version: 66.11
glider: 167
mission: 14
dive: 98
start: 11 1 112 12 36 42
data:
$ID,167
$MISSION,14
$DIVE,98
$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,450
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$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,-968622.06
$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,84
$R_STBD_OVSHOOT,52
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,011112,122900,2328.544,12303.661,40,1.3,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-62.4
$GPS2,011112,123615,2328.625,12303.550,5,0.9,5,-3.7
$SPEED_LIMITS,0.127,0.250
$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,90.8,95728,-12.5,-7.333,-16.34
$D_GRID,3582
$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,-0.38,-171.1,0.0,0.0,0,79,0.00,0.00,-58.65,0.000,2,0.000,0.000,109,2314,2595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.38,-171.1,3.2,-6.3,10,125,9.85,2.03,-24.45,0.000,4,0.223,0.044,2612,937,3667,0,0,0,0,0,0,25.53,26.15,26.51
$GC,196,-0.42,-171.1,14.8,-10.0,30,203,0.00,2.05,0.00,0.000,6,0.000,0.030,2612,2313,3668,0,0,0,0,0,0,28.83,26.13,28.83
$GC,522,-0.44,-171.1,52.3,-10.2,70,528,0.00,2.17,0.00,0.000,4,0.000,0.047,2612,3728,3668,0,0,0,0,0,0,28.83,26.18,28.83
$GC,589,-0.49,-171.1,57.6,-8.8,73,595,0.00,2.00,0.00,0.000,6,0.000,0.021,2612,2338,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,908,-0.52,-171.1,86.8,-9.0,89,909,0.12,0.00,0.00,0.000,6,0.078,0.000,2529,2337,3668,0,0,0,0,0,0,26.62,28.83,28.83
$GC,1210,-0.46,-171.1,132.0,-13.6,104,1216,0.17,2.05,0.00,0.000,4,0.125,0.028,2589,920,3668,0,0,0,0,0,0,26.34,26.46,28.83
$GC,1245,-0.43,-171.1,134.7,-12.5,105,1250,0.00,2.08,0.00,0.000,6,0.000,0.033,2593,2326,3668,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1559,-0.52,-171.1,155.2,-5.9,121,1564,0.00,2.12,0.00,0.000,4,0.000,0.044,2588,3732,3669,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1637,-0.62,-171.1,159.3,-6.4,124,1644,0.15,2.00,0.00,0.000,6,0.067,0.018,2493,2284,3670,0,0,0,0,0,0,26.55,26.66,28.83
$GC,1944,-0.55,-171.1,201.7,-13.5,140,1950,0.20,1.90,0.00,0.000,4,0.130,0.028,2560,957,3669,0,0,0,0,0,0,26.31,26.53,28.83
$GC,1983,-0.51,-171.1,204.7,-13.1,141,1991,0.00,2.03,0.00,0.000,6,0.000,0.034,2560,2327,3669,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2288,-0.57,-171.1,227.9,-6.7,157,2294,0.00,2.12,0.00,0.000,4,0.000,0.044,2562,3736,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2388,-0.65,-171.1,233.6,-6.6,161,2395,0.00,1.98,0.00,0.000,6,0.000,0.018,2560,2314,3669,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2692,-0.72,-171.1,253.7,-6.0,177,2698,0.12,2.17,0.00,0.000,4,0.078,0.042,2475,3733,3669,0,0,0,0,0,0,26.76,26.38,28.83
$GC,2746,-0.75,-171.1,257.9,-7.8,179,2751,0.00,1.98,0.00,0.000,6,0.000,0.024,2475,2367,3669,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3059,-0.68,-171.1,299.0,-12.7,195,3065,0.12,2.10,0.00,0.000,4,0.144,0.028,2516,909,3667,0,0,0,0,0,0,26.50,26.55,28.83
$GC,3112,-0.64,-171.1,303.7,-11.8,197,3119,0.00,2.12,0.00,0.000,6,0.000,0.037,2516,2326,3667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3427,-0.64,-171.1,334.0,-9.3,213,3432,0.00,2.15,0.00,0.000,4,0.000,0.047,2517,3732,3666,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3471,-0.66,-171.1,338.1,-9.3,215,3476,0.00,2.03,0.00,0.000,6,0.000,0.022,2516,2297,3666,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3794,-0.66,-171.1,368.4,-10.0,231,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2303,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4096,-0.68,-171.1,394.8,-8.1,246,4101,0.00,2.25,0.00,0.000,4,0.000,0.051,2515,3733,3663,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4154,-0.71,-171.1,398.2,-7.8,248,4161,0.00,2.00,0.00,0.000,6,0.000,0.019,2514,2290,3663,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4462,-0.74,-171.1,422.9,-8.2,264,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2290,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4762,-0.78,-171.1,445.2,-7.2,279,4768,0.00,2.25,0.00,0.000,4,0.000,0.047,2514,3730,3660,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4790,-0.82,-171.1,447.1,-7.1,280,4795,0.12,1.95,0.00,0.000,6,0.079,0.020,2441,2324,3660,0,0,0,0,0,0,26.58,26.69,28.83
$GC,5108,-0.75,-171.1,484.4,-11.2,296,5115,0.17,2.20,0.00,0.000,4,0.135,0.046,2495,3729,3658,0,0,0,0,0,0,26.36,26.33,28.83
$GC,5183,-0.73,-171.1,489.7,-8.8,299,5189,0.00,1.95,-0.08,0.000,6,0.000,0.021,2495,2347,3681,0,0,0,0,0,0,28.83,26.65,25.36
$GC,5497,-0.75,-171.1,513.0,-7.5,315,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2346,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5799,-0.77,-171.1,535.6,-8.2,330,5804,0.00,2.17,0.00,0.000,4,0.000,0.057,2495,3729,3678,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5846,-0.79,-171.1,539.3,-8.1,332,5851,0.00,2.00,0.00,0.000,6,0.000,0.020,2495,2299,3678,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6165,-0.82,-171.1,567.8,-8.9,348,6170,0.00,2.22,0.00,0.000,4,0.000,0.047,2495,3729,3676,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6320,-0.86,-171.1,580.9,-8.9,355,6325,0.00,2.00,0.00,0.000,6,0.000,0.020,2495,2315,3675,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6636,-0.89,-171.1,604.8,-6.8,370,6641,0.12,1.98,0.00,0.000,4,0.081,0.026,2421,951,3673,0,0,0,0,0,0,26.74,26.50,28.83
$GC,6674,-0.89,-171.1,608.2,-7.4,371,6680,0.12,2.05,0.00,0.000,6,0.155,0.034,2453,2330,3673,0,0,0,0,0,0,26.17,26.46,28.83
$GC,7006,-0.86,-171.1,638.4,-8.9,382,7011,0.00,2.00,0.00,0.000,4,0.000,0.028,2453,959,3671,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7083,-0.85,-171.1,644.5,-9.2,384,7089,0.00,2.03,0.00,0.000,6,0.000,0.032,2453,2325,3670,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7405,-0.83,-171.1,676.6,-9.9,395,7410,0.00,2.17,0.00,0.000,4,0.000,0.049,2453,3732,3669,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7442,-0.81,-171.1,680.2,-10.0,396,7448,0.00,2.00,0.00,0.000,6,0.000,0.028,2453,2317,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7773,-0.79,-171.1,714.1,-10.4,407,7775,0.12,0.00,0.00,0.000,6,0.147,0.000,2489,2315,3665,0,0,0,0,0,0,26.51,28.83,28.83
$GC,8072,-0.83,-171.1,737.8,-7.5,417,8077,0.00,2.22,0.00,0.000,4,0.000,0.050,2489,3733,3664,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8120,-0.86,-171.1,740.3,-7.4,418,8125,0.00,2.00,0.00,0.000,6,0.000,0.021,2489,2315,3664,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8440,-0.90,-171.1,763.3,-6.7,429,8446,0.12,2.22,0.00,0.000,4,0.083,0.048,2417,3726,3662,0,0,0,0,0,0,26.73,26.21,28.83
$GC,8507,-0.90,-171.1,769.7,-8.2,431,8514,0.12,1.98,0.00,0.000,6,0.149,0.022,2451,2330,3661,0,0,0,0,0,0,26.25,26.63,28.83
$GC,8839,-0.90,-171.1,799.4,-8.7,442,8844,0.00,2.20,0.00,0.000,4,0.000,0.050,2451,3723,3658,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8902,-0.90,-171.1,805.0,-8.7,444,8908,0.00,2.00,0.00,0.000,6,0.000,0.022,2451,2317,3658,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9237,-0.90,-171.1,834.0,-9.1,455,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2316,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9536,-0.90,-171.1,862.7,-9.6,465,9541,0.00,2.25,0.00,0.000,4,0.000,0.051,2451,3732,3655,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9583,-0.90,-171.1,866.0,-9.7,466,9588,0.00,2.00,0.00,0.000,6,0.000,0.023,2451,2327,3655,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9901,-0.90,-171.1,897.4,-9.4,477,9906,0.00,2.22,0.00,0.000,4,0.000,0.052,2451,3730,3653,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9978,-0.90,-171.1,903.2,-9.3,479,9984,0.00,2.00,0.00,0.000,6,0.000,0.024,2451,2325,3652,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10296,-0.90,-171.1,934.0,-9.6,490,10302,0.00,2.22,0.00,0.000,4,0.000,0.052,2451,3725,3651,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10384,-0.90,-171.1,940.3,-9.8,492,10391,0.00,2.00,0.00,0.000,6,0.000,0.024,2451,2322,3650,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10689,-0.90,-171.1,970.0,-8.6,503,10695,0.00,2.25,0.00,0.000,4,0.000,0.052,2451,3728,3649,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10723,-0.90,-171.1,973.0,-8.7,504,10728,0.00,2.03,0.00,0.000,6,0.000,0.024,2451,2316,3645,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,10934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10934,begin apogee
$GC,10940,-0.20,0.0,990.6,-8.3,511,11100,0.65,0.00,150.38,1.336,6,0.103,0.000,2672,2314,2962,0,0,0,0,0,0,25.77,28.83,23.56
$STATE,11102,end apogee,CONTROL_FINISHED_OK
$STATE,11102,begin climb
$GC,11105,0.38,171.1,997.2,0.0,516,11274,0.50,2.47,156.55,1.278,4,0.041,0.050,2877,3693,2261,0,0,0,0,0,0,24.81,23.91,22.99
$GC,11346,0.24,171.1,984.9,9.7,524,11353,0.22,2.15,0.00,0.000,6,0.145,0.028,2822,2326,2258,0,0,0,0,0,0,24.70,24.97,28.83
$GC,11668,0.19,171.1,958.3,7.6,535,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2326,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11967,0.14,176.8,936.5,7.2,545,11973,0.12,2.20,0.00,0.000,4,0.145,0.049,2779,3702,2247,0,0,0,0,0,0,26.06,26.02,28.83
$GC,12002,0.10,179.6,934.0,7.3,546,12007,0.00,2.10,0.00,0.000,6,0.000,0.027,2785,2292,2246,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12337,0.12,231.2,914.2,5.8,557,12400,0.00,2.35,56.00,1.242,4,0.000,0.049,2785,3702,2017,0,0,0,0,0,0,28.83,25.08,24.12
$GC,12452,0.14,269.3,908.3,6.2,560,12497,0.00,2.15,37.22,1.230,6,0.000,0.028,2785,2293,1865,0,0,0,0,0,0,28.83,25.60,24.01
$GC,12821,0.19,320.3,884.8,5.9,573,12880,0.00,2.40,49.95,1.224,4,0.000,0.050,2785,3693,1654,0,0,0,0,0,0,28.83,25.01,24.08
$GC,12897,0.25,362.4,881.2,6.1,575,12947,0.10,2.15,42.03,1.196,6,0.091,0.028,2839,2302,1485,0,0,0,0,0,0,25.33,25.37,23.92
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$STATE,22530,end climb,SURFACE_DEPTH_REACHED
$STATE,22530,begin surface coast
$FINISH,1.0,1.022500
$STATE,22551,end surface coast,CONTROL_FINISHED_OK
$STATE,22551,begin surface
$SM_CCo,22629,0.00,0.000,0,0,761,541.38
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$IRIDIUM_FIX,2319.18,12303.60,011112,060610
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.93
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,14
$24V_AH,23.0,25.274
$10V_AH,9.8,15.226
$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,21.450,205.525,582.100,0.000,0.000,0.000,0.000,250.325,3.500,0.000,5.862,3345.961,15763.333,756.849,2745.189,444.223,0.000,2380.583,0.000,2400.777,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,57.375,1335.690,0.000,0.000,0.000,0.000,130.050,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22575.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.492,0.000,0.000,0.000
$MEM,329572
$DATA_FILE_SIZE,39949,1048
$CAP_FILE_SIZE,251473,0
$CFSIZE,260165632,240668672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.133,286.8,1
$GPS,011112,185505,2328.990,12305.772,31,0.8,31,-3.7