version: 66.11
glider: 167
mission: 16
dive: 303
start: 8 13 113 15 22 35
data:
$ID,167
$MISSION,16
$DIVE,303
$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,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,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,190
$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,0.00299008
$HD_B,0.016695701
$HD_C,1.27466e-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,564.9259
$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,-975573.5
$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,3015
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2970
$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,3
$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
$GPS1,130813,151306,2019.987,12246.791,43,1.0,43,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-68.4
$GPS2,130813,152204,2020.106,12246.795,44,1.3,44,-2.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,173.1,337156,-18.3,-10.000,-23.91,2793
$D_GRID,3323
$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,23,begin dive
$GC,27,-1.12,-184.9,113,2187,688,645,0.0,0.0,0,118,0.00,0.00,-89.15,0.000,16386,0.000,0.000,113,2187,2923,2901,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-1.12,-184.9,113,2187,2902,2945,3.3,-4.0,15,158,10.38,0.00,-15.77,0.000,18694,0.233,0.000,2647,2187,3725,3720,3731,0,0,0,0,0,0,25.38,28.83,26.46
$GC,478,-1.03,-184.9,2647,2187,3721,3732,104.8,-25.2,45,484,0.12,2.05,0.00,0.000,2308,0.198,0.031,2673,3570,3726,3721,3732,0,0,0,0,0,0,25.94,26.20,28.83
$GC,626,-0.97,-184.9,2673,3570,3721,3732,140.5,-22.8,52,633,0.12,1.95,0.00,0.000,3078,0.181,0.015,2702,2162,3726,3721,3732,0,0,0,0,0,0,25.95,26.39,28.83
$GC,953,-0.92,-184.9,2702,2161,3724,3731,200.0,-16.3,68,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2161,3728,3724,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1255,-0.88,-184.9,2702,2161,3724,3732,242.5,-14.7,83,1260,0.00,1.90,0.00,0.000,516,0.000,0.025,2702,816,3728,3724,3732,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1364,-0.85,-184.9,2702,815,3724,3732,259.8,-16.2,88,1370,0.17,1.95,0.00,0.000,3078,0.161,0.022,2742,2180,3728,3724,3732,0,0,0,0,0,0,25.94,26.41,28.83
$GC,1690,-0.83,-184.9,2741,2179,3724,3732,307.1,-13.9,104,1696,0.00,2.08,0.00,0.000,260,0.000,0.035,2737,3589,3728,3724,3732,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1740,-0.80,-184.9,1664,3588,3718,3730,313.8,-14.3,106,1745,0.00,1.92,0.00,0.000,1030,0.000,0.015,2737,2188,3728,3724,3732,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2060,-0.79,-184.9,2738,2187,3724,3731,359.4,-14.4,122,2066,0.00,1.92,0.00,0.000,516,0.000,0.027,2737,832,3727,3723,3731,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2120,-0.77,-184.9,2737,832,3724,3731,366.0,-14.3,124,2128,0.12,1.95,0.00,0.000,3078,0.165,0.024,2768,2198,3726,3724,3729,0,0,0,0,0,0,26.08,26.41,28.83
$GC,2426,-0.77,-184.9,2767,2197,3724,3728,403.8,-10.8,140,2431,0.00,1.95,0.00,0.000,516,0.000,0.025,2768,838,3726,3724,3728,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2471,-0.77,-184.9,2768,838,3724,3728,408.4,-10.5,142,2476,0.00,1.95,0.00,0.000,1030,0.000,0.024,2765,2201,3726,3724,3728,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2796,-0.77,-184.9,2765,2201,3724,3723,440.2,-9.0,158,2801,0.00,1.98,0.00,0.000,516,0.000,0.025,2765,826,3723,3724,3723,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2821,-0.77,-184.9,2765,826,3724,3723,442.7,-9.3,159,2827,0.00,2.00,0.00,0.000,1030,0.000,0.024,2765,2211,3723,3724,3723,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3147,-0.77,-184.9,2765,2210,3724,3719,474.8,-10.3,175,3152,0.00,2.05,0.00,0.000,260,0.000,0.037,2765,3592,3721,3724,3719,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3186,-0.77,-184.9,2765,3591,3724,3719,477.4,-10.2,176,3193,0.00,1.92,0.00,0.000,1030,0.000,0.017,2765,2199,3721,3723,3719,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3491,-0.77,-184.9,2765,2199,3724,3713,510.9,-10.9,192,3498,0.00,1.95,0.00,0.000,516,0.000,0.028,2765,835,3718,3724,3713,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3552,-0.77,-184.9,2765,835,3724,3712,515.7,-10.8,194,3559,0.00,1.98,0.00,0.000,1030,0.000,0.024,2766,2202,3718,3724,3712,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3857,-0.77,-184.9,2765,2202,3724,3707,551.1,-11.2,210,3862,0.00,1.98,0.00,0.000,516,0.000,0.027,2765,838,3715,3724,3707,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3892,-0.77,-184.9,2765,838,3724,3707,554.0,-11.3,211,3897,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2203,3715,3724,3707,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4207,-0.77,-184.9,2765,2203,3724,3703,589.0,-10.9,227,4212,0.00,1.98,0.00,0.000,516,0.000,0.027,2765,841,3713,3724,3703,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4262,-0.77,-184.9,2765,841,3724,3702,594.1,-11.1,229,4268,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2205,3713,3724,3702,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4590,-0.77,-184.9,2765,2205,3724,3695,630.6,-11.0,241,4596,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,829,3709,3723,3695,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4619,-0.77,-184.9,2765,829,3724,3695,630.6,-11.0,241,4626,0.00,2.00,0.00,0.000,1030,0.000,0.024,2765,2212,3709,3724,3695,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4926,-0.77,-184.9,2765,2211,3724,3690,668.0,-10.9,252,4931,0.00,2.08,0.00,0.000,260,0.000,0.039,2765,3594,3707,3724,3690,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4995,-0.77,-184.9,1728,3592,3718,3687,675.2,-10.9,254,5001,0.00,1.95,0.00,0.000,1030,0.000,0.018,2765,2202,3706,3724,3689,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5330,-0.77,-184.9,2765,2201,3722,3684,710.3,-10.2,265,5335,0.00,1.98,0.00,0.000,516,0.000,0.028,2765,832,3703,3722,3684,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5378,-0.77,-184.9,2765,832,3721,3684,714.5,-10.3,266,5384,0.00,2.00,0.00,0.000,1030,0.000,0.026,2765,2205,3702,3721,3684,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5701,-0.77,-184.9,2765,2205,3718,3682,750.5,-11.1,277,5707,0.00,2.10,0.00,0.000,260,0.000,0.040,2765,3597,3699,3718,3681,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5797,-0.78,-184.9,2765,3597,3716,3682,761.0,-10.9,280,5803,0.00,2.00,0.00,0.000,1030,0.000,0.019,2765,2181,3699,3716,3682,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6136,-0.78,-184.9,2765,2181,3715,3677,796.3,-10.8,291,6141,0.00,1.95,0.00,0.000,516,0.000,0.030,2765,837,3696,3715,3677,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6185,-0.78,-184.9,2765,836,3714,3677,800.5,-10.8,292,6190,0.00,2.00,0.00,0.000,1030,0.000,0.028,2765,2199,3695,3715,3675,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6507,-0.78,-184.9,2765,2198,3713,3673,834.9,-10.6,303,6513,0.00,2.12,0.00,0.000,260,0.000,0.040,2765,3599,3692,3712,3673,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6537,-0.78,-184.9,2765,3599,3712,3673,834.9,-10.6,303,6545,0.00,1.98,0.00,0.000,1030,0.000,0.020,2765,2214,3692,3712,3673,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6845,-0.78,-184.9,2765,2213,3711,3670,869.0,-10.0,314,6850,0.00,2.03,0.00,0.000,516,0.000,0.031,2765,825,3690,3711,3670,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6911,-0.78,-184.9,2765,825,3710,3669,876.1,-10.4,316,6916,0.00,2.03,0.00,0.000,1030,0.000,0.027,2766,2202,3689,3710,3669,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7248,-0.78,-184.9,2765,2202,3708,3666,912.2,-10.9,327,7253,0.00,2.12,0.00,0.000,260,0.000,0.041,2765,3601,3687,3708,3666,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7287,-0.79,-184.9,1728,3600,3700,3664,916.1,-10.8,328,7293,0.00,2.03,0.00,0.000,1030,0.000,0.021,2765,2189,3686,3707,3666,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7622,-0.79,-184.9,2765,2189,3706,3663,951.4,-10.6,339,7627,0.00,2.00,0.00,0.000,516,0.000,0.031,2765,822,3684,3706,3663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7666,-0.79,-184.9,2765,822,3705,3663,955.7,-10.7,340,7672,0.00,2.03,0.00,0.000,1030,0.000,0.028,2765,2198,3684,3706,3663,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7995,-0.79,-184.9,2765,2198,3704,3661,989.8,-9.8,351,8000,0.00,2.15,0.00,0.000,260,0.000,0.041,2765,3605,3682,3704,3660,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,8027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8027,begin apogee
$GC,8037,-0.18,0.0,2765,2051,3704,3660,993.5,-9.6,352,8200,0.57,0.00,152.80,1.231,10246,0.118,0.000,2952,2049,2963,3029,2897,0,0,0,0,0,0,25.61,28.83,23.83
$STATE,8203,end apogee,CONTROL_FINISHED_OK
$STATE,8203,begin climb
$GC,8206,1.12,184.9,2952,2049,3025,2886,1000.2,0.0,357,8376,1.20,2.35,159.65,1.200,10500,0.064,0.041,3374,3449,2205,2291,2119,0,0,0,0,0,0,24.96,24.45,23.52
$GC,8511,1.05,184.9,3374,3449,2287,2097,974.8,14.8,367,8518,0.12,2.10,0.00,0.000,5126,0.176,0.023,3357,2058,2192,2287,2097,0,0,0,0,0,0,25.32,25.63,28.83
$GC,8821,1.00,184.9,3356,2059,2287,2091,929.6,13.8,378,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2059,2189,2287,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9117,0.96,184.9,3356,2058,2283,2090,888.2,13.7,388,9119,0.12,0.00,0.00,0.000,4102,0.189,0.000,3326,2058,2186,2282,2090,0,0,0,0,0,0,25.96,28.83,28.83
$GC,9418,0.92,184.9,3327,2058,2283,2089,852.0,12.1,398,9423,0.00,2.10,0.00,0.000,516,0.000,0.036,3335,660,2186,2282,2090,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9497,0.88,184.9,3335,660,2279,2088,843.6,12.4,400,9504,0.15,2.08,0.00,0.000,5126,0.156,0.028,3298,2046,2184,2279,2089,0,0,0,0,0,0,25.88,26.25,28.83
$GC,9823,0.86,184.9,3297,2046,2278,2088,804.8,11.5,411,9828,0.00,2.17,0.00,0.000,260,0.000,0.042,3297,3463,2183,2279,2088,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9962,0.82,184.9,3297,3463,2278,2088,789.1,12.2,415,9968,0.00,2.10,0.00,0.000,1030,0.000,0.025,3306,2037,2183,2278,2088,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10287,0.80,184.9,3305,2037,2278,2085,752.8,10.3,426,10293,0.12,2.08,0.00,0.000,4612,0.164,0.035,3277,661,2182,2278,2086,0,0,0,0,0,0,26.12,26.20,28.83
$GC,10313,0.77,184.9,3277,660,2278,2086,752.8,10.3,426,10318,0.00,2.08,0.00,0.000,1030,0.000,0.029,3278,2053,2182,2278,2086,0,0,0,0,0,0,28.83,26.28,28.83
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$STATE,17428,end climb,SURFACE_DEPTH_REACHED
$STATE,17428,begin surface coast
$FINISH,1.4,0.998309
$STATE,17448,end surface coast,CONTROL_FINISHED_OK
$STATE,17448,begin surface
$SM_CCo,17470,16.38,0.125,0,0,664,564.93
$SM_GC,2.22,8.55,0.17,16.38,0.024,0.061,0.125,133,2255,664,-8.92,-1.50,564.93,0,0,0,0,0,0,26.20,26.36,25.71
$IRIDIUM_FIX,2013.37,12244.67,130813,101050
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.76
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,26.70
$XPDR_PINGS,5
$SC_FREEKB,7600832
$24V_AH,23.5,48.136
$10V_AH,10.1,30.137
$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
$DEVICE_SECS,23.025,169.525,589.750,16.375,0.000,0.000,0.000,289.825,1.250,0.000,45.740,2682.857,11521.109,734.563,2404.998,672.911,0.000,2216.199,0.000,2036.246,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17468.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.101,0.000,0.000,0.000
$MEM,342952
$DATA_FILE_SIZE,30075,785
$CAP_FILE_SIZE,207426,0
$CFSIZE,260034560,223973376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.115,332.0,1
$GPS,130813,201529,2019.692,12246.424,42,1.2,42,-2.9