version: 66.11
glider: 167
mission: 14
dive: 62
start: 10 24 112 1 49 49
data:
$ID,167
$MISSION,14
$DIVE,62
$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,-968567.75
$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,69
$R_STBD_OVSHOOT,34
$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
$GPS1,241012,014305,2307.868,12135.713,37,0.9,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-60.2
$GPS2,241012,014922,2307.969,12135.756,6,0.9,6,-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,120.2,248401,-15.7,-10.000,-18.65
$D_GRID,1483
$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,-195.5,0.0,0.0,0,85,0.00,0.00,-65.18,0.000,2,0.000,0.000,108,2326,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-195.5,3.1,-5.3,11,138,9.65,2.10,-30.75,0.000,4,0.226,0.048,2579,948,3767,0,0,0,0,0,0,25.68,26.21,26.55
$GC,298,-0.47,-195.5,32.9,-16.6,46,304,0.00,2.08,0.00,0.000,6,0.000,0.038,2578,2321,3768,0,0,0,0,0,0,28.83,26.29,28.83
$GC,612,-0.50,-195.5,79.3,-12.6,67,617,0.00,2.17,0.00,0.000,4,0.000,0.049,2575,3743,3768,0,0,0,0,0,0,28.83,26.41,28.83
$GC,721,-0.58,-195.5,89.6,-9.5,72,727,0.00,2.05,0.00,0.000,6,0.000,0.021,2575,2318,3768,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1041,-0.65,-195.5,121.9,-8.6,88,1047,0.12,2.20,0.00,0.000,4,0.079,0.047,2486,3739,3770,0,0,0,0,0,0,26.68,26.44,28.83
$GC,1099,-0.69,-195.5,127.0,-10.0,90,1107,0.12,2.03,0.00,0.000,6,0.145,0.021,2520,2319,3769,0,0,0,0,0,0,26.36,26.63,28.83
$GC,1405,-0.71,-195.5,168.3,-11.5,106,1410,0.00,2.00,0.00,0.000,4,0.000,0.034,2519,941,3770,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1424,-0.73,-195.5,168.3,-11.5,106,1431,0.00,2.08,0.00,0.000,6,0.000,0.037,2520,2333,3770,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1729,-0.78,-195.5,201.8,-10.1,122,1735,0.00,2.15,0.00,0.000,4,0.000,0.051,2520,3736,3770,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1849,-0.85,-195.5,211.5,-9.2,127,1857,0.15,2.03,0.00,0.000,6,0.067,0.022,2433,2336,3770,0,0,0,0,0,0,26.63,26.67,28.83
$GC,2153,-0.79,-195.5,262.7,-16.5,143,2155,0.17,0.00,0.00,0.000,6,0.140,0.000,2484,2336,3769,0,0,0,0,0,0,26.44,28.83,28.83
$GC,2455,-0.82,-195.5,295.9,-10.2,158,2460,0.00,2.05,0.00,0.000,4,0.000,0.036,2484,934,3770,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2498,-0.86,-195.5,300.5,-10.2,160,2504,0.00,2.10,0.00,0.000,6,0.000,0.037,2484,2330,3766,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2823,-0.90,-195.5,330.3,-9.1,176,2829,0.12,2.15,0.00,0.000,4,0.082,0.049,2399,3736,3768,0,0,0,0,0,0,26.80,26.53,28.83
$GC,2947,-0.83,-195.5,349.8,-16.4,182,2953,0.25,2.05,0.00,0.000,6,0.136,0.024,2474,2317,3767,0,0,0,0,0,0,26.27,26.67,28.83
$GC,3271,-0.87,-195.5,386.0,-10.2,198,3277,0.00,2.20,0.00,0.000,4,0.000,0.052,2474,3732,3765,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3304,-0.91,-195.5,388.2,-10.1,199,3310,0.00,2.00,0.00,0.000,6,0.000,0.019,2474,2282,3765,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3618,-0.96,-195.5,419.6,-9.5,215,3624,0.12,2.25,0.00,0.000,4,0.082,0.047,2397,3735,3762,0,0,0,0,0,0,26.79,26.51,28.83
$GC,3666,-0.96,-195.5,425.3,-10.9,217,3673,0.12,1.98,0.00,0.000,6,0.157,0.021,2430,2349,3761,0,0,0,0,0,0,26.38,26.70,28.83
$GC,3986,-0.94,-195.5,468.3,-13.6,233,3991,0.00,2.05,0.00,0.000,4,0.000,0.028,2430,924,3760,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4111,-0.94,-195.5,484.0,-12.6,239,4116,0.00,2.15,0.00,0.000,6,0.000,0.037,2428,2337,3759,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4435,-0.94,-195.5,524.5,-12.7,255,4440,0.00,2.15,0.00,0.000,4,0.000,0.048,2428,3739,3757,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4466,-0.94,-195.5,527.5,-12.7,256,4472,0.00,2.03,0.00,0.000,6,0.000,0.030,2428,2317,3756,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4780,-0.94,-195.5,566.4,-11.6,272,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2316,3754,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5063,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5063,begin apogee
$GC,5068,-0.20,0.0,600.3,-12.3,286,5243,0.73,0.00,168.55,0.936,6,0.111,0.000,2673,2311,2966,0,0,0,0,0,0,26.17,28.83,24.37
$STATE,5244,end apogee,CONTROL_FINISHED_OK
$STATE,5244,begin climb
$GC,5247,0.47,195.5,610.4,0.0,292,5423,0.57,2.22,162.00,0.952,4,0.041,0.037,2912,926,2161,0,0,0,0,0,0,25.20,24.87,24.10
$GC,5628,0.41,195.5,580.1,11.7,307,5635,0.12,2.15,0.00,0.000,6,0.137,0.031,2876,2315,2152,0,0,0,0,0,0,25.78,25.92,28.83
$GC,5953,0.38,199.4,546.8,9.9,323,5959,0.00,2.15,0.00,0.000,4,0.000,0.047,2876,3710,2148,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6079,0.33,199.4,532.8,11.4,329,6086,0.12,2.05,0.00,0.000,6,0.158,0.026,2848,2314,2148,0,0,0,0,0,0,26.13,26.37,28.83
$GC,6404,0.34,228.3,503.5,9.0,345,6433,0.00,0.00,27.08,0.944,6,0.000,0.000,2848,2314,2036,0,0,0,0,0,0,28.83,28.83,25.19
$GC,6724,0.36,250.1,473.3,9.3,361,6745,0.00,0.00,18.98,0.967,6,0.000,0.000,2848,2314,1949,0,0,0,0,0,0,28.83,28.83,25.13
$GC,7045,0.41,309.5,446.4,8.0,377,7104,0.00,2.25,52.78,0.877,4,0.000,0.034,2849,906,1699,0,0,0,0,0,0,28.83,25.42,24.75
$GC,7143,0.47,365.9,439.7,8.1,381,7201,0.12,2.15,49.33,0.855,6,0.079,0.029,2916,2306,1471,0,0,0,0,0,0,25.71,25.70,24.56
$GC,7509,0.47,365.9,393.0,13.0,400,7514,0.00,2.17,0.00,0.000,4,0.000,0.047,2916,3701,1461,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7618,0.45,365.9,378.1,14.6,405,7624,0.15,2.10,0.00,0.000,6,0.144,0.026,2882,2296,1459,0,0,0,0,0,0,26.04,26.27,28.83
$GC,7938,0.49,374.7,344.7,9.7,421,7947,0.00,2.12,3.03,0.757,4,0.000,0.036,2882,904,1442,0,0,0,0,0,0,28.83,26.36,25.04
$GC,7981,0.55,392.4,340.6,9.4,423,8010,0.10,2.10,21.50,0.878,6,0.093,0.030,2941,2309,1362,0,0,0,0,0,0,26.33,26.36,25.25
$GC,8324,0.53,392.4,293.0,14.5,440,8331,0.12,2.15,0.00,0.000,4,0.145,0.049,2901,3706,1354,0,0,0,0,0,0,26.17,26.23,28.83
$GC,8392,0.53,392.4,284.6,13.2,443,8398,0.00,2.10,0.00,0.000,6,0.000,0.025,2901,2290,1354,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8711,0.57,405.5,253.7,9.6,459,8730,0.00,0.00,11.75,0.874,6,0.000,0.000,2901,2289,1307,0,0,0,0,0,0,28.83,28.83,25.48
$GC,9031,0.62,405.5,220.0,10.1,475,9037,0.12,2.05,0.00,0.000,4,0.078,0.031,2983,897,1304,0,0,0,0,0,0,26.48,26.38,28.83
$GC,9125,0.62,405.5,208.5,13.6,479,9131,0.15,2.10,0.00,0.000,6,0.122,0.029,2936,2315,1304,0,0,0,0,0,0,26.25,26.41,28.83
$GC,9438,0.62,405.5,166.9,12.5,495,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2315,1303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9743,0.65,408.9,134.5,9.9,510,9748,0.00,2.10,0.00,0.000,4,0.000,0.036,2943,900,1304,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9755,0.67,412.2,134.5,9.9,510,9761,0.00,2.08,1.52,0.295,6,0.000,0.029,2943,2312,1287,0,0,0,0,0,0,28.83,26.53,25.47
$GC,10069,0.73,427.7,102.4,9.5,526,10084,0.00,2.15,7.38,0.350,4,0.000,0.043,2943,3693,1226,0,0,0,0,0,0,28.83,26.48,25.83
$GC,10097,0.78,442.7,100.3,9.5,527,10112,0.12,2.03,6.85,0.344,6,0.078,0.022,3024,2289,1166,0,0,0,0,0,0,26.52,26.58,25.83
$GC,10412,0.76,442.7,58.5,12.5,543,10418,0.12,2.15,0.00,0.000,4,0.140,0.039,2982,3698,1167,0,0,0,0,0,0,26.43,26.46,28.83
$GC,10470,0.76,442.7,53.4,12.1,545,10477,0.00,2.03,0.00,0.000,6,0.000,0.023,2987,2293,1169,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10780,0.81,472.7,21.0,9.0,579,10800,0.00,2.03,13.10,0.171,4,0.000,0.032,2987,903,1037,0,0,0,0,0,0,28.83,26.51,26.08
$GC,10942,0.89,475.6,5.5,9.9,609,10951,0.12,2.08,1.27,0.194,6,0.079,0.034,3072,2306,1025,0,0,0,0,0,0,26.53,26.55,26.15
$STATE,10966,end climb,SURFACE_DEPTH_REACHED
$STATE,10966,begin surface coast
$FINISH,0.7,1.022621
$STATE,10992,end surface coast,CONTROL_FINISHED_OK
$STATE,10992,begin surface
$SM_CCo,11070,0.00,0.000,0,0,1028,475.88
$SM_GC,1.67,7.43,0.00,0.00,0.030,0.000,0.000,117,2308,1028,-8.10,-0.48,475.88,0,0,0,0,0,0,26.56,28.83,28.83
$IRIDIUM_FIX,2258.07,12133.99,231012,222243
$TT8_MAMPS,0.029211,0.029211
$HUMID,53.03
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.90
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,600.3,7.9
$24V_AH,24.1,18.409
$10V_AH,10.2,10.120
$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,20.975,92.525,545.100,0.000,0.000,0.000,0.000,222.950,4.250,0.000,6.916,1926.721,6934.831,604.931,1723.715,263.195,0.000,1665.189,0.000,1433.607,0.000,16.693,0.000
$DEVICE_MAMPS,226.440,52.020,966.960,0.000,0.000,0.000,0.000,123.165,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10993.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.996,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,23377,618
$CAP_FILE_SIZE,143310,0
$CFSIZE,260165632,244510720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.218,  9.5,1
$GPS,241012,045536,2308.467,12137.443,33,0.8,33,-3.5