version: 66.11
glider: 167
mission: 14
dive: 190
start: 11 25 112 11 19 50
data:
$ID,167
$MISSION,14
$DIVE,190
$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,380
$T_MISSION,400
$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,400
$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,-968925.19
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,43
$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,21
$MINV_10V,9
$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
$GPS1,251112,111528,2213.938,12255.279,3,0.9,3,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.3
$GPS2,251112,111923,2213.949,12255.256,5,0.9,5,-3.4
$SPEED_LIMITS,0.150,0.266
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,342.5,177964,-14.8,-8.684,-18.08
$D_GRID,2182
$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,-0.56,-171.1,0.0,0.0,0,93,0.00,0.00,-71.85,0.000,2,0.000,0.000,117,2456,2689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.56,-171.1,3.3,-3.9,7,134,9.65,2.05,-21.85,0.000,4,0.225,0.067,2507,3751,3666,0,0,0,0,0,0,25.27,26.06,26.75
$GC,356,-0.54,-171.1,47.3,-17.4,32,361,0.00,1.88,0.00,0.000,6,0.000,0.025,2506,2460,3667,0,0,0,0,0,0,28.83,26.46,28.83
$GC,679,-0.52,-171.1,103.6,-13.2,49,684,0.00,2.08,0.00,0.000,4,0.000,0.039,2506,1059,3667,0,0,0,0,0,0,28.83,26.36,28.83
$GC,804,-0.52,-171.1,118.7,-11.7,55,809,0.00,2.10,0.00,0.000,6,0.000,0.041,2506,2446,3667,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1128,-0.52,-171.1,154.3,-10.5,71,1133,0.00,2.05,0.00,0.000,4,0.000,0.056,2506,3765,3667,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1174,-0.54,-171.1,158.7,-10.2,73,1180,0.00,1.92,0.00,0.000,6,0.000,0.028,2506,2446,3667,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1493,-0.55,-171.1,190.7,-9.8,89,1499,0.00,2.08,0.00,0.000,4,0.000,0.041,2506,1050,3667,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1566,-0.56,-171.1,197.1,-10.0,92,1571,0.00,2.12,0.00,0.000,6,0.000,0.041,2506,2454,3667,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1879,-0.58,-171.1,227.8,-9.3,108,1885,0.00,2.03,0.00,0.000,4,0.000,0.057,2506,3757,3670,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1938,-0.59,-171.1,231.7,-8.9,110,1944,0.00,1.90,0.00,0.000,6,0.000,0.025,2506,2416,3666,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2245,-0.61,-171.1,259.1,-8.6,126,2250,0.00,1.92,0.00,0.000,4,0.000,0.028,2506,1064,3665,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2312,-0.63,-171.1,264.8,-8.8,129,2318,0.00,2.08,0.00,0.000,6,0.000,0.033,2506,2468,3665,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2632,-0.66,-171.1,288.6,-6.7,145,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2468,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2934,-0.68,-171.1,308.7,-7.3,160,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2469,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3235,-0.71,-171.1,334.4,-9.3,175,3241,0.00,2.05,0.00,0.000,4,0.000,0.030,2506,1058,3662,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3324,-0.74,-171.1,342.3,-9.0,179,3330,0.12,2.08,0.00,0.000,6,0.080,0.033,2428,2458,3661,0,0,0,0,0,0,26.46,26.46,28.83
$GC,3643,-0.72,-171.1,385.4,-13.3,195,3649,0.12,1.98,0.00,0.000,4,0.150,0.046,2466,3753,3660,0,0,0,0,0,0,26.44,26.34,28.83
$GC,3707,-0.72,-171.1,392.6,-11.7,198,3712,0.00,1.85,0.00,0.000,6,0.000,0.018,2466,2431,3660,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4030,-0.72,-171.1,425.8,-9.9,214,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2430,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4334,-0.73,-171.1,456.2,-10.1,229,4336,0.00,0.00,-0.08,0.000,6,0.000,0.000,2466,2430,3680,0,0,0,0,0,0,28.83,28.83,25.53
$GC,4630,-0.74,-171.1,485.8,-9.5,244,4636,0.00,1.95,0.00,0.000,4,0.000,0.029,2466,1076,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4679,-0.75,-171.1,489.8,-9.3,246,4685,0.00,2.05,0.00,0.000,6,0.000,0.034,2465,2452,3678,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4998,-0.77,-171.1,516.5,-8.1,262,5003,0.00,2.00,0.00,0.000,4,0.000,0.049,2466,3761,3676,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5052,-0.78,-171.1,520.3,-8.5,264,5057,0.00,1.85,0.00,0.000,6,0.000,0.021,2466,2439,3676,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5365,-0.80,-171.1,549.5,-8.9,280,5370,0.00,1.95,0.00,0.000,4,0.000,0.028,2471,1068,3674,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5398,-0.82,-171.1,551.7,-9.0,281,5404,0.00,2.05,0.00,0.000,6,0.000,0.033,2466,2450,3674,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5712,-0.83,-171.1,581.8,-9.1,297,5714,0.10,0.00,0.00,0.000,6,0.096,0.000,2406,2450,3672,0,0,0,0,0,0,26.74,28.83,28.83
$GC,6024,-0.82,-171.1,618.8,-12.1,310,6026,0.12,0.00,0.00,0.000,6,0.155,0.000,2439,2450,3670,0,0,0,0,0,0,26.46,28.83,28.83
$GC,6322,-0.82,-171.1,648.5,-9.7,320,6328,0.00,2.03,0.00,0.000,4,0.000,0.031,2439,1075,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6356,-0.82,-171.1,651.8,-9.8,321,6361,0.00,2.08,0.00,0.000,6,0.000,0.035,2439,2450,3668,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6690,-0.82,-171.1,684.2,-9.8,332,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2450,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6989,-0.82,-171.1,716.2,-10.9,342,6995,0.00,2.03,0.00,0.000,4,0.000,0.034,2434,1073,3664,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7072,-0.83,-171.1,723.2,-10.9,344,7078,0.00,2.08,0.00,0.000,6,0.000,0.036,2439,2449,3663,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7388,-0.83,-171.1,757.1,-9.5,355,7394,0.00,2.03,0.00,0.000,4,0.000,0.031,2439,1074,3661,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7427,-0.84,-171.1,760.5,-9.4,356,7432,0.00,2.08,0.00,0.000,6,0.000,0.036,2439,2453,3661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7757,-0.85,-171.1,791.5,-9.5,367,7763,0.00,2.03,0.00,0.000,4,0.000,0.047,2439,3759,3658,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7791,-0.86,-171.1,795.0,-9.8,368,7797,0.00,1.88,0.00,0.000,6,0.000,0.023,2434,2452,3657,0,0,0,0,0,0,28.83,26.61,28.83
$GC,8127,-0.87,-171.1,830.4,-10.8,379,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2452,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8426,-0.89,-171.1,861.4,-9.9,389,8431,0.00,2.05,0.00,0.000,4,0.000,0.047,2439,3759,3654,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8479,-0.90,-171.1,864.6,-9.8,390,8485,0.00,1.88,0.00,0.000,6,0.000,0.024,2439,2452,3654,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8795,-0.91,-171.1,894.9,-8.8,401,8801,0.00,2.03,0.00,0.000,4,0.000,0.031,2441,1064,3652,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8878,-0.93,-171.1,900.7,-8.8,403,8885,0.10,2.12,0.00,0.000,6,0.099,0.036,2385,2458,3651,0,0,0,0,0,0,26.26,26.29,28.83
$GC,9195,-0.91,-171.1,937.3,-10.9,414,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2458,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9494,-0.89,-171.1,970.5,-11.2,424,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2458,3648,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9671,begin apogee
$GC,9677,-0.27,0.0,990.7,-11.2,430,9839,0.70,0.00,154.23,1.245,6,0.122,0.000,2607,2297,2966,0,0,0,0,0,0,25.56,28.83,23.18
$STATE,9840,end apogee,CONTROL_FINISHED_OK
$STATE,9840,begin climb
$GC,9843,0.56,171.1,996.6,0.0,435,10009,0.77,0.00,162.38,1.191,6,0.063,0.000,2881,2297,2270,0,0,0,0,0,0,24.68,28.83,22.64
$GC,10303,0.53,171.1,962.0,9.8,451,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2297,2243,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10604,0.49,171.1,931.2,10.2,461,10609,0.00,2.22,0.00,0.000,4,0.000,0.047,2881,3707,2240,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10641,0.46,171.1,927.5,10.3,462,10648,0.15,2.08,0.00,0.000,6,0.154,0.028,2850,2315,2240,0,0,0,0,0,0,26.00,26.33,28.83
$GC,10972,0.45,192.2,899.8,8.0,473,11001,0.00,2.22,18.45,1.176,4,0.000,0.038,2855,908,2170,0,0,0,0,0,0,28.83,25.93,24.41
$GC,11067,0.43,203.4,892.0,8.3,476,11077,0.00,2.15,3.30,0.770,6,0.000,0.034,2855,2309,2135,0,0,0,0,0,0,28.83,26.05,23.87
$GC,11401,0.42,203.4,862.0,9.0,487,11406,0.00,2.17,0.00,0.000,4,0.000,0.047,2855,3709,2147,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11459,0.40,203.4,858.7,9.3,488,11466,0.00,2.10,0.00,0.000,6,0.000,0.029,2856,2302,2147,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11766,0.39,203.4,827.2,9.4,499,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2302,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12065,0.37,203.4,798.5,9.9,509,12071,0.12,2.20,0.00,0.000,4,0.156,0.046,2816,3702,2146,0,0,0,0,0,0,26.31,26.25,28.83
$GC,12118,0.36,203.4,795.0,9.9,510,12123,0.00,2.08,0.00,0.000,6,0.000,0.028,2815,2293,2146,0,0,0,0,0,0,28.83,26.45,28.83
$GC,12434,0.38,243.9,768.1,7.3,521,12491,0.00,2.17,49.95,1.121,4,0.000,0.038,2816,901,1963,0,0,0,0,0,0,28.83,25.44,24.10
$GC,12535,0.42,301.1,761.9,6.7,524,12604,0.00,2.17,59.60,1.098,6,0.000,0.035,2816,2304,1731,0,0,0,0,0,0,28.83,25.75,23.80
$GC,12918,0.50,418.9,741.4,4.7,537,13049,0.12,2.25,120.93,1.014,4,0.080,0.035,2889,913,1251,0,0,0,0,0,0,26.29,24.85,23.71
$GC,13085,0.50,418.9,728.3,8.7,542,13091,0.00,2.20,0.00,0.000,6,0.000,0.032,2889,2310,1237,0,0,0,0,0,0,28.83,25.33,28.83
$GC,13405,0.51,418.9,695.1,10.8,553,13411,0.00,2.15,0.00,0.000,4,0.000,0.037,2889,905,1230,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13463,0.52,418.9,691.1,11.0,554,13470,0.00,2.12,0.00,0.000,6,0.000,0.031,2888,2305,1230,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13771,0.54,418.9,651.9,12.0,565,13776,0.00,2.15,0.00,0.000,4,0.000,0.036,2890,899,1229,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13838,0.55,418.9,644.4,11.7,567,13844,0.00,2.12,0.00,0.000,6,0.000,0.031,2889,2300,1229,0,0,0,0,0,0,28.83,26.31,28.83
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$STATE,19859,end climb,SURFACE_DEPTH_REACHED
$STATE,19859,begin surface coast
$FINISH,0.8,1.010664
$STATE,19880,end surface coast,CONTROL_FINISHED_OK
$STATE,19880,begin surface
$SM_CCo,19959,0.00,0.000,0,0,735,547.75
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$IRIDIUM_FIX,2204.37,12256.84,251112,111125
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.18
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.60
$XPDR_PINGS,17
$24V_AH,22.6,44.134
$10V_AH,10.3,28.843
$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,20.175,149.600,643.300,0.000,0.000,0.000,0.000,0.000,4.250,0.000,6.692,2793.231,14073.395,782.501,2059.723,321.826,0.000,1920.716,0.000,2000.239,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,66.555,1245.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19852.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.288,0.000,0.000,0.000
$MEM,329644
$DATA_FILE_SIZE,33370,878
$CAP_FILE_SIZE,218426,1
$CFSIZE,260165632,230813696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,199.0,1
$GPS,251112,165354,2216.407,12253.824,42,0.9,42,-3.4