version: 66.11
glider: 167
mission: 14
dive: 101
start: 11 2 112 8 8 57
data:
$ID,167
$MISSION,14
$DIVE,101
$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,-968625.81
$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,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,72
$R_STBD_OVSHOOT,51
$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
$GPS1,021112,080053,2330.854,12310.739,40,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-57.9
$GPS2,021112,080831,2330.990,12310.643,5,0.9,5,-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,92.3,82983,-12.5,-7.333,-16.34
$D_GRID,3443
$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,16,begin dive
$GC,19,-0.38,-171.1,0.0,0.0,0,85,0.00,0.00,-64.20,0.000,2,0.000,0.000,109,2314,2698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.38,-171.1,3.3,-5.7,11,126,9.75,2.10,-21.90,0.000,4,0.220,0.043,2609,933,3668,0,0,0,0,0,0,25.56,26.14,26.49
$GC,189,-0.42,-171.1,16.4,-12.4,29,197,0.00,2.08,0.00,0.000,6,0.000,0.031,2609,2318,3669,0,0,0,0,0,0,28.83,26.13,28.83
$GC,502,-0.42,-171.1,57.6,-15.7,66,507,0.00,2.17,0.00,0.000,4,0.000,0.047,2609,3735,3669,0,0,0,0,0,0,28.83,26.20,28.83
$GC,549,-0.45,-171.1,63.0,-13.6,68,554,0.00,2.03,0.00,0.000,6,0.000,0.019,2609,2301,3669,0,0,0,0,0,0,28.83,26.45,28.83
$GC,867,-0.49,-171.1,94.9,-10.4,84,873,0.00,2.25,0.00,0.000,4,0.000,0.048,2609,3736,3669,0,0,0,0,0,0,28.83,26.30,28.83
$GC,920,-0.54,-171.1,98.7,-9.4,86,926,0.12,1.98,0.00,0.000,6,0.075,0.018,2524,2302,3669,0,0,0,0,0,0,26.48,26.59,28.83
$GC,1235,-0.48,-171.1,142.1,-13.6,102,1237,0.20,0.00,0.00,0.000,6,0.122,0.000,2585,2299,3670,0,0,0,0,0,0,26.32,28.83,28.83
$GC,1536,-0.55,-171.1,163.0,-7.1,117,1541,0.00,2.20,0.00,0.000,4,0.000,0.044,2585,3732,3670,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1615,-0.63,-171.1,167.3,-6.7,120,1622,0.15,1.95,0.00,0.000,6,0.067,0.019,2492,2321,3670,0,0,0,0,0,0,26.56,26.65,28.83
$GC,1920,-0.57,-171.1,209.8,-12.7,136,1922,0.22,0.00,0.00,0.000,6,0.123,0.000,2562,2322,3670,0,0,0,0,0,0,26.32,28.83,28.83
$GC,2222,-0.62,-171.1,228.8,-6.3,151,2228,0.00,1.95,0.00,0.000,4,0.000,0.028,2563,949,3670,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2246,-0.68,-171.1,230.6,-6.5,152,2253,0.12,2.03,0.00,0.000,6,0.077,0.029,2481,2331,3670,0,0,0,0,0,0,26.52,26.53,28.83
$GC,2571,-0.62,-171.1,275.2,-14.7,168,2577,0.17,2.12,0.00,0.000,4,0.133,0.044,2533,3733,3669,0,0,0,0,0,0,26.36,26.43,28.83
$GC,2671,-0.62,-171.1,283.8,-10.1,172,2677,0.00,1.95,0.00,0.000,6,0.000,0.018,2533,2326,3669,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2976,-0.64,-171.1,310.7,-8.0,188,2981,0.00,2.17,0.00,0.000,4,0.000,0.047,2532,3738,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3008,-0.67,-171.1,312.6,-8.0,189,3015,0.00,1.98,0.00,0.000,6,0.000,0.018,2533,2310,3668,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3323,-0.70,-171.1,339.1,-8.5,205,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2310,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3625,-0.74,-171.1,363.2,-7.7,220,3630,0.00,2.22,0.00,0.000,4,0.000,0.051,2533,3741,3667,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3689,-0.78,-171.1,368.0,-7.5,223,3696,0.12,1.95,0.00,0.000,6,0.078,0.019,2452,2340,3665,0,0,0,0,0,0,26.57,26.70,28.83
$GC,4014,-0.71,-171.1,409.6,-13.6,239,4016,0.20,0.00,0.00,0.000,6,0.127,0.000,2512,2339,3664,0,0,0,0,0,0,26.36,28.83,28.83
$GC,4316,-0.73,-171.1,436.2,-8.9,254,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2339,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4616,-0.76,-171.1,462.2,-8.3,269,4621,0.00,2.17,0.00,0.000,4,0.000,0.047,2512,3736,3662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4663,-0.80,-171.1,465.7,-7.9,271,4668,0.00,1.98,0.00,0.000,6,0.000,0.021,2512,2320,3661,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4982,-0.84,-171.1,488.8,-7.1,287,4988,0.12,2.17,0.00,0.000,4,0.080,0.043,2427,3732,3659,0,0,0,0,0,0,26.76,26.39,28.83
$GC,5016,-0.86,-171.1,491.1,-7.6,288,5022,0.12,1.98,0.00,0.000,6,0.148,0.020,2461,2308,3659,0,0,0,0,0,0,26.34,26.71,28.83
$GC,5330,-0.83,-171.1,524.4,-10.1,304,5335,0.00,1.92,0.00,0.000,4,0.000,0.025,2461,948,3657,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5363,-0.81,-171.1,526.7,-9.9,305,5369,0.00,2.05,0.00,0.000,6,0.000,0.033,2461,2337,3657,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5677,-0.79,-171.1,559.3,-9.8,321,5682,0.00,2.12,0.00,0.000,4,0.000,0.047,2460,3729,3655,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5729,-0.76,-171.1,563.7,-10.0,323,5736,0.12,1.95,0.00,0.000,6,0.133,0.020,2497,2319,3654,0,0,0,0,0,0,26.39,26.72,28.83
$GC,6045,-0.79,-171.1,588.2,-7.2,339,6051,0.00,2.20,0.00,0.000,4,0.000,0.045,2497,3733,3653,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6110,-0.83,-171.1,592.9,-7.3,342,6115,0.00,1.98,0.00,0.000,6,0.000,0.021,2497,2315,3651,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6426,-0.87,-171.1,616.2,-7.5,354,6432,0.12,2.20,0.00,0.000,4,0.080,0.045,2427,3726,3650,0,0,0,0,0,0,26.75,26.30,28.83
$GC,6491,-0.87,-171.1,623.5,-9.3,356,6498,0.15,1.95,0.00,0.000,6,0.142,0.021,2463,2327,3648,0,0,0,0,0,0,26.25,26.69,28.83
$GC,6825,-0.87,-171.1,656.8,-10.0,367,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2327,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7126,-0.87,-171.1,684.4,-9.0,377,7131,0.00,2.20,0.00,0.000,4,0.000,0.049,2463,3732,3645,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7208,-0.87,-171.1,690.1,-9.0,379,7213,0.00,1.98,0.00,0.000,6,0.000,0.022,2462,2319,3645,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7521,-0.87,-171.1,719.1,-8.8,390,7527,0.00,2.20,0.00,0.000,4,0.000,0.047,2463,3733,3643,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7595,-0.87,-171.1,724.3,-8.5,392,7601,0.00,2.00,0.00,0.000,6,0.000,0.029,2463,2317,3642,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7920,-0.87,-171.1,750.3,-7.8,403,7925,0.00,2.20,0.00,0.000,4,0.000,0.053,2462,3725,3640,0,0,0,0,0,0,28.83,24.73,28.83
$GC,7953,-0.87,-171.1,752.9,-7.8,404,7959,0.00,1.98,0.00,0.000,6,0.000,0.023,2463,2325,3641,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8288,-0.87,-171.1,780.0,-8.5,415,8294,0.00,2.20,0.00,0.000,4,0.000,0.048,2463,3723,3638,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8316,-0.87,-171.1,780.0,-8.5,415,8323,0.00,1.98,0.00,0.000,6,0.000,0.028,2462,2328,3637,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8622,-0.87,-171.1,811.4,-9.4,426,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2327,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8922,-0.87,-171.1,836.3,-7.9,436,8927,0.00,2.20,0.00,0.000,4,0.000,0.048,2462,3733,3634,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8979,-0.87,-171.1,838.9,-7.9,437,8986,0.00,2.00,0.00,0.000,6,0.000,0.024,2463,2317,3634,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9285,-0.87,-171.1,864.6,-7.7,448,9291,0.00,2.20,0.00,0.000,4,0.000,0.048,2463,3721,3631,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9368,-0.87,-171.1,869.6,-7.7,450,9374,0.00,1.98,0.00,0.000,6,0.000,0.024,2463,2329,3631,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9681,-0.87,-171.1,894.8,-7.4,461,9687,0.00,2.20,0.00,0.000,4,0.000,0.048,2462,3733,3629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9739,-0.87,-171.1,897.3,-7.4,462,9746,0.00,2.05,0.00,0.000,6,0.000,0.025,2462,2316,3632,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10046,-0.87,-171.1,920.6,-6.8,473,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2315,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10345,-0.87,-171.1,939.8,-6.2,483,10351,0.00,2.22,0.00,0.000,4,0.000,0.054,2462,3723,3626,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10388,-0.87,-171.1,941.8,-6.1,484,10395,0.00,2.00,0.00,0.000,6,0.000,0.025,2463,2323,3625,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10714,-0.87,-171.1,961.5,-6.0,495,10720,0.00,2.22,0.00,0.000,4,0.000,0.049,2463,3725,3624,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10768,-0.88,-171.1,963.6,-6.0,496,10774,0.00,2.03,0.00,0.000,6,0.000,0.026,2462,2327,3623,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11084,-0.90,-171.1,984.6,-6.4,507,11090,0.00,2.22,0.00,0.000,4,0.000,0.049,2462,3727,3622,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,11175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11175,begin apogee
$GC,11184,-0.20,0.0,991.2,-6.7,510,11338,0.62,0.00,145.27,1.339,6,0.100,0.000,2675,2282,2962,0,0,0,0,0,0,25.77,28.83,23.56
$STATE,11339,end apogee,CONTROL_FINISHED_OK
$STATE,11339,begin climb
$GC,11342,0.38,171.1,996.8,0.0,515,11511,0.50,2.47,156.77,1.298,4,0.039,0.047,2882,3694,2263,0,0,0,0,0,0,24.81,23.88,22.90
$GC,11635,0.24,171.1,976.2,11.8,525,11641,0.25,2.15,0.00,0.000,6,0.146,0.028,2822,2317,2255,0,0,0,0,0,0,24.94,25.27,28.83
$GC,11970,0.19,171.1,948.9,8.3,536,11975,0.00,2.22,0.00,0.000,4,0.000,0.047,2823,3707,2251,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12037,0.13,171.1,942.7,9.0,538,12043,0.17,2.12,0.00,0.000,6,0.143,0.029,2780,2293,2249,0,0,0,0,0,0,25.77,26.10,28.83
$GC,12366,0.14,204.3,920.6,6.4,549,12405,0.00,2.20,30.35,1.255,4,0.000,0.036,2780,908,2127,0,0,0,0,0,0,28.83,25.48,24.46
$GC,12448,0.15,233.1,916.5,6.5,551,12481,0.00,2.15,28.42,1.256,6,0.000,0.031,2780,2304,2017,0,0,0,0,0,0,28.83,25.70,24.15
$GC,12790,0.20,255.9,892.7,6.7,563,12820,0.00,2.25,22.80,1.253,4,0.000,0.047,2780,3698,1917,0,0,0,0,0,0,28.83,25.43,24.44
$GC,12881,0.24,272.3,888.2,6.9,565,12906,0.12,2.12,16.85,1.246,6,0.080,0.028,2842,2298,1853,0,0,0,0,0,0,25.75,25.79,24.30
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$STATE,22581,end climb,SURFACE_DEPTH_REACHED
$STATE,22581,begin surface coast
$FINISH,0.9,0.998903
$STATE,22603,end surface coast,CONTROL_FINISHED_OK
$STATE,22603,begin surface
$SM_CCo,22680,0.00,0.000,0,0,1142,447.67
$SM_GC,1.70,7.20,0.00,0.00,0.021,0.000,0.000,116,2293,1142,-8.10,-0.90,447.67,0,0,0,0,0,0,26.51,28.83,28.83
$IRIDIUM_FIX,2321.52,12305.57,021112,010117
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.47
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.00
$XPDR_PINGS,31
$24V_AH,22.9,25.867
$10V_AH,9.9,15.697
$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,21.800,205.800,534.175,0.000,0.000,0.000,0.000,274.225,7.750,0.000,5.899,3303.047,15940.652,718.100,2736.735,430.226,0.000,2348.045,0.000,2379.554,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,54.315,1338.750,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22622.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.137,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,36713,1026
$CAP_FILE_SIZE,250719,0
$CFSIZE,260165632,240332800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.143,285.3,1
$GPS,021112,142822,2331.469,12312.658,25,1.0,41,-3.7