version: 66.11
glider: 167
mission: 16
dive: 68
start: 6 28 113 10 17 21
data:
$ID,167
$MISSION,16
$DIVE,68
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,235
$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,200
$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,0.0038360001
$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,550
$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,-974955.69
$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,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,3300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,40
$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
$GPS1,280613,100854,2150.756,12029.653,41,1.0,41,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.0
$GPS2,280613,101654,2150.706,12029.797,21,1.3,21,-3.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,T4
$TGT_LATLONG,2100.000,12030.000
$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,208.5,93908,-15.7,-10.000,-18.68,2978
$D_GRID,724
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.16,-194.6,112,1898,442,616,0.0,0.0,0,128,0.00,0.00,-100.82,0.000,16386,0.000,0.000,112,1898,2993,2971,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-1.16,-194.6,111,1898,2971,3016,3.5,-5.5,18,163,10.12,2.17,-9.60,0.000,18692,0.236,0.045,2691,3324,3558,3550,3567,0,0,0,0,0,0,26.01,26.27,26.53
$GC,395,-1.16,-194.6,2690,3324,3554,3568,99.5,-30.4,38,400,0.00,2.03,0.00,0.000,1030,0.000,0.017,2690,1886,3561,3554,3568,0,0,0,0,0,0,28.83,26.46,28.83
$GC,709,-1.16,-194.6,2690,1886,3556,3568,188.6,-27.0,54,714,0.00,2.08,0.00,0.000,260,0.000,0.026,2680,3324,3561,3555,3568,0,0,0,0,0,0,28.83,26.53,28.83
$GC,909,-1.16,-194.6,2680,3324,3556,3568,238.5,-25.4,63,916,0.12,2.00,0.00,0.000,3078,0.188,0.016,2709,1889,3562,3556,3568,0,0,0,0,0,0,26.41,26.61,28.83
$GC,1215,-1.16,-194.6,2709,1888,3556,3568,309.6,-20.4,79,1220,0.00,2.08,0.00,0.000,260,0.000,0.028,2700,3321,3562,3556,3568,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1254,-1.16,-194.6,2701,3321,3556,3568,314.7,-20.5,80,1261,0.00,2.00,0.00,0.000,1030,0.000,0.017,2701,1898,3562,3556,3568,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1560,-1.16,-194.6,2701,1898,3556,3567,377.3,-19.3,96,1565,0.00,2.08,0.00,0.000,260,0.000,0.029,2692,3327,3561,3557,3566,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1605,-1.16,-194.6,2692,3327,3556,3566,386.6,-20.0,98,1611,0.00,2.03,0.00,0.000,1030,0.000,0.017,2692,1890,3561,3557,3565,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1930,-1.16,-194.6,2690,1889,3560,3559,456.2,-20.3,114,1936,0.00,1.98,0.00,0.000,516,0.000,0.031,2690,521,3559,3560,3558,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1975,-1.16,-194.6,2690,520,3560,3558,465.2,-19.8,116,1982,0.00,2.00,0.00,0.000,1030,0.000,0.017,2683,1935,3558,3560,3557,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2301,-1.16,-194.6,2683,1935,3560,3552,523.0,-17.6,132,2306,0.00,1.98,0.00,0.000,260,0.000,0.033,2683,3298,3556,3560,3552,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2448,-1.16,-194.6,2683,3298,3560,3549,549.6,-18.4,139,2453,0.00,1.98,0.00,0.000,1030,0.000,0.018,2683,1902,3554,3560,3549,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2773,-1.16,-194.6,2682,1902,3559,3546,613.3,-20.0,154,2778,0.00,2.05,0.00,0.000,260,0.000,0.032,2683,3297,3552,3560,3544,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2812,-1.16,-194.6,2682,3297,3560,3543,620.1,-19.7,155,2818,0.00,1.98,0.00,0.000,1030,0.000,0.018,2683,1896,3552,3560,3544,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3049,begin apogee
$GC,3059,-0.19,0.0,2683,3273,3559,3540,662.3,-16.8,163,3234,1.05,0.00,157.95,1.432,10246,0.151,0.000,3015,3273,2767,2828,2706,0,0,0,0,1,0,26.55,28.83,23.80
$STATE,3236,end apogee,CONTROL_FINISHED_OK
$STATE,3237,begin climb
$GC,3240,1.16,194.6,3015,3273,2828,2709,670.6,0.0,169,3424,1.20,2.20,164.93,1.467,11012,0.042,0.024,3477,1908,1970,2063,1878,0,0,0,0,1,0,25.03,24.65,23.70
$GC,3449,1.16,194.6,3477,1908,2062,1878,640.7,21.2,176,3454,0.00,2.22,0.00,0.000,1030,0.000,0.034,3477,3306,1970,2062,1878,0,0,0,0,0,0,28.83,25.15,28.83
$GC,3774,1.16,194.6,3477,3307,2062,1870,556.5,25.5,189,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,3306,1966,2062,1870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4076,1.16,194.6,3476,3306,2062,1867,484.8,25.5,204,4082,0.00,2.05,0.00,0.000,516,0.000,0.024,3486,1908,1964,2062,1867,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4096,1.16,194.6,3486,1908,2062,1867,484.8,25.5,204,4102,0.00,2.10,0.00,0.000,1030,0.000,0.034,3486,3302,1964,2062,1867,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4402,1.16,194.6,3485,3302,2062,1865,394.0,28.1,220,4407,0.00,2.05,0.00,0.000,516,0.000,0.024,3495,1901,1963,2062,1864,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4501,1.16,194.6,3495,1901,2062,1863,369.6,28.8,224,4508,0.15,2.12,0.00,0.000,5126,0.194,0.033,3460,3310,1962,2062,1863,0,0,0,0,0,0,26.29,26.45,28.83
$GC,4806,1.16,194.6,3460,3309,2062,1861,292.8,20.6,240,4812,0.00,2.05,0.00,0.000,516,0.000,0.024,3469,1895,1961,2062,1861,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4840,1.16,194.6,3469,1895,2062,1860,287.7,20.9,241,4846,0.00,2.10,0.00,0.000,1030,0.000,0.033,3469,3302,1961,2062,1860,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5156,1.16,194.6,3469,3302,2062,1859,217.7,24.0,257,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,3302,1960,2062,1859,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5458,1.16,194.6,3469,3302,2062,1858,155.1,20.3,272,5464,0.00,0.68,0.00,0.000,260,0.000,0.047,3469,3766,1960,2062,1858,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5695,1.16,194.6,3469,3766,2062,1857,106.7,20.1,283,5700,0.00,0.62,0.00,0.000,1030,0.000,0.029,3472,3306,1959,2062,1857,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6010,1.16,194.6,3472,3306,2062,1855,58.2,10.6,299,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,3306,1958,2062,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,1.91,443.1,3472,3307,2062,1855,39.7,1.4,324,6422,0.55,0.73,102.25,0.208,10500,0.044,0.043,3711,3774,952,906,998,0,0,0,0,0,0,26.68,26.25,26.08
$STATE,6474,end climb,SURFACE_DEPTH_REACHED
$STATE,6474,begin surface coast
$FINISH,0.8,1.020792
$STATE,6479,end surface coast,CONTROL_FINISHED_OK
$STATE,6479,begin surface
$SM_CCo,6508,55.92,0.128,0,0,518,550.21
$SM_GC,1.79,9.15,2.80,55.92,0.034,0.021,0.128,138,1918,518,-9.15,2.09,550.21,0,0,0,0,0,0,26.31,26.33,26.09
$IRIDIUM_FIX,2141.13,12030.76,280613,101029
$TT8_MAMPS,0.026964,0.026964
$HUMID,59.76
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.30
$XPDR_PINGS,3
$SC_FREEKB,7690080
$24V_AH,23.7,7.370
$10V_AH,10.3,5.425
$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,22.350,52.225,425.125,55.925,0.000,0.000,0.000,245.000,0.750,0.000,22.172,1110.256,3921.359,538.653,1188.729,290.682,0.000,1346.497,0.000,916.214,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,46.665,1466.505,127.755,0.000,0.000,0.000,113.220,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6469.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.075,0.000,0.000,0.000
$MEM,324172
$DATA_FILE_SIZE,13447,345
$CAP_FILE_SIZE,84496,0
$CFSIZE,260034560,245063680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.176,118.8,1
$GPS,280613,120805,2149.632,12029.891,35,0.8,35,-3.1