8,166,2874,0.00,2.08,0.00,0.000,1030,0.000,0.029,2661,2128,3760,3758,3762,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3189,-1.05,-194.6,2661,2129,3761,3758,488.7,-12.8,182,3195,0.00,2.08,0.00,0.000,260,0.000,0.037,2656,3528,3758,3759,3758,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3208,-1.05,-194.6,2656,3528,3759,3758,488.7,-12.8,182,3215,0.00,2.03,0.00,0.000,1030,0.000,0.018,2656,2110,3758,3758,3758,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3514,-1.05,-194.6,2656,2110,3758,3753,531.0,-13.1,198,3519,0.00,2.00,0.00,0.000,516,0.000,0.032,2656,734,3755,3758,3753,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3584,-1.05,-194.6,2656,734,3759,3752,539.4,-12.9,201,3589,0.00,2.05,0.00,0.000,1030,0.000,0.029,2656,2125,3755,3758,3752,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3905,-1.05,-194.6,2656,2125,3758,3747,582.1,-13.6,217,3910,0.00,2.10,0.00,0.000,260,0.000,0.039,2656,3531,3753,3759,3747,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3939,-1.05,-194.6,2656,3531,3758,3747,585.7,-13.8,218,3945,0.00,2.03,0.00,0.000,1030,0.000,0.019,2657,2117,3752,3758,3747,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4277,-1.05,-194.6,2656,2117,3758,3741,631.9,-13.4,231,4282,0.00,2.03,0.00,0.000,516,0.000,0.033,2656,734,3749,3758,3741,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4372,-1.05,-194.6,2656,734,3758,3739,644.5,-13.0,234,4378,0.00,2.08,0.00,0.000,1030,0.000,0.031,2656,2127,3749,3759,3739,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4711,-1.05,-194.6,2656,2127,3758,3733,686.7,-12.4,245,4717,0.00,2.08,0.00,0.000,516,0.000,0.032,2656,727,3745,3758,3733,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4747,-1.05,-194.6,2656,727,3759,3733,691.7,-12.6,246,4752,0.00,2.10,0.00,0.000,1030,0.000,0.031,2656,2134,3745,3758,3732,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5084,-1.05,-194.6,2656,2135,3758,3728,732.1,-12.0,257,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2135,3743,3758,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5383,-1.05,-194.6,2656,2135,3754,3725,768.8,-12.3,267,5388,0.00,2.08,0.00,0.000,516,0.000,0.033,2656,736,3739,3754,3725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5421,-1.05,-194.6,1632,735,3749,3722,773.3,-12.4,268,5426,0.00,2.08,0.00,0.000,1030,0.000,0.031,2656,2130,3739,3754,3725,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5753,-1.05,-194.6,2656,2130,3752,3720,815.0,-12.7,279,5759,0.00,2.12,0.00,0.000,260,0.000,0.041,2656,3529,3736,3751,3721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5789,-1.05,-194.6,2656,3529,3751,3721,819.8,-12.7,280,5794,0.00,2.05,0.00,0.000,1030,0.000,0.021,2656,2120,3736,3751,3721,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6127,-1.05,-194.6,2656,2119,3750,3717,863.0,-12.8,291,6132,0.00,2.05,0.00,0.000,516,0.000,0.034,2656,731,3733,3750,3717,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6201,-1.05,-194.6,2656,731,3749,3717,871.7,-13.0,293,6207,0.00,2.10,0.00,0.000,1030,0.000,0.032,2656,2134,3732,3748,3716,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6529,-1.05,-194.6,2656,2134,3746,3712,913.8,-12.5,304,6535,0.00,2.12,0.00,0.000,260,0.000,0.042,2656,3529,3729,3747,3712,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6568,-1.05,-194.6,1640,3528,3740,3710,918.5,-12.5,305,6573,0.00,2.05,0.00,0.000,1030,0.000,0.022,2656,2121,3728,3745,3712,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6901,-1.05,-194.6,2656,2121,3743,3710,959.1,-12.0,316,6906,0.00,2.05,0.00,0.000,516,0.000,0.035,2655,735,3726,3743,3709,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6945,-1.05,-194.6,2656,735,3743,3709,964.0,-12.3,317,6950,0.00,2.10,0.00,0.000,1030,0.000,0.032,2656,2137,3726,3743,3709,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,7146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7146,begin apogee
$GC,7154,-0.21,0.0,2656,2135,3742,3706,990.0,-12.3,324,7347,0.93,0.00,184.32,1.135,10246,0.132,0.000,2946,2137,2962,3030,2894,0,0,0,0,0,0,25.44,28.83,23.56
$STATE,7349,end apogee,CONTROL_FINISHED_OK
$STATE,7349,begin climb
$GC,7354,1.05,194.6,2947,2137,3025,2883,1000.6,0.0,330,7534,1.12,0.00,172.35,1.164,10758,0.051,0.000,3358,2136,2175,2264,2086,0,0,0,0,0,0,25.10,28.83,23.56
$GC,7815,1.06,196.7,3358,2136,2242,2046,965.0,10.2,346,7820,0.00,2.20,0.00,0.000,516,0.000,0.039,3367,708,2144,2242,2047,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7839,1.06,198.8,3367,708,2242,2047,965.0,10.2,346,7844,0.00,2.12,0.00,0.000,1030,0.000,0.034,3367,2103,2144,2242,2046,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8157,1.09,216.9,3368,2102,2238,2047,930.8,9.7,357,8183,0.00,2.17,19.10,1.123,8452,0.000,0.043,3368,3505,2073,2167,1980,0,0,0,0,0,0,28.83,25.80,24.32
$GC,8273,1.09,216.9,3367,3505,2158,1966,919.8,11.2,360,8280,0.00,2.10,0.00,0.000,1030,0.000,0.026,3377,2104,2062,2158,1966,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8580,1.09,216.9,3377,2104,2159,1961,884.4,10.5,371,8585,0.00,2.12,0.00,0.000,516,0.000,0.040,3387,698,2059,2158,1961,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8634,1.09,216.9,3387,698,2155,1961,880.7,10.7,372,8640,0.00,2.15,0.00,0.000,1030,0.000,0.034,3387,2109,2058,2155,1961,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8949,1.09,216.9,3386,2109,2155,1960,843.9,11.0,383,8954,0.00,2.15,0.00,0.000,260,0.000,0.044,3388,3505,2057,2155,1960,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9015,1.09,216.9,3387,3505,2153,1960,836.1,11.6,385,9020,0.00,2.10,0.00,0.000,1030,0.000,0.026,3397,2097,2056,2153,1959,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9352,1.09,216.9,3398,2097,2153,1958,798.2,11.3,396,9358,0.00,2.12,0.00,0.000,516,0.000,0.040,3407,694,2056,2153,1959,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9396,1.09,216.9,3406,693,2150,1958,793.7,11.5,397,9402,0.15,2.12,0.00,0.000,5126,0.166,0.034,3371,2098,2054,2150,1958,0,0,0,0,0,0,25.82,26.21,28.83
$GC,9726,1.09,218.8,3371,2098,2150,1957,758.7,10.2,408,9731,0.00,2.17,0.00,0.000,260,0.000,0.044,3371,3512,2053,2150,1957,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9770,1.09,219.7,3370,3512,2149,1957,754.6,10.3,409,9775,0.00,2.10,0.00,0.000,1030,0.000,0.027,3378,2096,2053,2149,1957,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10097,1.09,219.7,3378,2096,2148,1957,718.7,10.9,420,10103,0.00,2.12,0.00,0.000,516,0.000,0.040,3388,692,2054,2149,1959,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,16837,end climb,SURFACE_DEPTH_REACHED
$STATE,16841,begin surface coast
$FINISH,1.2,1.021515
$STATE,16862,end surface coast,CONTROL_FINISHED_OK
$STATE,16862,begin surface
$SM_CCo,16884,5.62,0.131,0,0,664,564.93
$SM_GC,1.85,8.73,0.00,5.62,0.028,0.000,0.131,132,2112,664,-8.95,-0.37,564.93,0,0,0,0,0,0,26.08,28.83,25.44
$IRIDIUM_FIX,1934.38,12338.86,080913,161603
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.00
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.10
$XPDR_PINGS,3
$SC_FREEKB,7576992
$24V_AH,23.6,70.890
$10V_AH,10.1,43.686
$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,22.800,168.050,626.900,5.625,0.000,0.000,0.000,580.200,0.750,0.000,46.778,2435.561,11356.198,737.542,2620.239,689.769,0.000,2478.802,0.000,1969.360,0.000,0.545,0.000
$DEVICE_MAMPS,240.210,68.850,1163.565,130.815,0.000,0.000,0.000,110.160,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16883.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.788,0.000,0.000,0.000
$MEM,327848
$DATA_FILE_SIZE,30095,774
$CAP_FILE_SIZE,199199,0
$CFSIZE,260034560,212025344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080913,213136,1937.602,12339.573,28,0.9,28,-2.8