version: 66.11
glider: 167
mission: 16
dive: 84
start: 6 30 113 3 5 4
data:
$ID,167
$MISSION,16
$DIVE,84
$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,310
$T_MISSION,330
$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,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,-974975.94
$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,58
$R_STBD_OVSHOOT,38
$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
$GPS1,300613,025659,2135.120,12028.339,37,1.0,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-71.2
$GPS2,300613,030436,2135.195,12028.415,43,0.8,43,-3.0
$SPEED_LIMITS,0.184,0.288
$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,187.1,65239,-17.5,-10.645,-20.26,2520
$D_GRID,1411
$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,-1.17,-175.2,110,1908,435,586,0.0,0.0,0,125,0.00,0.00,-96.80,0.000,16386,0.000,0.000,110,1909,2886,2865,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-1.17,-175.2,109,1909,2866,2909,3.2,-3.8,17,159,10.25,2.15,-10.73,0.000,18948,0.239,0.043,2698,494,3481,3478,3485,0,0,0,0,0,0,25.94,26.18,26.43
$GC,183,-1.17,-175.2,1664,494,3458,3484,25.6,-44.6,25,190,0.00,2.08,0.00,0.000,1030,0.000,0.018,2690,1936,3482,3478,3487,0,0,0,0,0,0,28.83,26.22,28.83
$GC,490,-1.17,-175.2,2690,1937,3482,3487,125.9,-28.4,44,495,0.00,2.12,0.00,0.000,516,0.000,0.028,2690,489,3485,3482,3488,0,0,0,0,0,0,28.83,26.38,28.83
$GC,607,-1.17,-175.2,2690,489,3483,3488,155.7,-26.3,49,612,0.00,2.03,0.00,0.000,1030,0.000,0.016,2680,1916,3485,3483,3488,0,0,0,0,0,0,28.83,26.45,28.83
$GC,921,-1.17,-175.2,2680,1916,3484,3489,224.2,-21.5,65,927,0.00,1.98,0.00,0.000,260,0.000,0.028,2670,3290,3486,3484,3489,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1138,-1.17,-175.2,2670,3290,3484,3489,270.7,-22.6,75,1144,0.15,2.00,0.00,0.000,3078,0.180,0.018,2706,1877,3486,3484,3489,0,0,0,0,0,0,26.40,26.58,28.83
$GC,1454,-1.17,-175.2,2706,1877,3484,3489,337.5,-20.9,91,1459,0.00,2.08,0.00,0.000,260,0.000,0.028,2699,3294,3486,3484,3488,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1523,-1.17,-175.2,2698,3294,3485,3488,350.9,-20.8,94,1529,0.00,1.98,0.00,0.000,1030,0.000,0.018,2699,1890,3486,3484,3488,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1843,-1.17,-175.2,2697,1889,3489,3480,414.7,-18.2,110,1848,0.00,2.05,0.00,0.000,260,0.000,0.029,2689,3298,3484,3488,3480,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1937,-1.17,-175.2,2689,3297,3489,3478,430.9,-19.0,114,1943,0.00,1.98,0.00,0.000,1030,0.000,0.018,2689,1896,3483,3489,3478,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2253,-1.17,-175.2,2689,1896,3489,3474,493.8,-20.0,130,2258,0.00,2.03,0.00,0.000,260,0.000,0.029,2683,3282,3481,3489,3473,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2311,-1.17,-175.2,2682,3281,3488,3473,503.4,-20.9,132,2319,0.00,1.98,0.00,0.000,1030,0.000,0.018,2683,1889,3481,3489,3473,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2617,-1.17,-175.2,2681,1889,3489,3467,568.8,-19.8,148,2624,0.00,2.00,0.00,0.000,516,0.000,0.032,2683,510,3478,3489,3467,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2663,-1.17,-175.2,2682,510,3488,3466,578.0,-20.0,150,2670,0.12,1.98,0.00,0.000,3078,0.187,0.018,2704,1902,3477,3488,3466,0,0,0,0,0,0,26.53,26.70,28.83
$GC,2999,-1.17,-175.2,2704,1902,3488,3460,634.3,-15.7,163,3005,0.00,2.03,0.00,0.000,260,0.000,0.031,2696,3295,3474,3489,3460,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3109,-1.17,-175.2,2696,3295,3488,3459,649.8,-16.3,166,3114,0.00,1.98,0.00,0.000,1030,0.000,0.018,2696,1895,3473,3488,3458,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3429,-1.17,-175.2,2695,1895,3489,3453,706.1,-16.8,177,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1895,3470,3488,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3729,-1.17,-175.2,2696,1895,3488,3449,763.4,-19.8,187,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1894,3469,3488,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4029,-1.17,-175.2,2695,1895,3488,3446,816.1,-15.9,197,4034,0.00,2.05,0.00,0.000,260,0.000,0.032,2686,3287,3465,3487,3443,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4108,-1.17,-175.2,2686,3287,3488,3442,826.0,-15.4,199,4114,0.00,1.98,0.00,0.000,1030,0.000,0.020,2686,1900,3465,3488,3442,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4431,-1.17,-175.2,2686,1899,3487,3439,873.4,-14.1,210,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1900,3463,3487,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4729,-1.17,-175.2,2686,1899,3484,3437,915.0,-14.0,220,4735,0.00,2.05,0.00,0.000,260,0.000,0.034,2683,3281,3459,3483,3436,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4799,-1.17,-175.2,2683,3281,3482,3436,924.3,-14.0,222,4804,0.00,1.98,0.00,0.000,1030,0.000,0.020,2683,1893,3459,3482,3436,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5132,-1.17,-175.2,2683,1893,3480,3435,974.6,-15.8,233,5138,0.00,2.08,0.00,0.000,260,0.000,0.034,2683,3292,3457,3480,3434,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5202,-1.17,-175.2,2683,3292,3478,3434,985.4,-15.5,235,5208,0.00,2.00,0.00,0.000,1030,0.000,0.020,2683,1890,3456,3479,3434,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,5229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5229,begin apogee
$GC,5239,-0.19,0.0,2683,3273,3479,3434,990.7,-15.6,236,5402,1.05,0.00,152.23,1.200,10246,0.150,0.000,3015,3273,2752,2819,2686,0,0,0,0,0,0,26.55,28.83,24.08
$STATE,5405,end apogee,CONTROL_FINISHED_OK
$STATE,5405,begin climb
$GC,5408,1.17,175.2,3015,3273,2819,2676,996.2,0.0,241,5578,1.20,0.75,161.30,1.135,10500,0.041,0.043,3468,3766,2041,2130,1952,0,0,0,0,0,0,25.06,24.62,23.91
$GC,5811,1.17,175.2,3466,3766,2117,1919,912.1,24.7,255,5816,0.00,0.68,0.00,0.000,1030,0.000,0.033,3471,3315,2018,2117,1919,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6149,1.17,175.2,3470,3315,2117,1914,832.6,23.4,266,6154,0.00,2.12,0.00,0.000,516,0.000,0.027,3481,1887,2015,2117,1914,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6208,1.17,175.2,3480,1887,2117,1914,823.4,23.5,267,6215,0.00,2.15,0.00,0.000,1030,0.000,0.034,3481,3299,2015,2117,1913,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6514,1.17,175.2,3480,3299,2117,1910,744.0,24.0,278,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,3299,2013,2117,1910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6815,1.17,175.2,3480,3299,2117,1909,666.9,26.0,288,6820,0.00,2.10,0.00,0.000,516,0.000,0.027,3490,1882,2012,2117,1907,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6910,1.17,175.2,3490,1881,2117,1908,642.7,25.3,291,6915,0.00,2.15,0.00,0.000,1030,0.000,0.034,3490,3301,2012,2117,1908,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7238,1.17,175.2,3489,3301,2117,1906,561.7,24.5,304,7243,0.00,2.10,0.00,0.000,516,0.000,0.027,3499,1873,2011,2117,1906,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7323,1.17,175.2,3499,1872,2117,1906,540.6,23.7,308,7329,0.15,2.17,0.00,0.000,5126,0.196,0.034,3465,3314,2011,2117,1906,0,0,0,0,0,0,26.32,26.48,28.83
$GC,7648,1.17,175.2,3464,3314,2117,1904,463.7,23.3,324,7654,0.00,2.10,0.00,0.000,516,0.000,0.026,3473,1878,2010,2117,1904,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7754,1.17,175.2,3473,1878,2117,1904,439.6,22.8,329,7760,0.00,2.15,0.00,0.000,1030,0.000,0.034,3473,3306,2010,2117,1903,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8080,1.17,175.2,3473,3306,2117,1903,360.8,22.4,345,8085,0.00,0.68,0.00,0.000,260,0.000,0.048,3474,3761,2010,2117,1903,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8191,1.17,175.2,2504,3761,2031,1891,337.7,22.4,350,8197,0.00,0.65,0.00,0.000,1030,0.000,0.033,3477,3302,2007,2111,1904,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8511,1.17,175.2,3476,3303,2111,1904,259.8,24.4,366,8516,0.00,2.05,0.00,0.000,516,0.000,0.026,3486,1887,2007,2110,1904,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8702,1.17,175.2,3486,1887,2110,1904,217.9,21.2,375,8707,0.00,2.12,0.00,0.000,1030,0.000,0.034,3486,3312,2007,2110,1904,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9022,1.17,175.2,3486,3311,2110,1904,148.9,19.4,391,9027,0.00,0.68,0.00,0.000,260,0.000,0.050,3486,3767,2007,2110,1904,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9190,1.17,175.2,3486,3767,2110,1904,120.4,16.9,399,9195,0.00,0.68,0.00,0.000,1030,0.000,0.029,3490,3286,2007,2110,1904,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9514,1.17,175.2,3489,3286,2110,1904,77.0,10.7,415,9520,0.00,2.00,0.00,0.000,516,0.000,0.021,3499,1880,2006,2110,1903,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9704,1.20,182.6,3499,1880,2110,1905,59.1,10.3,424,9710,0.00,2.12,0.00,0.000,1030,0.000,0.033,3499,3312,2006,2110,1903,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10020,1.60,316.9,3499,3312,2110,1903,45.3,5.2,444,10082,0.22,0.70,57.05,0.223,10500,0.060,0.048,3613,3771,1468,1551,1385,0,0,0,0,0,0,26.67,26.37,26.17
$STATE,10249,end climb,SURFACE_DEPTH_REACHED
$STATE,10249,begin surface coast
$FINISH,1.0,1.000875
$STATE,10261,end surface coast,CONTROL_FINISHED_OK
$STATE,10261,begin surface
$SM_CCo,10286,110.32,0.129,0,0,518,550.21
$SM_GC,1.87,8.80,2.78,110.32,0.030,0.018,0.129,129,1923,518,-9.14,2.01,550.21,0,0,0,0,0,0,26.47,26.48,26.08
$IRIDIUM_FIX,2129.53,12025.23,300613,000027
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.16
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.00
$XPDR_PINGS,0
$SC_FREEKB,7683936
$24V_AH,23.9,9.332
$10V_AH,10.3,6.421
$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,21.950,79.575,370.575,110.325,0.000,0.000,0.000,248.175,0.000,0.000,44.560,1738.346,6470.449,576.001,1688.767,382.683,0.000,1607.328,0.000,1382.121,0.000,0.540,0.000
$DEVICE_MAMPS,238.680,49.725,1200.285,129.285,0.000,0.000,0.000,112.455,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10269.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.741,0.000,0.000,0.000
$MEM,324212
$DATA_FILE_SIZE,16795,477
$CAP_FILE_SIZE,122163,0
$CFSIZE,260034560,244019200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.015,268.4,1
$GPS,300613,055936,2133.928,12028.103,30,1.2,30,-3.0