version: 66.09
glider: 167
mission: 8
dive: 197
start: 7 25 111 1 25 0
data:
$ID,167
$MISSION,8
$DIVE,197
$N_DIVES,0
$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,-5
$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,-56634.809
$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,90
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$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
$GPS1,250711,011914,1832.420,12216.271,11,1.5,11,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.4
$GPS2,250711,012438,1832.391,12216.247,13,1.5,13,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,91.0,286963,-15.4,-8.250
$D_GRID,95
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,101,0.00,0.00,-80.32,0.000,2,0.000,0.000,118,1913,3197,0,0,0,0,0,0
$GC,104,-0.56,-146.0,6.3,-11.5,10,129,9.57,2.00,-3.78,0.000,4,0.226,0.040,2597,3295,3438,0,0,0,0,0,0
$GC,169,-0.56,-146.0,38.5,-40.3,20,179,0.00,2.00,0.00,0.000,6,0.000,0.025,2597,1879,3438,0,0,0,0,0,0
$GC,247,-0.56,-146.0,58.0,-21.2,33,254,0.00,1.98,0.00,0.000,4,0.000,0.025,2597,500,3439,0,0,0,0,0,0
$GC,304,-0.56,-146.0,70.4,-21.5,42,312,0.00,2.00,0.00,0.000,6,0.000,0.026,2588,1895,3439,0,0,0,0,0,0
$GC,381,-0.56,-146.0,85.0,-18.2,55,391,0.10,2.03,0.00,0.000,4,0.201,0.031,2602,3265,3439,0,0,0,0,0,0
$GC,416,-0.56,-146.0,92.7,-21.2,60,425,0.00,1.77,0.00,0.000,6,0.000,0.028,2601,1978,3439,0,0,0,0,0,0
$STATE,432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,432,begin apogee
$GC,438,-0.20,0.0,96.2,20.8,62,548,0.40,0.00,103.55,0.591,4,0.152,0.000,2727,2137,2838,0,0,0,0,0,0
$STATE,549,end apogee,CONTROL_FINISHED_OK
$STATE,549,begin climb
$GC,554,0.56,146.0,105.7,0.0,77,672,0.73,2.00,105.60,0.584,4,0.103,0.032,2974,3455,2242,0,0,0,0,0,0
$GC,684,0.67,231.6,101.3,5.0,94,758,0.08,2.00,63.40,0.575,6,0.061,0.017,3025,2045,1892,0,0,0,0,0,0
$GC,830,0.69,246.1,90.4,7.7,116,847,0.00,1.98,12.02,0.519,4,0.000,0.027,3029,718,1834,0,0,0,0,0,0
$GC,935,0.75,296.6,83.6,6.3,133,982,0.00,1.98,38.60,0.561,6,0.000,0.028,3029,2087,1627,0,0,0,0,0,0
$GC,1050,0.75,297.8,74.8,8.2,151,1057,0.00,2.03,0.00,0.000,4,0.000,0.031,3029,3455,1624,0,0,0,0,0,0
$GC,1080,0.76,307.8,72.5,7.9,155,1097,0.00,1.95,9.15,0.491,6,0.000,0.016,3028,2081,1583,0,0,0,0,0,0
$GC,1168,0.80,337.8,65.7,7.1,169,1200,0.00,2.00,24.45,0.542,4,0.000,0.033,3031,702,1459,0,0,0,0,0,0
$GC,1249,0.86,383.7,60.4,6.5,181,1291,0.10,1.85,35.67,0.545,6,0.054,0.018,3097,2010,1273,0,0,0,0,0,0
$GC,1363,0.86,383.7,49.4,11.1,198,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2010,1270,0,0,0,0,0,0
$GC,1440,0.86,383.7,40.2,11.3,211,1448,0.00,1.92,0.00,0.000,4,0.000,0.034,3099,698,1269,0,0,0,0,0,0
$GC,1526,0.86,385.9,32.7,8.2,225,1534,0.00,1.73,0.00,0.000,6,0.000,0.018,3099,1922,1268,0,0,0,0,0,0
$GC,1606,0.87,394.6,26.4,7.9,238,1622,0.00,2.25,8.98,0.473,4,0.000,0.029,3099,3463,1229,0,0,0,0,0,0
$GC,1642,0.90,417.7,23.6,7.4,243,1667,0.00,2.28,19.70,0.516,6,0.000,0.023,3099,1879,1135,0,0,0,0,0,0
$GC,1734,0.99,493.9,18.4,5.4,258,1798,0.00,1.77,58.72,0.531,4,0.000,0.029,3099,696,824,0,0,0,0,0,0
$GC,1835,1.09,571.4,12.8,5.3,272,1900,0.10,1.75,55.08,0.519,6,0.057,0.018,3164,1939,507,0,0,0,0,0,0
$STATE,1934,end climb,SURFACE_DEPTH_REACHED
$STATE,1937,begin surface coast
$FINISH,0.7,1.012735
$STATE,1969,end surface coast,CONTROL_FINISHED_OK
$STATE,1969,begin surface
$SM_CCo,2046,0.00,0.000,0,0,501,573.51
$SM_GC,1.47,7.80,0.00,0.00,0.037,0.000,0.000,113,1949,501,-8.31,2.09,573.51,0,0,0,0,0,0
$IRIDIUM_FIX,1825.94,12215.02,250711,000001
$TT8_MAMPS,0.027713,0.027713
$HUMID,34.20
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,29.50
$XPDR_PINGS,49
$24V_AH,25.3,34.586
$10V_AH,10.4,33.371
$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,18.875,39.350,534.925,0.000,0.000,26.232,20.564,150.336,12.250,0.000,14.232,608.985,88.985,472.302,919.155,286.670,0.000,944.691,0.000,828.718,0.000,0.547,0.000
$DEVICE_MAMPS,226.440,71.910,590.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,185.275,349.145,728.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324088
$DATA_FILE_SIZE,16954,291
$CAP_FILE_SIZE,47941,0
$CFSIZE,260165632,122863616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,298.1,1
$GPS,250711,020016,1832.474,12216.331,13,99.0,32,-2.0