version: 66.11
glider: 167
mission: 11
dive: 2
start: 8 1 112 16 51 51
data:
$ID,167
$MISSION,11
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,30
$T_BOOST,0
$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,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52158
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-967430.81
$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,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2290
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2575
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.405235
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$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
$GPS1,010812,164706,4743.603,-12224.467,10,1.6,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.6
$GPS2,010812,165055,4743.605,-12224.440,11,1.6,11,18.2
$SPEED_LIMITS,0.084,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.191,0.096
$KALMAN_X,70.5,70.5,70.5,26.2,223.2
$KALMAN_Y,68.6,68.6,68.6,299.0,217.3
$MHEAD_RNG_PITCHd_Wd,278.6,706,-22.6,-10.000
$D_GRID,174
$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,-0.91,-95.8,0.0,0.0,0,71,0.00,0.00,-51.30,0.000,2,0.000,0.000,120,2280,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.93,-146.6,3.1,-5.4,5,106,9.45,2.20,-12.77,0.000,4,0.248,0.066,2464,3694,3174,0,0,0,0,0,0,26.00,26.36,26.72
$GC,189,-0.93,-146.6,29.8,-25.1,16,195,0.00,2.05,0.00,0.000,6,0.000,0.028,2464,2274,3175,0,0,0,0,0,0,28.83,26.51,28.83
$GC,233,-0.93,-146.6,38.8,-20.7,20,238,0.00,2.00,0.00,0.000,4,0.000,0.032,2464,896,3175,0,0,0,0,0,0,28.83,26.47,28.83
$GC,285,-0.93,-146.6,50.5,-22.4,25,291,0.00,1.92,0.00,0.000,6,0.000,0.037,2455,2187,3175,0,0,0,0,0,0,28.83,26.47,28.83
$GC,328,-0.93,-146.6,59.6,-21.0,29,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2187,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,358,-0.93,-146.6,65.4,-19.7,32,363,0.00,2.30,0.00,0.000,4,0.000,0.050,2445,3692,3175,0,0,0,0,0,0,28.83,26.45,28.83
$GC,391,-0.93,-146.6,72.5,-21.3,35,397,0.12,2.17,0.00,0.000,6,0.183,0.025,2474,2175,3175,0,0,0,0,0,0,26.25,26.58,28.83
$GC,434,-0.93,-146.6,82.0,-21.4,39,440,0.00,1.85,0.00,0.000,4,0.000,0.032,2474,892,3176,0,0,0,0,0,0,28.83,26.53,28.83
$GC,457,-0.93,-146.6,86.5,-20.3,41,462,0.00,1.98,0.00,0.000,6,0.000,0.037,2467,2208,3175,0,0,0,0,0,0,28.83,26.52,28.83
$GC,500,-0.93,-146.6,95.1,-20.6,45,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2208,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,530,-0.93,-146.6,101.1,-19.8,48,535,0.00,2.28,0.00,0.000,4,0.000,0.050,2458,3695,3175,0,0,0,0,0,0,28.83,26.48,28.83
$GC,553,-0.93,-146.6,105.8,-19.7,50,558,0.00,2.17,0.00,0.000,6,0.000,0.027,2457,2173,3175,0,0,0,0,0,0,28.83,26.62,28.83
$GC,596,-0.93,-146.6,114.9,-21.3,54,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2171,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,629,-0.93,-146.6,121.3,-21.4,57,634,0.00,1.85,0.00,0.000,4,0.000,0.033,2457,894,3175,0,0,0,0,0,0,28.83,26.56,28.83
$GC,645,-0.93,-146.6,124.5,-21.3,58,652,0.00,1.92,0.00,0.000,6,0.000,0.037,2452,2191,3175,0,0,0,0,0,0,28.83,26.54,28.83
$GC,681,-0.93,-146.6,133.6,-22.2,62,687,0.00,2.33,0.00,0.000,4,0.000,0.050,2442,3701,3179,0,0,0,0,0,0,28.83,26.51,28.83
$GC,704,-0.93,-146.6,138.8,-22.2,64,710,0.15,2.17,0.00,0.000,6,0.181,0.028,2478,2210,3175,0,0,0,0,0,0,26.26,26.63,28.83
$GC,748,-0.93,-146.6,148.0,-21.3,68,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2209,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,778,-0.93,-146.6,153.8,-19.4,71,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2209,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,808,-0.93,-146.6,159.4,-18.7,74,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2209,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,838,-0.93,-146.6,164.8,-17.9,77,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2209,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,868,-0.93,-146.6,170.5,-18.7,80,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2209,3175,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,886,begin apogee
$GC,891,-0.31,0.0,174.1,-19.0,82,1020,0.62,0.00,120.50,1.428,4,0.142,0.000,2677,2209,2573,0,0,0,0,0,0,26.27,28.83,23.92
$STATE,1021,end apogee,CONTROL_FINISHED_OK
$STATE,1021,begin climb
$GC,1024,0.93,146.6,182.0,0.0,95,1160,1.20,2.15,126.72,1.386,4,0.089,0.035,3080,846,1975,0,0,0,0,0,0,25.15,25.19,23.85
$GC,1303,0.93,146.6,161.2,11.9,123,1308,0.00,2.12,0.00,0.000,6,0.000,0.041,3080,2227,1971,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1346,0.93,146.6,156.3,11.6,127,1351,0.00,2.22,0.00,0.000,4,0.000,0.054,3080,3640,1971,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1399,0.93,146.6,149.5,12.9,132,1404,0.00,1.92,0.00,0.000,6,0.000,0.034,3086,2362,1970,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1442,0.93,146.6,144.5,11.6,136,1447,0.00,2.00,0.00,0.000,4,0.000,0.054,3086,3635,1970,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1485,0.93,146.6,139.1,12.7,140,1490,0.00,1.70,0.00,0.000,6,0.000,0.034,3095,2494,1970,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1527,0.93,146.6,134.1,11.5,144,1533,0.00,2.50,0.00,0.000,4,0.000,0.039,3103,838,1970,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1540,0.93,146.6,132.7,11.3,145,1545,0.00,2.53,0.00,0.000,6,0.000,0.041,3103,2479,1970,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1583,0.93,146.6,127.4,12.4,149,1588,0.00,1.80,0.00,0.000,4,0.000,0.056,3103,3643,1970,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1731,0.93,146.6,106.6,14.5,163,1738,0.10,1.58,0.00,0.000,6,0.177,0.035,3082,2597,1970,0,0,0,0,0,0,26.17,26.44,28.83
$GC,1767,0.93,146.6,101.4,12.9,167,1772,0.00,2.65,0.00,0.000,4,0.000,0.039,3093,843,1969,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1800,0.93,146.6,97.6,11.5,170,1805,0.00,2.55,0.00,0.000,6,0.000,0.041,3093,2508,1968,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1843,0.93,146.6,92.7,11.5,174,1848,0.00,1.73,0.00,0.000,4,0.000,0.055,3093,3634,1968,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1886,0.93,146.6,87.1,12.9,178,1891,0.00,1.58,0.00,0.000,6,0.000,0.034,3101,2563,1968,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1928,0.93,146.6,81.3,13.5,182,1934,0.00,2.60,0.00,0.000,4,0.000,0.040,3114,840,1968,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1965,0.93,146.6,77.0,12.8,185,1973,0.12,2.38,0.00,0.000,6,0.181,0.041,3084,2413,1968,0,0,0,0,0,0,26.27,26.46,28.83
$GC,2002,0.93,146.6,72.2,12.0,189,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2413,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2031,0.93,146.6,68.9,11.3,192,2037,0.00,2.38,0.00,0.000,4,0.000,0.040,3088,844,1968,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2064,0.93,146.6,65.2,11.1,195,2070,0.00,2.25,0.00,0.000,6,0.000,0.042,3093,2326,1968,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2107,0.93,146.6,60.5,11.0,199,2113,0.00,2.05,0.00,0.000,4,0.000,0.057,3094,3646,1967,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2341,0.93,146.6,31.2,11.6,222,2346,0.00,1.80,0.00,0.000,6,0.000,0.035,3103,2427,1968,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2384,0.93,146.6,26.0,12.1,226,2389,0.00,1.90,0.00,0.000,4,0.000,0.057,3103,3646,1967,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2491,0.93,147.5,14.7,9.9,236,2498,0.12,1.65,0.00,0.000,6,0.194,0.036,3083,2513,1968,0,0,0,0,0,0,26.36,26.65,28.83
$GC,2528,0.94,186.4,11.7,7.3,240,2549,0.00,2.58,15.52,0.163,4,0.000,0.039,3094,843,1810,0,0,0,0,0,0,28.83,26.53,26.30
$GC,2556,0.97,241.3,10.5,6.2,242,2586,0.00,2.50,21.75,0.154,6,0.000,0.042,3094,2488,1586,0,0,0,0,0,0,28.83,26.52,26.24
$GC,2624,0.97,254.2,4.2,9.1,249,2635,0.00,1.77,4.78,0.158,4,0.000,0.054,3094,3640,1533,0,0,0,0,0,0,28.83,26.43,26.26
$STATE,2646,end climb,SURFACE_DEPTH_REACHED
$STATE,2646,begin surface coast
$FINISH,0.4,1.001331
$STATE,2667,end surface coast,CONTROL_FINISHED_OK
$STATE,2667,begin surface
$SM_CCo,2747,0.00,0.000,0,0,1529,256.58
$SM_GC,1.63,7.70,2.05,0.00,0.044,0.033,0.000,121,2295,1529,-8.24,1.70,256.58,0,0,0,0,0,0,26.49,26.53,28.83
$IRIDIUM_FIX,4726.11,-12220.67,010812,161637
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.34
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.30
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,121.3,64.1
$24V_AH,23.9,6.178
$10V_AH,10.1,1.014
$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,19.600,84.125,289.275,0.000,0.000,0.000,0.000,0.000,10.500,0.000,13.549,811.621,863.111,365.590,673.683,112.088,30.069,818.325,0.000,632.726,0.000,5.599,0.000
$DEVICE_MAMPS,247.860,65.790,1428.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2643.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.871,0.000,0.000,0.000
$MEM,323388
$DATA_FILE_SIZE,10146,253
$CAP_FILE_SIZE,98767,0
$CFSIZE,260165632,252792832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,173831,4743.857,-12224.847,9,1.3,9,18.2