version: 66.11
glider: 167
mission: 16
dive: 650
start: 10 21 113 20 28 30
data:
$ID,167
$MISSION,16
$DIVE,650
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,110
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,0.0025476699
$HD_B,0.0275445
$HD_C,1.10039e-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,450
$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,4096
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-976722.31
$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,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,30
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2715
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$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,21
$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,0
$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
$GPS1,211013,201923,2021.923,12345.879,71,1.2,71,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-64.9
$GPS2,211013,202737,2021.937,12345.933,18,1.3,18,-2.9
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,PICKUP
$TGT_LATLONG,2018.000,12336.000
$TGT_RADIUS,5000.000
$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,250.0,18730,-18.7,-10.000,-28.63,3078
$D_GRID,5474
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,23,-1.17,-116.8,113,2228,894,868,0.0,0.0,0,94,0.00,0.00,-69.32,0.000,16386,0.000,0.000,113,2228,2625,2616,2635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.17,-116.8,113,2228,2617,2636,3.7,-3.5,7,131,10.98,1.60,-11.62,0.000,18692,0.235,0.060,2658,3232,3193,3193,3193,0,0,0,0,0,0,24.77,25.94,26.54
$GC,197,-1.17,-116.8,2658,3232,3194,3194,26.2,-21.5,16,202,0.00,1.52,0.00,0.000,1030,0.000,0.023,2658,2182,3194,3194,3194,0,0,0,0,0,0,28.83,26.15,28.83
$GC,514,-1.17,-116.8,2658,2181,3194,3196,80.8,-15.8,38,519,0.00,1.50,0.00,0.000,516,0.000,0.030,2658,1127,3195,3194,3196,0,0,0,0,0,0,28.83,26.11,28.83
$GC,579,-1.17,-116.8,2658,1127,3194,3196,91.7,-16.4,41,584,0.00,1.55,0.00,0.000,1030,0.000,0.031,2651,2179,3195,3194,3197,0,0,0,0,0,0,28.83,26.09,28.83
$GC,906,-1.17,-116.8,2651,2179,3196,3197,137.9,-13.9,57,911,0.00,1.50,0.00,0.000,516,0.000,0.032,2651,1161,3196,3196,3197,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1000,-1.17,-116.8,2651,1161,3196,3197,149.5,-13.5,61,1005,0.00,1.50,0.00,0.000,1030,0.000,0.031,2645,2198,3196,3196,3197,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1315,-1.17,-116.8,2644,2198,3196,3199,192.5,-12.0,77,1320,0.00,1.52,0.00,0.000,516,0.000,0.038,2645,1150,3197,3196,3199,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1365,-1.17,-116.8,2645,1150,3195,3199,197.8,-12.0,79,1371,0.12,1.50,0.00,0.000,3078,0.185,0.029,2667,2192,3197,3196,3199,0,0,0,0,0,0,25.72,26.15,28.83
$GC,1686,-1.17,-116.8,2666,2192,3197,3199,233.2,-11.4,95,1691,0.00,1.55,0.00,0.000,260,0.000,0.035,2661,3256,3197,3196,3199,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1772,-1.17,-116.8,2660,3256,3199,3199,243.6,-12.3,99,1778,0.00,1.60,0.00,0.000,1030,0.000,0.018,2661,2159,3198,3197,3199,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,2014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2014,begin apogee
$GC,2023,-0.25,0.0,2660,1880,3197,3199,270.1,-9.9,108,2125,0.98,0.00,95.35,0.671,10244,0.139,0.000,2959,1879,2709,2770,2648,0,0,0,0,0,0,25.06,28.83,24.01
$STATE,2126,end apogee,CONTROL_FINISHED_OK
$STATE,2127,begin climb
$GC,2132,1.17,116.8,2959,1879,2767,2637,273.0,0.0,111,2235,1.27,1.65,94.57,0.662,10500,0.067,0.033,3425,2941,2229,2307,2152,0,0,0,0,0,0,25.44,25.63,24.10
$GC,2333,1.17,118.6,3424,2941,2300,2133,257.4,9.9,118,2338,0.00,1.50,0.00,0.000,1030,0.000,0.027,3432,1909,2216,2301,2132,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2660,1.31,184.4,3432,1909,2301,2127,229.3,7.8,133,2718,0.10,0.00,54.62,0.637,10758,0.093,0.000,3502,1909,1961,2054,1868,0,0,0,0,0,0,26.39,28.83,24.32
$GC,3020,1.32,191.4,3502,1909,2042,1838,191.4,9.8,151,3025,0.00,1.52,0.00,0.000,260,0.000,0.034,3502,2946,1939,2041,1838,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3153,1.37,217.4,3502,2946,2041,1836,179.6,9.1,157,3186,0.00,1.55,27.52,0.616,9222,0.000,0.027,3509,1903,1825,1918,1733,0,0,0,0,0,0,28.83,26.19,24.49
$GC,3491,1.45,254.4,3508,1903,1903,1708,149.9,8.8,174,3527,0.00,1.65,31.38,0.598,8452,0.000,0.034,3509,2956,1668,1757,1580,0,0,0,0,0,0,28.83,25.90,24.52
$GC,3572,1.45,256.6,3509,2956,1746,1565,141.2,9.9,178,3578,0.00,1.55,0.00,0.000,1030,0.000,0.027,3516,1901,1655,1745,1565,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3899,1.47,263.9,3516,1901,1745,1561,107.4,9.8,194,3905,0.00,1.65,1.77,0.153,8708,0.000,0.037,3524,838,1636,1723,1550,0,0,0,0,0,0,28.83,26.03,25.42
$GC,3929,1.47,268.1,2600,838,1665,1557,104.5,9.9,195,3939,0.00,1.58,3.55,0.174,9222,0.000,0.030,3524,1910,1625,1707,1544,0,0,0,0,0,0,28.83,26.15,24.20
$GC,4254,1.57,314.4,3524,1910,1722,1562,74.1,8.5,211,4290,0.00,1.67,26.80,0.259,8708,0.000,0.034,3532,842,1440,1522,1358,0,0,0,0,0,0,28.83,26.05,24.99
$GC,4368,1.63,345.0,3531,842,1530,1368,64.8,9.0,216,4392,0.12,1.58,17.77,0.236,11270,0.080,0.029,3601,1917,1308,1386,1231,0,0,0,0,0,0,26.07,26.12,25.03
$GC,4704,1.67,365.0,3601,1917,1406,1238,23.9,9.3,244,4724,0.00,1.58,11.77,0.158,8452,0.000,0.036,3602,2952,1228,1303,1153,0,0,0,0,0,0,28.83,26.02,25.03
$GC,4785,1.67,365.0,3601,2953,1319,1154,15.9,11.0,251,4792,0.00,1.52,1.50,0.165,9222,0.000,0.027,3608,1899,1224,1301,1148,0,0,0,0,0,0,28.83,26.17,25.29
$STATE,4888,end climb,SURFACE_DEPTH_REACHED
$STATE,4888,begin surface coast
$FINISH,1.2,1.013116
$STATE,4899,end surface coast,CONTROL_FINISHED_OK
$STATE,4900,begin surface
$SM_CCo,4924,39.72,0.113,0,0,878,450.13
$SM_GC,2.00,8.85,0.45,39.72,0.029,0.033,0.113,141,2226,878,-9.04,-1.22,450.13,0,0,0,0,0,0,25.96,26.32,25.36
$IRIDIUM_FIX,2015.67,12342.68,211013,171724
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.05
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,25.90
$XPDR_PINGS,4
$24V_AH,24.0,106.633
$10V_AH,10.2,66.068
$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,22.425,35.125,366.625,39.725,0.000,0.000,0.000,257.050,1.000,0.000,19.573,858.350,2971.667,416.378,926.283,273.353,0.000,1129.436,0.000,679.559,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,59.670,670.905,113.220,0.000,0.000,0.000,107.865,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,327384
$DATA_FILE_SIZE,10132,263
$CAP_FILE_SIZE,59289,1
$CFSIZE,260034560,192425984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211013,215252,2022.288,12346.337,35,1.0,52,-2.9