version: 66.09
glider: 167
mission: 8
dive: 283
start: 8 11 111 0 50 39
data:
$ID,167
$MISSION,8
$DIVE,283
$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,340
$T_MISSION,380
$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,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,400
$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,-56743.703
$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,79
$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
$GPS1,110811,004137,1956.523,12348.275,40,0.9,41,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.0
$GPS2,110811,005016,1956.483,12348.185,12,2.6,31,-2.4
$SPEED_LIMITS,0.168,0.293
$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,84.0,65054,-15.3,-9.706
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,115,0.00,0.00,-91.15,0.000,2,0.000,0.000,116,1944,3016,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.3,-7.4,12,142,9.98,0.00,-10.55,0.000,6,0.230,0.000,2588,1943,3636,0,0,0,0,0,0
$GC,207,-0.62,-194.6,41.5,-35.7,27,215,0.00,2.15,0.00,0.000,4,0.000,0.028,2588,495,3637,0,0,0,0,0,0
$GC,249,-0.62,-194.6,54.8,-34.1,33,257,0.00,2.03,0.00,0.000,6,0.000,0.021,2580,1881,3637,0,0,0,0,0,0
$GC,329,-0.62,-194.6,77.4,-27.7,46,337,0.00,2.05,0.00,0.000,4,0.000,0.027,2580,498,3637,0,0,0,0,0,0
$GC,351,-0.62,-194.6,83.2,-24.8,49,360,0.00,1.77,0.00,0.000,6,0.000,0.020,2573,1728,3637,0,0,0,0,0,0
$GC,431,-0.62,-194.6,99.7,-21.7,62,441,0.00,2.33,0.00,0.000,4,0.000,0.031,2561,3270,3637,0,0,0,0,0,0
$GC,472,-0.62,-194.6,108.6,-21.0,68,481,0.10,2.22,0.00,0.000,6,0.161,0.017,2592,1710,3637,0,0,0,0,0,0
$GC,548,-0.62,-194.6,123.5,-18.5,81,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1709,3638,0,0,0,0,0,0
$GC,623,-0.62,-194.6,137.8,-20.2,94,632,0.00,2.33,0.00,0.000,4,0.000,0.029,2586,3262,3638,0,0,0,0,0,0
$GC,652,-0.62,-194.6,143.7,-20.4,98,661,0.00,2.15,0.00,0.000,6,0.000,0.018,2586,1760,3638,0,0,0,0,0,0
$GC,728,-0.62,-194.6,158.0,-19.1,111,736,0.00,1.85,0.00,0.000,4,0.000,0.028,2586,488,3639,0,0,0,0,0,0
$GC,756,-0.62,-194.6,163.7,-19.5,115,764,0.00,1.85,0.00,0.000,6,0.000,0.020,2580,1778,3639,0,0,0,0,0,0
$GC,830,-0.62,-194.6,177.4,-19.3,128,838,0.00,2.17,0.00,0.000,4,0.000,0.032,2573,3264,3639,0,0,0,0,0,0
$GC,872,-0.62,-194.6,185.3,-18.3,135,880,0.00,2.08,0.00,0.000,6,0.000,0.017,2573,1805,3639,0,0,0,0,0,0
$GC,945,-0.62,-194.6,199.2,-20.0,148,953,0.00,1.92,0.00,0.000,4,0.000,0.028,2573,485,3639,0,0,0,0,0,0
$GC,977,-0.62,-194.6,205.3,-18.1,151,984,0.12,1.83,0.00,0.000,6,0.178,0.020,2600,1782,3639,0,0,0,0,0,0
$GC,1302,-0.62,-194.6,256.9,-15.8,182,1306,0.00,2.17,0.00,0.000,4,0.000,0.031,2591,3267,3639,0,0,0,0,0,0
$GC,1427,-0.62,-194.6,275.2,-13.5,192,1436,0.00,2.08,0.00,0.000,6,0.000,0.017,2591,1799,3639,0,0,0,0,0,0
$GC,1755,-0.62,-194.6,318.0,-13.0,223,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1799,3637,0,0,0,0,0,0
$GC,2085,-0.62,-194.6,360.5,-12.4,254,2089,0.00,2.17,0.00,0.000,4,0.000,0.031,2588,3266,3636,0,0,0,0,0,0
$GC,2151,-0.62,-194.6,368.6,-10.6,259,2158,0.00,2.03,0.00,0.000,6,0.000,0.017,2587,1813,3636,0,0,0,0,0,0
$GC,2477,-0.62,-194.6,400.3,-9.9,290,2481,0.00,2.15,0.00,0.000,4,0.000,0.031,2588,3264,3634,0,0,0,0,0,0
$GC,2510,-0.62,-194.6,403.7,-9.7,292,2517,0.00,1.95,0.00,0.000,6,0.000,0.018,2588,1849,3634,0,0,0,0,0,0
$GC,2836,-0.62,-194.6,434.4,-9.3,323,2840,0.00,2.08,0.00,0.000,4,0.000,0.031,2588,3267,3632,0,0,0,0,0,0
$GC,2914,-0.62,-194.6,441.9,-9.1,329,2921,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1912,3632,0,0,0,0,0,0
$GC,3239,-0.62,-194.6,477.8,-11.9,360,3243,0.00,2.03,0.00,0.000,4,0.000,0.030,2587,518,3629,0,0,0,0,0,0
$GC,3275,-0.62,-194.6,482.0,-12.1,363,3279,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1941,3629,0,0,0,0,0,0
$GC,3615,-0.62,-194.6,517.2,-9.8,387,3620,0.00,1.98,0.00,0.000,4,0.000,0.035,2587,3262,3627,0,0,0,0,0,0
$GC,3670,-0.62,-194.6,522.3,-8.4,389,3674,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1930,3627,0,0,0,0,0,0
$GC,3992,-0.62,-194.6,548.4,-8.9,405,3996,0.00,2.05,0.00,0.000,4,0.000,0.030,2587,527,3624,0,0,0,0,0,0
$GC,4100,-0.62,-194.6,559.3,-9.8,409,4107,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1887,3624,0,0,0,0,0,0
$GC,4417,-0.62,-194.6,583.3,-6.8,425,4420,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3266,3621,0,0,0,0,0,0
$GC,4565,-0.62,-194.6,593.1,-6.4,431,4568,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1945,3621,0,0,0,0,0,0
$GC,4887,-0.62,-194.6,620.6,-9.6,447,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1945,3619,0,0,0,0,0,0
$GC,5197,-0.62,-194.6,648.2,-8.8,462,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1944,3616,0,0,0,0,0,0
$GC,5505,-0.62,-194.6,672.1,-7.2,477,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1945,3614,0,0,0,0,0,0
$GC,5814,-0.62,-194.6,695.2,-7.6,492,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1945,3612,0,0,0,0,0,0
$GC,6126,-0.62,-194.6,719.2,-8.0,507,6130,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,518,3610,0,0,0,0,0,0
$GC,6153,-0.62,-194.6,721.9,-8.3,508,6156,0.00,2.08,0.00,0.000,6,0.000,0.022,2587,1940,3609,0,0,0,0,0,0
$GC,6480,-0.62,-194.6,752.2,-9.9,524,6484,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3271,3607,0,0,0,0,0,0
$GC,6573,-0.62,-194.6,761.1,-9.6,528,6577,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1975,3606,0,0,0,0,0,0
$GC,6907,-0.62,-194.6,791.0,-7.9,544,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1974,3605,0,0,0,0,0,0
$GC,7218,-0.62,-194.6,811.2,-6.1,559,7222,0.00,2.15,0.00,0.000,4,0.000,0.029,2587,527,3602,0,0,0,0,0,0
$GC,7250,-0.62,-194.6,813.7,-6.3,560,7254,0.00,2.12,0.00,0.000,6,0.000,0.023,2587,1975,3602,0,0,0,0,0,0
$GC,7573,-0.62,-194.6,835.0,-6.6,576,7577,0.00,1.92,0.00,0.000,4,0.000,0.038,2588,3266,3600,0,0,0,0,0,0
$GC,7674,-0.62,-194.6,841.4,-6.3,580,7678,0.00,1.77,0.00,0.000,6,0.000,0.019,2587,1995,3599,0,0,0,0,0,0
$GC,7996,-0.62,-194.6,861.8,-6.0,596,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1994,3599,0,0,0,0,0,0
$GC,8308,-0.62,-194.6,877.9,-4.9,611,8311,0.00,1.92,0.00,0.000,4,0.000,0.038,2587,3270,3597,0,0,0,0,0,0
$GC,8363,-0.62,-194.6,880.7,-4.9,613,8368,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2040,3597,0,0,0,0,0,0
$GC,8685,-0.62,-194.6,896.7,-5.2,629,8688,0.00,1.85,0.00,0.000,4,0.000,0.038,2587,3266,3595,0,0,0,0,0,0
$GC,8719,-0.62,-194.6,898.7,-5.1,630,8723,0.00,1.73,0.00,0.000,6,0.000,0.019,2587,2036,3595,0,0,0,0,0,0
$GC,9041,-0.62,-194.6,919.0,-6.9,646,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2034,3593,0,0,0,0,0,0
$GC,9351,-0.62,-194.6,941.6,-7.6,661,9354,0.00,1.88,0.00,0.000,4,0.000,0.039,2587,3263,3592,0,0,0,0,0,0
$GC,9424,-0.62,-194.6,947.2,-7.5,664,9428,0.00,1.70,0.00,0.000,6,0.000,0.020,2587,2037,3592,0,0,0,0,0,0
$GC,9752,-0.62,-194.6,971.2,-7.3,680,9756,0.00,1.90,0.00,0.000,4,0.000,0.038,2587,3262,3591,0,0,0,0,0,0
$GC,9814,-0.62,-194.6,975.7,-7.3,682,9822,0.00,1.67,0.00,0.000,6,0.000,0.020,2588,2074,3590,0,0,0,0,0,0
$STATE,10003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10004,begin apogee
$GC,10009,-0.20,0.0,990.1,7.5,692,10168,0.43,0.00,154.25,1.395,4,0.112,0.000,2732,2070,2839,0,0,0,0,0,0
$STATE,10169,end apogee,CONTROL_FINISHED_OK
$STATE,10169,begin climb
$GC,10173,0.62,194.6,997.3,0.0,699,10351,0.80,2.30,170.00,1.340,4,0.081,0.041,3000,3466,2044,0,0,0,0,0,0
$GC,10509,0.62,194.6,964.1,12.7,715,10513,0.00,2.05,0.00,0.000,6,0.000,0.021,3006,2114,2036,0,0,0,0,0,0
$GC,10844,0.62,194.6,925.3,11.8,731,10849,0.00,2.12,0.00,0.000,4,0.000,0.037,3006,3467,2033,0,0,0,0,0,0
$GC,11003,0.62,194.6,902.2,15.3,738,11007,0.00,2.10,0.00,0.000,6,0.000,0.022,3010,2045,2032,0,0,0,0,0,0
$GC,11331,0.62,194.6,852.6,15.4,754,11335,0.00,2.03,0.00,0.000,4,0.000,0.033,3021,685,2032,0,0,0,0,0,0
$GC,11387,0.62,194.6,843.5,16.0,756,11392,0.00,2.00,0.00,0.000,6,0.000,0.023,3021,2019,2031,0,0,0,0,0,0
$GC,11708,0.62,194.6,795.3,14.7,772,11712,0.00,2.17,0.00,0.000,4,0.000,0.039,3021,3466,2031,0,0,0,0,0,0
$GC,11731,0.62,194.6,791.6,14.6,773,11736,0.12,2.10,0.00,0.000,6,0.163,0.021,2998,2024,2031,0,0,0,0,0,0
$GC,12053,0.62,194.6,749.8,12.4,789,12057,0.00,2.00,0.00,0.000,4,0.000,0.033,3006,676,2030,0,0,0,0,0,0
$GC,12136,0.62,194.6,739.5,12.0,792,12144,0.00,2.03,0.00,0.000,6,0.000,0.024,3006,2050,2030,0,0,0,0,0,0
$GC,12454,0.62,194.6,700.9,12.1,808,12458,0.00,2.15,0.00,0.000,4,0.000,0.039,3006,3466,2029,0,0,0,0,0,0
$GC,12540,0.62,194.6,689.9,12.7,812,12544,0.00,2.08,0.00,0.000,6,0.000,0.021,3016,2041,2029,0,0,0,0,0,0
$GC,12869,0.62,194.6,653.9,10.8,828,12873,0.00,1.98,0.00,0.000,4,0.000,0.034,3026,689,2029,0,0,0,0,0,0
$GC,13009,0.62,194.6,637.8,11.2,834,13013,0.00,1.95,0.00,0.000,6,0.000,0.023,3026,2038,2028,0,0,0,0,0,0
$GC,13337,0.62,194.6,597.9,13.1,850,13338,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2038,2028,0,0,0,0,0,0
$GC,13646,0.62,194.6,554.6,13.6,865,13651,0.00,2.17,0.00,0.000,4,0.000,0.039,3026,3459,2028,0,0,0,0,0,0
$GC,13729,0.62,194.6,542.8,14.0,868,13738,0.12,2.08,0.00,0.000,6,0.169,0.021,3001,2025,2028,0,0,0,0,0,0
$GC,14048,0.66,223.2,513.1,8.7,884,14075,0.00,1.98,22.85,1.046,4,0.000,0.031,3009,695,1927,0,0,0,0,0,0
$GC,14226,0.68,239.6,497.5,9.2,893,14249,0.00,1.85,14.80,0.993,6,0.000,0.021,3010,1970,1863,0,0,0,0,0,0
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$STATE,18678,end climb,SURFACE_DEPTH_REACHED
$STATE,18678,begin surface coast
$FINISH,0.9,1.020698
$STATE,18711,end surface coast,CONTROL_FINISHED_OK
$STATE,18711,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,36.49
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.40
$XPDR_PINGS,58
$24V_AH,22.8,51.738
$10V_AH,9.9,46.319
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,957.988,1056.517,1215.142,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329668
$DATA_FILE_SIZE,83547,1415
$CAP_FILE_SIZE,205412,0
$CFSIZE,260165632,114753536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,318.0,1
$GPS,110811,060507,1957.989,12349.656,35,1.1,36,-2.4