version: 66.11
glider: 167
mission: 14
dive: 3
start: 10 16 112 1 39 24
data:
$ID,167
$MISSION,14
$DIVE,3
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,1050
$D_NO_BLEED,500
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$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,425
$N_FILEKB,8
$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,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-968464.56
$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,2760
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$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,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,161012,013519,2131.895,12054.882,3,0.8,3,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.7
$GPS2,161012,013853,2131.880,12054.916,4,0.8,4,-3.0
$SPEED_LIMITS,0.094,0.258
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,335.2,177851,-6.5,-5.455,-11.95
$D_GRID,518
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.26,-244.4,0.0,0.0,0,112,0.00,0.00,-91.88,0.000,2,0.000,0.000,116,1967,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.26,-244.4,3.7,-6.2,16,153,9.82,2.12,-19.58,0.000,4,0.229,0.057,2669,3372,3962,0,0,0,0,0,0,26.13,26.55,26.94
$GC,261,-0.30,-244.4,20.6,-5.5,43,268,0.00,2.00,0.00,0.000,6,0.000,0.020,2669,1953,3962,0,0,0,0,0,0,28.83,26.72,28.83
$GC,588,-0.45,-244.4,56.1,-13.0,79,594,0.12,2.15,0.00,0.000,4,0.100,0.043,2609,3374,3962,0,0,0,0,0,0,26.78,26.67,28.83
$GC,661,-0.61,-244.4,65.0,-13.4,82,667,0.15,1.95,0.00,0.000,6,0.097,0.021,2546,1976,3962,0,0,0,0,0,0,26.67,26.79,28.83
$GC,976,-0.53,-244.4,117.0,-16.0,98,981,0.12,2.10,0.00,0.000,4,0.138,0.045,2588,3370,3962,0,0,0,0,0,0,26.70,26.69,28.83
$GC,1091,-0.50,-244.4,124.4,-4.8,103,1096,0.00,1.98,0.00,0.000,6,0.000,0.020,2588,1967,3959,0,0,0,0,0,0,28.83,26.84,28.83
$GC,1404,-0.50,-244.4,144.7,-10.7,119,1410,0.00,2.12,0.00,0.000,4,0.000,0.045,2588,3369,3962,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1513,-0.58,-244.4,148.1,-2.5,124,1519,0.00,1.95,0.00,0.000,6,0.000,0.022,2588,1976,3961,0,0,0,0,0,0,28.83,26.83,28.83
$GC,1832,-0.72,-244.4,183.5,-15.5,140,1838,0.15,2.00,0.00,0.000,4,0.090,0.032,2522,580,3962,0,0,0,0,0,0,26.81,26.77,28.83
$GC,1865,-0.84,-244.4,187.4,-15.5,141,1871,0.00,2.00,0.00,0.000,6,0.000,0.030,2521,1979,3962,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2179,-1.01,-244.4,219.9,-8.5,157,2185,0.22,2.05,0.00,0.000,4,0.090,0.034,2428,574,3960,0,0,0,0,0,0,26.73,26.75,28.83
$GC,2292,-0.93,-244.4,228.9,-8.8,162,2298,0.12,2.03,0.00,0.000,6,0.150,0.034,2462,1961,3960,0,0,0,0,0,0,26.55,26.75,28.83
$GC,2606,-0.84,-244.4,265.0,-13.4,178,2612,0.00,2.12,0.00,0.000,4,0.000,0.052,2462,3383,3959,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2839,-0.76,-244.4,301.7,-17.3,189,2845,0.17,1.98,0.00,0.000,6,0.122,0.021,2516,1955,3958,0,0,0,0,0,0,26.55,26.85,28.83
$GC,3153,-0.76,-244.4,326.0,-6.6,205,3159,0.00,2.17,-0.08,0.000,4,0.000,0.061,2517,3379,3978,0,0,0,0,0,0,28.83,26.63,26.04
$GC,3346,-0.76,-244.4,339.2,-7.2,214,3351,0.00,1.98,0.00,0.000,6,0.000,0.022,2517,1978,3978,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3659,-0.91,-244.4,356.3,-5.9,230,3665,0.12,2.03,0.00,0.000,4,0.098,0.031,2451,573,3975,0,0,0,0,0,0,26.84,26.72,28.83
$STATE,3721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3721,begin apogee
$GC,3729,-0.20,0.0,361.4,-7.9,233,3932,0.70,0.00,195.07,1.434,6,0.106,0.000,2691,1992,2969,0,0,0,0,0,0,26.39,28.83,24.09
$STATE,3933,end apogee,CONTROL_FINISHED_OK
$STATE,3933,begin climb
$GC,3936,0.26,244.4,374.6,0.0,243,4149,0.40,2.25,203.35,1.395,4,0.041,0.041,2880,598,1973,0,0,0,0,0,0,25.35,25.06,24.06
$GC,4192,0.12,244.4,363.7,9.0,256,4198,0.25,2.10,0.00,0.000,6,0.111,0.034,2802,1968,1968,0,0,0,0,0,0,25.66,25.75,28.83
$GC,4511,0.16,424.5,350.7,2.7,272,4673,0.00,2.25,153.07,1.404,4,0.000,0.041,2802,592,1238,0,0,0,0,0,0,28.83,25.11,24.08
$GC,4901,0.29,424.5,321.9,11.6,291,4908,0.17,2.10,0.00,0.000,6,0.095,0.035,2868,1993,1236,0,0,0,0,0,0,26.29,26.34,28.83
$GC,5221,0.42,424.5,289.3,11.6,307,5226,0.00,2.10,0.00,0.000,4,0.000,0.041,2868,588,1234,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5351,0.55,424.5,268.7,17.2,313,5357,0.20,2.05,0.00,0.000,6,0.095,0.035,2942,1982,1234,0,0,0,0,0,0,26.55,26.63,28.83
$GC,5671,0.47,497.3,251.4,4.3,329,5743,0.00,2.28,63.35,1.392,4,0.000,0.044,2943,604,940,0,0,0,0,0,0,28.83,25.25,24.26
$GC,5881,0.40,497.3,235.6,10.2,339,5887,0.17,2.05,0.00,0.000,6,0.119,0.034,2889,1962,939,0,0,0,0,0,0,26.10,26.18,28.83
$GC,6194,0.40,499.1,212.9,5.4,355,6201,0.00,2.15,0.00,0.000,4,0.000,0.042,2889,3395,937,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6340,0.39,499.1,200.5,8.9,362,6346,0.00,2.05,0.00,0.000,6,0.000,0.023,2889,1966,936,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6663,0.39,499.1,172.5,6.3,378,6669,0.00,2.15,0.00,0.000,4,0.000,0.046,2889,3389,936,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6706,0.39,499.1,170.0,5.8,380,6712,0.00,2.03,0.00,0.000,6,0.000,0.024,2889,1982,936,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7030,0.52,499.1,142.1,14.1,396,7032,0.12,0.00,0.00,0.000,6,0.107,0.000,2936,1982,936,0,0,0,0,0,0,26.71,28.83,28.83
$GC,7332,0.65,499.1,112.7,14.2,411,7337,0.00,2.12,0.00,0.000,4,0.000,0.047,2936,3386,936,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7405,0.77,499.1,103.6,14.5,414,7411,0.22,2.03,0.00,0.000,6,0.101,0.025,3013,1970,935,0,0,0,0,0,0,26.65,26.77,28.83
$GC,7719,0.83,499.1,72.8,11.0,430,7725,0.00,2.05,0.00,0.000,4,0.000,0.041,3014,570,935,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7787,0.86,499.1,66.0,10.8,433,7792,0.00,2.05,0.00,0.000,6,0.000,0.031,3013,1973,935,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8095,0.86,499.1,37.9,10.2,454,8100,0.00,2.10,0.00,0.000,4,0.000,0.046,3014,3387,936,0,0,0,0,0,0,28.83,26.72,28.83
$GC,8214,0.77,499.1,25.0,11.1,465,8222,0.00,2.03,0.00,0.000,6,0.000,0.026,3014,1973,936,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,8425,end climb,SURFACE_DEPTH_REACHED
$STATE,8425,begin surface coast
$FINISH,0.5,1.010590
$STATE,8451,end surface coast,CONTROL_FINISHED_OK
$STATE,8451,begin surface
$SM_CCo,8528,0.00,0.000,0,0,936,498.45
$SM_GC,1.43,7.25,0.00,0.00,0.034,0.000,0.000,120,1971,936,-8.17,-0.11,498.45,0,0,0,0,0,0,26.79,28.83,28.83
$IRIDIUM_FIX,2122.58,12056.24,161012,010148
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.04
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,26.30
$XPDR_PINGS,22
$24V_AH,24.1,7.776
$10V_AH,10.2,3.120
$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,20.525,74.800,614.850,0.000,0.000,0.000,0.000,0.000,5.500,0.000,5.931,1686.520,4751.352,618.906,1399.740,146.063,0.000,1420.052,0.000,1358.247,0.000,0.545,0.000
$DEVICE_MAMPS,228.735,61.200,1434.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8428.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.427,0.000,0.000,0.000
$MEM,323868
$DATA_FILE_SIZE,20095,511
$CAP_FILE_SIZE,128329,0
$CFSIZE,260165632,249143296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.603,121.4,1
$GPS,161012,040253,2132.153,12056.402,39,0.9,39,-3.0