version: 66.11
glider: 167
mission: 14
dive: 378
start: 1 13 113 9 23 56
data:
$ID,167
$MISSION,14
$DIVE,378
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,190
$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,-971288.12
$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,65
$R_STBD_OVSHOOT,54
$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
$GPS1,130113,091605,2159.563,12235.337,33,1.0,33,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-66.4
$GPS2,130113,092329,2159.591,12235.254,4,1.0,4,-3.3
$SPEED_LIMITS,0.154,0.278
$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,344.7,167462,-14.5,-8.919,-17.77
$D_GRID,4787
$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,-0.59,-185.7,0.0,0.0,0,84,0.00,0.00,-61.92,0.000,2,0.000,0.000,108,2463,2735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-185.7,3.4,-4.4,6,130,9.62,2.08,-22.25,0.000,4,0.223,0.063,2471,3742,3728,0,0,0,0,0,0,25.02,25.96,26.68
$GC,256,-0.54,-185.7,28.3,-15.5,22,261,0.00,1.85,0.00,0.000,6,0.000,0.019,2471,2431,3728,0,0,0,0,0,0,28.83,26.39,28.83
$GC,570,-0.51,-185.7,67.9,-12.7,46,576,0.00,1.98,0.00,0.000,4,0.000,0.028,2471,1063,3728,0,0,0,0,0,0,28.83,26.32,28.83
$GC,628,-0.49,-185.7,73.8,-13.0,48,636,0.15,2.05,0.00,0.000,6,0.140,0.031,2508,2442,3731,0,0,0,0,0,0,25.91,26.20,28.83
$GC,934,-0.49,-185.7,104.8,-9.3,64,939,0.00,2.03,0.00,0.000,4,0.000,0.047,2506,3762,3728,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1018,-0.50,-185.7,113.4,-10.2,68,1023,0.00,1.85,0.00,0.000,6,0.000,0.018,2506,2444,3728,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1342,-0.53,-185.7,139.8,-6.9,84,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2444,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1644,-0.56,-185.7,162.5,-7.2,99,1649,0.00,2.05,0.00,0.000,4,0.000,0.047,2506,3768,3729,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1718,-0.59,-185.7,167.6,-7.7,102,1723,0.00,1.85,0.00,0.000,6,0.000,0.018,2506,2442,3730,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2032,-0.67,-185.7,195.7,-8.7,118,2038,0.12,2.08,0.00,0.000,4,0.076,0.044,2409,3766,3729,0,0,0,0,0,0,26.62,26.07,28.83
$GC,2266,-0.63,-185.7,223.5,-12.5,129,2272,0.17,1.85,0.00,0.000,6,0.133,0.020,2459,2448,3729,0,0,0,0,0,0,26.01,26.48,28.83
$GC,2581,-0.63,-185.7,256.9,-11.3,145,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2448,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2883,-0.63,-185.7,286.0,-9.8,160,2888,0.00,2.05,0.00,0.000,4,0.000,0.051,2459,3760,3729,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2976,-0.64,-185.7,294.3,-9.7,164,2981,0.00,1.85,0.00,0.000,6,0.000,0.019,2459,2438,3729,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3289,-0.65,-185.7,326.1,-10.4,180,3294,0.00,1.98,0.00,0.000,4,0.000,0.028,2459,1064,3727,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3326,-0.67,-185.7,328.7,-10.5,181,3333,0.00,2.08,0.00,0.000,6,0.000,0.034,2459,2450,3727,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3633,-0.68,-185.7,356.7,-7.8,197,3638,0.00,2.03,0.00,0.000,4,0.000,0.048,2459,3768,3726,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3727,-0.69,-185.7,363.6,-8.2,201,3733,0.00,1.85,0.00,0.000,6,0.000,0.019,2459,2438,3725,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4042,-0.71,-185.7,391.3,-8.9,217,4047,0.00,2.05,0.00,0.000,4,0.000,0.047,2459,3758,3724,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4094,-0.73,-185.7,395.5,-9.0,219,4100,0.00,1.83,0.00,0.000,6,0.000,0.019,2459,2453,3724,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4408,-0.75,-185.7,424.0,-9.0,235,4414,0.12,1.98,0.00,0.000,4,0.080,0.025,2380,1077,3722,0,0,0,0,0,0,26.61,26.32,28.83
$GC,4447,-0.76,-185.7,426.8,-9.6,236,4454,0.17,2.05,0.00,0.000,6,0.143,0.032,2422,2452,3722,0,0,0,0,0,0,25.82,26.20,28.83
$GC,4752,-0.76,-185.7,466.2,-12.5,252,4758,0.00,2.03,0.00,0.000,4,0.000,0.048,2421,3763,3721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4825,-0.76,-185.7,474.0,-12.1,255,4830,0.00,1.88,0.00,0.000,6,0.000,0.021,2422,2439,3720,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5138,-0.76,-185.7,509.0,-10.1,271,5143,0.00,2.00,0.00,0.000,4,0.000,0.031,2427,1071,3719,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5161,-0.76,-185.7,511.2,-9.9,272,5166,0.00,2.10,0.00,0.000,6,0.000,0.034,2422,2451,3720,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5485,-0.76,-185.7,539.3,-8.2,288,5490,0.00,2.05,0.00,0.000,4,0.000,0.050,2422,3764,3717,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5577,-0.76,-185.7,546.2,-8.3,292,5582,0.00,1.85,0.00,0.000,6,0.000,0.020,2422,2459,3716,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5890,-0.76,-185.7,570.8,-7.2,308,5896,0.00,2.03,0.00,0.000,4,0.000,0.048,2421,3753,3714,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5939,-0.76,-185.7,574.0,-7.4,310,5944,0.00,1.85,0.00,0.000,6,0.000,0.021,2421,2450,3714,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6258,-0.76,-185.7,599.3,-8.6,326,6263,0.00,2.00,0.00,0.000,4,0.000,0.027,2421,1066,3711,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6292,-0.77,-185.7,602.3,-8.8,328,6297,0.00,2.10,0.00,0.000,6,0.000,0.033,2421,2453,3711,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6629,-0.78,-185.7,635.0,-9.8,339,6634,0.00,2.03,0.00,0.000,4,0.000,0.049,2421,3756,3709,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6712,-0.79,-185.7,641.7,-9.9,341,6717,0.00,1.88,0.00,0.000,6,0.000,0.021,2422,2437,3709,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7028,-0.80,-185.7,674.9,-9.7,352,7033,0.00,2.10,0.00,0.000,4,0.000,0.049,2421,3762,3706,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7096,-0.81,-185.7,681.8,-9.9,354,7101,0.00,1.88,0.00,0.000,6,0.000,0.021,2422,2437,3705,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7427,-0.82,-185.7,711.8,-8.8,365,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2438,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7724,-0.83,-185.7,738.0,-8.8,375,7729,0.00,2.10,0.00,0.000,4,0.000,0.050,2422,3765,3702,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7798,-0.84,-185.7,744.2,-9.5,377,7804,0.00,1.88,0.00,0.000,6,0.000,0.023,2422,2447,3701,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8123,-0.85,-185.7,779.5,-10.9,388,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2445,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8423,-0.87,-185.7,811.8,-10.7,398,8429,0.12,2.10,0.00,0.000,4,0.084,0.049,2355,3765,3697,0,0,0,0,0,0,26.56,25.84,28.83
$GC,8528,-0.85,-185.7,824.8,-12.8,401,8534,0.12,1.88,0.00,0.000,6,0.155,0.024,2387,2456,3696,0,0,0,0,0,0,25.97,26.39,28.83
$GC,8855,-0.83,-185.7,859.0,-9.1,412,8860,0.00,2.03,0.00,0.000,4,0.000,0.028,2387,1074,3694,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8889,-0.81,-185.7,862.2,-9.0,413,8894,0.00,2.10,0.00,0.000,6,0.000,0.034,2385,2450,3694,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9226,-0.79,-185.7,890.4,-8.0,424,9231,0.00,2.08,0.00,0.000,4,0.000,0.056,2388,3761,3692,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9362,-0.77,-185.7,900.7,-8.1,428,9368,0.12,1.90,0.00,0.000,6,0.149,0.024,2417,2436,3691,0,0,0,0,0,0,25.97,26.38,28.83
$GC,9689,-0.79,-185.7,923.6,-6.9,439,9694,0.00,2.12,0.00,0.000,4,0.000,0.054,2413,3761,3690,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9717,-0.80,-185.7,923.6,-6.9,439,9724,0.00,1.90,0.00,0.000,6,0.000,0.024,2409,2436,3690,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10026,-0.81,-185.7,951.2,-8.6,450,10031,0.00,2.12,0.00,0.000,4,0.000,0.051,2413,3765,3688,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10090,-0.82,-185.7,957.0,-8.7,452,10095,0.00,1.90,0.00,0.000,6,0.000,0.024,2414,2447,3688,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10427,-0.83,-185.7,987.1,-9.2,463,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2445,3687,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10451,begin apogee
$GC,10457,-0.20,0.0,990.1,-9.4,464,10635,0.55,0.00,167.85,1.319,6,0.109,0.000,2593,2197,2955,0,0,0,0,0,0,25.41,28.83,22.77
$STATE,10636,end apogee,CONTROL_FINISHED_OK
$STATE,10637,begin climb
$GC,10639,0.59,185.7,999.1,0.0,470,10830,0.75,2.47,178.32,1.252,4,0.067,0.047,2851,3596,2196,0,0,0,0,0,0,24.81,24.16,22.38
$GC,10909,0.63,253.7,987.8,6.7,479,10982,0.00,2.08,66.32,1.219,6,0.000,0.028,2858,2239,1933,0,0,0,0,0,0,28.83,25.76,23.37
$GC,11301,0.73,349.7,962.5,5.8,492,11403,0.12,0.00,99.05,1.193,6,0.083,0.000,2919,2238,1542,0,0,0,0,0,0,26.41,28.83,23.41
$GC,11691,0.72,366.9,929.8,8.4,505,11713,0.00,2.25,15.05,1.157,4,0.000,0.047,2919,3602,1463,0,0,0,0,0,0,28.83,25.82,23.96
$GC,11736,0.72,384.9,927.5,8.3,506,11760,0.00,2.12,19.35,1.159,6,0.000,0.029,2923,2194,1399,0,0,0,0,0,0,28.83,26.05,23.89
$GC,12084,0.69,384.9,895.5,9.2,518,12090,0.12,2.12,0.00,0.000,4,0.151,0.037,2884,798,1375,0,0,0,0,0,0,26.14,26.15,28.83
$GC,12119,0.68,390.1,892.9,8.8,519,12125,0.00,2.12,0.00,0.000,6,0.000,0.031,2884,2208,1375,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12455,0.75,443.3,868.7,7.2,530,12531,0.00,2.33,67.03,1.118,4,0.000,0.047,2884,3597,1145,0,0,0,0,0,0,28.83,25.29,23.66
$GC,12566,0.81,489.2,861.7,7.4,533,12624,0.12,2.12,49.78,1.075,6,0.082,0.027,2946,2197,967,0,0,0,0,0,0,25.78,25.84,23.65
$GC,12939,0.80,489.2,815.4,12.1,546,12944,0.00,2.12,0.00,0.000,4,0.000,0.037,2952,804,943,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13011,0.79,489.2,807.4,12.4,548,13017,0.12,2.10,0.00,0.000,6,0.131,0.030,2918,2205,943,0,0,0,0,0,0,26.00,26.21,28.83
$GC,13338,0.80,489.2,770.6,11.1,559,13340,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2205,941,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19919,end climb,SURFACE_DEPTH_REACHED
$STATE,19919,begin surface coast
$FINISH,1.1,1.023111
$STATE,19931,end surface coast,CONTROL_FINISHED_OK
$STATE,19931,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,54.76
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.60
$XPDR_PINGS,45
$24V_AH,22.4,81.490
$10V_AH,9.8,52.793
$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
$DEVICE_SECS,21.125,168.375,690.925,0.000,0.000,0.000,0.000,252.550,11.250,0.000,5.439,2948.597,13737.171,827.581,2476.625,457.287,0.000,2315.577,0.000,2159.690,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.379,0.000,0.000,0.000
$MEM,323776
$DATA_FILE_SIZE,33324,876
$CAP_FILE_SIZE,223810,0
$CFSIZE,260165632,211709952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.027,201.2,1
$GPS,130113,145853,2202.219,12234.761,42,1.7,42,-3.3