version: 66.11
glider: 167
mission: 16
dive: 452
start: 9 11 113 22 34 25
data:
$ID,167
$MISSION,16
$DIVE,452
$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,360
$T_MISSION,380
$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,-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,-975782.81
$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,3060
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$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,90
$R_STBD_OVSHOOT,46
$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
$GPS1,110913,222405,1933.731,12330.724,25,1.0,25,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.6
$GPS2,110913,223353,1933.761,12330.633,40,1.1,40,-2.7
$SPEED_LIMITS,0.159,0.219
$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,152.1,223171,-16.6,-9.167,-22.71,3035
$D_GRID,5099
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.97,-184.9,141,2086,699,645,0.0,0.0,0,110,0.00,0.00,-81.55,0.000,16386,0.000,0.000,141,2087,2705,2682,2729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.97,-184.9,142,2087,2682,2730,3.0,-2.5,15,158,12.02,1.98,-21.98,0.000,18948,0.261,0.045,2737,759,3724,3720,3729,0,0,0,0,0,0,25.01,25.99,26.48
$GC,190,-0.81,-184.9,2738,758,3720,3731,19.5,-23.7,27,197,0.25,2.03,0.00,0.000,3078,0.171,0.030,2795,2123,3725,3720,3731,0,0,0,0,0,0,25.41,26.03,28.83
$GC,517,-0.76,-184.9,2795,2123,3720,3730,76.1,-15.2,53,522,0.00,2.12,0.00,0.000,260,0.000,0.039,2792,3538,3725,3720,3731,0,0,0,0,0,0,28.83,26.09,28.83
$GC,556,-0.70,-184.9,2792,3538,3722,3731,80.2,-15.2,54,564,0.15,2.00,0.00,0.000,3078,0.151,0.019,2831,2143,3725,3720,3731,0,0,0,0,0,0,25.89,26.29,28.83
$GC,862,-0.70,-184.9,2831,2143,3720,3731,122.6,-12.2,70,867,0.00,2.12,0.00,0.000,260,0.000,0.037,2825,3542,3725,3720,3731,0,0,0,0,0,0,28.83,26.17,28.83
$GC,947,-0.70,-184.9,2825,3542,3720,3731,131.9,-10.9,74,952,0.00,2.03,0.00,0.000,1030,0.000,0.018,2825,2120,3725,3720,3731,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1272,-0.75,-184.9,2825,2120,3721,3731,164.2,-10.7,90,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2120,3726,3721,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1575,-0.81,-184.9,2825,2121,3721,3730,196.0,-9.9,105,1581,0.00,2.12,0.00,0.000,260,0.000,0.038,2824,3532,3726,3721,3731,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1677,-0.85,-184.9,2823,3533,3721,3731,204.3,-9.4,109,1685,0.12,2.00,0.00,0.000,5126,0.080,0.018,2753,2126,3726,3721,3731,0,0,0,0,0,0,26.32,26.40,28.83
$GC,1981,-0.84,-184.9,2753,2126,3721,3731,240.7,-12.1,125,1986,0.12,2.12,0.00,0.000,2308,0.151,0.036,2793,3535,3725,3720,3731,0,0,0,0,0,0,26.23,26.22,28.83
$GC,2040,-0.84,-184.9,2792,3535,3721,3731,246.1,-12.1,127,2047,0.00,2.03,0.00,0.000,1030,0.000,0.019,2792,2121,3726,3721,3731,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2347,-0.87,-184.9,2793,2122,3721,3730,280.9,-10.4,143,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2121,3725,3721,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,-0.92,-184.9,2792,2121,3721,3728,308.5,-8.6,158,2655,0.00,2.05,0.00,0.000,516,0.000,0.034,2793,724,3723,3719,3728,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2696,-0.95,-184.9,2792,724,3721,3727,312.6,-8.6,160,2702,0.12,2.08,0.00,0.000,5126,0.080,0.030,2720,2135,3724,3721,3727,0,0,0,0,0,0,26.27,26.30,28.83
$GC,3023,-0.90,-184.9,2722,2135,3722,3723,349.8,-12.3,176,3029,0.12,2.10,0.00,0.000,2308,0.162,0.037,2755,3540,3722,3721,3723,0,0,0,0,0,0,26.19,26.23,28.83
$GC,3103,-0.88,-184.9,2754,3538,3721,3723,357.8,-12.4,179,3110,0.00,2.03,0.00,0.000,1030,0.000,0.019,2754,2126,3721,3721,3722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3409,-0.87,-184.9,2754,2126,3721,3720,394.3,-11.0,195,3414,0.00,2.12,0.00,0.000,260,0.000,0.037,2746,3537,3720,3721,3720,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3469,-0.86,-184.9,2746,3537,3721,3719,399.2,-10.9,197,3476,0.12,2.03,0.00,0.000,3078,0.149,0.019,2780,2120,3720,3721,3719,0,0,0,0,0,0,26.08,26.41,28.83
$GC,3774,-0.90,-184.9,2779,2120,3721,3716,429.5,-9.6,213,3780,0.00,2.03,0.00,0.000,516,0.000,0.034,2779,736,3718,3721,3715,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3809,-0.94,-184.9,2780,736,3721,3715,431.9,-9.5,214,3814,0.00,2.05,0.00,0.000,1030,0.000,0.030,2779,2127,3717,3721,3714,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4124,-0.99,-184.9,2779,2127,3721,3710,465.1,-10.4,230,4130,0.12,2.10,0.00,0.000,4356,0.079,0.038,2699,3528,3715,3721,3710,0,0,0,0,0,0,26.52,26.21,28.83
$GC,4227,-0.96,-184.9,2700,3528,3720,3709,475.8,-12.4,234,4235,0.17,2.03,-0.10,0.000,19462,0.146,0.020,2747,2117,3739,3743,3735,0,0,0,0,0,0,25.96,26.41,25.58
$GC,4530,-0.96,-184.9,2747,2117,3743,3732,506.1,-7.9,250,4536,0.00,2.15,0.00,0.000,260,0.000,0.037,2740,3538,3737,3743,3732,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4605,-0.96,-184.9,2740,3537,3743,3731,511.2,-7.8,253,4610,0.00,2.03,0.00,0.000,1030,0.000,0.020,2740,2123,3737,3743,3731,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4920,-0.96,-184.9,2740,2123,3741,3728,536.1,-7.8,269,4925,0.00,2.15,0.00,0.000,260,0.000,0.040,2738,3535,3735,3743,3728,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4965,-0.96,-184.9,2738,3535,3743,3727,539.8,-7.8,271,4970,0.00,2.05,0.00,0.000,1030,0.000,0.021,2737,2119,3734,3742,3727,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5290,-0.96,-184.9,2738,2119,3743,3722,569.7,-9.5,287,5295,0.00,2.15,0.00,0.000,260,0.000,0.041,2738,3526,3732,3742,3722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5324,-0.96,-184.9,2737,3526,3742,3722,572.2,-9.7,288,5330,0.00,2.03,0.00,0.000,1030,0.000,0.021,2737,2122,3732,3742,3722,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5650,-0.98,-184.9,2737,2121,3743,3718,603.9,-9.3,304,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2122,3731,3743,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5950,-1.01,-184.9,2737,2121,3742,3712,632.0,-9.2,314,5955,0.00,2.05,0.00,0.000,516,0.000,0.036,2738,739,3727,3742,3713,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5995,-1.02,-184.9,2737,738,3742,3712,635.3,-9.3,315,6000,0.00,2.08,0.00,0.000,1030,0.000,0.031,2737,2125,3727,3742,3712,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6323,-1.05,-184.9,2737,2125,3742,3707,667.1,-9.7,326,6328,0.00,2.12,0.00,0.000,260,0.000,0.042,2738,3527,3724,3742,3707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6373,-1.07,-184.9,2737,3528,3742,3707,671.0,-9.9,327,6378,0.00,2.05,0.00,0.000,1030,0.000,0.021,2738,2113,3724,3741,3707,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6696,-1.10,-184.9,2737,2112,3740,3704,706.6,-10.8,338,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2113,3722,3740,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6994,-1.13,-184.9,2737,2112,3738,3702,738.1,-10.2,348,7000,0.12,2.05,0.00,0.000,4612,0.084,0.034,2666,734,3719,3738,3701,0,0,0,0,0,0,26.49,26.20,28.83
$GC,7049,-1.14,-184.9,2666,734,3737,3703,742.6,-10.6,349,7055,0.12,2.10,0.00,0.000,3078,0.168,0.032,2688,2135,3719,3737,3701,0,0,0,0,0,0,25.91,26.24,28.83
$GC,7370,-1.10,-184.9,2688,2135,3736,3699,783.3,-11.9,360,7375,0.00,2.12,0.00,0.000,260,0.000,0.041,2683,3534,3717,3735,3699,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7466,-1.06,-184.9,2683,3534,3734,3697,795.9,-12.5,363,7472,0.12,2.08,0.00,0.000,3078,0.160,0.022,2714,2113,3716,3734,3698,0,0,0,0,0,0,25.98,26.35,28.83
$GC,7802,-1.04,-184.9,2714,2113,3733,3695,830.2,-9.9,374,7807,0.00,2.05,0.00,0.000,516,0.000,0.037,2714,734,3714,3734,3695,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7856,-1.02,-184.9,2714,734,3733,3694,833.6,-9.8,375,7861,0.00,2.08,0.00,0.000,1030,0.000,0.033,2712,2121,3713,3733,3694,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8175,-1.01,-184.9,2712,2121,3730,3692,863.9,-8.9,386,8181,0.00,2.17,0.00,0.000,260,0.000,0.044,2711,3533,3711,3730,3692,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8293,-0.99,-184.9,2711,3533,3729,3692,873.6,-9.7,389,8299,0.12,2.05,0.00,0.000,3078,0.156,0.023,2742,2130,3710,3728,3692,0,0,0,0,0,0,25.97,26.34,28.83
$GC,8612,-0.99,-184.9,2742,2129,3729,3690,906.6,-10.3,400,8617,0.00,2.08,0.00,0.000,516,0.000,0.037,2743,736,3709,3728,3690,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8677,-0.99,-184.9,2743,735,3728,3689,913.9,-10.6,402,8682,0.00,2.10,0.00,0.000,1030,0.000,0.032,2739,2131,3708,3728,3689,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9015,-0.99,-184.9,2739,2131,3727,3685,952.3,-12.0,413,9020,0.00,2.15,0.00,0.000,260,0.000,0.045,2739,3529,3707,3728,3686,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9094,-0.99,-184.9,2738,3529,3726,3685,960.6,-12.0,415,9099,0.00,2.08,0.00,0.000,1030,0.000,0.024,2739,2116,3705,3725,3685,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,9350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9350,begin apogee
$GC,9359,-0.21,0.0,2738,2116,3725,3684,993.5,-11.8,424,9536,0.75,0.00,171.07,1.199,10246,0.116,0.000,2983,2114,2968,3033,2903,0,0,0,0,0,0,25.51,28.83,23.39
$STATE,9538,end apogee,CONTROL_FINISHED_OK
$STATE,9538,begin climb
$GC,9541,0.97,184.9,2983,2115,3021,2887,1007.3,0.0,430,9720,1.05,2.35,169.48,1.174,10500,0.043,0.044,3376,3500,2207,2293,2121,0,0,0,0,0,0,25.06,24.76,23.39
$GC,9797,0.82,184.9,3376,3501,2278,2091,996.7,10.5,438,9806,0.20,2.10,0.00,0.000,5126,0.158,0.026,3328,2120,2184,2279,2090,0,0,0,0,0,0,25.23,25.64,28.83
$GC,10108,0.74,184.9,3328,2120,2279,2083,960.0,11.3,449,10114,0.12,2.17,0.00,0.000,4612,0.183,0.040,3301,692,2181,2279,2083,0,0,0,0,0,0,25.85,26.02,28.83
$GC,10227,0.66,184.9,3301,692,2275,2082,949.2,11.0,452,10233,0.00,2.15,0.00,0.000,1030,0.000,0.034,3301,2107,2179,2276,2082,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10546,0.60,184.9,3301,2107,2274,2081,912.5,10.9,463,10551,0.15,2.15,0.00,0.000,4356,0.154,0.043,3256,3505,2178,2275,2081,0,0,0,0,0,0,25.98,26.08,28.83
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$STATE,19469,end climb,SURFACE_DEPTH_REACHED
$STATE,19469,begin surface coast
$FINISH,1.2,1.002720
$STATE,19495,end surface coast,CONTROL_FINISHED_OK
$STATE,19496,begin surface
$SM_CCo,19518,3.85,0.136,0,0,665,564.93
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$TT8_MAMPS,0.026964,0.026964
$HUMID,58.30
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,25.90
$XPDR_PINGS,3
$SC_FREEKB,7576992
$24V_AH,22.0,73.901
$10V_AH,10.1,45.500
$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
$DEVICE_SECS,26.200,185.825,715.950,3.850,0.000,0.000,0.000,321.925,0.750,0.000,42.178,2766.748,13134.765,814.914,2622.155,760.041,0.000,2447.231,0.000,2226.156,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19506.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.201,0.000,0.000,0.000
$MEM,327808
$DATA_FILE_SIZE,36681,887
$CAP_FILE_SIZE,235751,0
$CFSIZE,260034560,210526208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,120913,040105,1934.216,12330.050,31,0.9,31,-2.7