version: 66.11
glider: 167
mission: 16
dive: 308
start: 8 14 113 16 48 35
data:
$ID,167
$MISSION,16
$DIVE,308
$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,-975579.75
$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,67
$R_STBD_OVSHOOT,57
$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
$GPS1,140813,163905,2018.932,12248.983,29,1.3,29,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.9
$GPS2,140813,164805,2018.958,12248.988,42,0.9,42,-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,167.1,333220,-18.3,-10.000,-23.91,2793
$D_GRID,3880
$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,-1.12,-184.9,122,2217,666,661,0.0,0.0,0,121,0.00,0.00,-91.57,0.000,16386,0.000,0.000,119,2218,2982,2958,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-1.12,-184.9,119,2218,2957,3007,3.2,-2.8,16,161,10.60,2.10,-14.62,0.000,18692,0.239,0.044,2641,3602,3724,3719,3729,0,0,0,0,0,0,25.32,26.05,26.46
$GC,395,-1.02,-184.9,2641,3602,3719,3731,85.9,-29.0,41,402,0.17,2.00,0.00,0.000,3078,0.196,0.015,2682,2151,3725,3720,3731,0,0,0,0,0,0,25.66,26.33,28.83
$GC,713,-0.97,-184.9,2681,2150,3721,3731,160.7,-20.2,57,718,0.00,2.15,0.00,0.000,260,0.000,0.031,2673,3599,3726,3721,3731,0,0,0,0,0,0,28.83,26.25,28.83
$GC,807,-0.92,-184.9,2673,3599,3721,3731,178.3,-20.5,61,813,0.17,1.92,0.00,0.000,3078,0.159,0.015,2719,2197,3726,3721,3731,0,0,0,0,0,0,25.91,26.44,28.83
$GC,1123,-0.89,-184.9,2719,2197,3723,3731,227.8,-14.4,77,1129,0.00,1.92,0.00,0.000,516,0.000,0.026,2720,842,3727,3724,3731,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1144,-0.86,-184.9,2719,842,3724,3731,227.8,-14.4,77,1151,0.00,1.95,0.00,0.000,1030,0.000,0.023,2712,2207,3727,3724,3731,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1449,-0.83,-184.9,2712,2207,3724,3731,277.9,-15.4,93,1455,0.12,2.05,0.00,0.000,2308,0.174,0.032,2740,3599,3727,3723,3731,0,0,0,0,0,0,26.17,26.32,28.83
$GC,1490,-0.80,-184.9,2740,3598,3724,3731,281.7,-15.1,94,1497,0.00,1.92,0.00,0.000,1030,0.000,0.015,2740,2197,3727,3724,3731,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1795,-0.79,-184.9,2740,2196,3724,3731,329.4,-15.2,110,1800,0.00,1.95,0.00,0.000,516,0.000,0.027,2740,828,3727,3724,3731,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1861,-0.77,-184.9,2740,827,3724,3731,339.4,-15.3,113,1866,0.00,1.98,0.00,0.000,1030,0.000,0.024,2737,2198,3727,3724,3731,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2187,-0.76,-184.9,2737,2198,3724,3730,384.0,-12.6,129,2192,0.12,1.98,0.00,0.000,2564,0.168,0.024,2775,835,3726,3724,3729,0,0,0,0,0,0,26.22,26.39,28.83
$GC,2242,-0.76,-184.9,2775,835,3724,3730,389.4,-12.2,131,2247,0.00,1.95,0.00,0.000,1030,0.000,0.022,2769,2205,3726,3724,3729,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2556,-0.76,-184.9,2769,2205,3724,3726,425.4,-11.2,147,2562,0.00,1.98,0.00,0.000,516,0.000,0.026,2769,832,3725,3724,3726,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2583,-0.76,-184.9,2769,832,3724,3726,428.4,-11.3,148,2589,0.00,1.98,0.00,0.000,1030,0.000,0.024,2765,2200,3724,3724,3725,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2909,-0.76,-184.9,2765,2200,3724,3721,463.8,-10.6,164,2914,0.00,1.98,0.00,0.000,516,0.000,0.026,2765,827,3722,3723,3721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2938,-0.76,-184.9,2765,828,3723,3721,466.6,-10.7,165,2945,0.00,1.98,0.00,0.000,1030,0.000,0.024,2765,2203,3722,3724,3720,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3259,-0.76,-184.9,2765,2203,3724,3717,501.4,-10.9,181,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2203,3720,3724,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3563,-0.76,-184.9,2765,2203,3723,3712,534.5,-11.1,196,3568,0.00,1.98,0.00,0.000,516,0.000,0.027,2765,841,3718,3724,3712,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3649,-0.76,-184.9,2765,841,3724,3711,544.6,-11.3,200,3654,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2200,3717,3723,3711,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3974,-0.76,-184.9,2765,2201,3723,3706,579.7,-10.7,216,3980,0.00,1.98,0.00,0.000,516,0.000,0.027,2765,839,3714,3723,3705,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4003,-0.76,-184.9,1712,838,3717,3703,582.6,-10.6,217,4009,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2202,3714,3723,3705,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4337,-0.76,-184.9,2765,2202,3723,3699,615.6,-9.7,231,4342,0.00,2.08,0.00,0.000,260,0.000,0.037,2765,3594,3711,3723,3700,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4376,-0.76,-184.9,2765,3594,3723,3698,619.4,-9.7,232,4383,0.00,1.95,0.00,0.000,1030,0.000,0.018,2765,2186,3711,3725,3698,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4711,-0.76,-184.9,2765,2185,3723,3693,652.5,-9.8,243,4716,0.00,1.95,0.00,0.000,516,0.000,0.030,2765,842,3707,3723,3692,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4785,-0.76,-184.9,2765,842,3723,3691,659.7,-10.3,245,4790,0.00,1.98,0.00,0.000,1030,0.000,0.025,2765,2202,3707,3723,3691,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5113,-0.76,-184.9,2765,2202,3723,3685,696.0,-11.2,256,5118,0.00,2.10,0.00,0.000,260,0.000,0.039,2765,3599,3704,3723,3685,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5142,-0.76,-184.9,2765,3599,3722,3684,696.0,-11.2,256,5150,0.00,1.95,0.00,0.000,1030,0.000,0.018,2765,2213,3703,3722,3684,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5448,-0.76,-184.9,2765,2213,3719,3683,731.6,-10.4,267,5454,0.00,2.00,0.00,0.000,516,0.000,0.028,2765,831,3701,3719,3683,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5478,-0.76,-184.9,2765,831,3719,3683,731.6,-10.4,267,5485,0.00,2.00,0.00,0.000,1030,0.000,0.026,2765,2204,3701,3719,3683,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5783,-0.76,-184.9,2765,2203,3716,3678,766.4,-10.2,278,5788,0.00,2.10,0.00,0.000,260,0.000,0.040,2765,3596,3696,3715,3678,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5848,-0.77,-184.9,2765,3596,3715,3678,773.0,-10.2,280,5854,0.00,2.00,0.00,0.000,1030,0.000,0.019,2765,2189,3696,3715,3678,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6187,-0.77,-184.9,2765,2189,3714,3674,807.0,-10.2,291,6192,0.00,1.98,0.00,0.000,516,0.000,0.030,2766,829,3694,3714,3674,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6231,-0.77,-184.9,2765,829,3712,3674,810.8,-10.2,292,6236,0.00,2.00,0.00,0.000,1030,0.000,0.026,2766,2199,3693,3713,3674,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6559,-0.77,-184.9,2765,2199,3712,3671,843.4,-9.6,303,6565,0.00,2.12,0.00,0.000,260,0.000,0.041,2766,3599,3691,3711,3671,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6584,-0.77,-184.9,2766,3599,3711,3671,843.4,-9.6,303,6589,0.00,2.00,0.00,0.000,1030,0.000,0.020,2766,2207,3691,3711,3671,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6904,-0.78,-184.9,2765,2207,3709,3668,876.0,-9.5,314,6909,0.00,2.03,0.00,0.000,516,0.000,0.031,2765,819,3688,3709,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6929,-0.79,-184.9,2765,819,3709,3668,876.0,-9.5,314,6934,0.00,2.03,0.00,0.000,1030,0.000,0.028,2766,2195,3688,3709,3667,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7248,-0.79,-184.9,2765,2195,3706,3665,909.6,-9.8,325,7254,0.00,2.15,0.00,0.000,260,0.000,0.042,2765,3604,3685,3706,3665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7303,-0.80,-184.9,2765,3603,3705,3665,913.6,-9.9,326,7308,0.00,2.03,0.00,0.000,1030,0.000,0.021,2765,2200,3685,3706,3665,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7621,-0.80,-184.9,2765,2200,3705,3662,946.8,-9.9,337,7626,0.00,2.03,0.00,0.000,516,0.000,0.031,2765,819,3683,3705,3662,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7671,-0.80,-184.9,2765,819,3705,3662,950.7,-10.2,338,7677,0.00,2.05,0.00,0.000,1030,0.000,0.028,2765,2209,3683,3705,3662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7996,-0.81,-184.9,2765,2209,3704,3659,983.4,-9.7,349,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2209,3681,3704,3659,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8078,begin apogee
$GC,8087,-0.18,0.0,2766,2051,3703,3659,991.9,-9.5,352,8247,0.57,0.00,149.45,1.229,10246,0.119,0.000,2953,2049,2964,3029,2899,0,0,0,0,0,0,25.60,28.83,23.83
$STATE,8249,end apogee,CONTROL_FINISHED_OK
$STATE,8249,begin climb
$GC,8252,1.12,184.9,2952,2049,3028,2892,997.8,0.0,357,8420,1.20,0.00,159.07,1.190,10758,0.066,0.000,3373,2048,2214,2298,2130,0,0,0,0,0,0,24.96,28.83,23.49
$GC,8712,1.06,184.9,3372,2048,2288,2101,942.9,14.9,373,8717,0.00,2.20,0.00,0.000,260,0.000,0.040,3372,3453,2195,2289,2101,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8835,1.01,184.9,3372,3453,2285,2100,927.6,15.7,376,8843,0.17,2.08,0.00,0.000,5126,0.172,0.024,3339,2056,2193,2285,2101,0,0,0,0,0,0,25.62,26.07,28.83
$GC,9141,0.96,184.9,3339,2056,2286,2098,883.1,12.9,387,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2056,2192,2286,2098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9437,0.92,184.9,3339,2056,2286,2096,846.9,11.6,397,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2056,2191,2286,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9738,0.88,184.9,3339,2056,2286,2095,810.9,12.2,407,9744,0.12,2.15,0.00,0.000,4356,0.192,0.038,3303,3448,2190,2286,2095,0,0,0,0,0,0,25.99,26.15,28.83
$GC,9819,0.85,184.9,3303,3447,2283,2095,802.7,12.3,409,9824,0.00,2.08,0.00,0.000,1030,0.000,0.024,3311,2044,2190,2283,2097,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10142,0.85,200.5,3311,2044,2282,2094,768.7,9.4,420,10161,0.00,2.10,12.10,1.158,8708,0.000,0.037,3321,663,2144,2236,2053,0,0,0,0,0,0,28.83,26.12,25.04
$GC,10180,0.86,214.6,3321,663,2233,2051,765.2,9.5,421,10204,0.00,2.08,14.35,1.144,9222,0.000,0.028,3321,2046,2088,2181,1996,0,0,0,0,0,0,28.83,26.12,24.79
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$STATE,17437,end climb,SURFACE_DEPTH_REACHED
$STATE,17437,begin surface coast
$FINISH,1.3,1.021268
$STATE,17458,end surface coast,CONTROL_FINISHED_OK
$STATE,17458,begin surface
$SM_CCo,17481,33.15,0.124,0,0,664,564.93
$SM_GC,2.06,8.35,0.17,33.15,0.025,0.063,0.124,141,2207,664,-8.91,-1.70,564.93,0,0,0,0,0,0,26.21,26.41,25.77
$IRIDIUM_FIX,2011.07,12249.78,140813,111154
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.83
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.80
$XPDR_PINGS,4
$SC_FREEKB,7598912
$24V_AH,23.5,49.044
$10V_AH,10.1,30.711
$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,23.325,164.950,556.625,33.150,0.000,0.000,0.000,293.575,1.000,0.000,43.747,2625.896,11696.623,740.087,2321.764,660.771,0.000,2176.506,0.000,1948.519,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,63.495,1229.355,123.930,0.000,0.000,0.000,118.575,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17473.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.129,0.000,0.000,0.000
$MEM,342940
$DATA_FILE_SIZE,30049,790
$CAP_FILE_SIZE,206234,0
$CFSIZE,260034560,223502336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103,332.7,1
$GPS,140813,214153,2018.361,12248.915,38,1.3,38,-2.9