version: 66.11
glider: 167
mission: 14
dive: 417
start: 1 23 113 5 35 9
data:
$ID,167
$MISSION,14
$DIVE,417
$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,390
$T_MISSION,410
$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,170
$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,-971336.88
$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,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$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,55
$R_STBD_OVSHOOT,44
$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
$GPS1,230113,052622,2237.903,12214.526,47,1.0,47,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-61.2
$GPS2,230113,053442,2237.969,12214.504,5,0.9,5,-3.4
$SPEED_LIMITS,0.147,0.260
$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,277.3,95549,-14.7,-8.462,-18.01
$D_GRID,4905
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.69,-166.2,0.0,0.0,0,74,0.00,0.00,-50.83,0.000,2,0.000,0.000,108,2469,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.69,-166.2,3.1,-4.8,5,120,9.35,2.05,-24.92,0.000,4,0.217,0.065,2436,3747,3647,0,0,0,0,0,0,24.98,25.86,26.68
$GC,265,-0.63,-166.2,28.5,-14.0,23,271,0.00,1.92,0.00,0.000,6,0.000,0.024,2436,2438,3648,0,0,0,0,0,0,28.83,26.21,28.83
$GC,579,-0.57,-166.2,75.5,-14.6,46,584,0.12,2.05,0.00,0.000,4,0.156,0.034,2475,1054,3649,0,0,0,0,0,0,26.18,26.03,28.83
$GC,646,-0.54,-166.2,83.7,-12.9,49,653,0.00,2.12,0.00,0.000,6,0.000,0.038,2474,2444,3649,0,0,0,0,0,0,28.83,25.96,28.83
$GC,966,-0.51,-166.2,122.8,-11.7,65,971,0.00,2.08,0.00,0.000,4,0.000,0.034,2475,1051,3649,0,0,0,0,0,0,28.83,26.05,28.83
$GC,998,-0.49,-166.2,125.6,-11.8,66,1005,0.12,2.12,0.00,0.000,6,0.144,0.037,2510,2450,3649,0,0,0,0,0,0,25.72,25.96,28.83
$GC,1313,-0.49,-166.2,157.8,-9.7,82,1318,0.00,2.08,0.00,0.000,4,0.000,0.034,2509,1058,3649,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1337,-0.49,-166.2,160.0,-9.5,83,1342,0.00,2.12,0.00,0.000,6,0.000,0.037,2506,2453,3649,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1661,-0.51,-166.2,188.9,-7.6,99,1667,0.00,2.08,0.00,0.000,4,0.000,0.034,2506,1059,3649,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1729,-0.53,-166.2,194.1,-7.8,102,1734,0.00,2.12,0.00,0.000,6,0.000,0.037,2506,2461,3650,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2048,-0.60,-166.2,220.9,-7.9,118,2053,0.00,2.10,0.00,0.000,4,0.000,0.033,2510,1049,3651,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2112,-0.65,-166.2,226.0,-8.0,121,2118,0.15,2.12,0.00,0.000,6,0.067,0.037,2416,2455,3651,0,0,0,0,0,0,26.03,26.00,28.83
$GC,2436,-0.62,-166.2,263.5,-12.2,137,2442,0.15,2.05,0.00,0.000,4,0.145,0.050,2456,3771,3651,0,0,0,0,0,0,26.15,25.86,28.83
$GC,2500,-0.60,-166.2,270.5,-11.2,140,2506,0.00,1.92,0.00,0.000,6,0.000,0.020,2456,2441,3651,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2824,-0.60,-166.2,302.9,-9.9,156,2829,0.00,2.03,0.00,0.000,4,0.000,0.034,2456,1062,3649,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2870,-0.60,-166.2,307.6,-10.3,158,2875,0.00,2.10,0.00,0.000,6,0.000,0.036,2453,2450,3651,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3189,-0.60,-166.2,337.7,-8.3,174,3195,0.00,2.05,0.00,0.000,4,0.000,0.034,2453,1065,3651,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3237,-0.60,-166.2,341.4,-8.2,176,3242,0.00,2.10,0.00,0.000,6,0.000,0.036,2453,2453,3651,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3555,-0.60,-166.2,365.9,-7.5,192,3560,0.00,2.03,0.00,0.000,4,0.000,0.046,2453,3769,3649,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3602,-0.60,-166.2,369.3,-7.7,194,3608,0.00,1.90,0.00,0.000,6,0.000,0.020,2452,2438,3649,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3922,-0.61,-166.2,394.7,-8.2,210,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2438,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4225,-0.66,-166.2,419.5,-8.3,225,4230,0.00,2.08,0.00,0.000,4,0.000,0.045,2452,3768,3646,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4344,-0.71,-166.2,428.4,-8.6,230,4352,0.00,1.92,0.00,0.000,6,0.000,0.021,2453,2438,3646,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4649,-0.75,-166.2,453.6,-7.7,246,4655,0.00,2.03,0.00,0.000,4,0.000,0.033,2452,1067,3644,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4745,-0.78,-166.2,460.0,-7.6,250,4750,0.00,2.12,0.00,0.000,6,0.000,0.037,2453,2455,3643,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5059,-0.81,-166.2,484.4,-7.7,266,5064,0.12,2.08,0.00,0.000,4,0.080,0.031,2371,1068,3642,0,0,0,0,0,0,26.56,26.04,28.83
$GC,5093,-0.83,-166.2,486.6,-8.2,267,5098,0.00,2.15,0.00,0.000,6,0.000,0.041,2371,2456,3641,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5406,-0.78,-166.2,520.8,-10.3,283,5412,0.12,2.10,0.00,0.000,4,0.164,0.031,2408,1058,3640,0,0,0,0,0,0,26.17,26.03,28.83
$GC,5440,-0.74,-166.2,523.2,-10.1,284,5446,0.00,2.12,0.00,0.000,6,0.000,0.037,2405,2451,3639,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5755,-0.72,-166.2,552.1,-9.4,300,5760,0.00,2.05,0.00,0.000,4,0.000,0.047,2406,3769,3637,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5839,-0.70,-166.2,560.4,-9.8,304,5844,0.12,1.92,0.00,0.000,6,0.148,0.029,2438,2445,3637,0,0,0,0,0,0,25.89,26.28,28.83
$GC,6163,-0.72,-166.2,586.8,-8.0,320,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2445,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6466,-0.73,-166.2,610.6,-8.0,333,6471,0.00,2.05,0.00,0.000,4,0.000,0.034,2439,1064,3632,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6489,-0.74,-166.2,610.6,-8.0,333,6495,0.00,2.12,0.00,0.000,6,0.000,0.037,2439,2452,3632,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6806,-0.76,-166.2,637.8,-8.1,344,6811,0.00,2.03,0.00,0.000,4,0.000,0.047,2438,3759,3630,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6865,-0.78,-166.2,641.0,-8.4,345,6872,0.00,1.90,0.00,0.000,6,0.000,0.022,2439,2453,3630,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7173,-0.80,-166.2,667.1,-7.6,356,7178,0.00,2.08,0.00,0.000,4,0.000,0.034,2438,1072,3628,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7216,-0.81,-166.2,669.7,-7.5,357,7222,0.12,2.15,0.00,0.000,6,0.080,0.044,2376,2457,3627,0,0,0,0,0,0,25.80,25.79,28.83
$GC,7543,-0.78,-166.2,702.7,-10.0,368,7549,0.12,2.10,0.00,0.000,4,0.156,0.052,2412,3765,3626,0,0,0,0,0,0,26.15,25.53,28.83
$GC,7640,-0.76,-166.2,711.1,-8.9,371,7645,0.00,1.92,0.00,0.000,6,0.000,0.022,2411,2450,3625,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7975,-0.76,-166.2,739.5,-8.6,382,7980,0.00,2.05,0.00,0.000,4,0.000,0.034,2412,1073,3620,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8004,-0.76,-166.2,739.5,-8.6,382,8011,0.00,2.12,0.00,0.000,6,0.000,0.038,2411,2451,3622,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8308,-0.76,-166.2,769.5,-8.9,393,8313,0.00,2.05,0.00,0.000,4,0.000,0.048,2411,3759,3620,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8397,-0.76,-166.2,775.3,-9.0,395,8405,0.00,1.92,0.00,0.000,6,0.000,0.024,2411,2457,3620,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8701,-0.76,-166.2,805.3,-9.1,406,8706,0.00,2.08,0.00,0.000,4,0.000,0.034,2412,1063,3618,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8739,-0.76,-166.2,808.4,-9.2,407,8744,0.00,2.15,0.00,0.000,6,0.000,0.038,2411,2454,3618,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9070,-0.76,-166.2,839.3,-9.2,418,9075,0.00,2.08,0.00,0.000,4,0.000,0.054,2412,3762,3616,0,0,0,0,0,0,28.83,25.18,28.83
$GC,9117,-0.76,-166.2,842.7,-9.3,419,9122,0.00,1.92,0.00,0.000,6,0.000,0.024,2411,2451,3616,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9436,-0.76,-166.2,874.0,-9.8,430,9441,0.00,2.10,0.00,0.000,4,0.000,0.034,2412,1059,3614,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9469,-0.76,-166.2,877.4,-9.8,431,9475,0.00,2.17,0.00,0.000,6,0.000,0.039,2411,2457,3614,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9805,-0.76,-166.2,909.2,-9.5,442,9810,0.00,2.05,0.00,0.000,4,0.000,0.049,2411,3758,3612,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9848,-0.76,-166.2,912.6,-9.6,443,9854,0.00,1.92,0.00,0.000,6,0.000,0.024,2411,2453,3612,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10173,-0.76,-166.2,944.6,-9.5,454,10178,0.00,2.10,0.00,0.000,4,0.000,0.034,2411,1054,3611,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10226,-0.76,-166.2,948.0,-9.7,455,10232,0.00,2.17,0.00,0.000,6,0.000,0.039,2411,2448,3610,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10540,-0.76,-166.2,979.2,-9.1,466,10546,0.00,2.10,0.00,0.000,4,0.000,0.050,2411,3764,3609,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10593,-0.76,-166.2,982.5,-9.3,467,10598,0.00,1.95,0.00,0.000,6,0.000,0.025,2412,2443,3609,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,10663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10663,begin apogee
$GC,10671,-0.27,0.0,991.4,-9.7,470,10823,0.50,0.00,144.55,1.282,6,0.114,0.000,2571,2171,2966,0,0,0,0,0,0,25.20,28.83,23.08
$STATE,10824,end apogee,CONTROL_FINISHED_OK
$STATE,10824,begin climb
$GC,10828,0.69,166.2,999.7,0.0,475,10990,0.93,2.25,153.73,1.321,4,0.076,0.041,2888,835,2282,0,0,0,0,0,0,24.71,23.94,22.34
$GC,11034,0.73,244.9,992.8,5.8,482,11118,0.00,2.20,73.25,1.311,6,0.000,0.036,2887,2213,1962,0,0,0,0,0,0,28.83,25.08,22.87
$GC,11419,0.69,244.9,958.0,9.3,495,11424,0.00,2.20,0.00,0.000,4,0.000,0.047,2887,3611,1952,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11513,0.65,244.9,947.6,10.6,498,11519,0.00,2.08,0.00,0.000,6,0.000,0.028,2895,2235,1950,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11850,0.61,244.9,912.6,10.5,509,11855,0.12,2.22,0.00,0.000,4,0.155,0.046,2864,789,1950,0,0,0,0,0,0,26.13,25.96,28.83
$GC,11894,0.58,244.9,909.3,10.0,510,11900,0.00,2.17,0.00,0.000,6,0.000,0.035,2864,2212,1949,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12219,0.57,244.9,879.4,9.1,521,12225,0.00,2.20,0.00,0.000,4,0.000,0.047,2864,3608,1948,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,21367,end climb,SURFACE_DEPTH_REACHED
$STATE,21367,begin surface coast
$FINISH,0.9,1.023537
$STATE,21402,end surface coast,CONTROL_FINISHED_OK
$STATE,21402,begin surface
$SM_CCo,21480,0.00,0.000,0,0,996,483.73
$SM_GC,1.73,7.43,0.40,0.00,0.028,0.048,0.000,118,2452,996,-7.87,-1.27,483.73,0,0,0,0,0,0,26.07,26.27,28.83
$IRIDIUM_FIX,2227.67,12214.67,220113,232357
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.85
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.50
$XPDR_PINGS,82
$24V_AH,22.3,89.803
$10V_AH,9.7,57.851
$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,20.800,210.825,585.550,0.000,0.000,0.000,0.000,297.325,20.500,0.000,6.274,3185.082,14825.680,750.019,2690.486,517.717,0.000,2386.415,0.000,2312.040,0.000,0.542,0.000
$DEVICE_MAMPS,217.260,65.025,1321.155,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21410.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.334,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,36662,940
$CAP_FILE_SIZE,244094,0
$CFSIZE,260165632,207773696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125, 43.7,1
$GPS,230113,113436,2239.342,12212.818,42,1.0,42,-3.4