version: 66.09
glider: 167
mission: 8
dive: 7
start: 6 13 111 16 59 46
data:
$ID,167
$MISSION,8
$DIVE,7
$N_DIVES,10
$D_SURF,3
$D_FLARE,5
$D_TGT,330
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$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,566.20972
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56323.531
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.233358
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,130611,165215,2126.022,12355.328,8,2.5,27,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.5
$GPS2,130611,165922,2125.916,12355.312,13,2.6,32,-2.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,128.5,138164,-17.0,-11.000
$D_GRID,5000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.74,-194.6,0.0,0.0,0,121,0.00,0.00,-101.78,0.000,2,0.000,0.000,112,2008,3457,0,0,0,0,0,0
$GC,124,-0.74,-194.6,6.8,-13.0,13,149,9.70,2.08,-2.60,0.000,4,0.233,0.043,2608,3415,3637,0,0,0,0,0,0
$GC,157,0.75,-194.6,30.8,-56.9,17,166,1.65,2.03,0.00,0.000,6,0.190,0.017,3097,1935,3638,0,0,0,0,0,0
$GC,234,-0.06,-194.6,41.8,-18.2,30,242,0.68,1.92,0.00,0.000,4,0.087,0.029,2846,621,3638,0,0,0,0,0,0
$GC,493,-0.63,-194.6,68.3,-10.5,76,502,0.45,2.00,0.00,0.000,6,0.099,0.021,2662,2036,3638,0,0,0,0,0,0
$GC,569,-0.95,-194.6,75.4,-8.6,89,577,0.25,0.00,0.00,0.000,6,0.061,0.000,2538,2036,3638,0,0,0,0,0,0
$GC,644,-0.55,-194.6,90.2,-28.4,102,652,0.47,0.00,0.00,0.000,6,0.168,0.000,2684,2036,3638,0,0,0,0,0,0
$GC,717,-0.55,-194.6,105.1,-15.6,115,726,0.00,2.08,0.00,0.000,4,0.000,0.028,2683,610,3638,0,0,0,0,0,0
$GC,770,-0.63,-194.6,112.0,-12.9,123,779,0.00,1.98,0.00,0.000,6,0.000,0.022,2683,1980,3639,0,0,0,0,0,0
$GC,847,-0.63,-194.6,122.0,-13.9,136,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1980,3638,0,0,0,0,0,0
$GC,920,-0.68,-194.6,131.3,-12.6,149,928,0.10,0.00,0.00,0.000,6,0.104,0.000,2631,1980,3638,0,0,0,0,0,0
$GC,995,-0.56,-194.6,143.8,-18.1,162,1003,0.17,0.00,0.00,0.000,6,0.149,0.000,2683,1981,3639,0,0,0,0,0,0
$GC,1068,-0.65,-194.6,153.5,-11.4,175,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1980,3638,0,0,0,0,0,0
$GC,1144,-0.73,-194.6,162.5,-12.0,188,1154,0.15,2.10,0.00,0.000,4,0.082,0.038,2614,3388,3638,0,0,0,0,0,0
$GC,1174,-0.73,-194.6,166.9,-13.9,192,1183,0.00,1.98,0.00,0.000,6,0.000,0.019,2614,1989,3638,0,0,0,0,0,0
$GC,1250,-0.58,-194.6,180.9,-19.2,205,1258,0.20,0.00,0.00,0.000,6,0.158,0.000,2672,1986,3638,0,0,0,0,0,0
$GC,1325,-0.66,-194.6,191.3,-11.3,218,1333,0.00,2.10,0.00,0.000,4,0.000,0.037,2669,3393,3638,0,0,0,0,0,0
$GC,1358,-0.78,-194.6,194.7,-10.6,223,1368,0.12,1.98,0.00,0.000,6,0.053,0.029,2598,1981,3638,0,0,0,0,0,0
$GC,1435,-0.63,-194.6,206.4,-17.5,236,1444,0.20,1.95,0.00,0.000,4,0.157,0.026,2656,623,3638,0,0,0,0,0,0
$GC,1527,-0.73,-194.6,218.8,-10.7,252,1536,0.00,1.98,0.00,0.000,6,0.000,0.024,2656,1991,3638,0,0,0,0,0,0
$GC,1604,-0.78,-194.6,227.0,-11.0,265,1612,0.12,0.00,0.00,0.000,6,0.094,0.000,2597,1991,3638,0,0,0,0,0,0
$GC,1679,-0.65,-194.6,238.2,-16.9,278,1687,0.20,2.00,0.00,0.000,4,0.154,0.027,2655,619,3638,0,0,0,0,0,0
$GC,1717,-0.65,-194.6,243.9,-15.2,284,1725,0.00,2.00,0.00,0.000,6,0.000,0.025,2655,2000,3638,0,0,0,0,0,0
$GC,1797,-0.72,-194.6,252.3,-10.3,296,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2000,3638,0,0,0,0,0,0
$GC,2126,-0.84,-194.6,283.3,-9.3,327,2132,0.17,2.00,0.00,0.000,4,0.077,0.028,2575,629,3637,0,0,0,0,0,0
$GC,2184,-0.73,-194.6,291.1,-15.1,332,2189,0.17,1.98,0.00,0.000,6,0.160,0.024,2624,2018,3637,0,0,0,0,0,0
$GC,2510,-0.81,-194.6,328.5,-10.2,362,2515,0.00,2.03,0.00,0.000,4,0.000,0.037,2616,3389,3637,0,0,0,0,0,0
$STATE,2523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2523,begin apogee
$GC,2532,-0.15,0.0,330.4,10.5,363,2678,0.55,0.00,139.50,0.793,6,0.115,0.000,2810,2036,2838,0,0,0,0,0,0
$STATE,2678,end apogee,CONTROL_FINISHED_OK
$STATE,2679,begin climb
$GC,2681,0.74,194.6,337.3,0.0,376,2835,0.77,2.20,144.65,0.778,4,0.058,0.035,3106,3447,2044,0,0,0,0,0,0
$GC,2989,0.49,194.6,306.1,14.6,404,2994,0.30,2.00,0.00,0.000,6,0.159,0.021,3028,2050,2038,0,0,0,0,0,0
$GC,3316,0.55,241.9,274.5,9.2,434,3357,0.00,2.03,36.38,0.737,4,0.000,0.031,3037,678,1851,0,0,0,0,0,0
$GC,3595,0.60,250.3,246.0,10.7,462,3611,0.00,2.00,6.90,0.597,6,0.000,0.023,3037,2046,1819,0,0,0,0,0,0
$GC,3677,0.62,267.7,237.3,10.3,476,3700,0.00,0.00,14.73,0.680,6,0.000,0.000,3037,2046,1747,0,0,0,0,0,0
$GC,3767,0.65,293.0,228.3,10.0,491,3798,0.10,2.08,20.90,0.692,4,0.103,0.029,3097,671,1642,0,0,0,0,0,0
$GC,3834,0.57,293.0,219.4,14.2,501,3844,0.12,2.03,0.00,0.000,6,0.132,0.022,3055,2058,1641,0,0,0,0,0,0
$GC,3912,0.57,293.0,210.2,11.5,514,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2058,1639,0,0,0,0,0,0
$GC,3991,0.58,299.6,201.8,10.8,527,3999,0.00,0.00,5.88,0.549,6,0.000,0.000,3054,2058,1616,0,0,0,0,0,0
$GC,4065,0.62,332.0,194.0,9.8,540,4095,0.00,0.00,26.20,0.682,6,0.000,0.000,3055,2058,1484,0,0,0,0,0,0
$GC,4165,0.69,347.4,183.6,10.4,556,4192,0.10,2.10,13.12,0.638,4,0.100,0.037,3102,3433,1421,0,0,0,0,0,0
$GC,4216,0.62,347.4,176.7,14.4,563,4225,0.12,2.00,0.00,0.000,6,0.138,0.021,3068,2057,1420,0,0,0,0,0,0
$GC,4293,0.65,347.4,167.0,12.0,576,4302,0.00,2.05,0.00,0.000,4,0.000,0.032,3077,669,1419,0,0,0,0,0,0
$GC,4328,0.70,347.4,162.9,12.1,581,4336,0.00,2.00,0.00,0.000,6,0.000,0.022,3077,2041,1419,0,0,0,0,0,0
$GC,4408,0.70,347.4,152.0,13.6,594,4416,0.00,2.08,0.00,0.000,4,0.000,0.035,3077,3436,1418,0,0,0,0,0,0
$GC,4503,0.70,347.4,137.8,14.6,610,4513,0.00,2.00,0.00,0.000,6,0.000,0.022,3081,2059,1417,0,0,0,0,0,0
$GC,4583,0.70,347.4,126.9,13.5,623,4592,0.00,2.05,0.00,0.000,4,0.000,0.034,3089,663,1417,0,0,0,0,0,0
$GC,4644,0.74,347.4,118.5,13.8,633,4652,0.00,2.03,0.00,0.000,6,0.000,0.023,3090,2054,1417,0,0,0,0,0,0
$GC,4722,0.74,347.4,108.5,12.9,646,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2055,1417,0,0,0,0,0,0
$GC,4800,0.74,347.4,98.0,13.3,659,4808,0.00,2.08,0.00,0.000,4,0.000,0.032,3093,653,1417,0,0,0,0,0,0
$GC,4842,0.77,347.4,93.0,12.6,665,4850,0.00,2.03,0.00,0.000,6,0.000,0.022,3093,2052,1417,0,0,0,0,0,0
$GC,4921,0.77,347.4,83.1,12.5,678,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2052,1416,0,0,0,0,0,0
$GC,5000,0.77,347.4,73.3,12.4,691,5007,0.00,2.05,0.00,0.000,4,0.000,0.032,3099,663,1416,0,0,0,0,0,0
$GC,5041,0.77,347.4,68.5,12.0,697,5049,0.00,2.00,0.00,0.000,6,0.000,0.023,3099,2047,1416,0,0,0,0,0,0
$GC,5116,0.77,347.4,59.1,12.2,710,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2048,1416,0,0,0,0,0,0
$GC,5189,0.77,347.4,50.7,11.5,723,5197,0.00,2.05,0.00,0.000,4,0.000,0.032,3101,658,1417,0,0,0,0,0,0
$GC,5223,0.77,348.5,47.0,11.0,728,5232,0.00,2.03,0.00,0.000,6,0.000,0.023,3101,2058,1416,0,0,0,0,0,0
$GC,5299,0.77,348.5,38.3,11.7,741,5307,0.00,2.03,0.00,0.000,4,0.000,0.035,3101,3434,1416,0,0,0,0,0,0
$GC,5435,0.81,350.5,23.0,10.9,765,5443,0.00,2.00,0.00,0.000,6,0.000,0.030,3104,2043,1416,0,0,0,0,0,0
$GC,5511,0.91,392.9,15.8,9.4,778,5553,0.15,2.08,34.47,0.573,4,0.086,0.034,3184,665,1236,0,0,0,0,0,0
$STATE,5595,end climb,SURFACE_DEPTH_REACHED
$STATE,5595,begin surface coast
$FINISH,0.6,1.022239
$STATE,5614,end surface coast,CONTROL_FINISHED_OK
$STATE,5614,begin surface
$SM_CCo,5635,131.05,0.522,1,0,530,566.40
$SM_GC,1.20,0.00,0.00,131.05,0.000,0.000,0.522,113,1996,530,-8.58,-0.11,566.40,0,0,0,0,1,0
$IRIDIUM_FIX,2122.58,12354.25,130611,151556
$TT8_MAMPS,0.028462,0.028462
$HUMID,32.20
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,28.60
$XPDR_PINGS,12
$24V_AH,25.0,3.256
$10V_AH,10.6,2.024
$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,24.825,84.975,442.725,131.050,0.000,28.423,39.451,204.285,3.000,0.000,34.771,1914.775,796.277,734.922,2210.541,542.373,0.000,1607.782,0.000,2148.613,0.000,0.546,0.000
$DEVICE_MAMPS,232.560,42.840,793.305,522.495,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.841,948.906,1705.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330476
$DATA_FILE_SIZE,43617,793
$CAP_FILE_SIZE,112208,0
$CFSIZE,260165632,141361152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.402,214.8,1
$GPS,130611,183706,2124.426,12355.465,29,0.9,29,-2.8