version: 66.11
glider: 167
mission: 14
dive: 34
start: 10 20 112 17 32 41
data:
$ID,167
$MISSION,14
$DIVE,34
$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,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,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,-968531.25
$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,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,93
$R_STBD_OVSHOOT,70
$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
$GPS1,201012,172530,2208.852,12107.888,41,1.0,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.8
$GPS2,201012,173212,2208.822,12107.777,5,0.8,5,-3.2
$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,32.0,106016,-15.7,-10.000,-18.65
$D_GRID,1242
$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,-195.5,0.0,0.0,0,89,0.00,0.00,-69.12,0.000,2,0.000,0.000,111,2275,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.47,-195.5,3.1,-5.5,12,142,9.82,2.10,-34.22,0.000,4,0.233,0.043,2580,894,3766,0,0,0,0,0,0,25.64,26.13,26.44
$GC,171,-0.48,-195.5,12.1,-15.4,25,178,0.00,2.03,0.00,0.000,6,0.000,0.028,2578,2257,3767,0,0,0,0,0,0,28.83,26.13,28.83
$GC,488,-0.48,-195.5,60.3,-14.9,61,494,0.00,2.17,0.00,0.000,4,0.000,0.046,2574,3678,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,561,-0.50,-195.5,69.2,-14.3,64,566,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,2301,3767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,874,-0.55,-195.5,106.7,-11.0,80,879,0.00,2.15,0.00,0.000,4,0.000,0.050,2574,3680,3768,0,0,0,0,0,0,28.83,26.37,28.83
$GC,993,-0.62,-195.5,114.3,-6.7,85,1001,0.00,2.05,0.00,0.000,6,0.000,0.021,2574,2256,3768,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1298,-0.69,-195.5,135.8,-6.8,101,1300,0.17,0.00,0.00,0.000,6,0.063,0.000,2472,2256,3769,0,0,0,0,0,0,26.65,28.83,28.83
$GC,1600,-0.68,-195.5,174.7,-14.8,116,1605,0.15,2.20,0.00,0.000,4,0.144,0.047,2520,3676,3770,0,0,0,0,0,0,26.42,26.49,28.83
$GC,1706,-0.72,-195.5,185.4,-9.0,121,1712,0.00,2.03,0.00,0.000,6,0.000,0.021,2526,2271,3770,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2030,-0.77,-195.5,211.6,-6.9,137,2036,0.00,2.03,0.00,0.000,4,0.000,0.034,2520,865,3769,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2109,-0.82,-195.5,216.3,-7.2,140,2116,0.12,2.10,0.00,0.000,6,0.080,0.036,2445,2281,3769,0,0,0,0,0,0,26.60,26.59,28.83
$GC,2414,-0.79,-195.5,254.3,-11.6,156,2416,0.15,0.00,0.00,0.000,6,0.144,0.000,2480,2282,3768,0,0,0,0,0,0,26.48,28.83,28.83
$GC,2717,-0.82,-195.5,284.0,-8.9,171,2722,0.00,2.12,0.00,0.000,4,0.000,0.047,2480,3685,3767,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2890,-0.85,-195.5,300.1,-10.0,179,2896,0.00,2.03,0.00,0.000,6,0.000,0.021,2480,2258,3765,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3204,-0.88,-195.5,334.8,-10.4,195,3209,0.00,2.20,0.00,0.000,4,0.000,0.050,2480,3682,3764,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3257,-0.91,-195.5,338.9,-9.7,197,3263,0.10,2.00,0.00,0.000,6,0.093,0.021,2421,2244,3764,0,0,0,0,0,0,26.65,26.75,28.83
$GC,3571,-0.89,-195.5,380.7,-11.9,213,3573,0.12,0.00,0.00,0.000,6,0.156,0.000,2454,2243,3761,0,0,0,0,0,0,26.55,28.83,28.83
$GC,3873,-0.90,-195.5,410.4,-10.4,228,3878,0.00,2.22,0.00,0.000,4,0.000,0.046,2452,3682,3760,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3930,-0.91,-195.5,415.3,-10.7,230,3937,0.00,1.95,0.00,0.000,6,0.000,0.021,2452,2285,3759,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4236,-0.92,-195.5,453.1,-11.9,246,4242,0.00,2.17,0.00,0.000,4,0.000,0.050,2453,3680,3757,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4279,-0.94,-195.5,458.1,-11.9,248,4284,0.00,2.00,0.00,0.000,6,0.000,0.021,2452,2248,3757,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4603,-0.95,-195.5,492.5,-10.5,264,4609,0.00,2.22,-0.08,0.000,4,0.000,0.057,2453,3682,3783,0,0,0,0,0,0,28.83,26.57,26.00
$GC,4671,-0.97,-195.5,499.0,-10.1,267,4676,0.00,1.95,0.00,0.000,6,0.000,0.021,2452,2271,3784,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4989,-0.99,-195.5,530.4,-10.0,283,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2269,3782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5291,-1.01,-195.5,561.6,-10.4,298,5296,0.12,2.17,0.00,0.000,4,0.085,0.044,2377,3683,3779,0,0,0,0,0,0,26.77,26.56,28.83
$GC,5449,-0.97,-195.5,584.6,-16.5,305,5456,0.17,1.98,0.00,0.000,6,0.151,0.021,2425,2277,3778,0,0,0,0,0,0,26.34,26.77,28.83
$STATE,5556,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5556,begin apogee
$GC,5562,-0.20,0.0,601.1,-12.7,311,5729,0.73,0.00,157.52,0.936,6,0.112,0.000,2673,2274,2964,0,0,0,0,0,0,26.31,28.83,24.30
$STATE,5731,end apogee,CONTROL_FINISHED_OK
$STATE,5731,begin climb
$GC,5733,0.47,195.5,609.4,0.0,316,5906,0.57,2.20,162.05,0.893,4,0.038,0.044,2914,3646,2159,0,0,0,0,0,0,25.19,24.79,24.12
$GC,6135,0.39,195.5,574.6,14.0,333,6142,0.20,2.03,0.00,0.000,6,0.151,0.025,2867,2288,2149,0,0,0,0,0,0,25.67,25.93,28.83
$GC,6441,0.38,222.9,542.9,9.1,349,6469,0.00,2.25,18.23,0.974,4,0.000,0.047,2867,3654,2058,0,0,0,0,1,0,28.83,25.77,24.69
$GC,6539,0.35,222.9,534.5,10.2,353,6545,0.00,2.10,0.00,0.000,6,0.000,0.026,2871,2244,2064,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6843,0.33,222.9,501.5,10.3,369,6848,0.00,2.05,0.00,0.000,4,0.000,0.034,2871,859,2064,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6869,0.32,222.9,499.1,10.1,370,6875,0.00,2.08,0.00,0.000,6,0.000,0.028,2871,2260,2064,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7188,0.30,222.9,466.0,10.2,386,7195,0.12,2.12,0.00,0.000,4,0.140,0.044,2831,3647,2063,0,0,0,0,0,0,26.29,26.34,28.83
$GC,7262,0.31,246.2,460.1,9.2,389,7298,0.00,2.05,23.00,1.123,6,0.000,0.025,2831,2240,1964,0,0,0,0,1,0,28.83,26.47,24.73
$GC,7616,0.36,305.1,431.5,8.0,407,7685,0.00,2.35,55.70,1.374,4,0.000,0.046,2831,3651,1723,0,0,0,0,1,0,28.83,24.92,23.96
$GC,7742,0.40,322.6,420.5,9.4,413,7773,0.12,2.12,18.60,0.973,6,0.079,0.024,2898,2233,1653,0,0,0,0,1,0,25.58,25.61,24.27
$GC,8081,0.40,322.6,376.7,12.9,430,8086,0.00,2.22,0.00,0.000,4,0.000,0.044,2898,3650,1653,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8154,0.38,322.6,367.8,13.8,433,8161,0.12,2.08,0.00,0.000,6,0.158,0.026,2866,2253,1652,0,0,0,0,0,0,26.00,26.21,28.83
$GC,8470,0.42,366.5,340.1,8.5,449,8518,0.00,2.20,43.05,0.803,4,0.000,0.033,2868,861,1468,0,0,0,0,0,0,28.83,25.59,24.94
$GC,8562,0.47,397.5,332.7,8.9,453,8596,0.00,2.10,28.58,0.799,6,0.000,0.026,2867,2253,1344,0,0,0,0,0,0,28.83,25.78,24.75
$GC,8915,0.54,444.4,299.6,8.4,471,8964,0.12,2.22,42.45,0.757,4,0.079,0.043,2948,3646,1145,0,0,0,0,0,0,26.21,25.44,24.83
$GC,9047,0.51,444.4,282.8,15.3,477,9052,0.17,2.08,0.00,0.000,6,0.143,0.024,2907,2249,1141,0,0,0,0,0,0,25.68,25.86,28.83
$GC,9361,0.54,444.4,248.1,10.2,493,9366,0.00,2.17,0.00,0.000,4,0.000,0.044,2907,3648,1140,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9428,0.56,452.6,241.9,9.7,496,9439,0.00,2.05,3.03,0.700,6,0.000,0.025,2908,2245,1123,0,0,0,0,0,0,28.83,26.30,24.99
$GC,9747,0.59,467.0,210.2,9.5,512,9771,0.00,2.08,18.00,0.763,4,0.000,0.032,2908,867,1056,0,0,0,0,0,0,28.83,26.03,25.40
$GC,9852,0.68,544.5,202.5,7.3,517,9930,0.15,2.05,68.97,0.666,6,0.070,0.025,2993,2255,738,0,0,0,0,0,0,26.17,26.17,24.77
$GC,10231,0.66,544.5,136.7,16.2,536,10236,0.12,2.15,0.00,0.000,4,0.136,0.041,2953,3651,728,0,0,0,0,0,0,26.03,26.08,28.83
$GC,10304,0.68,544.5,128.2,13.8,539,10309,0.00,2.05,0.00,0.000,6,0.000,0.023,2953,2241,727,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10617,0.76,586.3,99.8,8.6,555,10638,0.10,2.10,14.52,0.345,4,0.093,0.031,3029,866,579,0,0,0,0,0,0,26.45,26.24,25.69
$GC,10671,0.82,596.2,94.7,9.7,557,10682,0.00,2.05,5.00,0.307,6,0.000,0.025,3029,2263,539,0,0,0,0,0,0,28.83,26.28,25.66
$GC,10982,0.84,596.2,52.3,12.9,573,10988,0.00,2.10,1.08,0.211,4,0.000,0.041,3029,3645,536,0,0,0,0,0,0,28.83,26.33,26.08
$GC,11026,0.87,596.2,46.7,12.9,576,11031,0.00,2.00,0.00,0.000,6,0.000,0.021,3029,2245,544,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11336,0.92,629.8,11.6,8.8,618,11348,0.00,0.00,8.12,0.155,6,0.000,0.000,3029,2242,456,0,0,0,0,0,0,28.83,28.83,26.17
$STATE,11410,end climb,SURFACE_DEPTH_REACHED
$STATE,11410,begin surface coast
$FINISH,0.8,1.010199
$STATE,11437,end surface coast,CONTROL_FINISHED_OK
$STATE,11437,begin surface
$SM_CCo,11515,0.00,0.000,0,0,462,614.72
$SM_GC,1.57,7.25,0.00,0.00,0.022,0.000,0.000,111,2240,462,-8.11,-1.02,614.72,0,0,0,0,0,0,26.51,28.83,28.83
$IRIDIUM_FIX,2159.71,12107.80,201012,121256
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.99
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.60
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,601.1,7.9
$24V_AH,24.0,14.349
$10V_AH,10.0,7.694
$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,20.750,100.925,667.900,0.000,0.000,0.000,0.000,237.050,3.000,0.000,8.365,2032.172,7020.781,696.506,1897.089,271.829,0.000,1883.154,0.000,1589.716,0.000,11.909,0.000
$DEVICE_MAMPS,232.560,57.375,1373.940,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11461.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.169,0.000,0.000,0.000
$MEM,323828
$DATA_FILE_SIZE,23419,637
$CAP_FILE_SIZE,153010,0
$CFSIZE,260165632,246460416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.215,319.9,1
$GPS,201012,204559,2211.392,12107.969,41,1.7,41,-3.2