version: 66.11
glider: 167
mission: 16
dive: 41
start: 6 26 113 6 57 26
data:
$ID,167
$MISSION,16
$DIVE,41
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,330
$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,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,554.9259
$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,-974746.62
$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,3085
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,1900
$C_ROLL_CLIMB,3100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,70
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2763
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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
$GPS1,260613,064930,2200.166,12023.176,43,1.4,43,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-70.6
$GPS2,260613,065700,2200.082,12023.200,19,1.9,19,-3.1
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,T1
$TGT_LATLONG,2200.000,12024.000
$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,99.4,1382,-27.8,-10.000,-30.00,969
$D_GRID,948
$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,-1.22,-63.1,109,1936,436,558,0.0,0.0,0,110,0.00,0.00,-82.07,0.000,16386,0.000,0.000,109,1936,2507,2488,2527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.40,-121.8,108,1936,2487,2528,3.1,-3.8,15,147,9.95,2.15,-14.60,0.000,18948,0.238,0.042,2630,510,3263,3256,3270,0,0,0,0,0,0,25.96,26.21,26.46
$GC,242,-1.40,-121.8,2629,510,3255,3272,51.4,-45.7,30,249,0.00,2.00,0.00,0.000,1030,0.000,0.018,2622,1902,3264,3256,3272,0,0,0,0,0,0,28.83,26.31,28.83
$GC,548,-1.40,-121.8,2622,1904,3257,3274,153.5,-30.6,46,554,0.00,2.03,0.00,0.000,260,0.000,0.031,2611,3299,3265,3257,3273,0,0,0,0,0,0,28.83,26.44,28.83
$GC,697,-1.40,-121.8,1584,3297,3217,3268,188.5,-23.0,53,702,0.00,1.98,0.00,0.000,1030,0.000,0.019,2612,1910,3265,3257,3274,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1016,-1.40,-121.8,2611,1910,3258,3274,260.8,-22.4,69,1021,0.00,2.03,0.00,0.000,516,0.000,0.032,2611,506,3266,3258,3274,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1065,-1.40,-121.8,2611,506,3259,3274,270.5,-22.5,71,1071,0.12,1.98,0.00,0.000,3078,0.207,0.018,2629,1901,3266,3258,3274,0,0,0,0,0,0,26.41,26.59,28.83
$GC,1385,-1.40,-121.8,2629,1901,3257,3273,334.4,-20.7,87,1390,0.00,2.03,0.00,0.000,260,0.000,0.032,2621,3303,3265,3258,3273,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1464,-1.40,-121.8,2620,3303,3258,3271,349.0,-22.4,90,1471,0.00,2.00,0.00,0.000,1030,0.000,0.019,2621,1894,3264,3257,3271,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1770,-1.40,-121.8,2620,1892,3261,3264,422.6,-22.3,106,1775,0.00,2.05,0.00,0.000,260,0.000,0.031,2611,3298,3262,3261,3263,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1823,-1.40,-121.8,2610,3298,3260,3263,432.1,-21.6,108,1829,0.00,2.00,0.00,0.000,1030,0.000,0.018,2611,1884,3262,3261,3263,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2138,-1.40,-121.8,2610,1883,3260,3258,495.8,-19.2,124,2143,0.00,2.08,0.00,0.000,260,0.000,0.031,2601,3299,3259,3261,3258,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2213,-1.40,-121.8,2601,3300,3261,3256,508.5,-19.6,127,2219,0.15,1.98,0.00,0.000,3078,0.203,0.018,2635,1894,3258,3261,3256,0,0,0,0,0,0,26.52,26.71,28.83
$GC,2528,-1.40,-121.8,2635,1895,3260,3250,568.8,-17.4,143,2533,0.00,2.05,0.00,0.000,260,0.000,0.032,2627,3290,3255,3261,3250,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2669,-1.40,-121.8,2627,3291,3261,3247,590.1,-17.1,149,2675,0.00,1.98,0.00,0.000,1030,0.000,0.018,2627,1895,3254,3261,3247,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2987,-1.40,-121.8,2627,1894,3260,3243,648.5,-17.5,161,2993,0.00,2.05,0.00,0.000,260,0.000,0.033,2618,3292,3251,3261,3242,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3132,-1.40,-121.8,2617,3293,3261,3239,672.0,-18.5,165,3137,0.00,1.98,0.00,0.000,1030,0.000,0.019,2619,1901,3249,3260,3239,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3447,-1.40,-121.8,2617,1901,3260,3234,733.5,-18.7,176,3452,0.00,2.05,0.00,0.000,260,0.000,0.034,2610,3290,3247,3261,3234,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3520,-1.40,-121.8,2609,3290,3260,3233,746.5,-19.3,178,3526,0.00,1.98,0.00,0.000,1030,0.000,0.019,2610,1899,3247,3261,3233,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3848,-1.40,-121.8,2610,1899,3260,3228,808.4,-17.6,189,3853,0.00,2.05,0.00,0.000,260,0.000,0.034,2601,3287,3244,3261,3227,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3896,-1.40,-121.8,2601,3287,3260,3227,814.7,-17.1,190,3902,0.15,1.98,0.00,0.000,3078,0.202,0.019,2636,1890,3243,3260,3226,0,0,0,0,0,0,26.56,26.75,28.83
$GC,4220,-1.40,-121.8,2635,1890,3260,3222,866.4,-15.5,201,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1890,3241,3260,3222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4517,-1.40,-121.8,2635,1890,3259,3219,906.6,-13.2,211,4522,0.00,2.08,0.00,0.000,260,0.000,0.034,2628,3292,3238,3258,3219,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4662,-1.40,-121.8,2628,3292,3257,3220,925.3,-15.0,215,4667,0.00,1.98,0.00,0.000,1030,0.000,0.019,2628,1898,3238,3257,3219,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4913,end dive,NO_VERTICAL_VELOCITY
$STATE,4913,begin apogee
$GC,4923,-0.19,0.0,2628,3086,3257,3217,927.6,0.0,224,5035,1.08,0.00,104.30,1.156,10246,0.085,0.000,3020,3086,2754,2811,2697,0,0,0,0,0,0,26.67,28.83,24.26
$STATE,5040,end apogee,CONTROL_FINISHED_OK
$STATE,5040,begin climb
$GC,5044,1.40,121.8,3020,3086,2808,2687,927.4,0.0,228,5168,1.38,2.22,110.60,1.109,11012,0.041,0.028,3549,1720,2252,2325,2180,0,0,0,0,0,0,25.14,24.73,24.01
$GC,5186,1.40,121.8,3549,1720,2317,2167,914.2,14.3,232,5193,0.00,2.20,0.00,0.000,1030,0.000,0.034,3549,3097,2241,2317,2166,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5492,1.40,121.8,3550,3097,2317,2153,827.9,25.9,243,5497,0.00,1.02,0.00,0.000,260,0.000,0.046,3549,3762,2235,2317,2153,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5728,1.40,121.8,3549,3762,2313,2151,770.0,25.5,250,5734,0.00,0.95,0.00,0.000,1030,0.000,0.028,3554,3107,2231,2313,2150,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6043,1.40,121.8,3554,3107,2312,2147,692.1,23.8,261,6048,0.00,1.02,0.00,0.000,260,0.000,0.044,3554,3766,2229,2313,2146,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6152,1.40,121.8,3554,3766,2312,2146,666.8,26.1,264,6157,0.00,0.98,0.00,0.000,1030,0.000,0.028,3559,3091,2229,2312,2146,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6474,1.40,121.8,3559,3091,2312,2143,584.8,22.1,276,6480,0.00,2.05,0.00,0.000,516,0.000,0.027,3569,1696,2228,2313,2143,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6508,1.40,121.8,3569,1696,2312,2143,578.9,21.7,277,6514,0.15,2.12,0.00,0.000,5126,0.211,0.033,3535,3111,2227,2313,2142,0,0,0,0,0,0,26.28,26.47,28.83
$GC,6824,1.40,121.8,3535,3111,2311,2140,513.3,20.2,293,6829,0.00,2.08,0.00,0.000,516,0.000,0.025,3544,1696,2227,2313,2141,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7060,1.40,121.8,3544,1695,2312,2140,468.3,20.3,304,7065,0.00,2.10,0.00,0.000,1030,0.000,0.033,3544,3099,2226,2313,2139,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7374,1.40,121.8,3544,3100,2312,2138,398.2,21.3,320,7380,0.00,2.05,0.00,0.000,516,0.000,0.026,3554,1693,2225,2313,2138,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7610,1.40,121.8,3554,1692,2312,2137,356.7,17.9,331,7616,0.00,2.10,0.00,0.000,1030,0.000,0.032,3554,3103,2225,2313,2137,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7925,1.40,121.8,3554,3102,2312,2137,301.9,17.5,347,7930,0.00,2.05,0.00,0.000,516,0.000,0.025,3564,1697,2223,2312,2135,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8162,1.40,121.8,3563,1697,2312,2134,261.8,17.9,358,8168,0.12,2.10,0.00,0.000,5126,0.216,0.031,3537,3102,2224,2313,2135,0,0,0,0,0,0,26.45,26.63,28.83
$GC,8477,1.40,121.8,3537,3103,2313,2135,207.0,15.0,374,8483,0.00,2.05,0.00,0.000,516,0.000,0.024,3546,1705,2223,2313,2134,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8713,1.40,121.8,3546,1705,2313,2134,176.4,13.6,385,8718,0.00,2.08,0.00,0.000,1030,0.000,0.032,3546,3100,2223,2312,2134,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9028,1.40,121.8,3546,3100,2314,2134,127.6,15.4,401,9033,0.00,2.03,0.00,0.000,516,0.000,0.024,3556,1700,2223,2313,2134,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9265,1.41,125.4,3555,1700,2313,2134,103.5,9.6,412,9270,0.00,2.08,0.00,0.000,1030,0.000,0.031,3555,3104,2223,2313,2134,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9579,1.54,169.0,3554,3104,2313,2134,84.0,5.4,428,9602,0.00,0.93,18.12,0.281,8452,0.000,0.039,3555,3764,2073,2155,1991,0,0,0,0,0,0,28.83,26.56,26.27
$GC,9652,1.57,178.4,3555,3764,2156,2006,77.6,9.0,431,9663,0.00,0.95,5.35,0.257,9222,0.000,0.025,3561,3083,2035,2116,1954,0,0,0,0,0,0,28.83,26.64,26.27
$FREEZE,63.20,25.265,-1.909,0,1,0
$STATE,9960,end climb,NO_VERTICAL_VELOCITY
$STATE,9960,begin surface
$SM_CCo,9965,186.90,0.273,1,0,457,564.93
$SM_GC,1.59,8.85,1.75,0.00,0.029,0.024,0.000,141,1931,457,-9.15,2.26,565.66,0,0,0,0,0,0,25.97,26.00,28.83
$IRIDIUM_FIX,2150.42,12022.75,260613,030354
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.43
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,23.60
$XPDR_PINGS,1
$SC_FREEKB,7700448
$24V_AH,24.0,4.779
$10V_AH,10.3,4.029
$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,21.950,83.150,238.375,186.900,0.000,0.000,0.000,252.775,0.250,0.000,20.466,1656.563,6538.866,547.444,1672.714,382.190,0.000,1556.546,0.000,1391.400,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,45.900,1155.915,273.105,0.000,0.000,0.000,117.045,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9963.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.358,0.000,0.000,0.000
$MEM,324516
$DATA_FILE_SIZE,16746,447
$CAP_FILE_SIZE,121041,0
$CFSIZE,260034560,246407168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,260613,095123,2159.926,12024.238,44,1.2,44,-3.1