version: 66.11
glider: 167
mission: 16
dive: 648
start: 10 21 113 14 35 16
data:
$ID,167
$MISSION,16
$DIVE,648
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,210
$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,120
$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,0.0025476699
$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,-976719.69
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2715
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$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,0
$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
$GPS1,211013,142553,2021.383,12345.012,71,1.2,71,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-67.4
$GPS2,211013,143424,2021.372,12345.057,8,1.2,8,-2.9
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,PICKUP
$TGT_LATLONG,2018.000,12336.000
$TGT_RADIUS,5000.000
$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,251.2,16926,-18.7,-10.000,-28.63,3078
$D_GRID,5472
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.17,-116.8,112,2233,879,882,0.0,0.0,0,95,0.00,0.00,-69.47,0.000,16386,0.000,0.000,112,2233,2574,2567,2581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.17,-116.8,111,2233,2567,2582,3.0,-1.9,7,133,10.95,1.60,-14.82,0.000,19204,0.236,0.056,2656,3233,3193,3193,3193,0,0,0,0,0,0,24.81,25.94,26.54
$GC,329,-1.17,-116.8,2656,3233,3193,3194,50.1,-19.4,28,335,0.00,1.50,0.00,0.000,1030,0.000,0.024,2656,2192,3193,3193,3194,0,0,0,0,0,0,28.83,26.17,28.83
$GC,646,-1.17,-116.8,2656,2192,3195,3194,103.4,-14.3,44,651,0.00,1.58,0.00,0.000,260,0.000,0.038,2649,3232,3194,3195,3194,0,0,0,0,0,0,28.83,25.98,28.83
$GC,873,-1.17,-116.8,2649,3232,3196,3194,134.7,-14.6,55,879,0.00,1.52,0.00,0.000,1030,0.000,0.024,2649,2191,3194,3195,3194,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1199,-1.17,-116.8,2648,2191,3197,3195,178.4,-12.5,71,1204,0.00,1.58,0.00,0.000,260,0.000,0.040,2642,3226,3195,3196,3195,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1238,-1.17,-116.8,2642,3226,3197,3195,181.6,-12.4,72,1246,0.12,1.52,0.00,0.000,3078,0.181,0.026,2670,2181,3196,3197,3195,0,0,0,0,0,0,25.73,26.17,28.83
$GC,1546,-1.17,-116.8,2670,2181,3197,3196,214.4,-9.8,88,1551,0.00,1.50,0.00,0.000,516,0.000,0.047,2671,1142,3196,3197,3195,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1631,-1.17,-116.8,2670,1142,3197,3196,223.1,-10.0,92,1636,0.00,1.52,0.00,0.000,1030,0.000,0.030,2666,2189,3196,3197,3196,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1957,-1.17,-116.8,2666,2189,3197,3196,257.9,-10.9,107,1963,0.00,1.58,0.00,0.000,516,0.000,0.029,2666,1136,3196,3197,3196,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2083,-1.17,-116.8,2666,1135,3197,3196,272.3,-11.4,111,2088,0.00,1.52,0.00,0.000,1030,0.000,0.028,2659,2186,3196,3197,3196,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2419,-1.17,-116.8,2659,2186,3197,3195,307.6,-10.2,122,2424,0.00,1.52,0.00,0.000,516,0.000,0.028,2659,1134,3196,3197,3195,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2473,-1.17,-116.8,2660,1134,3197,3195,311.4,-10.2,123,2479,0.00,1.50,0.00,0.000,1030,0.000,0.029,2653,2138,3196,3197,3195,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2789,-1.17,-116.8,2653,2138,3197,3194,348.9,-11.9,134,2794,0.00,1.50,0.00,0.000,516,0.000,0.029,2653,1136,3196,3198,3194,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2825,-1.17,-116.8,2652,1136,3197,3194,353.2,-12.1,135,2830,0.00,1.50,0.00,0.000,1030,0.000,0.028,2646,2132,3195,3197,3193,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3160,-1.17,-116.8,2646,2132,3197,3193,389.2,-10.3,146,3166,0.00,1.48,0.00,0.000,516,0.000,0.029,2646,1145,3194,3197,3192,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3281,-1.17,-116.8,2646,1145,3197,3192,398.8,-10.1,149,3288,0.08,1.45,0.00,0.000,3078,0.162,0.029,2671,2114,3194,3197,3191,0,0,0,0,0,0,25.68,26.16,28.83
$GC,3586,-1.17,-116.8,2671,2114,3197,3190,425.6,-8.1,160,3591,0.00,1.45,0.00,0.000,516,0.000,0.029,2671,1147,3193,3197,3189,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3672,-1.17,-116.8,2671,1147,3197,3189,431.1,-8.4,162,3677,0.00,1.45,0.00,0.000,1030,0.000,0.029,2667,2110,3193,3197,3189,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3989,-1.17,-116.8,2667,2110,3197,3186,461.3,-9.9,173,3994,0.00,1.45,0.00,0.000,516,0.000,0.029,2667,1144,3191,3197,3185,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4013,-1.17,-116.8,2667,1144,3197,3186,461.3,-9.9,173,4019,0.00,1.42,0.00,0.000,1030,0.000,0.029,2661,2095,3191,3197,3185,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4329,-1.17,-116.8,2661,2094,3197,3182,497.3,-10.6,184,4334,0.00,1.42,0.00,0.000,516,0.000,0.029,2661,1146,3189,3197,3182,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4521,-1.17,-116.8,2661,1146,3197,3180,517.8,-10.9,190,4526,0.00,1.42,0.00,0.000,1030,0.000,0.030,2656,2088,3188,3197,3180,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,4757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4757,begin apogee
$GC,4768,-0.25,0.0,2656,1872,3197,3177,541.3,-9.2,198,4893,1.00,0.00,116.47,0.827,10244,0.138,0.000,2961,1872,2705,2769,2642,0,0,0,0,0,0,24.97,28.83,23.76
$STATE,4898,end apogee,CONTROL_FINISHED_OK
$STATE,4898,begin climb
$GC,4901,1.17,116.8,2961,1872,2767,2633,545.3,0.0,202,5009,1.25,1.67,98.80,0.859,10500,0.061,0.034,3429,2939,2232,2312,2153,0,0,0,0,0,0,25.41,25.56,23.84
$GC,5027,1.17,116.8,3431,2939,2302,2134,537.6,8.4,206,5032,0.00,1.52,0.00,0.000,1030,0.000,0.028,3438,1915,2217,2302,2133,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5343,1.17,116.8,3438,1915,2302,2122,498.1,10.7,217,5348,0.00,1.60,0.00,0.000,516,0.000,0.038,3446,846,2212,2302,2122,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5383,1.17,116.8,2496,844,2209,2108,494.5,10.4,218,5388,0.00,1.58,0.00,0.000,1030,0.000,0.031,3446,1907,2209,2295,2123,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5714,1.30,182.1,3446,1907,2295,2120,466.0,7.8,229,5775,0.00,1.58,55.03,0.832,8452,0.000,0.035,3446,2953,1960,2060,1861,0,0,0,0,0,0,28.83,25.57,24.01
$GC,5843,1.34,203.4,3446,2953,2053,1841,454.7,9.3,233,5870,0.00,1.55,19.52,0.801,9222,0.000,0.026,3453,1901,1875,1974,1777,0,0,0,0,0,0,28.83,25.89,24.11
$GC,6207,1.34,203.4,3453,1900,1958,1753,414.1,11.5,245,6212,0.00,1.60,0.00,0.000,260,0.000,0.037,3453,2964,1855,1958,1753,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6242,1.34,203.4,3453,2963,1958,1752,409.4,11.5,246,6247,0.00,1.58,0.00,0.000,1030,0.000,0.026,3460,1924,1855,1958,1752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6579,1.34,203.4,3459,1924,1958,1749,372.5,10.9,257,6584,0.00,1.60,0.00,0.000,516,0.000,0.038,3468,850,1853,1958,1749,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6708,1.34,203.4,3467,850,1958,1748,358.4,11.0,261,6713,0.00,1.62,0.00,0.000,1030,0.000,0.031,3467,1947,1853,1958,1748,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7039,1.34,203.4,3467,1947,1958,1746,320.8,11.1,272,7044,0.00,1.52,0.00,0.000,260,0.000,0.038,3467,2951,1852,1958,1746,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7104,1.34,203.4,3468,2951,1951,1747,313.3,11.1,274,7109,0.00,1.50,0.00,0.000,1030,0.000,0.026,3474,1957,1849,1951,1748,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7440,1.39,224.6,3474,1957,1952,1747,280.7,9.3,285,7461,0.00,1.50,16.02,0.740,8452,0.000,0.033,3474,2954,1791,1888,1694,0,0,0,0,0,0,28.83,25.92,24.29
$GC,7477,1.43,244.8,3474,2954,1879,1682,277.7,9.3,286,7500,0.00,1.50,19.35,0.719,9222,0.000,0.026,3481,1927,1717,1812,1622,0,0,0,0,0,0,28.83,26.06,24.20
$GC,7801,1.43,244.8,3480,1927,1786,1596,239.9,12.6,298,7807,0.00,1.62,0.00,0.000,516,0.000,0.038,3489,843,1691,1786,1596,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7892,1.43,244.8,3488,843,1786,1596,229.0,12.9,302,7897,0.00,1.65,0.00,0.000,1030,0.000,0.031,3489,1950,1691,1786,1596,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8212,1.49,275.8,3488,1950,1784,1594,196.1,9.0,318,8245,0.12,1.58,27.33,0.677,10500,0.076,0.037,3566,2962,1584,1670,1498,0,0,0,0,0,0,26.41,25.87,24.39
$GC,8254,1.49,275.8,3566,2962,1653,1482,191.4,10.1,320,8260,0.17,1.52,0.00,0.000,5126,0.180,0.025,3529,1927,1567,1653,1481,0,0,0,0,0,0,25.46,25.97,28.83
$GC,8585,1.49,275.8,3529,1927,1648,1474,152.0,12.2,336,8590,0.00,1.65,0.00,0.000,516,0.000,0.037,3537,856,1561,1648,1474,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8624,1.49,275.8,3537,856,1648,1474,148.3,12.0,337,8631,0.00,1.67,0.00,0.000,1030,0.000,0.031,3537,1982,1560,1648,1473,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8931,1.49,275.8,3537,1982,1646,1473,115.3,10.2,353,8937,0.00,1.75,0.00,0.000,516,0.000,0.036,3545,857,1560,1646,1474,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9118,1.49,275.8,3545,857,1646,1473,95.6,10.2,362,9123,0.00,1.62,0.00,0.000,1030,0.000,0.030,3545,1950,1559,1646,1473,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9445,1.61,338.0,3545,1950,1645,1473,67.9,7.9,378,9481,0.00,1.73,27.88,0.249,8964,0.000,0.034,3553,854,1339,1425,1254,0,0,0,0,0,0,28.83,26.02,24.97
$GC,9597,1.61,338.0,3552,854,1436,1267,53.8,10.2,385,9603,0.00,1.70,1.98,0.164,9222,0.000,0.030,3552,2002,1336,1419,1254,0,0,0,0,0,0,28.83,26.06,25.03
$GC,9913,1.81,435.8,3552,2002,1436,1265,24.1,6.7,415,9966,0.20,0.00,49.03,0.160,10758,0.058,0.000,3641,2003,936,971,901,0,0,0,0,0,0,26.36,28.83,25.29
$STATE,10072,end climb,SURFACE_DEPTH_REACHED
$STATE,10072,begin surface coast
$FINISH,1.4,1.013116
$STATE,10086,end surface coast,CONTROL_FINISHED_OK
$STATE,10086,begin surface
$SM_CCo,10111,7.68,0.126,0,0,877,450.13
$SM_GC,1.90,9.05,0.28,7.68,0.033,0.052,0.126,144,2221,877,-9.03,-1.19,450.13,0,0,0,0,0,0,25.75,26.22,25.21
$IRIDIUM_FIX,2013.37,12344.59,211013,141446
$TT8_MAMPS,0.026964,0.026964
$HUMID,60.94
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,25.80
$XPDR_PINGS,4
$24V_AH,23.8,106.477
$10V_AH,10.1,65.993
$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,22.950,71.975,431.400,7.675,0.000,0.000,0.000,284.375,1.000,0.000,9.883,1563.024,6626.012,494.752,1526.480,406.667,0.000,1538.551,0.000,1240.254,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,55.845,859.095,126.225,0.000,0.000,0.000,110.160,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327388
$DATA_FILE_SIZE,16803,432
$CAP_FILE_SIZE,100086,1
$CFSIZE,260034560,192471040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211013,172531,2021.586,12345.189,50,1.8,50,-2.9