version: 66.11
glider: 167
mission: 16
dive: 508
start: 9 23 113 3 48 4
data:
$ID,167
$MISSION,16
$DIVE,508
$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,500
$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,-976452.31
$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,2990
$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,57
$R_STBD_OVSHOOT,66
$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,21
$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
$GPS1,230913,033530,1923.015,12326.699,43,1.3,43,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-73.4
$GPS2,230913,034735,1922.943,12326.647,38,1.0,38,-2.7
$SPEED_LIMITS,0.179,0.233
$TGT_NAME,T5
$TGT_LATLONG,2115.000,12200.000
$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,326.9,255806,-18.3,-10.312,-23.85,2851
$D_GRID,5033
$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,-1.25,-194.6,111,2237,953,910,0.0,0.0,0,95,0.00,0.00,-65.72,0.000,16386,0.000,0.000,111,2238,2536,2515,2558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.25,-194.6,111,2237,2516,2558,3.0,-3.1,12,148,10.50,2.15,-27.23,0.000,18692,0.232,0.054,2574,3582,3767,3761,3773,0,0,0,0,0,0,24.82,25.89,26.48
$GC,306,-1.25,-194.6,2573,3582,3761,3774,56.6,-29.3,37,312,0.00,2.03,0.00,0.000,1030,0.000,0.023,2573,2202,3767,3761,3774,0,0,0,0,0,0,28.83,26.15,28.83
$GC,481,-1.25,-194.6,2573,2201,3761,3774,105.6,-23.5,46,486,0.00,2.12,0.00,0.000,260,0.000,0.041,2564,3587,3768,3761,3776,0,0,0,0,0,0,28.83,26.02,28.83
$GC,571,-1.25,-194.6,2564,3588,3761,3774,126.2,-24.2,50,576,0.00,2.03,0.00,0.000,1030,0.000,0.020,2564,2170,3767,3761,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,731,-1.25,-194.6,2564,2171,3762,3774,164.3,-22.3,58,736,0.00,1.95,0.00,0.000,516,0.000,0.028,2563,816,3768,3762,3774,0,0,0,0,0,0,28.83,26.19,28.83
$GC,770,-1.25,-194.6,2564,815,3762,3774,169.8,-21.9,59,777,0.12,2.03,0.00,0.000,3078,0.191,0.030,2582,2199,3768,3762,3774,0,0,0,0,0,0,25.80,26.22,28.83
$GC,937,-1.25,-194.6,2582,2199,3762,3774,205.9,-19.4,68,942,0.00,2.10,0.00,0.000,260,0.000,0.038,2574,3601,3768,3763,3774,0,0,0,0,0,0,28.83,26.10,28.83
$GC,965,-1.25,-194.6,1552,3600,3758,3772,211.0,-19.4,69,970,0.00,2.00,0.00,0.000,1030,0.000,0.021,2574,2197,3768,3763,3774,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1125,-1.25,-194.6,2574,2197,3763,3775,241.1,-18.3,77,1131,0.00,2.00,0.00,0.000,516,0.000,0.029,2574,819,3768,3763,3774,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1144,-1.25,-194.6,2574,819,3763,3775,241.1,-18.3,77,1151,0.00,2.03,0.00,0.000,1030,0.000,0.029,2565,2206,3769,3763,3775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1310,-1.25,-194.6,2565,2205,3763,3774,274.7,-17.9,86,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2206,3769,3763,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1471,-1.25,-194.6,2565,2205,3763,3775,304.4,-19.0,94,1477,0.00,2.08,0.00,0.000,260,0.000,0.039,2555,3594,3769,3763,3775,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1510,-1.25,-194.6,2554,3593,3763,3775,309.5,-19.2,95,1518,0.12,1.98,0.00,0.000,3078,0.188,0.018,2582,2183,3769,3763,3775,0,0,0,0,0,0,25.89,26.39,28.83
$GC,1676,-1.25,-194.6,2582,2183,3763,3775,342.7,-17.8,104,1681,0.00,1.95,0.00,0.000,516,0.000,0.030,2583,828,3769,3763,3775,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1722,-1.25,-194.6,2582,827,3763,3775,350.8,-17.8,106,1727,0.00,2.03,0.00,0.000,1030,0.000,0.028,2574,2213,3769,3763,3775,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1887,-1.25,-194.6,2575,2213,3764,3775,379.4,-17.1,114,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2213,3769,3763,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2048,-1.25,-194.6,2575,2212,3763,3774,406.2,-16.8,122,2053,0.00,2.03,0.00,0.000,516,0.000,0.028,2575,827,3768,3763,3774,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2086,-1.25,-194.6,2575,827,3763,3774,410.8,-17.0,123,2093,0.00,2.00,0.00,0.000,1030,0.000,0.028,2566,2199,3768,3763,3774,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2253,-1.25,-194.6,2566,2199,3763,3773,441.8,-17.3,132,2258,0.00,2.00,0.00,0.000,516,0.000,0.028,2566,828,3768,3763,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2278,-1.25,-194.6,2566,829,3763,3773,446.3,-17.6,133,2284,0.00,2.03,0.00,0.000,1030,0.000,0.028,2561,2202,3768,3763,3773,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2443,-1.25,-194.6,2561,2201,3763,3771,477.3,-18.7,141,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2201,3767,3763,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2603,-1.25,-194.6,2561,2201,3763,3769,507.4,-18.4,149,2608,0.00,2.00,0.00,0.000,516,0.000,0.028,2561,832,3766,3763,3769,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2638,-1.25,-194.6,2561,832,3763,3769,511.9,-18.2,150,2644,0.12,2.00,0.00,0.000,3078,0.190,0.028,2582,2204,3766,3763,3769,0,0,0,0,0,0,25.83,26.27,28.83
$GC,2814,-1.25,-194.6,2581,2204,3763,3767,542.3,-15.6,159,2819,0.00,2.10,0.00,0.000,260,0.000,0.040,2573,3598,3765,3763,3768,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2903,-1.25,-194.6,1552,3597,3758,3764,555.6,-15.7,163,2908,0.00,1.98,0.00,0.000,1030,0.000,0.018,2573,2205,3765,3764,3766,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3063,-1.25,-194.6,2573,2206,3763,3764,580.9,-15.2,171,3068,0.00,2.00,0.00,0.000,516,0.000,0.030,2574,823,3763,3763,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3121,-1.25,-194.6,2573,823,3763,3762,587.9,-15.5,173,3128,0.00,2.03,0.00,0.000,1030,0.000,0.028,2565,2203,3762,3763,3762,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3278,-1.25,-194.6,2564,2203,3763,3759,615.3,-16.3,180,3283,0.00,2.10,0.00,0.000,260,0.000,0.041,2560,3592,3761,3763,3759,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3343,-1.25,-194.6,2559,3592,3763,3758,626.6,-16.9,182,3348,0.00,2.00,0.00,0.000,1030,0.000,0.018,2559,2189,3761,3763,3759,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3529,-1.25,-194.6,2559,2188,3763,3756,658.2,-17.0,188,3534,0.12,2.00,0.00,0.000,2564,0.190,0.028,2594,815,3759,3763,3756,0,0,0,0,0,0,26.04,26.22,28.83
$GC,3548,-1.25,-194.6,2593,815,3763,3755,658.2,-17.0,188,3554,0.00,2.03,0.00,0.000,1030,0.000,0.028,2587,2193,3759,3763,3755,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3718,-1.25,-194.6,2586,2192,3763,3751,688.3,-15.6,194,3724,0.00,2.15,0.00,0.000,260,0.000,0.043,2587,3603,3757,3763,3751,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3828,-1.25,-194.6,2587,3604,3763,3749,703.9,-16.3,197,3833,0.00,2.00,0.00,0.000,1030,0.000,0.018,2587,2196,3756,3763,3749,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3998,-1.25,-194.6,2587,2195,3763,3747,733.1,-15.7,203,4003,0.00,2.00,0.00,0.000,516,0.000,0.030,2587,827,3755,3763,3747,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4017,-1.25,-194.6,2587,827,3763,3747,733.1,-15.7,203,4022,0.00,2.03,0.00,0.000,1030,0.000,0.029,2579,2203,3755,3763,3747,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4188,-1.25,-194.6,2578,2203,3763,3744,764.7,-16.8,209,4193,0.00,2.15,0.00,0.000,260,0.000,0.043,2568,3601,3753,3763,3743,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4324,-1.25,-194.6,2568,3601,3762,3741,787.3,-18.0,213,4330,0.00,2.00,0.00,0.000,1030,0.000,0.019,2569,2198,3752,3763,3741,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4501,-1.25,-194.6,2568,2197,3762,3738,821.7,-18.4,219,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2198,3750,3762,3738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4650,-1.25,-194.6,2568,2197,3762,3735,847.9,-17.4,224,4655,0.00,2.17,0.00,0.000,260,0.000,0.041,2560,3601,3748,3762,3735,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4745,-1.25,-194.6,2560,3601,3760,3735,865.3,-18.2,227,4750,0.00,2.03,0.00,0.000,1030,0.000,0.019,2560,2194,3747,3760,3735,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4930,-1.25,-194.6,2560,2194,3759,3732,898.4,-17.8,233,4936,0.00,2.17,0.00,0.000,260,0.000,0.043,2561,3594,3745,3758,3732,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4984,-1.25,-194.6,2560,3594,3758,3732,905.0,-17.9,234,4990,0.00,2.00,0.00,0.000,1030,0.000,0.019,2560,2200,3744,3757,3732,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5150,-1.25,-194.6,2560,2200,3757,3730,938.5,-18.1,240,5155,0.00,2.20,0.00,0.000,260,0.000,0.044,2560,3598,3743,3756,3730,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5224,-1.25,-194.6,2560,3598,3755,3730,950.6,-18.4,242,5229,0.00,2.03,0.00,0.000,1030,0.000,0.020,2560,2192,3742,3754,3730,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5399,-1.25,-194.6,2560,2192,3755,3728,983.5,-17.7,248,5404,0.00,2.17,0.00,0.000,260,0.000,0.044,2559,3591,3741,3755,3727,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,5461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5461,begin apogee
$GC,5472,-0.21,0.0,2560,2055,3753,3728,995.5,-18.1,250,5672,1.20,0.00,188.98,1.138,10246,0.151,0.000,2916,2054,2957,3027,2888,0,0,0,0,0,0,25.10,28.83,23.43
$STATE,5674,end apogee,CONTROL_FINISHED_OK
$STATE,5675,begin climb
$GC,5679,1.25,194.6,2916,2054,3025,2879,1009.1,0.0,257,5865,1.33,2.25,176.93,1.151,11012,0.067,0.043,3387,3434,2165,2253,2077,0,0,0,0,0,0,25.18,25.03,23.58
$GC,5889,1.36,239.3,3387,3435,2242,2053,1000.2,8.7,264,5946,0.00,2.10,50.45,0.991,9222,0.000,0.025,3397,2064,1991,2083,1899,0,0,0,0,0,0,28.83,25.48,23.82
$GC,6125,1.36,239.3,3396,2064,2063,1865,969.8,12.6,272,6131,0.00,2.15,0.00,0.000,516,0.000,0.040,3407,657,1964,2063,1865,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6215,1.36,239.3,3406,657,2060,1864,961.1,12.9,274,6222,0.00,2.10,0.00,0.000,1030,0.000,0.031,3407,2044,1962,2060,1864,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6370,1.36,239.3,3406,2044,2060,1862,937.5,13.0,280,6375,0.00,2.17,0.00,0.000,260,0.000,0.044,3408,3451,1961,2060,1862,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6405,1.36,239.3,3406,3451,2058,1862,932.6,13.2,281,6410,0.00,2.10,0.00,0.000,1030,0.000,0.027,3417,2049,1960,2058,1862,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,14032,end climb,SURFACE_DEPTH_REACHED
$STATE,14032,begin surface coast
$FINISH,1.3,1.003945
$STATE,14061,end surface coast,CONTROL_FINISHED_OK
$STATE,14061,begin surface
$SM_CCo,14084,44.67,0.119,0,0,928,500.17
$SM_GC,2.11,8.73,0.17,44.67,0.024,0.064,0.119,142,2216,928,-8.83,-1.61,500.17,0,0,0,0,0,0,26.11,26.36,25.34
$IRIDIUM_FIX,1916.08,12328.73,230913,030314
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.20
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,26.10
$XPDR_PINGS,5
$SC_FREEKB,7575520
$24V_AH,23.4,84.620
$10V_AH,9.8,51.779
$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
$DEVICE_SECS,23.200,222.375,569.400,44.675,0.000,0.000,0.000,408.525,1.250,0.000,39.376,2391.368,8466.054,814.346,2452.824,717.743,0.000,2460.229,0.000,1955.088,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14067.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.198,0.000,0.000,0.000
$MEM,327768
$DATA_FILE_SIZE,26749,653
$CAP_FILE_SIZE,219527,0
$CFSIZE,260034560,205447168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,230913,074501,1924.171,12326.440,42,1.4,42,-2.7