version: 66.11
glider: 167
mission: 14
dive: 279
start: 12 17 112 22 56 50
data:
$ID,167
$MISSION,14
$DIVE,279
$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,440
$T_MISSION,460
$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,165
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,-969174.75
$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,0.5
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,42
$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,0.0012000001
$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,48
$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
$GPS1,171212,224836,2346.711,12354.146,38,1.0,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-61.6
$GPS2,171212,225623,2346.700,12354.045,4,1.0,4,-3.8
$SPEED_LIMITS,0.130,0.246
$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,169.0,253376,-13.3,-7.500,-16.96
$D_GRID,3057
$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,-0.64,-161.3,0.0,0.0,0,84,0.00,0.00,-62.45,0.000,2,0.000,0.000,110,2460,2799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.64,-161.3,3.2,-3.6,6,123,9.52,2.10,-19.65,0.000,4,0.220,0.046,2485,1061,3627,0,0,0,0,0,0,25.06,26.17,26.65
$GC,264,-0.61,-161.3,26.1,-12.8,23,269,0.00,2.10,0.00,0.000,6,0.000,0.037,2480,2444,3628,0,0,0,0,0,0,28.83,26.21,28.83
$GC,578,-0.57,-161.3,72.0,-14.5,47,585,0.12,2.03,0.00,0.000,4,0.153,0.045,2519,3765,3628,0,0,0,0,0,0,26.32,26.15,28.83
$GC,613,-0.54,-161.3,75.1,-13.7,48,619,0.00,1.88,0.00,0.000,6,0.000,0.017,2519,2407,3628,0,0,0,0,0,0,28.83,26.56,28.83
$GC,926,-0.54,-161.3,111.1,-10.7,64,931,0.00,1.90,0.00,0.000,4,0.000,0.029,2519,1085,3632,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1009,-0.55,-161.3,119.1,-9.6,68,1015,0.00,2.05,0.00,0.000,6,0.000,0.035,2519,2464,3628,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1333,-0.56,-161.3,147.6,-9.2,84,1338,0.00,1.95,0.00,0.000,4,0.000,0.045,2519,3750,3629,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1405,-0.58,-161.3,153.6,-9.5,87,1411,0.00,1.83,0.00,0.000,6,0.000,0.017,2519,2451,3629,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1720,-0.59,-161.3,183.7,-9.2,103,1725,0.00,1.95,0.00,0.000,4,0.000,0.028,2519,1094,3628,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1784,-0.61,-161.3,189.3,-8.7,106,1789,0.00,2.05,0.00,0.000,6,0.000,0.034,2519,2457,3629,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2107,-0.63,-161.3,218.0,-8.8,122,2113,0.00,1.98,0.00,0.000,4,0.000,0.046,2519,3756,3629,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2141,-0.65,-161.3,220.1,-8.7,123,2146,0.00,1.80,0.00,0.000,6,0.000,0.017,2519,2448,3629,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2454,-0.67,-161.3,241.6,-5.6,139,2460,0.10,1.98,0.00,0.000,4,0.092,0.027,2448,1080,3629,0,0,0,0,0,0,26.70,26.41,28.83
$GC,2528,-0.66,-161.3,247.4,-8.2,142,2534,0.15,2.08,0.00,0.000,6,0.139,0.034,2490,2461,3629,0,0,0,0,0,0,26.10,26.39,28.83
$GC,2842,-0.66,-161.3,275.4,-9.2,158,2847,0.00,1.98,0.00,0.000,4,0.000,0.046,2490,3760,3629,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2869,-0.66,-161.3,277.7,-9.5,159,2874,0.00,1.80,0.00,0.000,6,0.000,0.017,2490,2452,3629,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3188,-0.66,-161.3,308.6,-9.4,175,3193,0.00,1.98,0.00,0.000,4,0.000,0.037,2490,1089,3629,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3255,-0.67,-161.3,314.6,-9.4,178,3260,0.00,2.03,0.00,0.000,6,0.000,0.034,2491,2455,3628,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3573,-0.67,-161.3,340.8,-6.9,194,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2455,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3876,-0.68,-161.3,362.1,-7.3,209,3881,0.00,2.00,0.00,0.000,4,0.000,0.029,2490,1084,3626,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3909,-0.69,-161.3,364.1,-7.6,210,3914,0.00,2.03,0.00,0.000,6,0.000,0.032,2490,2452,3626,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4222,-0.70,-161.3,390.8,-8.4,226,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2452,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4524,-0.72,-161.3,416.8,-9.1,241,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2452,3625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4825,-0.73,-161.3,441.5,-7.2,256,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2452,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5124,-0.75,-161.3,460.3,-5.8,271,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2452,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5426,-0.77,-161.3,479.5,-7.1,286,5432,0.12,2.00,0.00,0.000,4,0.079,0.027,2410,1087,3621,0,0,0,0,0,0,26.69,26.41,28.83
$GC,5484,-0.77,-161.3,484.4,-8.7,288,5492,0.15,2.03,0.00,0.000,6,0.147,0.034,2448,2448,3621,0,0,0,0,0,0,26.04,26.37,28.83
$GC,5791,-0.76,-161.3,515.9,-9.6,304,5796,0.00,2.00,0.00,0.000,4,0.000,0.048,2448,3752,3620,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5823,-0.76,-161.3,518.1,-9.4,305,5829,0.00,1.85,0.00,0.000,6,0.000,0.018,2448,2438,3619,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6136,-0.76,-161.3,545.7,-8.6,321,6142,0.00,1.92,0.00,0.000,4,0.000,0.029,2448,1101,3618,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6205,-0.76,-161.3,551.5,-9.1,324,6210,0.00,2.05,0.00,0.000,6,0.000,0.035,2448,2459,3617,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6523,-0.76,-161.3,579.0,-8.6,340,6528,0.00,2.00,0.00,0.000,4,0.000,0.028,2449,1090,3616,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6555,-0.76,-161.3,581.0,-8.6,341,6560,0.00,2.05,0.00,0.000,6,0.000,0.034,2448,2460,3616,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6890,-0.76,-161.3,610.0,-8.2,356,6895,0.00,2.03,0.00,0.000,4,0.000,0.050,2448,3752,3614,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6927,-0.76,-161.3,613.0,-8.4,357,6932,0.00,1.80,0.00,0.000,6,0.000,0.020,2449,2445,3614,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7258,-0.76,-161.3,641.8,-8.6,368,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2444,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7556,-0.76,-161.3,667.6,-8.8,378,7561,0.00,2.05,0.00,0.000,4,0.000,0.050,2448,3750,3610,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7649,-0.76,-161.3,676.9,-9.8,381,7654,0.00,1.83,0.00,0.000,6,0.000,0.021,2448,2447,3609,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7986,-0.76,-161.3,709.3,-9.5,392,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2444,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8283,-0.77,-161.3,734.9,-8.2,402,8288,0.00,2.05,0.00,0.000,4,0.000,0.050,2449,3751,3606,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8327,-0.77,-161.3,737.8,-8.2,403,8332,0.00,1.83,0.00,0.000,6,0.000,0.021,2448,2440,3606,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8652,-0.78,-161.3,765.0,-8.5,414,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2438,3605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8951,-0.79,-161.3,792.1,-9.0,424,8956,0.00,2.08,0.00,0.000,4,0.000,0.051,2448,3749,3603,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8978,-0.79,-161.3,792.1,-9.0,424,8985,0.00,1.83,0.00,0.000,6,0.000,0.022,2449,2451,3602,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9287,-0.80,-161.3,820.0,-8.1,435,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2450,3598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9585,-0.81,-161.3,840.0,-6.3,445,9591,0.00,2.05,0.00,0.000,4,0.000,0.052,2449,3752,3599,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9659,-0.82,-161.3,844.2,-6.3,447,9664,0.00,1.88,0.00,0.000,6,0.000,0.023,2448,2443,3598,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9986,-0.82,-161.3,865.8,-7.0,458,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2442,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10283,-0.83,-161.3,889.1,-8.0,468,10289,0.00,2.08,0.00,0.000,4,0.000,0.052,2448,3749,3595,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10307,-0.84,-161.3,889.1,-8.0,468,10312,0.00,1.85,0.00,0.000,6,0.000,0.023,2448,2452,3594,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10622,-0.85,-161.3,916.1,-8.2,479,10628,0.00,2.03,0.00,0.000,4,0.000,0.031,2448,1083,3593,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10660,-0.86,-161.3,919.3,-8.4,480,10666,0.00,2.08,0.00,0.000,6,0.000,0.036,2448,2450,3593,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10991,-0.87,-161.3,946.2,-7.9,491,10996,0.00,2.08,0.00,0.000,4,0.000,0.052,2448,3760,3592,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11048,-0.88,-161.3,949.2,-8.0,492,11056,0.10,1.88,0.00,0.000,6,0.096,0.024,2396,2454,3591,0,0,0,0,0,0,26.34,26.48,28.83
$GC,11357,-0.86,-161.3,981.3,-9.5,503,11362,0.00,2.03,0.00,0.000,4,0.000,0.030,2396,1077,3590,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11405,-0.84,-161.3,984.8,-9.5,504,11410,0.12,2.10,0.00,0.000,6,0.158,0.037,2426,2456,3590,0,0,0,0,0,0,25.84,26.14,28.83
$STATE,11451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11451,begin apogee
$GC,11458,-0.27,0.0,990.2,-9.2,506,11609,0.55,0.00,141.85,1.281,6,0.110,0.000,2603,2189,2961,0,0,0,0,0,0,25.61,28.83,22.84
$STATE,11611,end apogee,CONTROL_FINISHED_OK
$STATE,11611,begin climb
$GC,11614,0.64,161.3,993.9,0.0,511,11774,0.82,2.28,152.10,1.330,4,0.064,0.036,2910,845,2303,0,0,0,0,0,0,24.80,23.93,22.24
$GC,11812,0.57,161.3,983.1,8.1,517,11819,0.00,2.20,0.00,0.000,6,0.000,0.034,2910,2209,2294,0,0,0,0,0,0,28.83,24.84,28.83
$GC,12120,0.51,161.3,943.5,11.9,528,12122,0.15,0.00,0.00,0.000,6,0.144,0.000,2868,2210,2290,0,0,0,0,0,0,26.05,28.83,28.83
$GC,12419,0.47,161.3,914.2,9.4,538,12424,0.00,2.20,0.00,0.000,4,0.000,0.049,2868,3611,2287,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12476,0.43,161.3,910.8,9.5,539,12483,0.12,2.05,0.00,0.000,6,0.155,0.028,2837,2222,2286,0,0,0,0,0,0,26.06,26.38,28.83
$GC,12785,0.42,176.5,885.3,7.0,550,12803,0.00,2.15,12.88,1.271,4,0.000,0.037,2848,810,2240,0,0,0,0,0,0,28.83,26.03,24.15
$GC,12821,0.42,190.4,882.9,7.1,551,12847,0.00,2.12,14.77,1.278,6,0.000,0.033,2848,2209,2184,0,0,0,0,0,0,28.83,26.08,23.92
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$STATE,22915,end climb,SURFACE_DEPTH_REACHED
$STATE,22915,begin surface coast
$FINISH,0.9,1.023561
$STATE,22946,end surface coast,CONTROL_FINISHED_OK
$STATE,22947,begin surface
$SM_CCo,22965,8.68,0.132,0,0,1334,400.08
$SM_GC,2.36,7.18,0.32,8.68,0.029,0.041,0.132,111,2474,1334,-7.98,-1.70,400.08,0,0,0,0,0,0,26.37,26.60,25.38
$IRIDIUM_FIX,2340.34,12351.20,171212,161644
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.11
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.20
$XPDR_PINGS,15
$24V_AH,22.2,61.747
$10V_AH,10.1,39.902
$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,20.250,193.100,510.025,8.675,0.000,0.000,0.000,279.100,3.750,0.000,5.465,3281.489,16311.884,687.263,2665.106,490.468,0.000,2289.728,0.000,2309.654,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,52.020,1330.335,132.345,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22954.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.945,0.000,0.000,0.000
$MEM,329548
$DATA_FILE_SIZE,36626,1023
$CAP_FILE_SIZE,251353,0
$CFSIZE,260165632,222048256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.156,282.4,1
$GPS,181212,052106,2344.185,12352.966,34,0.8,34,-3.8