version: 66.11
glider: 167
mission: 14
dive: 128
start: 11 9 112 17 22 17
data:
$ID,167
$MISSION,14
$DIVE,128
$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,500
$T_MISSION,540
$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,150
$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,-968667.25
$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,77
$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
$GPS1,091112,171405,2301.781,12350.706,30,0.9,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.3
$GPS2,091112,172150,2301.759,12350.635,5,0.9,5,-3.6
$SPEED_LIMITS,0.114,0.225
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,153.2,170702,-12.3,-6.600,-16.33
$D_GRID,6206
$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,-0.37,-146.6,0.0,0.0,0,74,0.00,0.00,-52.42,0.000,2,0.000,0.000,111,2310,2561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.37,-146.6,3.0,-5.5,9,121,10.00,2.03,-25.23,0.000,4,0.226,0.041,2616,933,3564,0,0,0,0,0,0,25.46,26.17,26.54
$GC,146,-0.42,-146.6,9.2,-8.7,20,153,0.00,2.05,0.00,0.000,6,0.000,0.029,2616,2314,3564,0,0,0,0,0,0,28.83,26.14,28.83
$GC,458,-0.46,-146.6,34.6,-8.4,69,463,0.00,2.20,0.00,0.000,4,0.000,0.046,2616,3733,3565,0,0,0,0,0,0,28.83,26.21,28.83
$GC,557,-0.53,-146.6,41.6,-7.2,78,565,0.15,2.00,0.00,0.000,6,0.065,0.018,2522,2301,3565,0,0,0,0,0,0,26.41,26.51,28.83
$GC,863,-0.42,-146.6,92.0,-17.2,97,869,0.22,1.92,0.00,0.000,4,0.129,0.023,2596,939,3565,0,0,0,0,0,0,26.17,26.49,28.83
$GC,937,-0.41,-146.6,100.0,-13.4,100,943,0.00,2.03,0.00,0.000,6,0.000,0.028,2596,2328,3565,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1251,-0.46,-146.6,128.5,-7.2,116,1256,0.00,2.12,0.00,0.000,4,0.000,0.044,2596,3729,3565,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1314,-0.53,-146.6,132.7,-6.7,119,1320,0.00,1.98,0.00,0.000,6,0.000,0.018,2596,2323,3565,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1638,-0.70,-146.6,156.0,-6.8,135,1644,0.20,1.95,0.00,0.000,4,0.060,0.024,2485,938,3565,0,0,0,0,0,0,26.67,26.58,28.83
$GC,1766,-0.64,-146.6,168.0,-10.7,141,1772,0.17,2.03,0.00,0.000,6,0.129,0.029,2532,2323,3565,0,0,0,0,0,0,26.23,26.51,28.83
$GC,2085,-0.64,-146.6,196.4,-9.7,157,2091,0.00,2.15,0.00,0.000,4,0.000,0.045,2532,3733,3566,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2118,-0.64,-146.6,198.8,-9.9,158,2123,0.00,1.95,0.00,0.000,6,0.000,0.018,2532,2320,3565,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2431,-0.64,-146.6,231.2,-9.9,174,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2319,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2734,-0.64,-146.6,256.6,-8.0,189,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2320,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3033,-0.64,-146.6,280.7,-8.1,204,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2320,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3332,-0.64,-146.6,302.8,-7.3,219,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2319,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3633,-0.65,-146.6,328.4,-9.0,234,3639,0.00,2.17,0.00,0.000,4,0.000,0.045,2532,3726,3563,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3666,-0.67,-146.6,330.6,-9.0,235,3671,0.00,1.95,0.00,0.000,6,0.000,0.018,2532,2307,3563,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3979,-0.70,-146.6,357.8,-8.0,251,3985,0.00,2.17,0.00,0.000,4,0.000,0.043,2532,3728,3561,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4026,-0.73,-146.6,361.3,-8.2,253,4031,0.00,1.92,0.00,0.000,6,0.000,0.018,2532,2318,3561,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4346,-0.77,-146.6,388.0,-8.5,269,4352,0.12,1.90,0.00,0.000,4,0.080,0.022,2446,970,3560,0,0,0,0,0,0,26.76,26.60,28.83
$GC,4385,-0.77,-146.6,390.7,-9.2,270,4393,0.17,1.98,0.00,0.000,6,0.136,0.027,2491,2328,3560,0,0,0,0,0,0,26.22,26.55,28.83
$GC,4690,-0.75,-146.6,423.6,-9.0,286,4696,0.00,2.15,0.00,0.000,4,0.000,0.045,2491,3729,3557,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4758,-0.75,-146.6,428.9,-8.4,289,4763,0.00,1.92,0.00,0.000,6,0.000,0.018,2491,2338,3559,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5076,-0.75,-146.6,456.3,-8.8,305,5082,0.00,2.00,-0.08,0.000,4,0.000,0.038,2491,950,3586,0,0,0,0,0,0,28.83,26.58,25.71
$GC,5144,-0.75,-146.6,462.2,-9.2,308,5150,0.00,2.03,0.00,0.000,6,0.000,0.029,2491,2329,3586,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5463,-0.75,-146.6,490.4,-8.4,324,5468,0.00,2.12,0.00,0.000,4,0.000,0.046,2490,3725,3585,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5569,-0.75,-146.6,499.0,-8.2,329,5575,0.00,1.98,0.00,0.000,6,0.000,0.019,2491,2320,3585,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5888,-0.75,-146.6,525.7,-8.1,345,5893,0.00,2.20,0.00,0.000,4,0.000,0.052,2491,3736,3586,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5920,-0.75,-146.6,527.7,-8.3,346,5925,0.00,1.98,0.00,0.000,6,0.000,0.019,2491,2311,3583,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6233,-0.75,-146.6,553.7,-8.0,362,6239,0.00,1.92,0.00,0.000,4,0.000,0.025,2491,961,3581,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6266,-0.75,-146.6,555.6,-8.0,363,6271,0.00,2.03,0.00,0.000,6,0.000,0.033,2491,2331,3581,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6578,-0.75,-146.6,579.4,-6.7,379,6583,0.00,2.15,0.00,0.000,4,0.000,0.047,2491,3735,3580,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6683,-0.77,-146.6,586.6,-6.9,384,6688,0.00,1.98,0.00,0.000,6,0.000,0.020,2491,2324,3579,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7007,-0.79,-146.6,610.1,-7.4,398,7013,0.00,2.17,0.00,0.000,4,0.000,0.045,2491,3729,3577,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7036,-0.81,-146.6,610.1,-7.4,398,7043,0.00,1.98,0.00,0.000,6,0.000,0.020,2491,2330,3576,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7344,-0.84,-146.6,632.7,-6.4,409,7350,0.00,1.98,0.00,0.000,4,0.000,0.025,2491,955,3575,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7373,-0.86,-146.6,632.7,-6.4,409,7379,0.00,2.03,0.00,0.000,6,0.000,0.029,2491,2329,3574,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7680,-0.88,-146.6,653.9,-6.3,420,7687,0.12,2.15,0.00,0.000,4,0.080,0.045,2414,3726,3572,0,0,0,0,0,0,26.74,26.28,28.83
$GC,7754,-0.87,-146.6,660.8,-8.4,422,7760,0.15,2.00,0.00,0.000,6,0.143,0.021,2456,2315,3571,0,0,0,0,0,0,26.22,26.67,28.83
$GC,8080,-0.85,-146.6,692.9,-9.4,433,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2315,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8379,-0.83,-146.6,721.6,-9.7,443,8384,0.00,1.98,0.00,0.000,4,0.000,0.031,2456,945,3568,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8421,-0.81,-146.6,725.2,-9.8,444,8426,0.00,2.05,0.00,0.000,6,0.000,0.029,2456,2329,3567,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8746,-0.79,-146.6,758.7,-9.9,455,8753,0.12,2.17,0.00,0.000,4,0.148,0.047,2497,3722,3566,0,0,0,0,0,0,26.45,26.17,28.83
$GC,8789,-0.79,-146.6,761.8,-9.6,456,8796,0.00,1.98,0.00,0.000,6,0.000,0.021,2497,2316,3565,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9116,-0.84,-146.6,786.8,-7.3,467,9121,0.00,2.22,0.00,0.000,4,0.000,0.047,2497,3727,3564,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9194,-0.89,-146.6,791.6,-7.4,469,9200,0.12,1.98,0.00,0.000,6,0.082,0.023,2434,2326,3563,0,0,0,0,0,0,26.49,26.64,28.83
$GC,9515,-0.85,-146.6,821.9,-8.8,480,9517,0.12,0.00,0.00,0.000,6,0.146,0.000,2467,2324,3561,0,0,0,0,0,0,26.48,28.83,28.83
$GC,9813,-0.85,-146.6,840.8,-5.9,490,9819,0.00,2.20,0.00,0.000,4,0.000,0.048,2467,3726,3559,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9856,-0.85,-146.6,842.9,-5.9,491,9862,0.00,1.98,0.00,0.000,6,0.000,0.023,2467,2333,3558,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10182,-0.85,-146.6,862.9,-6.2,502,10187,0.00,2.22,0.00,0.000,4,0.000,0.052,2466,3733,3557,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10276,-0.85,-146.6,868.6,-6.0,505,10282,0.00,2.03,0.00,0.000,6,0.000,0.023,2466,2323,3557,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10612,-0.85,-146.6,891.1,-7.3,516,10617,0.00,2.20,0.00,0.000,4,0.000,0.048,2466,3720,3555,0,0,0,0,0,0,28.83,24.65,28.83
$GC,10725,-0.85,-146.6,898.6,-7.7,519,10730,0.00,2.00,0.00,0.000,6,0.000,0.024,2467,2317,3554,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11038,-0.85,-146.6,925.9,-8.3,530,11043,0.00,2.22,0.00,0.000,4,0.000,0.048,2467,3722,3551,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11104,-0.85,-146.6,931.3,-8.4,532,11110,0.00,2.03,0.00,0.000,6,0.000,0.025,2467,2317,3552,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11434,-0.85,-146.6,957.7,-7.8,543,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2314,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11732,-0.85,-146.6,980.8,-7.7,553,11739,0.00,2.22,0.00,0.000,4,0.000,0.049,2466,3731,3550,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11767,-0.87,-146.6,983.4,-7.6,554,11772,0.00,2.03,0.00,0.000,6,0.000,0.024,2466,2322,3549,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,11858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11858,begin apogee
$GC,11863,-0.20,0.0,990.6,-7.8,557,12001,0.60,0.00,130.12,1.344,6,0.102,0.000,2670,2318,2965,0,0,0,0,0,0,25.75,28.83,23.57
$STATE,12003,end apogee,CONTROL_FINISHED_OK
$STATE,12003,begin climb
$GC,12005,0.37,146.6,995.5,0.0,561,12151,0.50,2.35,133.98,1.249,4,0.041,0.034,2879,940,2361,0,0,0,0,0,0,24.86,23.98,22.88
$GC,12209,0.23,155.3,989.5,6.3,568,12220,0.22,2.17,3.50,0.996,6,0.129,0.034,2818,2300,2334,0,0,0,0,0,0,24.64,24.37,23.07
$GC,12528,0.17,155.3,966.5,6.6,579,12533,0.00,2.22,0.00,0.000,4,0.000,0.047,2817,3708,2337,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12565,0.11,155.3,963.9,6.9,580,12571,0.17,2.08,0.00,0.000,6,0.144,0.028,2775,2321,2337,0,0,0,0,0,0,25.72,26.07,28.83
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$STATE,24480,end climb,SURFACE_DEPTH_REACHED
$STATE,24480,begin surface coast
$FINISH,0.7,1.014174
$STATE,24504,end surface coast,CONTROL_FINISHED_OK
$STATE,24504,begin surface
$SM_CCo,24581,0.00,0.000,0,0,1039,473.18
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$IRIDIUM_FIX,2258.07,12349.85,091112,101037
$TT8_MAMPS,0.029211,0.029211
$HUMID,48.77
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.10
$XPDR_PINGS,15
$24V_AH,22.9,31.328
$10V_AH,9.5,20.014
$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
$DEVICE_SECS,22.100,216.175,567.850,0.000,0.000,0.000,0.000,272.275,3.750,0.000,5.903,3650.145,17168.498,779.191,2954.082,481.585,0.000,2513.514,0.000,2584.522,0.000,0.545,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,24535.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.446,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,43319,1151
$CAP_FILE_SIZE,273848,0
$CFSIZE,260165632,237203456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164,258.1,1
$GPS,101112,001322,2258.303,12350.014,25,1.1,41,-3.6