version: 66.11
glider: 167
mission: 14
dive: 22
start: 10 18 112 20 16 40
data:
$ID,167
$MISSION,14
$DIVE,22
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,330
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,200
$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,-968500.81
$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,2740
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,25
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$R_STBD_OVSHOOT,77
$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,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$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
$GPS1,181012,200524,2154.615,12106.330,37,1.7,37,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-59.1
$GPS2,181012,201613,2154.629,12106.496,22,1.9,22,-3.1
$SPEED_LIMITS,0.173,0.296
$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,12.6,131919,-15.7,-10.000,-18.65
$D_GRID,829
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.47,-195.5,0.0,0.0,0,103,0.00,0.00,-82.25,0.000,2,0.000,0.000,111,2293,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.47,-195.5,3.2,-5.0,14,143,9.88,1.27,-22.45,0.000,4,0.236,0.072,2584,3089,3767,0,0,0,0,0,0,25.78,26.18,26.52
$GC,238,-0.45,-195.5,29.5,-19.8,36,241,0.00,1.23,0.00,0.000,6,0.000,0.022,2583,2254,3767,0,0,0,0,0,0,28.83,26.36,28.83
$GC,539,-0.44,-195.5,81.0,-15.7,57,542,0.00,1.25,0.00,0.000,4,0.000,0.025,2583,1373,3767,0,0,0,0,0,0,28.83,26.51,28.83
$GC,599,-0.44,-195.5,87.9,-14.0,60,602,0.00,1.27,0.00,0.000,6,0.000,0.029,2584,2224,3768,0,0,0,0,0,0,28.83,26.51,28.83
$GC,902,-0.48,-195.5,128.8,-11.9,75,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2224,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1203,-0.57,-195.5,152.1,-6.0,90,1209,0.00,1.35,0.00,0.000,4,0.000,0.045,2583,3119,3765,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1330,-0.67,-195.5,159.9,-6.4,96,1334,0.17,1.27,0.00,0.000,6,0.063,0.021,2470,2228,3768,0,0,0,0,0,0,26.67,26.70,28.83
$GC,1630,-0.66,-195.5,197.8,-13.6,111,1632,0.17,0.00,0.00,0.000,6,0.142,0.000,2522,2227,3768,0,0,0,0,0,0,26.49,28.83,28.83
$GC,1932,-0.71,-195.5,238.9,-13.0,126,1938,0.00,1.17,0.00,0.000,4,0.000,0.028,2522,1384,3769,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1999,-0.77,-195.5,246.2,-12.2,129,2002,0.00,1.30,0.00,0.000,6,0.000,0.031,2522,2253,3768,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2302,-0.84,-195.5,271.0,-6.1,144,2308,0.15,1.30,0.00,0.000,4,0.069,0.044,2434,3109,3767,0,0,0,0,0,0,26.79,26.67,28.83
$GC,2451,-0.81,-195.5,284.9,-10.1,151,2461,0.15,1.23,0.00,0.000,6,0.142,0.022,2482,2246,3766,0,0,0,0,0,0,26.51,26.77,28.83
$GC,2761,-0.83,-195.5,307.9,-9.2,167,2768,0.00,1.23,0.00,0.000,4,0.000,0.032,2476,1407,3764,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2901,-0.86,-195.5,321.1,-9.2,174,2907,0.00,1.27,0.00,0.000,6,0.000,0.037,2476,2242,3763,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3221,-0.89,-195.5,344.7,-8.4,190,3227,0.00,1.38,0.00,0.000,4,0.000,0.048,2476,3136,3761,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3403,-0.92,-195.5,360.3,-8.8,199,3408,0.00,1.25,0.00,0.000,6,0.000,0.023,2476,2261,3759,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3721,-0.95,-195.5,384.4,-7.8,215,3728,0.12,1.35,0.00,0.000,4,0.083,0.046,2408,3120,3757,0,0,0,0,0,0,26.81,26.66,28.83
$GC,3820,-0.91,-195.5,397.4,-14.0,220,3830,0.15,1.27,-0.10,0.000,6,0.149,0.023,2449,2235,3778,0,0,0,0,0,0,26.47,26.78,26.24
$GC,4140,-0.91,-195.5,437.3,-12.2,236,4147,0.00,1.42,0.00,0.000,4,0.000,0.047,2449,3130,3776,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4280,-0.91,-195.5,454.4,-11.9,243,4283,0.00,1.27,0.00,0.000,6,0.000,0.023,2449,2257,3775,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4591,-0.91,-195.5,486.0,-8.8,259,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2257,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4893,-0.92,-195.5,518.6,-12.5,274,4899,0.00,1.35,0.00,0.000,4,0.000,0.050,2449,3120,3770,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4951,-0.93,-195.5,526.4,-12.9,277,4954,0.00,1.27,0.00,0.000,6,0.000,0.024,2449,2251,3770,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,5166,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5166,begin apogee
$GC,5172,-0.20,0.0,550.9,-10.0,288,5333,0.65,0.00,156.62,0.898,6,0.107,0.000,2672,2118,2967,0,0,0,0,0,0,26.41,28.83,24.43
$STATE,5336,end apogee,CONTROL_FINISHED_OK
$STATE,5336,begin climb
$GC,5339,0.47,195.5,557.9,0.0,296,5508,0.57,1.30,161.38,0.848,4,0.044,0.032,2911,1302,2165,0,0,0,0,0,0,25.25,24.99,24.34
$GC,5656,0.43,195.5,532.5,13.8,311,5660,0.12,1.33,0.00,0.000,6,0.142,0.030,2878,2154,2148,0,0,0,0,0,0,25.73,25.88,28.83
$GC,5956,0.40,195.5,497.0,10.7,326,5963,0.00,1.35,0.00,0.000,4,0.000,0.042,2878,3019,2144,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6176,0.37,197.2,475.6,9.9,337,6183,0.00,1.25,0.00,0.000,6,0.000,0.024,2881,2167,2143,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6496,0.35,197.2,441.8,10.1,353,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2167,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6798,0.34,250.5,416.4,8.2,368,6848,0.00,1.42,40.03,1.229,4,0.000,0.045,2881,3027,1945,0,0,0,0,1,0,28.83,25.44,24.44
$GC,7046,0.32,250.5,391.3,10.7,380,7053,0.12,1.33,0.00,0.000,6,0.154,0.024,2847,2141,1953,0,0,0,0,0,0,25.97,26.15,28.83
$GC,7366,0.35,266.4,362.1,9.5,396,7394,0.00,1.40,16.58,0.874,4,0.000,0.042,2847,3023,1885,0,0,0,0,1,0,28.83,26.02,24.95
$GC,7498,0.36,266.4,350.1,10.2,402,7505,0.00,1.27,0.00,0.000,6,0.000,0.024,2848,2146,1889,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7807,0.38,266.4,318.6,10.6,418,7813,0.00,1.38,0.00,0.000,4,0.000,0.040,2847,3024,1888,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7895,0.40,266.4,309.1,11.9,422,7898,0.00,1.30,0.00,0.000,6,0.000,0.024,2851,2134,1888,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8197,0.48,432.6,287.3,4.3,437,8357,0.12,1.35,146.75,1.337,4,0.084,0.032,2921,1296,1204,0,0,0,0,1,0,26.59,24.77,23.87
$GC,8406,0.48,432.6,264.6,12.9,447,8409,0.00,1.35,0.00,0.000,6,0.000,0.028,2921,2145,1205,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8706,0.48,432.6,224.7,12.9,462,8709,0.00,1.38,0.00,0.000,4,0.000,0.040,2921,3031,1203,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8926,0.49,455.2,203.8,9.2,473,8958,0.00,1.30,23.20,0.733,6,0.000,0.023,2921,2144,1104,0,0,0,0,0,0,28.83,26.36,25.28
$GC,9258,0.59,631.2,182.4,3.9,490,9408,0.00,1.48,145.27,0.617,4,0.000,0.038,2921,3037,452,0,0,0,0,0,0,28.83,25.22,24.71
$GC,9468,0.70,705.4,168.5,7.5,500,9476,0.12,1.33,0.00,0.000,6,0.078,0.021,3001,2146,433,0,0,0,0,0,0,25.68,25.72,28.83
$GC,9787,0.70,705.4,109.1,20.1,516,9791,0.12,1.40,0.00,0.000,4,0.135,0.038,2965,3037,429,0,0,0,0,0,0,26.15,26.21,28.83
$GC,9840,0.72,705.4,100.6,17.0,519,9846,0.00,1.30,0.00,0.000,6,0.000,0.023,2965,2154,428,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10159,0.82,728.9,69.4,9.2,535,10168,0.12,1.38,0.00,0.000,4,0.080,0.038,3050,3040,427,0,0,0,0,0,0,26.50,26.41,28.83
$GC,10199,0.87,728.9,63.7,11.5,537,10208,0.12,1.30,0.00,0.000,6,0.150,0.024,3016,2151,427,0,0,0,0,0,0,26.29,26.49,28.83
$GC,10509,0.92,728.9,24.7,10.8,563,10516,0.00,1.25,0.00,0.000,4,0.000,0.031,3016,1283,427,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10594,0.99,751.5,16.3,9.2,579,10602,0.08,1.27,0.00,0.000,6,0.047,0.027,3092,2150,426,0,0,0,0,0,0,26.52,26.58,28.83
$STATE,10673,end climb,SURFACE_DEPTH_REACHED
$STATE,10673,begin surface coast
$FINISH,1.1,1.021890
$STATE,10689,end surface coast,CONTROL_FINISHED_OK
$STATE,10689,begin surface
$SM_CCo,10767,0.00,0.000,0,0,426,623.55
$SM_GC,1.68,7.40,0.12,0.00,0.024,0.084,0.000,119,2261,426,-8.10,-1.36,623.55,0,0,0,0,0,0,26.58,26.60,28.83
$IRIDIUM_FIX,2148.09,12105.40,181012,202010
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.04
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,550.9,8.1
$24V_AH,23.9,12.083
$10V_AH,10.1,6.451
$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,20.375,55.350,689.825,0.000,0.000,0.000,0.000,405.525,3.000,0.000,23.173,1659.791,7073.417,820.152,1623.004,246.715,0.000,1884.962,0.000,1148.549,0.000,7.278,0.000
$DEVICE_MAMPS,236.385,86.445,1337.220,0.000,0.000,0.000,0.000,122.400,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10718.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,39.916,0.000,0.000,0.000
$MEM,323836
$DATA_FILE_SIZE,20095,597
$CAP_FILE_SIZE,130985,0
$CFSIZE,260165632,247418880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.174, 58.9,1
$GPS,181012,231729,2156.908,12107.599,39,0.8,39,-3.2