version: 66.11
glider: 167
mission: 14
dive: 108
start: 11 4 112 5 9 17
data:
$ID,167
$MISSION,14
$DIVE,108
$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,-968634.56
$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,86
$R_STBD_OVSHOOT,54
$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
$GPS1,041112,050053,2337.493,12330.006,39,1.4,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-64.0
$GPS2,041112,050851,2337.586,12330.014,4,1.4,4,-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,97.0,48169,-12.5,-7.333,-16.34
$D_GRID,3550
$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,16,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,-63.90,0.000,2,0.000,0.000,109,2319,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.38,-171.1,3.1,-6.1,11,132,9.77,2.08,-27.48,0.000,4,0.220,0.039,2608,939,3667,0,0,0,0,0,0,25.53,26.17,26.44
$GC,186,-0.44,-171.1,11.3,-8.0,28,193,0.00,2.03,0.00,0.000,6,0.000,0.027,2608,2315,3668,0,0,0,0,0,0,28.83,26.19,28.83
$GC,502,-0.46,-171.1,42.0,-9.9,73,508,0.00,2.15,0.00,0.000,4,0.000,0.044,2608,3726,3668,0,0,0,0,0,0,28.83,26.24,28.83
$GC,571,-0.52,-171.1,48.0,-8.9,79,578,0.12,2.00,0.00,0.000,6,0.074,0.022,2525,2339,3668,0,0,0,0,0,0,26.38,26.43,28.83
$GC,876,-0.40,-171.1,104.2,-19.1,96,882,0.25,2.08,0.00,0.000,4,0.133,0.028,2607,910,3668,0,0,0,0,0,0,26.14,26.45,28.83
$GC,920,-0.35,-171.1,109.7,-15.7,98,926,0.00,2.12,0.00,0.000,6,0.000,0.031,2606,2330,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1245,-0.41,-171.1,134.2,-7.4,114,1250,0.00,2.12,0.00,0.000,4,0.000,0.045,2606,3732,3668,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1310,-0.49,-171.1,138.5,-6.9,117,1315,0.00,2.03,0.00,0.000,6,0.000,0.020,2606,2300,3668,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1633,-0.59,-171.1,161.3,-7.1,133,1640,0.15,2.22,0.00,0.000,4,0.068,0.045,2502,3732,3668,0,0,0,0,0,0,26.72,26.44,28.83
$GC,1721,-0.56,-171.1,172.5,-13.2,137,1728,0.20,1.98,0.00,0.000,6,0.124,0.018,2563,2312,3668,0,0,0,0,0,0,26.27,26.66,28.83
$GC,2046,-0.60,-171.1,198.7,-6.6,153,2051,0.00,1.95,0.00,0.000,4,0.000,0.028,2558,937,3668,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2090,-0.64,-171.1,201.9,-7.0,155,2095,0.00,2.03,0.00,0.000,6,0.000,0.030,2564,2325,3668,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2413,-0.70,-171.1,225.6,-7.8,171,2419,0.12,2.12,0.00,0.000,4,0.077,0.044,2473,3730,3668,0,0,0,0,0,0,26.76,26.45,28.83
$GC,2552,-0.63,-171.1,241.7,-13.9,177,2560,0.20,1.95,0.00,0.000,6,0.125,0.018,2534,2321,3667,0,0,0,0,0,0,26.28,26.70,28.83
$GC,2858,-0.65,-171.1,272.8,-9.2,193,2863,0.00,1.95,0.00,0.000,4,0.000,0.027,2534,941,3668,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2890,-0.67,-171.1,275.1,-9.5,194,2895,0.00,2.03,0.00,0.000,6,0.000,0.029,2534,2333,3667,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3204,-0.69,-171.1,302.4,-8.0,210,3210,0.00,2.12,0.00,0.000,4,0.000,0.045,2534,3723,3667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3262,-0.72,-171.1,306.0,-8.2,212,3269,0.00,1.95,0.00,0.000,6,0.000,0.018,2535,2314,3666,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3568,-0.75,-171.1,331.1,-7.5,228,3574,0.12,2.17,0.00,0.000,4,0.079,0.043,2447,3725,3662,0,0,0,0,0,0,26.77,26.42,28.83
$GC,3632,-0.72,-171.1,339.1,-11.5,231,3638,0.20,1.95,0.00,0.000,6,0.129,0.018,2507,2314,3664,0,0,0,0,0,0,26.27,26.71,28.83
$GC,3955,-0.72,-171.1,372.0,-9.7,247,3960,0.00,1.92,0.00,0.000,4,0.000,0.025,2507,950,3664,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3987,-0.72,-171.1,374.2,-9.8,248,3993,0.00,2.00,0.00,0.000,6,0.000,0.028,2507,2321,3663,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4301,-0.72,-171.1,403.9,-9.6,264,4307,0.00,2.15,0.00,0.000,4,0.000,0.045,2506,3728,3662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4369,-0.73,-171.1,409.9,-9.7,267,4374,0.00,1.95,0.00,0.000,6,0.000,0.018,2506,2322,3662,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4687,-0.73,-171.1,439.4,-8.9,283,4692,0.00,1.95,0.00,0.000,4,0.000,0.027,2507,946,3661,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4740,-0.76,-171.1,443.1,-8.5,285,4745,0.00,2.03,0.00,0.000,6,0.000,0.030,2506,2325,3660,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5053,-0.78,-171.1,469.1,-7.5,301,5058,0.00,2.12,0.00,0.000,4,0.000,0.046,2507,3724,3658,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5126,-0.81,-171.1,473.7,-7.3,304,5131,0.00,1.98,0.00,0.000,6,0.000,0.019,2506,2313,3658,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5440,-0.84,-171.1,496.8,-7.1,320,5446,0.12,2.20,-0.05,0.000,4,0.081,0.057,2426,3726,3676,0,0,0,0,0,0,26.77,26.39,24.93
$GC,5484,-0.84,-171.1,501.7,-9.1,322,5490,0.15,1.98,0.00,0.000,6,0.142,0.018,2468,2318,3676,0,0,0,0,0,0,26.29,26.70,28.83
$GC,5809,-0.82,-171.1,533.9,-9.7,338,5814,0.00,2.17,0.00,0.000,4,0.000,0.049,2466,3725,3674,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5846,-0.80,-171.1,536.3,-9.7,339,5854,0.00,1.95,0.00,0.000,6,0.000,0.020,2467,2318,3675,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6153,-0.78,-171.1,570.7,-11.0,355,6159,0.00,2.20,0.00,0.000,4,0.000,0.046,2466,3730,3673,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6211,-0.78,-171.1,575.7,-10.9,357,6218,0.00,1.95,0.00,0.000,6,0.000,0.020,2466,2334,3672,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6529,-0.78,-171.1,611.5,-11.2,372,6534,0.00,2.17,0.00,0.000,4,0.000,0.045,2466,3732,3670,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6654,-0.78,-171.1,625.8,-11.4,376,6660,0.00,1.98,0.00,0.000,6,0.000,0.020,2466,2322,3670,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6989,-0.78,-171.1,660.1,-9.5,387,6994,0.00,2.20,0.00,0.000,4,0.000,0.047,2466,3733,3668,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7036,-0.78,-171.1,663.3,-9.3,388,7041,0.00,1.98,0.00,0.000,6,0.000,0.021,2466,2319,3667,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7356,-0.78,-171.1,688.6,-6.8,399,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2323,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7654,-0.78,-171.1,708.3,-6.8,409,7660,0.00,1.95,0.00,0.000,4,0.000,0.026,2466,956,3663,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7707,-0.78,-171.1,710.9,-7.1,410,7713,0.00,2.05,0.00,0.000,6,0.000,0.037,2466,2331,3662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8021,-0.78,-171.1,737.1,-8.3,421,8027,0.00,2.15,0.00,0.000,4,0.000,0.047,2466,3729,3660,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8069,-0.78,-171.1,740.1,-8.5,422,8074,0.00,1.98,0.00,0.000,6,0.000,0.022,2467,2317,3660,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8387,-0.78,-171.1,768.4,-8.7,433,8392,0.00,1.95,0.00,0.000,4,0.000,0.026,2466,955,3657,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8420,-0.78,-171.1,771.5,-8.8,434,8426,0.00,2.05,0.00,0.000,6,0.000,0.032,2465,2326,3657,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8757,-0.78,-171.1,801.0,-8.8,445,8763,0.00,2.20,0.00,0.000,4,0.000,0.054,2467,3732,3655,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8829,-0.78,-171.1,806.7,-8.6,447,8835,0.00,1.98,0.00,0.000,6,0.000,0.023,2466,2331,3655,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9155,-0.79,-171.1,831.9,-7.3,458,9161,0.00,2.20,0.00,0.000,4,0.000,0.047,2466,3732,3653,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9239,-0.81,-171.1,836.9,-7.3,460,9245,0.00,2.00,0.00,0.000,6,0.000,0.023,2466,2316,3652,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9555,-0.83,-171.1,860.7,-6.9,471,9561,0.00,2.20,0.00,0.000,4,0.000,0.047,2466,3724,3650,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9666,-0.85,-171.1,867.5,-7.0,474,9671,0.00,2.00,0.00,0.000,6,0.000,0.024,2466,2321,3649,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9987,-0.87,-171.1,890.8,-7.1,485,9992,0.00,2.20,0.00,0.000,4,0.000,0.047,2466,3725,3647,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10060,-0.89,-171.1,895.7,-7.3,487,10066,0.00,1.98,0.00,0.000,6,0.000,0.024,2465,2330,3646,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10387,-0.91,-171.1,919.5,-7.1,498,10392,0.00,2.20,0.00,0.000,4,0.000,0.048,2466,3725,3645,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10470,-0.94,-171.1,924.2,-7.0,500,10475,0.00,2.00,0.00,0.000,6,0.000,0.024,2466,2317,3644,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10785,-0.96,-171.1,947.1,-6.8,511,10791,0.10,2.22,0.00,0.000,4,0.099,0.047,2412,3731,3644,0,0,0,0,0,0,26.73,26.13,28.83
$GC,10863,-0.96,-171.1,953.2,-8.1,513,10869,0.00,2.03,0.00,0.000,6,0.000,0.029,2412,2332,3642,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11184,-0.92,-171.1,986.1,-9.6,524,11190,0.12,2.20,0.00,0.000,4,0.155,0.047,2450,3724,3638,0,0,0,0,0,0,26.37,26.10,28.83
$STATE,11245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11246,begin apogee
$GC,11254,-0.20,0.0,991.6,-9.0,526,11412,0.65,0.00,148.30,1.359,6,0.101,0.000,2673,2286,2962,0,0,0,0,0,0,25.76,28.83,23.54
$STATE,11414,end apogee,CONTROL_FINISHED_OK
$STATE,11414,begin climb
$GC,11416,0.38,171.1,998.1,0.0,531,11582,0.50,2.53,155.23,1.260,4,0.040,0.047,2879,3697,2263,0,0,0,0,0,0,24.84,23.95,23.00
$GC,11709,0.24,171.1,978.3,11.4,541,11715,0.25,2.12,0.00,0.000,6,0.147,0.028,2819,2320,2253,0,0,0,0,0,0,25.03,25.36,28.83
$GC,12039,0.19,175.5,953.7,7.2,552,12044,0.00,2.20,0.00,0.000,4,0.000,0.047,2818,3704,2250,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12106,0.13,175.5,948.4,7.7,554,12112,0.15,2.10,0.00,0.000,6,0.148,0.028,2785,2302,2248,0,0,0,0,0,0,25.85,26.15,28.83
$GC,12435,0.16,238.6,929.1,5.5,565,12503,0.00,2.33,62.50,1.269,4,0.000,0.047,2785,3698,1987,0,0,0,0,0,0,28.83,25.03,24.05
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$STATE,22030,end climb,SURFACE_DEPTH_REACHED
$STATE,22030,begin surface coast
$FINISH,0.7,1.022760
$STATE,22045,end surface coast,CONTROL_FINISHED_OK
$STATE,22046,begin surface
$SM_CCo,22123,0.00,0.000,0,0,573,587.49
$SM_GC,1.61,7.35,0.00,0.00,0.022,0.000,0.000,113,2301,573,-8.11,-0.68,587.49,0,0,0,0,0,0,26.41,28.83,28.83
$IRIDIUM_FIX,2326.22,12325.10,031112,222210
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.47
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,25
$24V_AH,23.0,27.333
$10V_AH,9.7,16.784
$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,21.625,200.125,638.775,0.000,0.000,0.000,0.000,292.300,6.250,0.000,5.808,3303.362,15259.903,803.086,2789.865,435.684,0.000,2473.420,0.000,2403.329,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,56.610,1358.640,0.000,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22070.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.314,0.000,0.000,0.000
$MEM,329560
$DATA_FILE_SIZE,36746,1011
$CAP_FILE_SIZE,247106,0
$CFSIZE,260165632,239558656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028,317.4,1
$GPS,041112,111923,2337.115,12333.479,39,1.0,39,-3.7