version: 66.11
glider: 167
mission: 14
dive: 343
start: 1 4 113 2 9 46
data:
$ID,167
$MISSION,14
$DIVE,343
$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,370
$T_MISSION,390
$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,185
$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,1
$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,-969259.94
$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,2665
$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,0.0099999998
$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,66
$R_STBD_OVSHOOT,41
$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
$GPS1,040113,015455,2133.493,12352.454,69,1.5,69,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-57.3
$GPS2,040113,020918,2133.593,12352.318,18,1.4,18,-3.3
$SPEED_LIMITS,0.154,0.275
$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,319.2,300146,-14.7,-8.919,-17.97
$D_GRID,5252
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-180.8,0.0,0.0,0,73,0.00,0.00,-50.85,0.000,2,0.000,0.000,108,2456,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.58,-180.8,3.1,-4.3,5,124,9.57,2.05,-30.48,0.000,4,0.221,0.061,2465,3752,3705,0,0,0,0,0,0,24.94,25.96,26.68
$GC,258,-0.56,-180.8,28.8,-16.2,22,264,0.00,1.88,0.00,0.000,6,0.000,0.020,2464,2434,3706,0,0,0,0,0,0,28.83,26.39,28.83
$GC,575,-0.53,-180.8,74.5,-15.4,46,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2432,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,876,-0.51,-180.8,110.7,-9.6,61,878,0.12,0.00,0.00,0.000,6,0.144,0.000,2499,2429,3706,0,0,0,0,0,0,26.39,28.83,28.83
$GC,1176,-0.53,-180.8,134.5,-9.6,76,1182,0.00,1.98,0.00,0.000,4,0.000,0.031,2500,1065,3706,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1229,-0.56,-180.8,139.6,-10.5,78,1235,0.00,2.08,0.00,0.000,6,0.000,0.034,2499,2444,3707,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1543,-0.59,-180.8,172.8,-9.2,94,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2444,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1845,-0.62,-180.8,194.3,-5.7,109,1851,0.12,2.05,0.00,0.000,4,0.078,0.031,2414,1060,3708,0,0,0,0,0,0,26.65,26.32,28.83
$GC,1874,-0.64,-180.8,196.1,-5.7,110,1880,0.17,2.10,0.00,0.000,6,0.140,0.041,2460,2453,3706,0,0,0,0,0,0,25.90,26.25,28.83
$GC,2194,-0.64,-180.8,222.0,-10.4,126,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2453,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2496,-0.65,-180.8,257.3,-10.3,141,2502,0.00,2.05,0.00,0.000,4,0.000,0.031,2461,1060,3707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2529,-0.66,-180.8,259.7,-9.9,142,2534,0.00,2.08,0.00,0.000,6,0.000,0.035,2460,2451,3707,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2843,-0.67,-180.8,285.5,-8.6,158,2848,0.00,2.00,0.00,0.000,4,0.000,0.048,2461,3752,3706,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2886,-0.68,-180.8,289.5,-9.2,160,2891,0.00,1.83,0.00,0.000,6,0.000,0.018,2457,2417,3706,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3210,-0.70,-180.8,327.0,-11.9,176,3215,0.00,2.10,0.00,0.000,4,0.000,0.048,2459,3761,3705,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3268,-0.72,-180.8,332.1,-11.8,178,3274,0.00,1.80,0.00,0.000,6,0.000,0.018,2459,2454,3705,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3574,-0.74,-180.8,363.3,-8.0,194,3579,0.00,1.98,0.00,0.000,4,0.000,0.028,2459,1087,3704,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3669,-0.76,-180.8,369.5,-7.3,198,3675,0.12,2.08,0.00,0.000,6,0.078,0.037,2386,2461,3703,0,0,0,0,0,0,26.25,26.27,28.83
$GC,3983,-0.71,-180.8,404.4,-12.0,214,3990,0.15,2.03,0.00,0.000,4,0.149,0.048,2428,3754,3702,0,0,0,0,0,0,26.21,26.06,28.83
$GC,4085,-0.70,-180.8,413.3,-10.3,218,4091,0.00,1.80,0.00,0.000,6,0.000,0.018,2428,2450,3702,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4388,-0.70,-180.8,445.4,-10.8,234,4393,0.00,1.95,0.00,0.000,4,0.000,0.028,2428,1098,3700,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4415,-0.70,-180.8,448.0,-11.0,235,4421,0.00,2.03,0.00,0.000,6,0.000,0.034,2427,2450,3700,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4734,-0.70,-180.8,486.9,-11.6,251,4739,0.00,1.98,0.00,0.000,4,0.000,0.029,2427,1095,3698,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4797,-0.70,-180.8,493.6,-10.8,254,4802,0.00,2.03,0.00,0.000,6,0.000,0.034,2426,2448,3699,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5121,-0.70,-180.8,522.1,-7.8,270,5126,0.00,2.05,0.00,0.000,4,0.000,0.052,2426,3764,3696,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5194,-0.70,-180.8,527.3,-8.2,273,5199,0.00,1.85,0.00,0.000,6,0.000,0.020,2426,2450,3695,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5507,-0.70,-180.8,555.9,-10.0,289,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2449,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5811,-0.70,-180.8,587.9,-10.5,304,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2450,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6129,-0.71,-180.8,617.1,-8.7,317,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2449,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6428,-0.72,-180.8,645.1,-10.3,327,6433,0.00,1.98,0.00,0.000,4,0.000,0.030,2426,1094,3688,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6492,-0.73,-180.8,652.3,-10.7,329,6497,0.00,2.05,0.00,0.000,6,0.000,0.034,2427,2449,3687,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6829,-0.73,-180.8,685.1,-9.1,340,6834,0.00,2.05,0.00,0.000,4,0.000,0.054,2427,3758,3685,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6887,-0.74,-180.8,688.3,-8.8,341,6894,0.00,1.83,0.00,0.000,6,0.000,0.021,2426,2457,3685,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7194,-0.75,-180.8,712.6,-7.0,352,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2457,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7493,-0.76,-180.8,736.0,-8.0,362,7498,0.00,2.08,0.00,0.000,4,0.000,0.053,2427,3760,3682,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7531,-0.77,-180.8,738.5,-7.7,363,7536,0.00,1.85,0.00,0.000,6,0.000,0.023,2426,2455,3681,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7862,-0.79,-180.8,762.0,-6.9,374,7868,0.00,2.08,0.00,0.000,4,0.000,0.054,2427,3753,3678,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7957,-0.80,-180.8,769.5,-7.5,377,7962,0.00,1.88,0.00,0.000,6,0.000,0.023,2426,2447,3678,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8293,-0.82,-180.8,795.4,-7.7,388,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2447,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8591,-0.83,-180.8,818.6,-7.6,398,8597,0.00,2.10,0.00,0.000,4,0.000,0.054,2433,3754,3675,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8645,-0.85,-180.8,821.3,-7.5,399,8651,0.10,1.88,0.00,0.000,6,0.100,0.023,2374,2438,3675,0,0,0,0,0,0,26.27,26.41,28.83
$GC,8961,-0.82,-180.8,853.8,-10.2,410,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2438,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9260,-0.80,-180.8,886.3,-11.1,420,9262,0.12,0.00,0.00,0.000,6,0.155,0.000,2406,2436,3671,0,0,0,0,0,0,26.32,28.83,28.83
$GC,9559,-0.80,-180.8,915.0,-9.3,430,9564,0.00,2.15,0.00,0.000,4,0.000,0.055,2407,3762,3670,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9637,-0.80,-180.8,921.2,-9.5,432,9642,0.00,1.90,0.00,0.000,6,0.000,0.023,2406,2455,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9955,-0.80,-180.8,954.3,-10.3,443,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2453,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10256,-0.80,-180.8,986.2,-10.5,453,10262,0.00,2.03,0.00,0.000,4,0.000,0.030,2407,1077,3667,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,10287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10287,begin apogee
$GC,10295,-0.20,0.0,990.0,-10.6,454,10461,0.57,0.00,157.75,1.260,6,0.113,0.000,2595,2212,2965,0,0,0,0,0,0,25.44,28.83,22.81
$STATE,10463,end apogee,CONTROL_FINISHED_OK
$STATE,10463,begin climb
$GC,10465,0.58,180.8,998.2,0.0,459,10645,0.73,2.42,167.45,1.231,4,0.069,0.050,2850,3587,2222,0,0,0,0,0,0,24.79,24.06,22.37
$GC,10674,0.67,281.0,992.2,5.6,466,10775,0.00,2.17,94.32,1.189,6,0.000,0.026,2852,2215,1823,0,0,0,0,0,0,28.83,25.00,22.65
$GC,11074,0.67,281.0,954.6,9.0,480,11079,0.00,2.15,0.00,0.000,4,0.000,0.039,2851,802,1804,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11111,0.67,283.6,951.7,8.8,481,11116,0.00,2.12,0.00,0.000,6,0.000,0.034,2852,2203,1804,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11441,0.68,288.2,922.9,8.8,492,11447,0.00,2.20,0.98,0.234,4,0.000,0.049,2852,3597,1792,0,0,0,0,0,0,28.83,26.08,25.45
$GC,11495,0.68,288.2,919.3,9.0,493,11500,0.00,2.08,0.00,0.000,6,0.000,0.027,2854,2193,1796,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11810,0.69,295.1,889.8,8.7,504,11828,0.00,2.28,12.60,1.244,4,0.000,0.053,2854,3599,1759,0,0,0,0,0,0,28.83,25.95,24.10
$GC,11862,0.69,301.8,886.8,8.7,505,11873,0.10,2.10,4.10,1.141,6,0.099,0.028,2906,2190,1739,0,0,0,0,0,0,26.08,26.16,23.95
$GC,12172,0.66,301.8,848.7,12.0,516,12177,0.00,2.08,0.00,0.000,4,0.000,0.038,2910,811,1742,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12200,0.62,301.8,848.7,12.0,516,12208,0.15,2.10,0.00,0.000,6,0.127,0.034,2867,2203,1742,0,0,0,0,0,0,25.97,26.22,28.83
$GC,12507,0.62,301.8,812.8,10.9,527,12512,0.00,2.20,0.00,0.000,4,0.000,0.050,2867,3597,1742,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12580,0.61,301.8,804.5,11.8,529,12586,0.00,2.08,0.00,0.000,6,0.000,0.028,2869,2194,1742,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12906,0.61,301.8,763.8,12.1,540,12911,0.00,2.08,0.00,0.000,4,0.000,0.039,2871,809,1742,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12939,0.61,301.8,759.7,11.9,541,12944,0.00,2.12,0.00,0.000,6,0.000,0.032,2871,2200,1742,0,0,0,0,0,0,28.83,26.24,28.83
$GC,13274,0.61,301.8,722.5,10.4,552,13279,0.00,2.20,0.00,0.000,4,0.000,0.051,2871,3602,1741,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13347,0.60,301.8,715.5,10.3,554,13352,0.00,2.08,0.00,0.000,6,0.000,0.028,2871,2201,1741,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,19969,end climb,SURFACE_DEPTH_REACHED
$STATE,19969,begin surface coast
$FINISH,0.9,1.023618
$STATE,19990,end surface coast,CONTROL_FINISHED_OK
$STATE,19990,begin surface
$SM_CCo,20069,0.00,0.000,0,0,1011,480.05
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$IRIDIUM_FIX,2124.90,12355.54,030113,202050
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.55
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.80
$XPDR_PINGS,61
$24V_AH,22.4,73.445
$10V_AH,9.9,48.006
$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,20.000,173.625,618.500,0.000,0.000,0.000,0.000,657.100,15.250,0.000,19.463,2860.236,14064.191,735.294,2728.814,536.705,0.000,2603.459,0.000,2068.761,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,61.200,1259.955,0.000,0.000,0.000,0.000,133.110,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20009.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.392,0.000,0.000,0.000
$MEM,329504
$DATA_FILE_SIZE,33425,886
$CAP_FILE_SIZE,223788,0
$CFSIZE,260165632,215629824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051,220.5,1
$GPS,040113,074535,2135.519,12349.637,36,0.9,36,-3.3