version: 66.11
glider: 167
mission: 14
dive: 41
start: 10 21 112 18 55 14
data:
$ID,167
$MISSION,14
$DIVE,41
$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,-968540.25
$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,72
$R_STBD_OVSHOOT,58
$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
$GPS1,211012,184836,2223.135,12111.591,31,1.1,31,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-61.8
$GPS2,211012,185447,2223.211,12111.552,4,1.1,4,-3.3
$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,40.0,78663,-15.7,-10.000,-18.65
$D_GRID,504
$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,-195.5,0.0,0.0,0,96,0.00,0.00,-75.68,0.000,2,0.000,0.000,112,2271,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.47,-195.5,3.2,-6.2,13,144,9.62,2.10,-28.08,0.000,4,0.226,0.041,2579,875,3767,0,0,0,0,0,0,25.69,26.20,26.51
$GC,202,-0.49,-195.5,17.7,-12.0,31,209,0.00,2.05,0.00,0.000,6,0.000,0.027,2578,2261,3768,0,0,0,0,0,0,28.83,26.23,28.83
$GC,517,-0.49,-195.5,70.6,-15.3,61,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2262,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,819,-0.54,-195.5,101.9,-8.1,76,824,0.00,2.12,0.00,0.000,4,0.000,0.043,2576,3670,3768,0,0,0,0,0,0,28.83,26.43,28.83
$GC,928,-0.62,-195.5,111.0,-8.6,81,935,0.10,2.00,0.00,0.000,6,0.093,0.021,2502,2270,3769,0,0,0,0,0,0,26.50,26.57,28.83
$GC,1248,-0.60,-195.5,157.6,-13.6,97,1254,0.12,2.00,0.00,0.000,4,0.148,0.028,2543,874,3770,0,0,0,0,0,0,26.44,26.58,28.83
$GC,1301,-0.62,-195.5,162.4,-12.3,99,1308,0.00,2.08,0.00,0.000,6,0.000,0.034,2542,2292,3770,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1617,-0.68,-195.5,187.6,-7.5,115,1622,0.00,2.08,0.00,0.000,4,0.000,0.044,2543,3665,3770,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1776,-0.75,-195.5,197.5,-6.4,122,1784,0.15,2.00,0.00,0.000,6,0.068,0.021,2452,2282,3770,0,0,0,0,0,0,26.63,26.69,28.83
$GC,2082,-0.73,-195.5,241.8,-14.1,138,2088,0.15,2.15,0.00,0.000,4,0.142,0.048,2495,3668,3769,0,0,0,0,0,0,26.46,26.53,28.83
$GC,2155,-0.73,-195.5,249.5,-12.6,141,2160,0.00,2.00,0.00,0.000,6,0.000,0.019,2495,2221,3769,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2468,-0.76,-195.5,282.0,-9.9,157,2474,0.00,2.22,0.00,0.000,4,0.000,0.046,2495,3674,3768,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2583,-0.79,-195.5,292.1,-9.6,162,2588,0.00,2.00,0.00,0.000,6,0.000,0.019,2495,2235,3767,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2897,-0.83,-195.5,322.7,-9.8,178,2902,0.00,2.17,0.00,0.000,4,0.000,0.044,2495,3665,3766,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2965,-0.87,-195.5,328.2,-8.9,181,2971,0.10,1.92,0.00,0.000,6,0.095,0.019,2431,2268,3766,0,0,0,0,0,0,26.65,26.76,28.83
$GC,3284,-0.85,-195.5,368.7,-12.5,197,3286,0.12,0.00,0.00,0.000,6,0.151,0.000,2464,2267,3764,0,0,0,0,0,0,26.55,28.83,28.83
$GC,3586,-0.86,-195.5,397.5,-9.8,212,3592,0.00,2.15,0.00,0.000,4,0.000,0.049,2464,3663,3762,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3725,-0.89,-195.5,411.7,-11.5,218,3732,0.00,1.92,0.00,0.000,6,0.000,0.018,2464,2275,3760,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4031,-0.91,-195.5,448.4,-11.3,234,4036,0.00,2.12,0.00,0.000,4,0.000,0.048,2463,3664,3759,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4115,-0.95,-195.5,458.3,-11.8,238,4120,0.00,1.95,0.00,0.000,6,0.000,0.021,2464,2268,3759,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4439,-0.97,-195.5,491.3,-8.9,254,4444,0.12,2.15,0.00,0.000,4,0.083,0.044,2389,3665,3756,0,0,0,0,0,0,26.79,26.55,28.83
$GC,4506,-0.97,-195.5,499.6,-12.0,257,4513,0.12,1.92,-0.10,0.000,6,0.158,0.020,2421,2280,3780,0,0,0,0,0,0,26.42,26.75,26.09
$STATE,4543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4543,begin apogee
$GC,4549,-0.20,0.0,504.9,-13.1,259,4716,0.73,0.00,157.80,0.844,6,0.114,0.000,2667,2275,2959,0,0,0,0,0,0,26.29,28.83,24.46
$STATE,4718,end apogee,CONTROL_FINISHED_OK
$STATE,4718,begin climb
$GC,4720,0.47,195.5,511.2,0.0,267,4889,0.60,2.33,158.73,0.814,4,0.044,0.044,2906,3646,2159,0,0,0,0,0,0,25.28,24.96,24.31
$GC,5081,0.41,195.5,478.6,14.1,285,5087,0.15,2.03,0.00,0.000,6,0.154,0.024,2874,2277,2146,0,0,0,0,0,0,25.72,25.96,28.83
$GC,5396,0.39,198.5,447.1,9.9,301,5401,0.00,2.12,0.00,0.000,4,0.000,0.045,2874,3639,2142,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5449,0.37,198.5,442.1,10.6,303,5454,0.00,2.03,0.00,0.000,6,0.000,0.024,2882,2251,2142,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5762,0.35,198.5,407.9,10.4,319,5767,0.00,2.15,0.00,0.000,4,0.000,0.045,2882,3643,2139,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5819,0.32,198.5,402.7,11.0,321,5826,0.15,2.03,0.00,0.000,6,0.149,0.025,2841,2249,2139,0,0,0,0,0,0,26.22,26.48,28.83
$GC,6125,0.36,276.0,377.7,7.3,337,6198,0.00,2.33,59.97,1.267,4,0.000,0.044,2840,3637,1842,0,0,0,0,1,0,28.83,25.12,24.16
$GC,6248,0.41,354.6,368.7,7.3,343,6331,0.00,2.12,70.72,1.269,6,0.000,0.024,2841,2241,1523,0,0,0,0,1,0,28.83,25.69,23.92
$GC,6650,0.51,441.6,343.3,7.0,363,6740,0.15,2.30,76.80,1.257,4,0.070,0.044,2933,3636,1166,0,0,0,0,1,0,26.17,24.89,23.96
$GC,6768,0.49,441.6,329.6,13.9,368,6776,0.12,2.12,0.00,0.000,6,0.151,0.024,2901,2248,1167,0,0,0,0,0,0,25.28,25.41,28.83
$GC,7075,0.52,441.6,295.2,10.6,384,7080,0.00,2.08,0.00,0.000,4,0.000,0.034,2901,855,1166,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7119,0.55,441.6,290.8,10.3,386,7124,0.00,2.08,0.00,0.000,6,0.000,0.027,2901,2256,1167,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7443,0.59,455.5,259.9,9.5,402,7463,0.00,2.22,15.20,0.801,4,0.000,0.044,2901,3649,1104,0,0,0,0,0,0,28.83,26.06,25.42
$GC,7510,0.62,455.5,253.2,10.1,405,7516,0.12,2.08,0.00,0.000,6,0.077,0.024,2970,2232,1101,0,0,0,0,0,0,26.17,26.21,28.83
$GC,7829,0.60,455.5,200.4,16.0,421,7831,0.15,0.00,0.00,0.000,6,0.132,0.000,2928,2230,1100,0,0,0,0,0,0,26.26,28.83,28.83
$GC,8130,0.62,455.5,162.8,12.8,436,8136,0.00,2.17,0.00,0.000,4,0.000,0.043,2927,3651,1100,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8183,0.64,455.5,156.9,12.8,438,8189,0.00,2.05,0.00,0.000,6,0.000,0.023,2928,2240,1099,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8497,0.67,455.6,122.2,10.0,454,8502,0.00,2.03,0.00,0.000,4,0.000,0.033,2928,852,1099,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8550,0.73,476.8,118.4,9.3,456,8563,0.15,2.05,7.65,0.392,6,0.067,0.025,3017,2252,1022,0,0,0,0,0,0,26.57,26.56,25.80
$GC,8861,0.71,476.8,70.6,15.0,472,8867,0.15,2.10,0.00,0.000,4,0.129,0.041,2967,3649,1027,0,0,0,0,0,0,26.42,26.49,28.83
$GC,8939,0.72,476.8,62.6,12.8,475,8947,0.00,2.03,0.00,0.000,6,0.000,0.022,2967,2249,1026,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9246,0.80,538.6,34.7,7.9,500,9277,0.00,2.10,25.40,0.203,4,0.000,0.031,2967,854,770,0,0,0,0,0,0,28.83,26.48,26.06
$GC,9316,0.91,615.6,29.8,7.4,506,9355,0.20,2.03,32.00,0.188,6,0.054,0.024,3084,2254,455,0,0,0,0,0,0,26.53,26.51,26.00
$STATE,9471,end climb,SURFACE_DEPTH_REACHED
$STATE,9471,begin surface coast
$FINISH,0.8,1.020499
$STATE,9489,end surface coast,CONTROL_FINISHED_OK
$STATE,9489,begin surface
$SM_CCo,9566,0.00,0.000,0,0,451,617.42
$SM_GC,1.59,7.45,0.00,0.00,0.026,0.000,0.000,107,2254,451,-8.10,-0.59,617.42,0,0,0,0,0,0,26.48,28.83,28.83
$IRIDIUM_FIX,2211.35,12108.21,211012,141413
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.42
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.50
$XPDR_PINGS,5
$24V_AH,23.9,15.656
$10V_AH,9.9,8.402
$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,20.750,87.675,604.275,0.000,0.000,0.000,0.000,208.225,1.750,0.000,5.883,1687.492,5777.892,644.375,1587.378,240.951,0.000,1652.702,0.000,1323.391,0.000,5.375,0.000
$DEVICE_MAMPS,226.440,48.960,1269.135,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9509.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.748,0.000,0.000,0.000
$MEM,323772
$DATA_FILE_SIZE,20048,536
$CAP_FILE_SIZE,129497,0
$CFSIZE,260165632,245923840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.226,  6.3,1
$GPS,211012,213600,2225.540,12112.828,38,1.6,38,-3.3