version: 66.09
glider: 167
mission: 8
dive: 72
start: 6 25 111 7 27 40
data:
$ID,167
$MISSION,8
$DIVE,72
$N_DIVES,75
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,400
$T_MISSION,440
$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,-8
$MAX_BUOY,150
$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,400
$N_FILEKB,4
$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,-56477.273
$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,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,80
$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
$GPS1,250611,071737,1919.246,12425.208,37,1.0,37,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.1
$GPS2,250611,072718,1919.349,12425.340,35,1.9,35,-2.3
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,184.9,166348,-15.4,-8.250
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.56,-146.0,0.0,0.0,0,109,0.00,0.00,-88.62,0.000,2,0.000,0.000,107,1872,3305,0,0,0,0,0,0
$GC,111,-0.56,-146.0,6.5,-12.1,12,128,9.77,2.10,-2.05,0.000,4,0.229,0.039,2602,3280,3438,0,0,0,0,0,0
$GC,138,-0.56,-146.0,22.1,-42.8,15,147,0.00,2.05,0.00,0.000,6,0.000,0.018,2604,1867,3439,0,0,0,0,0,0
$GC,279,-0.56,-146.0,73.4,-30.2,40,286,0.00,2.08,0.00,0.000,4,0.000,0.029,2597,3249,3439,0,0,0,0,0,0
$GC,347,-0.56,-146.0,90.6,-24.6,51,355,0.00,1.98,0.00,0.000,6,0.000,0.019,2597,1886,3439,0,0,0,0,0,0
$GC,493,-0.56,-146.0,121.2,-18.7,76,502,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,487,3440,0,0,0,0,0,0
$GC,528,-0.56,-146.0,127.7,-18.6,81,536,0.00,2.00,0.00,0.000,6,0.000,0.019,2588,1871,3440,0,0,0,0,0,0
$GC,671,-0.56,-146.0,153.0,-17.1,106,680,0.12,2.08,0.00,0.000,4,0.185,0.031,2610,3265,3440,0,0,0,0,0,0
$GC,736,-0.56,-146.0,163.8,-17.0,116,744,0.00,2.00,0.00,0.000,6,0.000,0.018,2610,1854,3440,0,0,0,0,0,0
$GC,875,-0.56,-146.0,189.8,-18.2,141,883,0.00,1.98,0.00,0.000,4,0.000,0.028,2610,497,3441,0,0,0,0,0,0
$GC,945,-0.56,-146.0,202.8,-17.5,152,948,0.00,1.98,0.00,0.000,6,0.000,0.020,2602,1881,3441,0,0,0,0,0,0
$GC,1278,-0.56,-146.0,253.4,-14.3,183,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1881,3441,0,0,0,0,0,0
$GC,1607,-0.56,-146.0,292.0,-10.7,214,1611,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,3272,3441,0,0,0,0,0,0
$GC,1809,-0.56,-146.0,314.6,-10.9,232,1813,0.00,1.92,0.00,0.000,6,0.000,0.018,2600,1884,3440,0,0,0,0,0,0
$GC,2140,-0.56,-146.0,351.3,-11.6,263,2145,0.00,2.03,0.00,0.000,4,0.000,0.030,2600,495,3438,0,0,0,0,0,0
$GC,2197,-0.56,-146.0,358.0,-12.1,268,2201,0.00,1.98,0.00,0.000,6,0.000,0.020,2594,1889,3439,0,0,0,0,0,0
$GC,2529,-0.56,-146.0,390.9,-9.7,299,2533,0.00,2.03,0.00,0.000,4,0.000,0.033,2587,3262,3436,0,0,0,0,0,0
$GC,2647,-0.56,-146.0,401.3,-8.2,309,2654,0.00,1.98,0.00,0.000,6,0.000,0.019,2588,1875,3436,0,0,0,0,0,0
$GC,2972,-0.56,-146.0,427.6,-8.7,340,2976,0.10,2.03,0.00,0.000,4,0.177,0.031,2614,491,3434,0,0,0,0,0,0
$GC,3067,-0.56,-146.0,436.2,-8.8,348,3075,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1867,3433,0,0,0,0,0,0
$GC,3394,-0.56,-146.0,464.0,-7.9,379,3397,0.00,2.05,0.00,0.000,4,0.000,0.034,2613,3267,3431,0,0,0,0,0,0
$GC,3423,-0.56,-146.0,466.3,-7.5,381,3430,0.00,1.98,0.00,0.000,6,0.000,0.018,2613,1863,3431,0,0,0,0,0,0
$GC,3749,-0.56,-146.0,488.3,-6.3,412,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1863,3429,0,0,0,0,0,0
$GC,4076,-0.56,-146.0,509.5,-7.1,437,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1862,3427,0,0,0,0,0,0
$GC,4384,-0.56,-146.0,533.8,-8.1,452,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1862,3424,0,0,0,0,0,0
$GC,4696,-0.56,-146.0,557.1,-7.2,467,4700,0.00,2.10,0.00,0.000,4,0.000,0.034,2613,3274,3422,0,0,0,0,0,0
$GC,4718,-0.56,-146.0,558.9,-7.2,468,4723,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1891,3422,0,0,0,0,0,0
$GC,5045,-0.56,-146.0,581.9,-7.3,484,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1891,3420,0,0,0,0,0,0
$GC,5356,-0.56,-146.0,606.8,-8.4,499,5360,0.00,2.08,0.00,0.000,4,0.000,0.034,2614,488,3418,0,0,0,0,0,0
$GC,5416,-0.56,-146.0,612.9,-9.7,501,5423,0.00,2.03,0.00,0.000,6,0.000,0.021,2614,1880,3418,0,0,0,0,0,0
$GC,5732,-0.56,-146.0,641.9,-8.7,517,5736,0.00,2.03,0.00,0.000,4,0.000,0.036,2614,3263,3415,0,0,0,0,0,0
$GC,5879,-0.56,-146.0,652.7,-6.9,523,5884,0.00,2.03,0.00,0.000,6,0.000,0.021,2614,1867,3415,0,0,0,0,0,0
$GC,6201,-0.56,-146.0,671.7,-5.3,539,6205,0.00,2.03,0.00,0.000,4,0.000,0.034,2613,482,3413,0,0,0,0,0,0
$GC,6241,-0.56,-146.0,674.0,-5.2,540,6248,0.00,2.03,0.00,0.000,6,0.000,0.022,2614,1881,3412,0,0,0,0,0,0
$GC,6560,-0.56,-146.0,690.9,-5.7,556,6563,0.00,2.05,0.00,0.000,4,0.000,0.037,2613,3274,3410,0,0,0,0,0,0
$GC,6638,-0.56,-146.0,695.9,-6.3,559,6643,0.00,2.05,0.00,0.000,6,0.000,0.022,2614,1868,3409,0,0,0,0,0,0
$GC,6961,-0.56,-146.0,716.9,-6.6,575,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1867,3407,0,0,0,0,0,0
$GC,7269,-0.56,-146.0,736.5,-5.9,590,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1867,3405,0,0,0,0,0,0
$GC,7580,-0.56,-146.0,753.6,-5.6,605,7584,0.00,2.00,0.00,0.000,4,0.000,0.034,2613,490,3403,0,0,0,0,0,0
$GC,7615,-0.56,-146.0,755.8,-5.9,606,7619,0.00,2.03,0.00,0.000,6,0.000,0.024,2614,1867,3403,0,0,0,0,0,0
$GC,7936,-0.56,-146.0,774.7,-5.9,622,7940,0.00,2.08,0.00,0.000,4,0.000,0.037,2613,3267,3401,0,0,0,0,0,0
$GC,8043,-0.56,-146.0,780.9,-5.8,626,8051,0.00,2.03,0.00,0.000,6,0.000,0.021,2614,1873,3401,0,0,0,0,0,0
$GC,8359,-0.56,-146.0,800.3,-6.2,642,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1873,3400,0,0,0,0,0,0
$GC,8669,-0.56,-146.0,819.8,-6.4,657,8672,0.00,2.10,0.00,0.000,4,0.000,0.037,2613,3275,3399,0,0,0,0,0,0
$GC,8755,-0.56,-146.0,825.2,-6.3,661,8759,0.00,2.03,0.00,0.000,6,0.000,0.022,2613,1868,3398,0,0,0,0,0,0
$GC,9088,-0.56,-146.0,845.2,-6.1,677,9092,0.00,2.10,0.00,0.000,4,0.000,0.037,2613,3268,3397,0,0,0,0,0,0
$GC,9163,-0.56,-146.0,849.6,-5.9,680,9167,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1874,3397,0,0,0,0,0,0
$GC,9485,-0.56,-146.0,867.8,-5.5,696,9489,0.00,2.05,0.00,0.000,4,0.000,0.034,2613,480,3395,0,0,0,0,0,0
$GC,9524,-0.56,-146.0,870.4,-5.7,697,9531,0.00,2.05,0.00,0.000,6,0.000,0.024,2613,1886,3395,0,0,0,0,0,0
$GC,9844,-0.56,-146.0,888.3,-5.8,713,9847,0.00,2.08,0.00,0.000,4,0.000,0.038,2614,3272,3394,0,0,0,0,0,0
$GC,9890,-0.56,-146.0,891.1,-5.8,715,9894,0.00,2.03,0.00,0.000,6,0.000,0.021,2614,1870,3393,0,0,0,0,0,0
$GC,10228,-0.56,-146.0,908.3,-4.9,731,10231,0.00,2.10,0.00,0.000,4,0.000,0.037,2613,3268,3393,0,0,0,0,0,0
$GC,10283,-0.56,-146.0,911.3,-4.8,733,10290,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1875,3393,0,0,0,0,0,0
$GC,10602,-0.56,-146.0,925.8,-4.5,749,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1874,3391,0,0,0,0,0,0
$GC,10911,-0.56,-146.0,939.0,-4.2,764,10914,0.00,2.08,0.00,0.000,4,0.000,0.038,2614,3268,3391,0,0,0,0,0,0
$GC,10944,-0.56,-146.0,940.4,-4.3,765,10951,0.00,2.03,0.00,0.000,6,0.000,0.022,2613,1865,3391,0,0,0,0,0,0
$GC,11261,-0.56,-146.0,953.5,-4.0,781,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1865,3390,0,0,0,0,0,0
$GC,11572,-0.56,-146.0,966.7,-4.4,796,11575,0.00,2.10,0.00,0.000,4,0.000,0.039,2613,3269,3389,0,0,0,0,0,0
$GC,11607,-0.56,-146.0,968.4,-4.4,797,11614,0.00,2.00,0.00,0.000,6,0.000,0.022,2614,1876,3389,0,0,0,0,0,0
$GC,11924,-0.56,-146.0,983.8,-5.1,813,11928,0.00,2.08,0.00,0.000,4,0.000,0.037,2613,3268,3389,0,0,0,0,0,0
$GC,11952,-0.56,-146.0,985.5,-5.2,814,11956,0.00,2.00,0.00,0.000,6,0.000,0.021,2613,1868,3389,0,0,0,0,0,0
$STATE,12044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12044,begin apogee
$GC,12051,-0.20,0.0,990.4,5.4,819,12170,0.32,0.00,110.47,1.416,6,0.120,0.000,2727,2074,2838,0,0,0,0,0,0
$STATE,12171,end apogee,CONTROL_FINISHED_OK
$STATE,12171,begin climb
$GC,12173,0.56,146.0,993.0,0.0,824,12307,0.73,0.00,124.25,1.366,6,0.083,0.000,2979,2074,2241,0,0,0,0,0,0
$GC,12614,0.56,146.0,951.1,10.7,846,12618,0.00,2.15,0.00,0.000,4,0.000,0.041,2980,3468,2231,0,0,0,0,0,0
$GC,12641,0.56,146.0,947.8,10.9,847,12645,0.00,2.10,0.00,0.000,6,0.000,0.024,2987,2076,2231,0,0,0,0,0,0
$GC,12963,0.56,146.0,912.0,11.2,863,12967,0.00,2.10,0.00,0.000,4,0.000,0.036,2997,683,2228,0,0,0,0,0,0
$GC,13021,0.56,146.0,905.5,11.4,865,13028,0.00,2.10,0.00,0.000,6,0.000,0.025,2997,2078,2228,0,0,0,0,0,0
$GC,13337,0.56,146.0,867.8,12.0,881,13341,0.00,2.10,0.00,0.000,4,0.000,0.041,2997,3473,2227,0,0,0,0,0,0
$GC,13377,0.56,146.0,862.5,13.4,883,13382,0.00,2.08,0.00,0.000,6,0.000,0.024,3006,2074,2226,0,0,0,0,0,0
$GC,13706,0.56,146.0,822.1,12.1,899,13710,0.00,2.08,0.00,0.000,4,0.000,0.035,3017,684,2227,0,0,0,0,0,0
$GC,13756,0.56,146.0,815.5,12.2,901,13761,0.12,2.08,0.00,0.000,6,0.172,0.025,2986,2080,2227,0,0,0,0,0,0
$GC,14084,0.56,146.0,779.4,10.9,917,14088,0.00,2.08,0.00,0.000,4,0.000,0.041,2986,3468,2226,0,0,0,0,0,0
$GC,14138,0.56,146.0,772.6,12.1,919,14146,0.00,2.08,0.00,0.000,6,0.000,0.024,2993,2075,2225,0,0,0,0,0,0
$GC,14455,0.56,146.0,736.0,11.7,935,14458,0.00,2.08,0.00,0.000,4,0.000,0.036,3003,682,2225,0,0,0,0,0,0
$GC,14550,0.56,146.0,724.7,11.5,939,14554,0.00,2.05,0.00,0.000,6,0.000,0.025,3003,2075,2225,0,0,0,0,0,0
$GC,14878,0.56,146.0,687.8,11.1,955,14882,0.00,2.10,0.00,0.000,4,0.000,0.041,3004,3481,2225,0,0,0,0,0,0
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$STATE,22335,end climb,SURFACE_DEPTH_REACHED
$STATE,22335,begin surface coast
$FINISH,0.9,1.021438
$STATE,22371,end surface coast,CONTROL_FINISHED_OK
$STATE,22373,begin surface
$SM_CCo,22390,14.95,0.148,1,0,1207,400.08
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$IRIDIUM_FIX,1913.80,12423.22,250611,010115
$TT8_MAMPS,0.028462,0.028462
$HUMID,31.25
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,29.40
$XPDR_PINGS,9
$24V_AH,23.9,14.684
$10V_AH,10.2,12.079
$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
$DEVICE_SECS,19.200,201.625,433.225,14.950,0.000,30.609,38.473,280.750,2.250,0.000,35.857,4456.040,12891.454,643.084,3978.588,999.728,0.000,2344.451,0.000,3929.222,0.000,0.544,0.000
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$SENSOR_SECS,1186.891,2023.510,1562.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329896
$DATA_FILE_SIZE,96837,1740
$CAP_FILE_SIZE,225290,0
$CFSIZE,260165632,135503872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028,359.8,1
$GPS,250611,134236,1917.018,12425.101,37,1.2,43,-2.3