version: 66.11
glider: 167
mission: 16
dive: 579
start: 10 6 113 18 43 24
data:
$ID,167
$MISSION,16
$DIVE,579
$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,340
$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,250
$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,0.0025476699
$HD_B,0.0275445
$HD_C,1.10039e-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,450
$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,4096
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-976633.31
$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,25
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2715
$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,2
$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
$GPS1,061013,183058,2030.242,12301.975,42,1.2,44,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.2
$GPS2,061013,184252,2030.349,12302.067,27,1.0,44,-2.9
$SPEED_LIMITS,0.168,0.196
$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,265.6,135335,-15.5,-9.706,-26.33,3713
$D_GRID,5310
$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,-243.3,112,2226,902,867,0.0,0.0,0,102,0.00,0.00,-72.47,0.000,16386,0.000,0.000,111,2226,2670,2649,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.25,-243.3,111,2226,2650,2693,3.3,-3.8,12,146,10.75,1.40,-21.23,0.000,18948,0.237,0.053,2577,1331,3709,3702,3716,0,0,0,0,0,0,24.68,25.89,26.47
$GC,183,-1.25,-243.3,2577,1331,3703,3718,23.2,-28.7,24,190,0.00,1.35,0.00,0.000,1030,0.000,0.035,2573,2203,3710,3702,3718,0,0,0,0,0,0,28.83,25.92,28.83
$GC,353,-1.25,-243.3,2573,2203,3703,3718,67.6,-26.8,38,359,0.00,1.33,0.00,0.000,260,0.000,0.037,2567,3085,3710,3703,3718,0,0,0,0,0,0,28.83,26.01,28.83
$GC,439,-1.25,-243.3,2566,3085,3702,3718,90.0,-24.8,42,445,0.00,1.33,0.00,0.000,1030,0.000,0.024,2567,2195,3710,3703,3718,0,0,0,0,0,0,28.83,26.17,28.83
$GC,606,-1.25,-243.3,2566,2194,3703,3718,125.2,-20.4,50,611,0.00,1.27,0.00,0.000,516,0.000,0.031,2566,1320,3710,3703,3718,0,0,0,0,0,0,28.83,26.13,28.83
$GC,671,-1.25,-243.3,2566,1320,3703,3718,138.7,-20.3,53,676,0.00,1.35,0.00,0.000,1030,0.000,0.031,2561,2217,3710,3703,3718,0,0,0,0,0,0,28.83,26.13,28.83
$GC,836,-1.25,-243.3,2561,2217,3703,3718,171.8,-19.2,61,841,0.00,1.27,0.00,0.000,260,0.000,0.039,2555,3063,3710,3703,3718,0,0,0,0,0,0,28.83,26.07,28.83
$GC,906,-1.25,-243.3,2554,3064,3703,3718,184.1,-18.9,64,912,0.08,1.27,0.00,0.000,3078,0.177,0.024,2576,2179,3710,3703,3718,0,0,0,0,0,0,25.81,26.27,28.83
$GC,1068,-1.25,-243.3,2576,2179,3705,3719,214.6,-18.1,72,1073,0.00,1.20,0.00,0.000,516,0.000,0.031,2576,1349,3711,3704,3718,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1117,-1.25,-243.3,1536,1348,3697,3716,222.9,-18.0,74,1122,0.00,1.27,0.00,0.000,1030,0.000,0.032,2573,2197,3710,3702,3718,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1278,-1.25,-243.3,2571,2197,3704,3719,253.1,-17.9,82,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2197,3711,3704,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1437,-1.25,-243.3,2573,2197,3704,3719,280.2,-16.8,90,1443,0.00,1.27,0.00,0.000,516,0.000,0.028,2573,1335,3711,3704,3719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1493,-1.25,-243.3,2573,1335,3704,3719,287.9,-16.5,92,1498,0.00,1.30,0.00,0.000,1030,0.000,0.030,2568,2203,3711,3704,3719,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1668,-1.25,-243.3,2567,2203,3704,3719,318.6,-17.0,101,1674,0.00,1.27,0.00,0.000,516,0.000,0.027,2567,1337,3711,3703,3719,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1682,-1.25,-243.3,2567,1337,3704,3719,318.6,-17.0,101,1687,0.00,1.30,0.00,0.000,1030,0.000,0.030,2562,2204,3711,3704,3719,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1858,-1.25,-243.3,2562,2204,3704,3718,350.5,-16.5,110,1864,0.00,1.27,0.00,0.000,516,0.000,0.028,2562,1339,3711,3704,3719,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1924,-1.25,-243.3,2562,1338,3705,3719,361.4,-16.5,113,1929,0.00,1.30,0.00,0.000,1030,0.000,0.031,2560,2193,3711,3704,3719,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2090,-1.25,-243.3,2560,2193,3704,3719,387.7,-16.1,121,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2193,3711,3704,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2249,-1.25,-243.3,2560,2193,3704,3719,413.0,-15.7,129,2254,0.00,1.27,0.00,0.000,516,0.000,0.028,2560,1333,3711,3704,3719,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2324,-1.25,-243.3,2560,1334,3704,3719,422.8,-15.1,132,2330,0.08,1.30,0.00,0.000,3078,0.173,0.031,2576,2196,3711,3703,3719,0,0,0,0,0,0,25.77,26.17,28.83
$GC,2501,-1.25,-243.3,2576,2196,3703,3717,450.2,-15.1,141,2506,0.00,1.27,0.00,0.000,516,0.000,0.028,2577,1334,3710,3704,3717,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2535,-1.25,-243.3,2576,1334,3704,3717,454.2,-15.2,142,2540,0.00,1.30,0.00,0.000,1030,0.000,0.031,2573,2197,3710,3703,3717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2711,-1.25,-243.3,2573,2197,3704,3715,482.6,-15.6,151,2716,0.00,1.33,0.00,0.000,260,0.000,0.038,2567,3078,3709,3704,3714,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2780,-1.25,-243.3,2567,3077,3703,3713,493.1,-16.1,154,2786,0.00,1.25,0.00,0.000,1030,0.000,0.020,2567,2205,3708,3704,3713,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2942,-1.25,-243.3,2567,2205,3704,3711,517.9,-15.0,162,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2206,3707,3704,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3101,-1.25,-243.3,2567,2205,3704,3710,541.3,-14.6,170,3107,0.00,1.25,0.00,0.000,516,0.000,0.029,2566,1343,3707,3704,3710,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3161,-1.25,-243.3,2567,1343,3703,3709,547.9,-14.5,172,3168,0.00,1.30,0.00,0.000,1030,0.000,0.031,2562,2204,3705,3703,3708,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3327,-1.25,-243.3,2561,2204,3704,3706,574.2,-15.0,181,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2204,3704,3703,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3487,-1.25,-243.3,2562,2204,3703,3704,599.2,-15.5,189,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2204,3704,3704,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-1.25,-243.3,2561,2204,3704,3701,625.3,-15.5,195,3662,0.00,1.33,0.00,0.000,260,0.000,0.039,2560,3078,3702,3704,3700,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3728,-1.25,-243.3,2560,3077,3703,3699,635.7,-15.5,197,3733,0.00,1.27,0.00,0.000,1030,0.000,0.021,2560,2196,3701,3703,3699,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3908,-1.25,-243.3,2560,2196,3704,3696,663.4,-14.7,203,3913,0.00,1.25,0.00,0.000,516,0.000,0.031,2560,1341,3699,3704,3695,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3963,-1.25,-243.3,2560,1340,3704,3695,668.7,-14.8,204,3969,0.08,1.30,0.00,0.000,3078,0.175,0.032,2577,2196,3698,3703,3694,0,0,0,0,0,0,25.72,26.13,28.83
$GC,4129,-1.25,-243.3,2578,2196,3704,3691,695.8,-14.6,210,4135,0.00,1.27,0.00,0.000,516,0.000,0.028,2579,1340,3697,3704,3691,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4180,-1.25,-243.3,2578,1340,3703,3691,701.3,-14.6,211,4185,0.00,1.30,0.00,0.000,1030,0.000,0.031,2575,2195,3696,3703,3690,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4352,-1.25,-243.3,2574,2196,3703,3686,728.9,-15.2,217,4357,0.00,1.35,0.00,0.000,260,0.000,0.040,2567,3082,3694,3704,3685,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4466,-1.25,-243.3,2568,3082,3704,3684,744.8,-16.4,220,4471,0.00,1.27,0.00,0.000,1030,0.000,0.021,2568,2203,3693,3703,3684,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4632,-1.25,-243.3,2568,2203,3704,3683,775.4,-16.5,226,4637,0.00,1.25,0.00,0.000,516,0.000,0.031,2568,1346,3692,3702,3683,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4692,-1.25,-243.3,2568,1346,3703,3682,781.4,-16.5,227,4698,0.00,1.30,0.00,0.000,1030,0.000,0.031,2564,2201,3692,3703,3681,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4847,-1.25,-243.3,2563,2202,3703,3678,812.0,-17.1,233,4852,0.00,1.33,0.00,0.000,260,0.000,0.041,2560,3068,3690,3703,3677,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4907,-1.25,-243.3,2560,3068,3703,3677,818.1,-17.4,234,4914,0.00,1.27,0.00,0.000,1030,0.000,0.022,2560,2195,3690,3703,3677,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5062,-1.25,-243.3,2560,2195,3703,3676,848.6,-16.9,240,5068,0.00,1.25,0.00,0.000,516,0.000,0.031,2560,1343,3688,3703,3674,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5098,-1.25,-243.3,2560,1343,3703,3674,854.8,-17.0,241,5103,0.00,1.33,0.00,0.000,1030,0.000,0.032,2556,2204,3688,3703,3673,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5286,-1.25,-243.3,2556,2204,3702,3671,884.7,-16.1,247,5292,0.12,1.35,0.00,0.000,2308,0.200,0.038,2585,3108,3686,3703,3670,0,0,0,0,0,0,25.92,25.99,28.83
$GC,5336,-1.25,-243.3,2584,3108,3701,3670,890.4,-15.9,248,5341,0.00,1.33,0.00,0.000,1030,0.000,0.022,2585,2206,3685,3701,3670,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5507,-1.25,-243.3,2584,2206,3701,3668,917.0,-14.5,254,5512,0.00,1.27,0.00,0.000,516,0.000,0.031,2585,1341,3683,3700,3667,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5566,-1.25,-243.3,2585,1341,3700,3668,922.3,-14.4,255,5573,0.00,1.33,0.00,0.000,1030,0.000,0.032,2579,2206,3683,3699,3668,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5722,-1.25,-243.3,2579,2206,3698,3666,948.8,-14.8,261,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2206,3682,3698,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5873,-1.25,-243.3,2580,2206,3697,3664,971.4,-15.0,266,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2206,3680,3697,3664,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5988,begin apogee
$GC,5997,-0.21,0.0,2579,2042,3696,3663,990.8,-16.2,270,6260,1.12,0.00,253.82,1.092,10246,0.148,0.000,2913,2042,2709,2794,2624,0,0,0,0,0,0,24.77,28.83,23.54
$STATE,6263,end apogee,CONTROL_FINISHED_OK
$STATE,6263,begin climb
$GC,6270,1.25,243.3,2913,2042,2789,2615,1005.0,0.0,279,6507,1.40,0.00,230.27,1.134,10502,0.076,0.000,3395,2042,1722,1812,1632,0,0,0,0,0,0,25.22,28.83,23.53
$GC,6654,1.25,243.3,3395,2042,1776,1598,967.8,12.0,292,6659,0.00,1.33,0.00,0.000,516,0.000,0.040,3401,1195,1687,1776,1598,0,0,0,0,0,0,28.83,25.85,28.83
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$STATE,15000,end climb,SURFACE_DEPTH_REACHED
$STATE,15000,begin surface coast
$FINISH,1.4,0.998584
$STATE,15024,end surface coast,CONTROL_FINISHED_OK
$STATE,15024,begin surface
$SM_CCo,15048,12.48,0.124,0,0,878,450.13
$SM_GC,2.13,8.70,0.20,12.48,0.031,0.065,0.124,146,2214,878,-8.83,-1.36,450.13,0,0,0,0,0,0,25.86,26.26,25.11
$IRIDIUM_FIX,2020.26,12300.56,061013,131321
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.38
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,25.80
$XPDR_PINGS,4
$SC_FREEKB,7548224
$24V_AH,23.5,95.849
$10V_AH,9.8,59.968
$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
$DEVICE_SECS,22.875,140.925,639.450,12.475,0.000,0.000,0.000,320.475,1.000,0.000,45.417,2722.004,8874.770,826.200,2495.293,804.110,0.000,2426.421,0.000,2053.432,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15037.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.205,0.000,0.000,0.000
$MEM,327816
$DATA_FILE_SIZE,26749,689
$CAP_FILE_SIZE,225759,0
$CFSIZE,260034560,198258688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.202, 68.7,1
$GPS,061013,225553,2031.019,12302.522,40,1.2,40,-2.9