version: 66.11
glider: 167
mission: 10
dive: 2
start: 7 31 112 19 32 2
data:
$ID,167
$MISSION,10
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$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,52156
$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,300
$N_FILEKB,8
$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,-966124.62
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,66
$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,-16.434093
$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,100
$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
$GPS1,310712,192349,4742.763,-12224.996,9,1.2,9,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.1
$GPS2,310712,193107,4742.688,-12225.027,9,1.7,9,18.2
$SPEED_LIMITS,0.084,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.051,0.256
$KALMAN_X,-56.8,-56.8,-56.8,-46.5,-133.9
$KALMAN_Y,-264.4,-264.4,-264.4,-30.1,-624.1
$MHEAD_RNG_PITCHd_Wd,353.0,2263,-18.2,-10.000
$D_GRID,185
$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,-0.76,-146.6,0.0,0.0,0,125,0.00,0.00,-104.00,0.000,6,0.000,0.000,128,2327,3173,0,0,0,0,0,0,28.83,28.83,26.82
$GC,130,-0.76,-146.6,3.0,-3.1,10,147,9.90,2.03,0.00,0.000,4,0.256,0.041,2518,3674,3174,0,0,0,0,0,0,25.92,26.38,28.83
$GC,184,-0.76,-146.6,20.5,-31.5,15,190,0.00,2.00,0.00,0.000,6,0.000,0.025,2518,2269,3175,0,0,0,0,0,0,28.83,26.51,28.83
$GC,220,-0.76,-146.6,27.3,-17.1,19,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2267,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,249,-0.76,-146.6,32.4,-16.7,22,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2267,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,279,-0.76,-146.6,37.5,-16.8,25,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2267,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,309,-0.76,-146.6,42.2,-16.1,28,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2268,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,339,-0.76,-146.6,47.0,-16.1,31,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2267,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,369,-0.76,-146.6,51.7,-15.5,34,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2267,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,399,-0.76,-146.6,56.4,-15.9,37,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2267,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,429,-0.76,-146.6,60.8,-14.6,40,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2267,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,459,-0.76,-146.6,65.5,-15.6,43,465,0.00,2.15,0.00,0.000,4,0.000,0.050,2508,3665,3176,0,0,0,0,0,0,28.83,26.44,28.83
$GC,512,-0.76,-146.6,74.3,-16.9,48,517,0.00,2.05,0.00,0.000,6,0.000,0.025,2508,2223,3175,0,0,0,0,0,0,28.83,26.62,28.83
$GC,555,-0.76,-146.6,81.1,-16.4,52,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2220,3176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,585,-0.76,-146.6,85.7,-15.7,55,590,0.00,1.90,0.00,0.000,4,0.000,0.031,2508,900,3175,0,0,0,0,0,0,28.83,26.55,28.83
$GC,628,-0.76,-146.6,92.3,-15.2,59,633,0.12,1.90,0.00,0.000,6,0.168,0.038,2532,2172,3174,0,0,0,0,0,0,26.28,26.51,28.83
$GC,671,-0.76,-146.6,98.6,-14.2,63,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2172,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,701,-0.76,-146.6,102.6,-13.9,66,707,0.00,2.30,0.00,0.000,4,0.000,0.050,2524,3672,3175,0,0,0,0,0,0,28.83,26.47,28.83
$GC,768,-0.76,-146.6,111.5,-14.5,72,775,0.00,1.95,0.00,0.000,6,0.000,0.026,2524,2301,3175,0,0,0,0,0,0,28.83,26.65,28.83
$GC,804,-0.76,-146.6,116.9,-13.5,76,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2300,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,835,-0.76,-146.6,120.9,-13.4,79,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2300,3175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,864,-0.76,-146.6,125.1,-14.2,82,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2300,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,894,-0.76,-146.6,129.2,-13.7,85,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2300,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,924,-0.76,-146.6,133.3,-13.6,88,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2302,3174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,954,-0.76,-146.6,137.6,-14.3,91,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2300,3172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,984,-0.76,-146.6,142.0,-14.7,94,989,0.00,2.10,0.00,0.000,4,0.000,0.051,2520,3663,3175,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1030,-0.76,-146.6,148.2,-14.9,98,1037,0.00,1.83,0.00,0.000,6,0.000,0.028,2520,2371,3174,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,1045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1045,begin apogee
$GC,1051,-0.31,0.0,151.0,-13.9,100,1179,0.47,0.00,120.25,1.454,4,0.129,0.000,2674,2242,2576,0,0,0,0,0,0,26.27,28.83,23.82
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1181,begin climb
$GC,1183,0.76,146.6,158.3,0.0,113,1318,1.02,0.00,127.45,1.377,6,0.097,0.000,3018,2241,1975,0,0,0,0,0,0,25.07,28.83,23.77
$GC,1347,0.76,156.5,150.3,9.5,130,1363,0.00,2.22,9.60,1.212,4,0.000,0.037,3028,833,1935,0,0,0,0,0,0,28.83,25.16,24.13
$GC,1400,0.76,156.5,144.7,10.2,135,1405,0.00,2.08,0.00,0.000,6,0.000,0.040,3028,2148,1934,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1443,0.76,156.5,140.3,10.6,139,1448,0.00,2.30,0.00,0.000,4,0.000,0.051,3028,3603,1934,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1510,0.76,156.5,132.7,12.3,145,1517,0.00,2.00,0.00,0.000,6,0.000,0.032,3036,2268,1933,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1546,0.76,156.5,128.3,11.1,149,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2267,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1576,0.76,156.5,125.3,10.0,152,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2267,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1606,0.77,164.8,122.4,9.6,155,1615,0.00,0.00,3.28,0.834,6,0.000,0.000,3037,2263,1901,0,0,0,0,0,0,28.83,28.83,25.03
$GC,1646,0.77,179.1,118.7,9.3,159,1660,0.00,2.17,6.12,1.037,4,0.000,0.053,3037,3600,1842,0,0,0,0,0,0,28.83,25.91,24.95
$GC,1692,0.77,179.1,113.8,11.7,163,1698,0.00,1.95,0.00,0.000,6,0.000,0.033,3042,2293,1841,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1728,0.77,179.1,108.8,12.3,167,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2292,1841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1758,0.77,179.1,105.0,12.6,170,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2292,1841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1788,0.77,179.1,101.0,13.1,173,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2291,1840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1818,0.77,179.1,97.2,12.8,176,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2291,1840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1848,0.77,179.1,93.6,12.2,179,1853,0.00,2.05,0.00,0.000,4,0.000,0.054,3042,3601,1840,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1942,0.77,179.1,81.5,13.3,188,1947,0.00,1.92,0.00,0.000,6,0.000,0.034,3042,2311,1840,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1985,0.77,179.1,76.5,11.3,192,1990,0.00,2.22,0.00,0.000,4,0.000,0.040,3045,818,1843,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2038,0.77,179.1,70.6,11.4,197,2043,0.00,2.12,0.00,0.000,6,0.000,0.039,3046,2225,1838,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2081,0.77,179.1,65.5,12.0,201,2086,0.00,2.17,0.00,0.000,4,0.000,0.052,3045,3630,1838,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2098,0.77,179.1,63.7,12.3,202,2104,0.00,2.03,0.00,0.000,6,0.000,0.033,3056,2259,1838,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2134,0.77,179.1,58.3,13.9,206,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2258,1838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,0.77,179.1,55.0,11.3,209,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2259,1839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2194,0.77,179.1,51.8,10.6,212,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2258,1839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2224,0.77,179.1,48.5,11.3,215,2229,0.00,2.15,0.00,0.000,4,0.000,0.054,3056,3633,1838,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2297,0.77,179.1,39.6,11.8,222,2303,0.15,2.00,0.00,0.000,6,0.181,0.033,3028,2283,1838,0,0,0,0,0,0,26.22,26.53,28.83
$GC,2341,0.78,195.0,35.5,9.3,226,2354,0.00,2.25,5.72,0.729,4,0.000,0.039,3037,815,1778,0,0,0,0,0,0,28.83,26.36,25.49
$GC,2412,0.79,221.8,29.1,8.8,233,2433,0.00,2.20,10.75,0.206,6,0.000,0.040,3037,2272,1667,0,0,0,0,0,0,28.83,26.44,26.10
$GC,2462,0.79,221.8,23.8,11.1,238,2467,0.00,2.10,0.00,0.000,4,0.000,0.053,3037,3631,1665,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2515,0.79,221.8,17.2,13.1,243,2520,0.00,1.95,0.00,0.000,6,0.000,0.034,3042,2312,1664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2558,0.79,221.8,12.5,10.7,247,2563,0.00,2.20,0.00,0.000,4,0.000,0.040,3042,830,1664,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2591,0.81,272.0,10.2,7.7,250,2615,0.00,2.12,19.15,0.155,6,0.000,0.040,3044,2238,1461,0,0,0,0,0,0,28.83,26.46,26.14
$STATE,2651,end climb,SURFACE_DEPTH_REACHED
$STATE,2651,begin surface coast
$FINISH,1.0,1.020515
$STATE,2674,end surface coast,CONTROL_FINISHED_OK
$STATE,2674,begin surface
$SM_CCo,2692,10.38,0.148,0,0,1349,300.00
$SM_GC,4.17,7.57,0.08,10.38,0.043,0.119,0.148,119,2297,1349,-8.25,-0.96,300.00,0,0,0,0,0,0,26.44,26.55,26.18
$IRIDIUM_FIX,4726.11,-12220.67,310712,191951
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.35
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.20
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,130.5,70.9
$24V_AH,23.8,5.823
$10V_AH,10.2,0.136
$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,19.250,62.650,302.325,10.375,0.000,0.000,0.000,0.000,2.250,0.000,11.818,777.801,854.583,410.409,618.500,121.100,30.072,856.916,0.000,581.728,0.000,10.326,0.000
$DEVICE_MAMPS,255.510,118.575,1453.500,147.645,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2650.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.824,0.000,0.000,0.000
$MEM,323372
$DATA_FILE_SIZE,10140,258
$CAP_FILE_SIZE,123343,0
$CFSIZE,260165632,252764160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310712,201825,4742.729,-12225.281,33,1.5,34,18.2
$RESTART_TIME,Tue Jul 31 20:41:49 2012