version: 66.11
glider: 167
mission: 16
dive: 651
start: 10 21 113 21 59 45
data:
$ID,167
$MISSION,16
$DIVE,651
$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,-976723.56
$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,48
$R_STBD_OVSHOOT,65
$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
$GPS1,211013,215252,2022.288,12346.337,35,1.0,52,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-68.1
$GPS2,211013,215856,2022.317,12346.381,4,1.0,4,-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,249.0,19725,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.17,-116.8,113,2236,875,883,0.0,0.0,0,94,0.00,0.00,-68.88,0.000,16386,0.000,0.000,113,2237,2569,2553,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-1.17,-116.8,113,2236,2555,2586,3.0,-1.9,7,132,10.80,1.60,-14.38,0.000,18692,0.231,0.057,2657,3244,3192,3192,3193,0,0,0,0,0,0,24.89,26.02,26.57
$GC,268,-1.17,-116.8,2657,3244,3193,3194,36.8,-18.7,23,273,0.00,1.52,0.00,0.000,1030,0.000,0.022,2657,2173,3194,3193,3195,0,0,0,0,0,0,28.83,26.23,28.83
$GC,584,-1.17,-116.8,2657,2173,3193,3195,94.4,-16.1,42,589,0.00,1.50,0.00,0.000,516,0.000,0.031,2657,1122,3194,3193,3196,0,0,0,0,0,0,28.83,26.17,28.83
$GC,643,-1.17,-116.8,2657,1122,3193,3196,101.5,-15.1,44,650,0.00,1.55,0.00,0.000,1030,0.000,0.033,2650,2181,3194,3193,3196,0,0,0,0,0,0,28.83,26.13,28.83
$GC,949,-1.17,-116.8,2650,2181,3193,3197,143.0,-12.8,60,954,0.00,1.55,0.00,0.000,516,0.000,0.031,2650,1160,3195,3193,3197,0,0,0,0,0,0,28.83,26.12,28.83
$GC,999,-1.17,-116.8,2650,1160,3194,3197,149.0,-13.0,62,1005,0.00,1.55,0.00,0.000,1030,0.000,0.030,2644,2202,3195,3193,3197,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1320,-1.17,-116.8,2643,2202,3194,3197,191.0,-12.4,78,1326,0.12,1.52,0.00,0.000,2564,0.190,0.026,2678,1150,3195,3194,3197,0,0,0,0,0,0,25.99,26.18,28.83
$GC,1366,-1.17,-116.8,2678,1150,3194,3197,196.5,-12.1,80,1371,0.00,1.52,0.00,0.000,1030,0.000,0.029,2673,2202,3195,3194,3197,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1692,-1.17,-116.8,2673,2202,3194,3197,232.9,-10.5,96,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,3196,3195,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2011,-1.17,-116.8,2673,2202,3194,3197,261.6,-9.0,110,2016,0.00,1.52,0.00,0.000,516,0.000,0.028,2673,1147,3195,3194,3197,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,2102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2103,begin apogee
$GC,2114,-0.25,0.0,2669,1908,3194,3197,270.9,-9.5,113,2213,0.95,0.00,94.72,0.666,10244,0.139,0.000,2961,1908,2712,2773,2651,0,0,0,0,0,0,25.22,28.83,24.10
$STATE,2215,end apogee,CONTROL_FINISHED_OK
$STATE,2215,begin climb
$GC,2222,1.17,116.8,2961,1908,2768,2637,275.6,0.0,116,2323,1.27,0.00,93.95,0.657,11270,0.070,0.000,3423,1908,2229,2309,2149,0,0,0,0,0,0,25.53,28.83,24.21
$GC,2629,1.22,138.9,3423,1908,2304,2127,244.8,9.3,131,2652,0.00,1.52,17.67,0.642,8452,0.000,0.034,3423,2949,2140,2225,2055,0,0,0,0,0,0,28.83,26.00,24.47
$GC,2745,1.22,138.9,3422,2948,2223,2044,233.5,10.9,136,2750,0.00,1.50,0.00,0.000,1030,0.000,0.027,3429,1912,2133,2223,2043,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3062,1.32,193.2,3429,1912,2223,2039,200.5,8.2,152,3113,0.12,1.67,45.17,0.631,10756,0.079,0.037,3528,841,1919,2013,1826,0,0,0,0,0,0,26.42,25.81,24.47
$GC,3143,1.32,193.2,3528,841,1998,1817,192.0,10.2,156,3149,0.20,1.55,0.00,0.000,5126,0.172,0.031,3477,1881,1907,1999,1816,0,0,0,0,0,0,25.42,25.94,28.83
$GC,3473,1.32,193.2,3476,1881,1998,1808,159.6,10.2,172,3478,0.00,1.55,0.00,0.000,516,0.000,0.036,3482,847,1903,1998,1808,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3608,1.36,211.7,3483,847,1998,1807,147.2,9.4,178,3627,0.00,1.55,14.93,0.602,9222,0.000,0.030,3483,1904,1850,1941,1760,0,0,0,0,0,0,28.83,26.20,24.53
$GC,3951,1.45,257.9,3483,1904,1929,1735,117.3,8.5,195,3979,0.10,1.60,20.98,0.345,11012,0.090,0.033,3557,840,1667,1750,1585,0,0,0,0,0,0,26.44,26.08,24.91
$GC,4105,1.45,257.9,3556,840,1755,1598,101.3,11.3,202,4112,0.15,1.58,1.80,0.161,13318,0.182,0.031,3521,1913,1661,1742,1581,0,0,0,0,0,0,25.65,26.15,25.32
$GC,4427,1.58,323.4,3521,1912,1752,1596,70.1,7.8,218,4468,0.12,1.67,35.28,0.255,11012,0.087,0.034,3603,848,1396,1476,1316,0,0,0,0,0,0,26.39,26.05,25.11
$GC,4635,1.64,349.6,2752,848,1443,1324,49.2,9.1,228,4655,0.00,1.58,14.93,0.209,9222,0.000,0.030,3603,1921,1290,1367,1213,0,0,0,0,0,0,28.83,26.15,25.08
$GC,4965,1.64,349.6,3603,1921,1384,1218,6.9,13.6,261,4971,0.00,1.58,1.62,0.166,8452,0.000,0.036,3603,2953,1285,1362,1208,0,0,0,0,0,0,28.83,26.09,25.33
$STATE,5008,end climb,SURFACE_DEPTH_REACHED
$STATE,5008,begin surface coast
$FINISH,1.2,1.013116
$STATE,5030,end surface coast,CONTROL_FINISHED_OK
$STATE,5030,begin surface
$SM_CCo,5054,46.17,0.114,0,0,877,450.13
$SM_GC,1.96,8.80,1.15,46.17,0.028,0.025,0.114,137,2189,877,-9.03,1.36,450.13,0,0,0,0,0,0,26.03,26.26,25.39
$IRIDIUM_FIX,2015.67,12345.87,211013,202001
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.17
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,25.70
$XPDR_PINGS,4
$24V_AH,24.1,106.696
$10V_AH,10.3,66.097
$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,22.650,33.500,341.050,46.175,0.000,0.000,0.000,213.575,1.000,0.000,5.522,901.626,2982.648,396.461,908.907,265.551,0.000,1071.360,0.000,713.278,0.000,0.545,0.000
$DEVICE_MAMPS,231.030,57.375,666.315,113.985,0.000,0.000,0.000,106.335,420.000,0.000,50.000,13.960,2.190,13.960,40.170,47.660,0.000,16.000,0.000,5.000,0.000,5.000,0.000
$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,327304
$DATA_FILE_SIZE,10176,267
$CAP_FILE_SIZE,58073,1
$CFSIZE,260034560,192397312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211013,232606,2022.990,12346.505,33,1.1,33,-3.0