version: 66.11
glider: 167
mission: 14
dive: 61
start: 10 23 112 22 50 23
data:
$ID,167
$MISSION,14
$DIVE,61
$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,-968566.5
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,44
$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,3
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$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
$GPS1,231012,224205,2306.946,12134.242,38,0.9,38,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-62.1
$GPS2,231012,224956,2307.144,12134.257,5,0.9,5,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,120.1,251292,-15.7,-10.000,-18.65
$D_GRID,1376
$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,-195.5,0.0,0.0,0,79,0.00,0.00,-58.90,0.000,2,0.000,0.000,109,2309,2577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.47,-195.5,3.2,-6.2,10,125,9.73,2.05,-26.20,0.000,4,0.229,0.046,2578,931,3765,0,0,0,0,0,0,25.72,26.20,26.56
$GC,267,-0.49,-195.5,29.3,-14.4,41,272,0.00,2.10,0.00,0.000,6,0.000,0.036,2582,2324,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,590,-0.53,-195.5,74.4,-11.9,64,595,0.00,2.17,0.00,0.000,4,0.000,0.051,2582,3736,3767,0,0,0,0,0,0,28.83,26.35,28.83
$GC,623,-0.57,-195.5,77.3,-12.5,65,628,0.00,2.03,0.00,0.000,6,0.000,0.021,2582,2319,3767,0,0,0,0,0,0,28.83,26.53,28.83
$GC,937,-0.66,-195.5,109.1,-7.4,81,943,0.15,2.20,0.00,0.000,4,0.068,0.047,2480,3732,3768,0,0,0,0,0,0,26.67,26.41,28.83
$GC,976,-0.74,-195.5,111.4,-7.9,82,983,0.00,2.03,0.00,0.000,6,0.000,0.020,2480,2316,3768,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1281,-0.70,-195.5,162.0,-15.4,98,1287,0.12,2.20,0.00,0.000,4,0.152,0.047,2519,3736,3769,0,0,0,0,0,0,26.46,26.44,28.83
$GC,1345,-0.70,-195.5,170.1,-13.1,101,1351,0.00,2.03,0.00,0.000,6,0.000,0.021,2520,2327,3769,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1669,-0.76,-195.5,201.1,-8.8,117,1675,0.00,2.17,0.00,0.000,4,0.000,0.050,2520,3732,3769,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1723,-0.83,-195.5,205.7,-9.9,119,1729,0.15,2.03,0.00,0.000,6,0.067,0.022,2429,2323,3769,0,0,0,0,0,0,26.62,26.66,28.83
$GC,2037,-0.77,-195.5,259.5,-16.4,135,2043,0.17,2.20,0.00,0.000,4,0.145,0.047,2480,3742,3769,0,0,0,0,0,0,26.38,26.47,28.83
$GC,2075,-0.72,-195.5,263.0,-15.9,136,2082,0.00,2.05,0.00,0.000,6,0.000,0.023,2480,2317,3769,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2381,-0.74,-195.5,296.9,-10.6,152,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2317,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,-0.78,-195.5,329.1,-9.9,167,2689,0.00,2.20,0.00,0.000,4,0.000,0.050,2480,3732,3766,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2748,-0.82,-195.5,335.3,-9.7,170,2753,0.00,2.05,0.00,0.000,6,0.000,0.022,2481,2326,3766,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3072,-0.87,-195.5,366.2,-8.8,186,3078,0.00,2.17,0.00,0.000,4,0.000,0.050,2480,3729,3764,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3145,-0.92,-195.5,372.0,-9.0,189,3151,0.12,2.03,0.00,0.000,6,0.080,0.023,2411,2327,3764,0,0,0,0,0,0,26.61,26.66,28.83
$GC,3459,-0.87,-195.5,419.1,-15.2,205,3465,0.12,2.05,0.00,0.000,4,0.158,0.032,2451,921,3761,0,0,0,0,0,0,26.47,26.60,28.83
$GC,3493,-0.84,-195.5,422.5,-14.9,206,3498,0.00,2.12,0.00,0.000,6,0.000,0.039,2451,2332,3761,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3806,-0.84,-195.5,459.2,-10.7,222,3811,0.00,2.17,0.00,0.000,4,0.000,0.050,2451,3740,3759,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3889,-0.86,-195.5,468.3,-10.9,226,3895,0.00,2.05,0.00,0.000,6,0.000,0.021,2451,2283,3758,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4213,-0.88,-195.5,503.5,-10.9,242,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2282,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4515,-0.90,-195.5,538.0,-11.8,257,4521,0.00,2.30,0.00,0.000,4,0.000,0.053,2451,3743,3753,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4568,-0.92,-195.5,543.3,-11.5,259,4573,0.00,2.03,0.00,0.000,6,0.000,0.024,2451,2343,3754,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,4621,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4622,begin apogee
$GC,4627,-0.20,0.0,550.1,-10.9,262,4791,0.65,0.00,154.23,0.981,6,0.103,0.000,2675,2343,2961,0,0,0,0,0,0,26.20,28.83,24.29
$STATE,4793,end apogee,CONTROL_FINISHED_OK
$STATE,4793,begin climb
$GC,4795,0.47,195.5,558.3,0.0,270,4965,0.57,2.38,161.12,0.920,4,0.043,0.052,2908,3711,2164,0,0,0,0,0,0,25.26,24.87,24.20
$GC,5192,0.37,195.5,522.1,13.7,290,5198,0.20,2.12,0.00,0.000,6,0.142,0.029,2860,2313,2153,0,0,0,0,0,0,25.76,25.98,28.83
$GC,5511,0.38,218.2,491.2,9.2,306,5536,0.00,2.15,18.52,0.941,4,0.000,0.032,2868,883,2071,0,0,0,0,0,0,28.83,25.93,25.18
$GC,5568,0.39,244.6,487.4,9.1,308,5598,0.00,2.15,23.17,0.932,6,0.000,0.029,2868,2311,1965,0,0,0,0,0,0,28.83,26.01,24.89
$GC,5917,0.39,245.5,452.7,10.0,326,5922,0.00,2.17,0.00,0.000,4,0.000,0.047,2867,3709,1956,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5994,0.37,245.5,445.7,10.8,329,6001,0.00,2.12,0.00,0.000,6,0.000,0.026,2876,2283,1955,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6300,0.38,255.0,414.8,9.7,345,6314,0.00,2.05,8.32,0.985,4,0.000,0.033,2882,905,1924,0,0,0,0,0,0,28.83,26.25,25.43
$GC,6362,0.38,269.5,408.9,9.5,348,6383,0.00,2.12,14.93,0.946,6,0.000,0.030,2881,2313,1866,0,0,0,0,0,0,28.83,26.27,25.22
$GC,6683,0.39,287.2,378.2,9.4,364,6707,0.00,2.22,16.25,0.933,4,0.000,0.047,2882,3696,1790,0,0,0,0,0,0,28.83,25.94,25.22
$GC,6815,0.37,287.2,365.0,10.9,370,6820,0.00,2.08,0.00,0.000,6,0.000,0.026,2884,2298,1787,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7128,0.38,295.1,333.2,9.7,386,7139,0.00,2.28,4.03,0.947,4,0.000,0.050,2885,3702,1767,0,0,0,0,0,0,28.83,26.26,25.33
$GC,7221,0.38,295.1,324.1,10.8,390,7226,0.00,2.08,0.00,0.000,6,0.000,0.024,2884,2280,1771,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7534,0.39,324.7,294.2,9.0,406,7574,0.00,2.12,30.73,0.842,4,0.000,0.034,2884,911,1636,0,0,0,0,0,0,28.83,25.89,25.21
$GC,7602,0.43,359.2,288.8,8.8,409,7641,0.00,2.10,30.77,0.816,6,0.000,0.028,2890,2308,1496,0,0,0,0,0,0,28.83,25.98,24.89
$GC,7961,0.47,367.5,255.6,9.7,427,7966,0.00,0.00,3.30,0.785,6,0.000,0.000,2884,2307,1469,0,0,0,0,0,0,28.83,28.83,24.94
$GC,8260,0.53,377.9,226.9,9.6,442,8280,0.00,2.25,14.38,0.837,4,0.000,0.047,2884,3702,1421,0,0,0,0,0,0,28.83,26.06,25.38
$GC,8304,0.58,385.1,222.6,9.7,444,8314,0.12,2.05,4.12,0.883,6,0.081,0.022,2955,2291,1397,0,0,0,0,0,0,26.13,26.17,25.26
$GC,8628,0.56,385.1,177.4,13.8,460,8634,0.12,2.03,0.00,0.000,4,0.135,0.032,2922,923,1403,0,0,0,0,0,0,26.21,26.31,28.83
$GC,8715,0.59,385.1,168.1,11.0,464,8720,0.00,2.05,0.00,0.000,6,0.000,0.031,2922,2308,1403,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9038,0.64,410.7,137.3,9.1,480,9068,0.00,2.17,23.83,0.724,4,0.000,0.044,2922,3696,1286,0,0,0,0,0,0,28.83,26.09,25.48
$GC,9085,0.69,422.2,133.2,9.6,482,9096,0.12,2.03,3.72,0.779,6,0.078,0.023,2995,2304,1246,0,0,0,0,0,0,26.14,26.17,25.03
$GC,9404,0.66,422.2,88.3,13.1,498,9410,0.12,2.17,0.00,0.000,4,0.136,0.047,2954,3693,1251,0,0,0,0,0,0,26.22,26.27,28.83
$GC,9428,0.64,422.2,85.3,12.5,499,9434,0.00,2.03,0.00,0.000,6,0.000,0.022,2961,2295,1251,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9752,0.73,506.1,58.5,7.1,515,9792,0.00,2.25,34.25,0.256,4,0.000,0.043,2961,3694,903,0,0,0,0,0,0,28.83,26.22,25.81
$GC,9841,0.85,546.3,51.1,8.6,519,9868,0.15,2.03,16.50,0.239,6,0.067,0.025,3052,2302,741,0,0,0,0,0,0,26.32,26.33,25.79
$GC,10167,0.85,546.3,3.9,11.2,564,10174,0.12,2.03,0.00,0.000,4,0.145,0.025,3019,899,744,0,0,0,0,0,0,26.28,26.42,28.83
$STATE,10180,end climb,SURFACE_DEPTH_REACHED
$STATE,10180,begin surface coast
$FINISH,0.8,1.022155
$STATE,10202,end surface coast,CONTROL_FINISHED_OK
$STATE,10202,begin surface
$SM_CCo,10282,0.00,0.000,0,0,743,545.79
$SM_GC,1.48,7.32,2.17,0.00,0.028,0.030,0.000,113,2316,743,-8.12,-1.36,545.79,0,0,0,0,0,0,26.41,26.39,28.83
$IRIDIUM_FIX,2255.72,12132.77,231012,222233
$TT8_MAMPS,0.029211,0.029211
$HUMID,53.66
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,550.1,7.9
$24V_AH,24.2,18.265
$10V_AH,9.9,10.027
$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,20.100,101.825,562.175,0.000,0.000,0.000,0.000,257.925,2.750,0.000,5.922,1777.782,6470.848,596.276,1666.440,248.317,0.000,1668.239,0.000,1351.098,0.000,15.341,0.000
$DEVICE_MAMPS,228.735,52.785,984.555,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10218.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.175,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,20075,570
$CAP_FILE_SIZE,138946,0
$CFSIZE,260165632,244592640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.273,  1.9,1
$GPS,241012,014305,2307.868,12135.713,37,0.9,37,-3.5