version: 66.11
glider: 167
mission: 11
dive: 4
start: 8 1 112 19 0 26
data:
$ID,167
$MISSION,11
$DIVE,4
$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,-967557
$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,46
$R_STBD_OVSHOOT,33
$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,1
$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
$GPS1,010812,185151,4743.899,-12224.961,10,2.2,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.0
$GPS2,010812,185927,4743.872,-12224.983,12,2.1,31,18.2
$SPEED_LIMITS,0.084,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,0.030
$KALMAN_X,68.4,109.5,132.3,-738.1,13.5
$KALMAN_Y,-4.8,36.0,87.5,891.0,-34.9
$MHEAD_RNG_PITCHd_Wd,50.5,234,-48.7,-10.000
$D_GRID,180
$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,-1.88,-21.6,0.0,0.0,0,61,0.00,0.00,-41.33,0.000,2,0.000,0.000,121,2282,2651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.89,-32.9,3.4,-6.5,4,81,8.38,2.10,-1.27,0.000,4,0.253,0.050,2166,879,2710,0,0,0,0,0,0,25.83,26.19,26.42
$GC,309,-1.89,-32.9,73.1,-25.5,28,314,0.00,2.15,0.00,0.000,6,0.000,0.037,2158,2300,2711,0,0,0,0,0,0,28.83,26.36,28.83
$GC,352,-1.89,-32.9,83.9,-25.5,32,357,0.00,2.12,0.00,0.000,4,0.000,0.033,2157,874,2711,0,0,0,0,0,0,28.83,26.40,28.83
$GC,547,-1.89,-32.9,134.7,-25.9,51,553,0.00,2.03,0.00,0.000,6,0.000,0.037,2147,2217,2711,0,0,0,0,0,0,28.83,26.46,28.83
$GC,590,-1.89,-32.9,145.8,-25.7,55,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2218,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,620,-1.89,-32.9,153.8,-26.4,58,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2218,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,650,-1.89,-32.9,161.8,-27.0,61,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2218,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,680,-1.89,-32.9,169.5,-25.9,64,685,0.00,1.98,0.00,0.000,4,0.000,0.032,2148,872,2711,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,721,begin apogee
$GC,729,-0.31,0.0,180.1,-24.4,68,763,1.90,0.00,28.02,1.417,4,0.206,0.000,2672,2247,2573,0,0,0,0,0,0,26.11,28.83,24.46
$STATE,764,end apogee,CONTROL_FINISHED_OK
$STATE,764,begin climb
$GC,766,1.89,32.9,185.7,0.0,71,805,2.12,2.22,30.08,1.384,4,0.102,0.054,3381,3626,2439,0,0,0,0,0,0,25.56,25.59,23.98
$GC,852,1.90,64.3,184.0,0.3,79,888,0.00,2.17,28.98,1.380,6,0.000,0.033,3392,2223,2311,0,0,0,0,0,0,28.83,25.62,23.94
$GC,919,1.92,106.0,186.6,-2.9,86,963,0.00,2.25,38.70,1.385,4,0.000,0.037,3401,821,2140,0,0,0,0,0,0,28.83,24.85,23.83
$GC,1192,1.92,106.0,145.1,17.7,113,1197,0.00,1.95,0.00,0.000,6,0.000,0.040,3402,2076,2137,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1234,1.92,106.0,137.7,17.2,117,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2076,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1264,1.92,106.0,132.3,17.9,120,1270,0.00,2.45,0.00,0.000,4,0.000,0.051,3402,3632,2137,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1382,1.92,106.0,109.3,20.5,131,1388,0.00,2.25,0.00,0.000,6,0.000,0.034,3414,2135,2137,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1418,1.92,106.0,101.7,18.7,135,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2139,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1448,1.92,106.0,96.7,17.1,138,1453,0.00,2.35,0.00,0.000,4,0.000,0.051,3413,3633,2137,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1460,1.92,106.0,94.9,16.3,139,1466,0.12,2.35,0.00,0.000,6,0.256,0.033,3402,2072,2136,0,0,0,0,0,0,25.99,26.32,28.83
$GC,1504,1.92,106.0,88.1,15.3,143,1509,0.00,1.88,0.00,0.000,4,0.000,0.040,3409,823,2137,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1587,1.92,106.0,74.7,16.4,151,1592,0.00,1.60,0.00,0.000,6,0.000,0.040,3409,1879,2136,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1630,1.92,106.0,67.7,16.8,155,1635,0.00,2.72,0.00,0.000,4,0.000,0.051,3409,3628,2136,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1863,1.92,109.1,37.1,9.1,178,1868,0.00,2.38,0.00,0.000,6,0.000,0.034,3421,2036,2135,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1906,1.92,115.0,33.6,8.2,182,1917,0.00,2.50,2.95,0.537,4,0.000,0.051,3421,3626,2104,0,0,0,0,0,0,28.83,26.41,25.48
$GC,2147,1.92,118.8,9.7,8.8,205,2155,0.15,2.33,1.62,0.236,6,0.256,0.034,3403,2066,2086,0,0,0,0,0,0,26.18,26.54,26.29
$GC,2183,1.92,122.6,6.0,8.8,209,2191,0.00,0.00,1.35,0.212,6,0.000,0.000,3403,2065,2070,0,0,0,0,0,0,28.83,28.83,26.31
$STATE,2221,end climb,SURFACE_DEPTH_REACHED
$STATE,2221,begin surface coast
$FINISH,0.5,1.021234
$STATE,2252,end surface coast,CONTROL_FINISHED_OK
$STATE,2252,begin surface
$SM_CCo,2272,51.92,0.138,0,0,1550,250.21
$SM_GC,1.44,9.57,0.32,51.92,0.110,0.060,0.138,126,2287,1550,-8.24,-1.36,250.21,0,0,0,0,0,0,26.48,26.53,26.16
$IRIDIUM_FIX,4729.30,-12222.38,010812,181810
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.26
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,131.6,79.4
$24V_AH,23.8,6.325
$10V_AH,10.2,1.123
$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,22.250,44.200,131.700,51.925,0.000,24.851,35.485,211.544,2.000,0.000,34.432,760.519,713.830,248.866,908.680,165.340,32.215,597.361,0.000,581.855,0.000,7.530,0.000
$DEVICE_MAMPS,256.275,60.435,1416.780,137.700,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2255.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.468,0.000,0.000,0.000
$MEM,323340
$DATA_FILE_SIZE,6837,216
$CAP_FILE_SIZE,64986,0
$CFSIZE,260165632,252731392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,194012,4743.849,-12224.827,10,1.6,15,18.2