version: 66.11
glider: 167
mission: 14
dive: 113
start: 11 5 112 13 21 26
data:
$ID,167
$MISSION,14
$DIVE,113
$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,-968640.81
$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,88
$R_STBD_OVSHOOT,45
$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
$GPS1,051112,131335,2343.308,12348.613,38,0.9,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.2
$GPS2,051112,132100,2343.275,12348.622,4,0.9,4,-3.8
$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,16.3,16488,-12.5,-7.333,-16.34
$D_GRID,3419
$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,-171.1,0.0,0.0,0,91,0.00,0.00,-69.68,0.000,2,0.000,0.000,103,2309,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.38,-171.1,3.1,-5.4,12,131,9.93,0.00,-23.92,0.000,6,0.225,0.000,2607,2307,3668,0,0,0,0,0,0,25.51,28.83,26.53
$GC,440,-0.41,-171.1,39.1,-8.5,64,445,0.00,2.20,0.00,0.000,4,0.000,0.047,2607,3732,3669,0,0,0,0,0,0,28.83,26.20,28.83
$GC,493,-0.46,-171.1,42.9,-6.9,69,499,0.00,1.98,0.00,0.000,6,0.000,0.019,2607,2327,3669,0,0,0,0,0,0,28.83,26.46,28.83
$GC,818,-0.49,-171.1,66.0,-8.3,90,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2327,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1120,-0.53,-171.1,96.5,-10.0,105,1126,0.12,2.17,0.00,0.000,4,0.077,0.045,2514,3733,3668,0,0,0,0,0,0,26.68,26.36,28.83
$GC,1147,-0.53,-171.1,99.9,-10.9,106,1154,0.20,2.00,0.00,0.000,6,0.132,0.018,2572,2284,3668,0,0,0,0,0,0,26.17,26.63,28.83
$GC,1466,-0.53,-171.1,139.1,-10.8,122,1472,0.00,1.85,0.00,0.000,4,0.000,0.023,2573,960,3668,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1519,-0.53,-171.1,143.6,-10.5,124,1524,0.00,1.98,0.00,0.000,6,0.000,0.026,2573,2327,3668,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1832,-0.58,-171.1,170.6,-7.9,140,1838,0.00,2.12,0.00,0.000,4,0.000,0.044,2572,3733,3668,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1919,-0.64,-171.1,177.6,-8.4,144,1926,0.12,1.95,0.00,0.000,6,0.076,0.021,2492,2331,3669,0,0,0,0,0,0,26.57,26.63,28.83
$GC,2240,-0.58,-171.1,221.0,-14.2,160,2246,0.17,2.15,0.00,0.000,4,0.134,0.044,2547,3722,3669,0,0,0,0,0,0,26.36,26.41,28.83
$GC,2273,-0.53,-171.1,223.9,-13.6,161,2279,0.00,1.95,0.00,0.000,6,0.000,0.018,2547,2316,3669,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2589,-0.56,-171.1,252.3,-8.9,177,2594,0.00,1.92,0.00,0.000,4,0.000,0.026,2547,947,3669,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2641,-0.59,-171.1,256.2,-8.8,179,2647,0.00,2.00,0.00,0.000,6,0.000,0.028,2547,2321,3670,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2955,-0.63,-171.1,281.0,-7.6,195,2961,0.00,2.12,0.00,0.000,4,0.000,0.045,2547,3726,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2994,-0.68,-171.1,282.9,-7.6,196,3001,0.00,1.95,0.00,0.000,6,0.000,0.021,2547,2332,3668,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3299,-0.72,-171.1,306.5,-7.6,212,3305,0.12,2.15,0.00,0.000,4,0.078,0.044,2456,3734,3667,0,0,0,0,0,0,26.77,26.44,28.83
$GC,3323,-0.74,-171.1,309.0,-8.3,213,3329,0.15,1.98,0.00,0.000,6,0.136,0.018,2499,2314,3667,0,0,0,0,0,0,26.32,26.70,28.83
$GC,3648,-0.72,-171.1,341.6,-10.3,229,3653,0.00,1.95,0.00,0.000,4,0.000,0.028,2500,942,3666,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3680,-0.70,-171.1,344.1,-10.6,230,3687,0.00,2.05,0.00,0.000,6,0.000,0.031,2499,2326,3666,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3995,-0.70,-171.1,375.7,-8.9,246,4000,0.00,2.12,0.00,0.000,4,0.000,0.046,2499,3730,3665,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4067,-0.70,-171.1,380.8,-8.3,249,4072,0.00,1.98,0.00,0.000,6,0.000,0.018,2499,2311,3664,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4381,-0.70,-171.1,409.2,-8.8,265,4387,0.00,2.20,0.00,0.000,4,0.000,0.046,2499,3740,3664,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4425,-0.70,-171.1,412.9,-8.6,267,4431,0.00,1.98,0.00,0.000,6,0.000,0.018,2500,2320,3663,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4748,-0.70,-171.1,443.2,-10.1,283,4753,0.00,1.95,0.00,0.000,4,0.000,0.026,2499,944,3662,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4801,-0.70,-171.1,447.5,-10.2,285,4806,0.00,2.05,0.00,0.000,6,0.000,0.029,2498,2337,3662,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5113,-0.70,-171.1,479.2,-9.0,301,5119,0.00,2.12,0.00,0.000,4,0.000,0.046,2498,3737,3660,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5228,-0.72,-171.1,488.0,-8.4,306,5234,0.00,1.98,0.00,0.000,6,0.000,0.019,2497,2324,3659,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5542,-0.74,-171.1,514.5,-7.7,322,5547,0.00,2.17,0.00,0.000,4,0.000,0.046,2498,3735,3658,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5600,-0.76,-171.1,517.9,-7.6,324,5608,0.00,1.98,0.00,0.000,6,0.000,0.020,2498,2313,3657,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5906,-0.79,-171.1,541.8,-8.0,340,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2313,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6207,-0.81,-171.1,566.9,-8.6,355,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2313,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6507,-0.84,-171.1,590.7,-7.5,370,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2313,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6828,-0.87,-171.1,612.1,-6.3,383,6834,0.12,2.22,0.00,0.000,4,0.082,0.050,2421,3730,3651,0,0,0,0,0,0,26.75,26.30,28.83
$GC,6863,-0.87,-171.1,615.4,-7.0,384,6868,0.15,1.98,0.00,0.000,6,0.142,0.020,2462,2324,3650,0,0,0,0,0,0,26.25,26.69,28.83
$GC,7199,-0.87,-171.1,644.0,-8.3,395,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2324,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7496,-0.87,-171.1,671.8,-9.8,405,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2324,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7797,-0.87,-171.1,699.8,-8.9,415,7803,0.00,2.17,0.00,0.000,4,0.000,0.047,2461,3727,3644,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7861,-0.87,-171.1,705.4,-8.8,417,7866,0.00,1.98,0.00,0.000,6,0.000,0.021,2462,2334,3644,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8196,-0.87,-171.1,731.4,-7.8,428,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2334,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8494,-0.87,-171.1,756.1,-8.3,438,8499,0.00,2.20,0.00,0.000,4,0.000,0.048,2462,3726,3639,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8557,-0.87,-171.1,761.4,-8.4,440,8562,0.00,2.03,0.00,0.000,6,0.000,0.028,2462,2314,3638,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8892,-0.87,-171.1,789.4,-8.6,451,8897,0.00,2.20,0.00,0.000,4,0.000,0.047,2462,3725,3636,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9020,-0.87,-171.1,800.0,-8.5,455,9026,0.00,2.00,0.00,0.000,6,0.000,0.023,2462,2317,3636,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9349,-0.87,-171.1,826.7,-7.9,466,9354,0.00,2.22,0.00,0.000,4,0.000,0.053,2462,3729,3633,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9436,-0.87,-171.1,831.8,-8.0,468,9443,0.00,2.00,0.00,0.000,6,0.000,0.024,2463,2325,3633,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9742,-0.87,-171.1,859.0,-8.2,479,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2324,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10043,-0.87,-171.1,882.4,-7.7,489,10048,0.00,2.22,0.00,0.000,4,0.000,0.049,2463,3728,3629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10172,-0.89,-171.1,891.4,-7.3,493,10177,0.00,2.00,0.00,0.000,6,0.000,0.024,2463,2326,3628,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10502,-0.89,-171.1,915.7,-7.5,504,10507,0.00,2.00,0.00,0.000,4,0.000,0.028,2462,948,3626,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10528,-0.89,-171.1,915.7,-7.5,504,10535,0.00,2.05,0.00,0.000,6,0.000,0.031,2462,2324,3626,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10836,-0.91,-171.1,940.3,-7.5,515,10841,0.00,2.17,0.00,0.000,4,0.000,0.048,2462,3725,3624,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10893,-0.93,-171.1,942.9,-7.6,516,10901,0.00,2.00,0.00,0.000,6,0.000,0.024,2463,2318,3624,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11201,-0.94,-171.1,967.9,-7.5,527,11206,0.00,1.98,0.00,0.000,4,0.000,0.029,2463,958,3623,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11238,-0.96,-171.1,970.6,-7.6,528,11243,0.00,2.05,0.00,0.000,6,0.000,0.032,2463,2324,3623,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,11503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11504,begin apogee
$GC,11510,-0.20,0.0,990.1,-7.2,537,11662,0.62,0.00,144.45,1.349,6,0.104,0.000,2675,2324,2964,0,0,0,0,0,0,25.75,28.83,23.56
$STATE,11663,end apogee,CONTROL_FINISHED_OK
$STATE,11664,begin climb
$GC,11666,0.38,171.1,995.7,0.0,542,11832,0.50,2.30,156.30,1.308,4,0.043,0.031,2885,949,2264,0,0,0,0,0,0,24.80,23.94,22.89
$GC,12042,0.28,171.1,970.5,10.5,554,12048,0.20,2.10,0.00,0.000,6,0.128,0.031,2829,2310,2249,0,0,0,0,0,0,25.38,25.63,28.83
$GC,12358,0.23,190.5,944.8,6.8,565,12381,0.00,2.12,16.83,1.266,4,0.000,0.032,2828,944,2185,0,0,0,0,0,0,28.83,25.69,24.58
$GC,12408,0.19,216.5,942.8,6.6,566,12442,0.00,2.08,26.10,1.264,6,0.000,0.031,2829,2300,2080,0,0,0,0,0,0,28.83,25.80,24.20
$GC,12751,0.17,248.8,920.3,6.4,578,12790,0.12,2.28,30.88,1.266,4,0.136,0.047,2786,3695,1946,0,0,0,0,0,0,26.00,25.32,24.30
$GC,12815,0.17,285.3,916.6,6.3,580,12861,0.00,2.10,36.53,1.256,6,0.000,0.028,2786,2323,1797,0,0,0,0,0,0,28.83,25.62,24.01
$GC,13174,0.23,327.4,895.9,6.1,592,13223,0.00,2.28,40.30,1.249,4,0.000,0.034,2787,910,1628,0,0,0,0,0,0,28.83,25.19,24.16
$GC,13250,0.29,363.5,891.9,6.3,594,13296,0.15,2.17,36.35,1.203,6,0.070,0.029,2863,2312,1481,0,0,0,0,0,0,25.52,25.51,24.06
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$STATE,22819,end climb,SURFACE_DEPTH_REACHED
$STATE,22819,begin surface coast
$FINISH,0.8,1.022735
$STATE,22846,end surface coast,CONTROL_FINISHED_OK
$STATE,22846,begin surface
$SM_CCo,22924,0.00,0.000,0,0,1228,426.82
$SM_GC,1.64,7.15,0.00,0.00,0.030,0.000,0.000,113,2301,1228,-8.12,-0.68,426.82,0,0,0,0,0,0,26.44,28.83,28.83
$IRIDIUM_FIX,2333.28,12340.10,051112,060609
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.84
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,26.20
$XPDR_PINGS,16
$24V_AH,22.9,28.338
$10V_AH,9.9,17.571
$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,21.100,190.175,516.100,0.000,0.000,0.000,0.000,257.000,4.000,0.000,5.901,3407.749,16011.061,698.968,2804.197,437.042,0.000,2334.334,0.000,2453.132,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,52.785,1348.695,0.000,0.000,0.000,0.000,130.050,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22864.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.400,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,40028,1071
$CAP_FILE_SIZE,249050,0
$CFSIZE,260165632,238989312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151,140.0,1
$GPS,051112,194455,2345.250,12351.251,42,0.9,42,-3.8