version: 66.09
glider: 167
mission: 8
dive: 61
start: 6 22 111 22 11 12
data:
$ID,167
$MISSION,8
$DIVE,61
$N_DIVES,70
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,300
$T_MISSION,330
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56460.82
$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,2800
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-16.233358
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,220611,215636,1938.614,12422.392,28,0.9,29,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.3
$GPS2,220611,221050,1938.663,12422.313,17,1.3,17,-2.4
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,178.2,202482,-17.0,-11.000
$D_GRID,5000
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.67,-194.6,0.0,0.0,0,114,0.00,0.00,-92.88,0.000,2,0.000,0.000,107,1896,3244,0,0,0,0,0,0
$GC,117,-0.67,-194.6,6.6,-12.8,13,143,9.70,2.10,-5.93,0.000,4,0.233,0.036,2582,463,3635,0,0,0,0,0,0
$GC,320,-0.67,-194.6,81.2,-28.7,48,328,0.00,2.05,0.00,0.000,6,0.000,0.021,2574,1862,3637,0,0,0,0,0,0
$GC,396,-0.67,-194.6,101.2,-25.5,61,404,0.00,2.10,0.00,0.000,4,0.000,0.031,2564,3274,3637,0,0,0,0,0,0
$GC,432,-0.67,-194.6,110.0,-24.7,66,441,0.00,2.03,0.00,0.000,6,0.000,0.018,2564,1869,3637,0,0,0,0,0,0
$GC,509,-0.67,-194.6,132.0,-29.0,79,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1867,3637,0,0,0,0,0,0
$GC,586,-0.67,-194.6,152.7,-23.3,92,595,0.00,2.03,0.00,0.000,4,0.000,0.029,2564,485,3637,0,0,0,0,0,0
$GC,603,-0.67,-194.6,156.4,-21.5,94,611,0.00,2.03,0.00,0.000,6,0.000,0.021,2557,1877,3638,0,0,0,0,0,0
$GC,681,-0.67,-194.6,171.9,-22.0,107,690,0.00,2.08,0.00,0.000,4,0.000,0.033,2548,3270,3637,0,0,0,0,0,0
$GC,734,-0.67,-194.6,183.8,-22.1,115,743,0.10,2.00,0.00,0.000,6,0.160,0.018,2578,1854,3637,0,0,0,0,0,0
$GC,814,-0.67,-194.6,200.1,-18.6,128,822,0.00,1.95,0.00,0.000,4,0.000,0.029,2578,517,3637,0,0,0,0,0,0
$GC,869,-0.67,-194.6,209.8,-16.7,137,877,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1877,3637,0,0,0,0,0,0
$GC,948,-0.67,-194.6,222.7,-16.9,150,956,0.00,2.08,0.00,0.000,4,0.000,0.034,2573,3273,3637,0,0,0,0,0,0
$GC,982,-0.67,-194.6,228.8,-16.9,155,992,0.00,1.98,0.00,0.000,6,0.000,0.028,2573,1891,3638,0,0,0,0,0,0
$GC,1061,-0.67,-194.6,241.6,-16.5,168,1070,0.00,2.05,0.00,0.000,4,0.000,0.030,2573,490,3638,0,0,0,0,0,0
$GC,1126,-0.67,-194.6,253.4,-16.5,177,1133,0.00,2.00,0.00,0.000,6,0.000,0.022,2573,1866,3637,0,0,0,0,0,0
$GC,1452,-0.67,-194.6,304.7,-15.0,208,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1867,3637,0,0,0,0,0,0
$GC,1772,-0.67,-194.6,350.1,-13.5,238,1776,0.00,2.05,0.00,0.000,4,0.000,0.034,2565,3269,3635,0,0,0,0,0,0
$GC,1796,-0.67,-194.6,353.4,-14.0,240,1800,0.00,1.98,0.00,0.000,6,0.000,0.018,2565,1868,3635,0,0,0,0,0,0
$GC,2127,-0.67,-194.6,396.5,-12.9,271,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1867,3633,0,0,0,0,0,0
$GC,2449,-0.67,-194.6,439.4,-12.6,301,2453,0.00,1.98,0.00,0.000,4,0.000,0.031,2565,498,3631,0,0,0,0,0,0
$GC,2523,-0.67,-194.6,449.5,-13.8,307,2530,0.00,1.98,0.00,0.000,6,0.000,0.022,2561,1874,3630,0,0,0,0,0,0
$GC,2848,-0.67,-194.6,489.2,-11.2,338,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1875,3628,0,0,0,0,0,0
$GC,3170,-0.67,-194.6,524.2,-10.8,368,3175,0.00,2.10,0.00,0.000,4,0.000,0.037,2561,3267,3626,0,0,0,0,0,0
$GC,3242,-0.67,-194.6,532.7,-10.9,374,3249,0.00,2.00,0.00,0.000,6,0.000,0.020,2561,1869,3625,0,0,0,0,0,0
$GC,3567,-0.67,-194.6,568.6,-11.3,405,3571,0.00,2.00,0.00,0.000,4,0.000,0.033,2561,490,3623,0,0,0,0,0,0
$GC,3662,-0.67,-194.6,580.2,-12.3,413,3669,0.00,2.00,0.00,0.000,6,0.000,0.024,2561,1876,3622,0,0,0,0,0,0
$GC,3985,-0.67,-194.6,617.6,-11.4,437,3988,0.00,2.05,0.00,0.000,4,0.000,0.037,2561,3265,3620,0,0,0,0,0,0
$GC,4030,-0.67,-194.6,623.0,-11.4,439,4034,0.00,1.95,0.00,0.000,6,0.000,0.021,2561,1873,3619,0,0,0,0,0,0
$GC,4365,-0.67,-194.6,659.2,-10.6,455,4369,0.00,2.05,0.00,0.000,4,0.000,0.035,2561,3267,3616,0,0,0,0,0,0
$GC,4387,-0.67,-194.6,661.9,-10.5,456,4391,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1885,3616,0,0,0,0,0,0
$GC,4715,-0.67,-194.6,694.4,-9.5,472,4719,0.00,2.05,0.00,0.000,4,0.000,0.034,2561,482,3613,0,0,0,0,0,0
$GC,4817,-0.67,-194.6,704.2,-9.5,476,4822,0.00,2.05,0.00,0.000,6,0.000,0.025,2561,1872,3613,0,0,0,0,0,0
$GC,5139,-0.67,-194.6,729.3,-7.1,492,5142,0.00,2.08,0.00,0.000,4,0.000,0.038,2561,3269,3610,0,0,0,0,0,0
$GC,5223,-0.67,-194.6,735.6,-7.4,495,5231,0.00,2.00,0.00,0.000,6,0.000,0.021,2561,1874,3609,0,0,0,0,0,0
$GC,5542,-0.67,-194.6,761.4,-8.4,511,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1874,3606,0,0,0,0,0,0
$GC,5849,-0.67,-194.6,789.2,-9.4,526,5853,0.00,2.03,0.00,0.000,4,0.000,0.034,2560,491,3604,0,0,0,0,0,0
$GC,5900,-0.67,-194.6,794.4,-10.1,528,5904,0.00,2.00,0.00,0.000,6,0.000,0.023,2558,1886,3603,0,0,0,0,0,0
$GC,6228,-0.67,-194.6,827.6,-10.0,544,6232,0.00,2.03,0.00,0.000,4,0.000,0.038,2557,3265,3601,0,0,0,0,0,0
$GC,6274,-0.67,-194.6,832.2,-9.8,546,6278,0.00,1.98,0.00,0.000,6,0.000,0.021,2558,1867,3601,0,0,0,0,0,0
$GC,6611,-0.67,-194.6,864.0,-9.6,562,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1866,3599,0,0,0,0,0,0
$GC,6917,-0.67,-194.6,891.2,-8.7,577,6921,0.00,2.08,0.00,0.000,4,0.000,0.037,2554,3266,3596,0,0,0,0,0,0
$GC,6951,-0.67,-194.6,894.2,-8.4,578,6959,0.10,2.00,0.00,0.000,6,0.165,0.022,2581,1862,3596,0,0,0,0,0,0
$GC,7270,-0.67,-194.6,917.6,-7.5,594,7274,0.00,2.12,0.00,0.000,4,0.000,0.037,2576,3275,3595,0,0,0,0,0,0
$GC,7325,-0.67,-194.6,922.2,-7.8,596,7332,0.00,1.98,0.00,0.000,6,0.000,0.023,2576,1887,3594,0,0,0,0,0,0
$GC,7646,-0.67,-194.6,946.8,-7.8,612,7649,0.00,2.05,0.00,0.000,4,0.000,0.038,2575,3264,3593,0,0,0,0,0,0
$GC,7681,-0.67,-194.6,949.8,-8.0,613,7685,0.00,1.98,0.00,0.000,6,0.000,0.022,2575,1872,3593,0,0,0,0,0,0
$GC,8004,-0.67,-194.6,974.0,-7.4,629,8008,0.00,2.08,0.00,0.000,4,0.000,0.037,2575,3266,3591,0,0,0,0,0,0
$GC,8053,-0.67,-194.6,978.1,-7.7,631,8058,0.00,2.03,0.00,0.000,6,0.000,0.022,2575,1878,3591,0,0,0,0,0,0
$STATE,8230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8231,begin apogee
$GC,8237,-0.20,0.0,991.4,7.7,640,8393,0.45,0.00,149.25,1.390,6,0.125,0.000,2728,2076,2839,0,0,0,0,0,0
$STATE,8394,end apogee,CONTROL_FINISHED_OK
$STATE,8394,begin climb
$GC,8396,0.67,194.6,995.7,0.0,647,8567,0.82,2.28,162.65,1.340,4,0.082,0.037,3014,3461,2044,0,0,0,0,0,0
$GC,8656,0.67,194.6,964.4,16.0,659,8661,0.00,2.15,0.00,0.000,6,0.000,0.022,3022,2076,2035,0,0,0,0,0,0
$GC,8978,0.67,194.6,914.1,15.7,675,8982,0.00,2.12,0.00,0.000,4,0.000,0.035,3033,675,2031,0,0,0,0,0,0
$GC,9033,0.67,194.6,904.8,15.8,677,9041,0.00,2.08,0.00,0.000,6,0.000,0.024,3033,2069,2031,0,0,0,0,0,0
$GC,9351,0.67,194.6,855.5,15.3,693,9355,0.00,2.15,0.00,0.000,4,0.000,0.039,3033,3480,2031,0,0,0,0,0,0
$GC,9387,0.67,194.6,849.6,16.1,694,9394,0.00,2.10,0.00,0.000,6,0.000,0.022,3042,2062,2030,0,0,0,0,0,0
$GC,9704,0.67,194.6,801.2,14.7,710,9707,0.00,2.05,0.00,0.000,4,0.000,0.036,3053,688,2029,0,0,0,0,0,0
$GC,9795,0.67,194.6,787.3,15.4,714,9800,0.15,2.05,0.00,0.000,6,0.162,0.024,3013,2089,2029,0,0,0,0,0,0
$GC,10123,0.67,194.6,744.6,13.1,730,10127,0.00,2.05,0.00,0.000,4,0.000,0.039,3013,3462,2028,0,0,0,0,0,0
$GC,10173,0.67,194.6,737.2,14.1,732,10177,0.00,2.03,0.00,0.000,6,0.000,0.022,3020,2065,2027,0,0,0,0,0,0
$GC,10502,0.67,194.6,692.9,13.6,748,10505,0.00,2.05,0.00,0.000,4,0.000,0.036,3031,684,2027,0,0,0,0,0,0
$GC,10601,0.67,194.6,678.6,14.3,752,10606,0.00,2.08,0.00,0.000,6,0.000,0.024,3031,2070,2027,0,0,0,0,0,0
$GC,10924,0.67,194.6,632.6,14.1,768,10928,0.00,2.08,0.00,0.000,4,0.000,0.039,3031,3470,2027,0,0,0,0,0,0
$GC,10956,0.67,194.6,627.1,15.7,769,10964,0.00,2.05,0.00,0.000,6,0.000,0.023,3039,2063,2026,0,0,0,0,0,0
$GC,11276,0.67,194.6,583.5,13.4,790,11281,0.00,2.05,0.00,0.000,4,0.000,0.036,3050,692,2026,0,0,0,0,0,0
$GC,11323,0.67,194.6,577.3,13.4,794,11328,0.12,2.03,0.00,0.000,6,0.166,0.024,3017,2094,2026,0,0,0,0,0,0
$GC,11649,0.67,194.6,538.1,12.2,824,11653,0.00,2.10,0.00,0.000,4,0.000,0.034,3025,682,2025,0,0,0,0,0,0
$GC,11712,0.67,194.6,529.8,13.5,829,11716,0.00,2.03,0.00,0.000,6,0.000,0.023,3025,2083,2025,0,0,0,0,0,0
$GC,12043,0.67,194.6,484.8,13.7,860,12046,0.00,2.08,0.00,0.000,4,0.000,0.039,3025,3467,2025,0,0,0,0,0,0
$GC,12149,0.67,194.6,468.7,15.2,869,12159,0.00,2.00,0.00,0.000,6,0.000,0.023,3034,2077,2025,0,0,0,0,0,0
$GC,12474,0.67,194.6,424.8,12.9,900,12479,0.00,2.08,0.00,0.000,4,0.000,0.034,3045,685,2025,0,0,0,0,0,0
$GC,12554,0.67,194.6,413.9,14.0,907,12560,0.08,2.05,0.00,0.000,6,0.140,0.023,3019,2082,2025,0,0,0,0,0,0
$GC,12886,0.67,194.6,375.8,11.2,938,12889,0.00,2.05,0.00,0.000,4,0.000,0.033,3027,691,2025,0,0,0,0,0,0
$GC,12910,0.67,194.6,373.1,11.3,940,12914,0.00,2.00,0.00,0.000,6,0.000,0.022,3027,2078,2025,0,0,0,0,0,0
$GC,13241,0.67,194.6,333.3,11.9,971,13245,0.00,2.08,0.00,0.000,4,0.000,0.037,3027,3472,2025,0,0,0,0,0,0
$GC,13348,0.67,194.6,319.5,12.8,980,13355,0.00,2.00,0.00,0.000,6,0.000,0.021,3036,2067,2025,0,0,0,0,0,0
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$STATE,16066,end climb,SURFACE_DEPTH_REACHED
$STATE,16066,begin surface coast
$FINISH,0.7,1.020058
$STATE,16092,end surface coast,CONTROL_FINISHED_OK
$STATE,16092,begin surface
$SM_CCo,16171,0.00,0.000,0,0,648,537.45
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$IRIDIUM_FIX,1934.38,12423.32,220611,171701
$TT8_MAMPS,0.028462,0.028462
$HUMID,32.51
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.40
$XPDR_PINGS,14
$24V_AH,24.0,12.563
$10V_AH,10.3,10.155
$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,19.775,180.925,585.525,0.000,0.000,29.633,47.182,576.360,3.500,0.000,18.080,3475.427,8405.507,706.215,3466.920,950.168,0.000,2207.331,0.000,3196.062,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,48.960,1390.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,943.785,1634.340,1417.472,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330052
$DATA_FILE_SIZE,80076,1391
$CAP_FILE_SIZE,193810,0
$CFSIZE,260165632,136605696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091, 17.3,1
$GPS,230611,024201,1936.911,12422.844,40,1.3,41,-2.4