version: 66.11
glider: 167
mission: 14
dive: 48
start: 10 22 112 15 56 6
data:
$ID,167
$MISSION,14
$DIVE,48
$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,-968549.5
$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,88
$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
$GPS1,221012,154405,2242.929,12119.066,41,0.9,41,-3.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.8
$GPS2,221012,155539,2243.226,12119.166,5,0.9,5,-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,14.1,39409,-15.7,-10.000,-18.65
$D_GRID,1193
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.47,-195.5,0.0,0.0,0,96,0.00,0.00,-74.80,0.000,2,0.000,0.000,119,2266,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-195.5,3.1,-5.4,13,149,9.82,2.22,-29.62,0.000,4,0.233,0.060,2574,3660,3766,0,0,0,0,0,0,25.67,26.13,26.51
$GC,198,-0.47,-195.5,17.1,-16.9,30,204,0.00,1.98,0.00,0.000,6,0.000,0.022,2574,2301,3767,0,0,0,0,0,0,28.83,26.28,28.83
$GC,517,-0.46,-195.5,72.6,-15.4,59,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2301,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,820,-0.49,-195.5,110.0,-11.5,74,825,0.00,2.10,0.00,0.000,4,0.000,0.050,2574,3655,3767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,946,-0.56,-195.5,121.8,-8.5,80,951,0.00,1.98,0.00,0.000,6,0.000,0.022,2573,2271,3767,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1270,-0.64,-195.5,144.2,-6.6,96,1271,0.12,0.00,0.00,0.000,6,0.079,0.000,2489,2271,3767,0,0,0,0,0,0,26.71,28.83,28.83
$GC,1571,-0.63,-195.5,186.0,-13.4,111,1577,0.12,2.15,0.00,0.000,4,0.148,0.047,2524,3662,3768,0,0,0,0,0,0,26.49,26.51,28.83
$GC,1615,-0.64,-195.5,191.2,-12.2,113,1620,0.00,2.00,0.00,0.000,6,0.000,0.023,2524,2270,3767,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1938,-0.69,-195.5,224.5,-10.0,129,1943,0.00,2.00,0.00,0.000,4,0.000,0.028,2524,857,3767,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2010,-0.74,-195.5,230.8,-10.2,132,2017,0.00,2.05,0.00,0.000,6,0.000,0.028,2522,2260,3767,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2326,-0.80,-195.5,257.5,-7.9,148,2332,0.12,2.15,0.00,0.000,4,0.080,0.044,2434,3682,3766,0,0,0,0,0,0,26.79,26.57,28.83
$GC,2444,-0.76,-195.5,272.8,-15.6,153,2452,0.20,2.03,0.00,0.000,6,0.136,0.023,2493,2275,3765,0,0,0,0,0,0,26.38,26.68,28.83
$GC,2750,-0.79,-195.5,308.4,-10.5,169,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2274,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3054,-0.83,-195.5,336.8,-9.0,184,3059,0.00,2.17,0.00,0.000,4,0.000,0.051,2493,3672,3760,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3087,-0.87,-195.5,339.2,-8.9,185,3092,0.00,2.03,0.00,0.000,6,0.000,0.020,2493,2226,3761,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3401,-0.91,-195.5,369.4,-8.9,201,3407,0.12,2.22,0.00,0.000,4,0.079,0.045,2415,3675,3760,0,0,0,0,0,0,26.84,26.57,28.83
$GC,3465,-0.91,-195.5,378.0,-12.2,204,3471,0.12,1.95,0.00,0.000,6,0.154,0.018,2446,2267,3759,0,0,0,0,0,0,26.03,26.77,28.83
$GC,3789,-0.91,-195.5,416.1,-11.8,220,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2266,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4091,-0.91,-195.5,452.5,-11.7,235,4098,0.00,2.17,-0.08,0.000,4,0.000,0.060,2446,3672,3783,0,0,0,0,0,0,28.83,26.55,25.94
$GC,4156,-0.91,-195.5,460.0,-11.3,238,4162,0.00,1.95,0.00,0.000,6,0.000,0.021,2446,2265,3783,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4480,-0.91,-195.5,495.5,-11.0,254,4485,0.00,2.17,0.00,0.000,4,0.000,0.045,2446,3676,3781,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4564,-0.92,-195.5,504.5,-10.8,258,4569,0.00,1.95,0.00,0.000,6,0.000,0.022,2446,2276,3780,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4886,-0.92,-195.5,537.8,-10.9,274,4892,0.00,2.15,0.00,0.000,4,0.000,0.044,2440,3675,3777,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4970,-0.92,-195.5,546.9,-11.1,278,4975,0.00,1.98,0.00,0.000,6,0.000,0.021,2440,2258,3777,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,5015,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5015,begin apogee
$GC,5020,-0.20,0.0,551.8,-11.1,280,5203,0.68,0.00,171.75,0.967,6,0.107,0.000,2670,2254,2969,0,0,0,0,1,0,26.27,28.83,23.90
$STATE,5204,end apogee,CONTROL_FINISHED_OK
$STATE,5204,begin climb
$GC,5207,0.47,195.5,562.1,0.0,289,5395,0.57,2.40,169.52,1.440,4,0.042,0.044,2902,3645,2171,0,0,0,0,1,0,25.08,24.44,23.45
$GC,5507,0.40,195.5,546.2,12.5,304,5513,0.15,2.05,0.00,0.000,6,0.153,0.024,2870,2282,2170,0,0,0,0,0,0,25.39,25.63,28.83
$GC,5821,0.39,212.8,515.4,9.4,320,5846,0.00,2.17,17.30,0.930,4,0.000,0.044,2871,3649,2095,0,0,0,0,0,0,28.83,25.80,25.09
$GC,5910,0.36,212.8,506.6,10.6,324,5915,0.00,2.08,0.00,0.000,6,0.000,0.024,2876,2239,2093,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6229,0.35,249.4,477.5,8.7,340,6268,0.00,2.25,32.12,0.888,4,0.000,0.044,2876,3651,1945,0,0,0,0,0,0,28.83,25.69,25.07
$GC,6306,0.35,277.5,471.6,9.0,343,6340,0.00,2.08,25.20,0.884,6,0.000,0.025,2882,2255,1832,0,0,0,0,0,0,28.83,25.93,24.82
$GC,6653,0.35,277.5,435.2,10.4,361,6658,0.00,2.17,0.00,0.000,4,0.000,0.044,2882,3649,1825,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6711,0.33,277.5,430.2,10.9,363,6718,0.12,2.05,0.00,0.000,6,0.151,0.025,2848,2250,1824,0,0,0,0,0,0,26.10,26.32,28.83
$GC,7017,0.38,336.7,403.4,8.0,379,7077,0.00,2.15,51.25,0.828,4,0.000,0.031,2848,859,1586,0,0,0,0,0,0,28.83,25.56,24.90
$GC,7116,0.45,412.1,397.2,7.4,383,7190,0.12,2.10,66.40,0.795,6,0.077,0.026,2917,2257,1284,0,0,0,0,0,0,25.81,25.82,24.58
$GC,7503,0.45,412.1,352.6,12.0,403,7510,0.12,2.15,0.00,0.000,4,0.138,0.042,2876,3651,1269,0,0,0,0,0,0,26.07,26.11,28.83
$GC,7557,0.46,412.1,347.4,11.9,405,7562,0.00,2.08,0.00,0.000,6,0.000,0.024,2876,2232,1268,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7870,0.52,455.0,316.8,8.5,421,7914,0.00,2.08,37.30,0.773,4,0.000,0.031,2882,869,1103,0,0,0,0,0,0,28.83,25.77,25.13
$GC,7933,0.59,503.9,311.8,8.3,424,7982,0.15,2.08,43.62,0.744,6,0.067,0.024,2965,2248,914,0,0,0,0,0,0,25.89,25.88,24.77
$GC,8296,0.56,503.9,252.0,16.5,442,8301,0.12,2.15,0.00,0.000,4,0.139,0.040,2926,3653,898,0,0,0,0,0,0,26.06,26.14,28.83
$GC,8329,0.55,503.9,248.1,16.4,443,8335,0.00,2.05,0.00,0.000,6,0.000,0.024,2933,2251,897,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8643,0.56,503.9,207.0,13.7,459,8649,0.00,2.05,0.00,0.000,4,0.000,0.032,2933,863,897,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8676,0.58,503.9,203.8,13.4,460,8682,0.00,2.05,0.00,0.000,6,0.000,0.025,2933,2263,896,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8990,0.61,503.9,168.1,10.2,476,8996,0.00,2.10,0.00,0.000,4,0.000,0.042,2932,3644,896,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9014,0.64,503.9,165.5,10.2,477,9020,0.00,2.03,0.00,0.000,6,0.000,0.022,2932,2238,895,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9339,0.70,543.6,131.2,8.6,493,9378,0.10,2.08,30.17,0.650,4,0.095,0.031,3003,874,740,0,0,0,0,0,0,26.65,26.12,25.54
$GC,9423,0.72,543.6,120.5,13.1,497,9429,0.12,2.03,0.00,0.000,6,0.123,0.024,2967,2255,736,0,0,0,0,0,0,26.08,26.20,28.83
$GC,9748,0.78,576.2,85.7,8.9,513,9768,0.00,2.15,11.50,0.305,4,0.000,0.041,2967,3633,622,0,0,0,0,0,0,28.83,26.29,25.77
$GC,9806,0.86,613.6,81.7,8.7,515,9833,0.15,1.98,16.38,0.301,6,0.069,0.021,3056,2231,466,0,0,0,0,0,0,26.37,26.42,25.73
$GC,10131,0.86,613.6,28.3,15.3,539,10137,0.12,1.95,0.00,0.000,4,0.135,0.028,3020,886,470,0,0,0,0,0,0,26.32,26.41,28.83
$GC,10185,0.92,613.6,21.7,10.1,547,10192,0.00,2.00,0.00,0.000,6,0.000,0.024,3019,2265,470,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,10366,end climb,SURFACE_DEPTH_REACHED
$STATE,10367,begin surface coast
$FINISH,0.7,1.009585
$STATE,10394,end surface coast,CONTROL_FINISHED_OK
$STATE,10394,begin surface
$SM_CCo,10471,0.00,0.000,0,0,469,613.00
$SM_GC,1.51,7.25,0.00,0.00,0.024,0.000,0.000,116,2265,469,-8.10,-0.28,613.00,0,0,0,0,0,0,26.53,28.83,28.83
$IRIDIUM_FIX,2232.34,12121.46,221012,151539
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.29
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,551.8,8.0
$24V_AH,23.5,16.768
$10V_AH,9.8,9.042
$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,20.450,95.875,672.525,0.000,0.000,0.000,0.000,418.575,3.000,0.000,5.901,1764.834,6594.179,694.218,1856.658,260.320,0.000,1974.544,0.000,1384.265,0.000,7.274,0.000
$DEVICE_MAMPS,232.560,60.435,1439.730,0.000,0.000,0.000,0.000,123.165,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10410.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.237,0.000,0.000,0.000
$MEM,323828
$DATA_FILE_SIZE,20097,587
$CAP_FILE_SIZE,141290,0
$CFSIZE,260165632,245407744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.234, 29.9,1
$GPS,221012,185159,2246.163,12120.383,38,1.0,38,-3.4