version: 66.11
glider: 167
mission: 14
dive: 445
start: 1 30 113 1 35 24
data:
$ID,167
$MISSION,14
$DIVE,445
$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,350
$T_MISSION,370
$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,200
$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,-971373.69
$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,65
$R_STBD_OVSHOOT,33
$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
$GPS1,300113,012659,2306.505,12205.994,39,1.9,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-61.3
$GPS2,300113,013458,2306.950,12205.703,7,1.8,7,-3.5
$SPEED_LIMITS,0.163,0.290
$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,223.3,68211,-14.8,-9.429,-18.00
$D_GRID,4496
$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,-0.73,-195.5,0.0,0.0,0,86,0.00,0.00,-62.30,0.000,2,0.000,0.000,108,2462,2690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.73,-195.5,3.3,-3.7,6,132,9.18,2.12,-25.12,0.000,4,0.216,0.047,2420,1057,3766,0,0,0,0,0,0,24.98,25.92,26.64
$GC,311,-0.67,-195.5,36.8,-15.8,27,317,0.15,2.17,0.00,0.000,6,0.152,0.041,2450,2450,3768,0,0,0,0,0,0,25.39,25.72,28.83
$GC,635,-0.64,-195.5,77.8,-12.4,48,641,0.00,2.10,0.00,0.000,4,0.000,0.037,2451,1072,3768,0,0,0,0,0,0,28.83,25.69,28.83
$GC,719,-0.62,-195.5,89.0,-13.3,52,725,0.00,2.15,0.00,0.000,6,0.000,0.043,2450,2457,3768,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1043,-0.59,-195.5,132.6,-13.2,68,1049,0.00,2.05,0.00,0.000,4,0.000,0.048,2451,3772,3768,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1062,-0.56,-195.5,132.6,-13.2,68,1069,0.12,1.90,0.00,0.000,6,0.140,0.020,2486,2443,3768,0,0,0,0,0,0,25.81,26.17,28.83
$GC,1368,-0.58,-195.5,167.3,-8.8,84,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2444,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1671,-0.62,-195.5,192.5,-8.6,99,1676,0.00,2.05,0.00,0.000,4,0.000,0.033,2486,1066,3768,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1729,-0.67,-195.5,196.5,-8.6,101,1737,0.12,2.12,0.00,0.000,6,0.074,0.036,2411,2465,3768,0,0,0,0,0,0,25.79,25.79,28.83
$GC,2036,-0.63,-195.5,233.7,-11.9,117,2042,0.15,2.03,0.00,0.000,4,0.145,0.045,2452,3761,3768,0,0,0,0,0,0,26.06,25.60,28.83
$GC,2081,-0.61,-195.5,238.6,-11.2,119,2086,0.00,1.90,0.00,0.000,6,0.000,0.020,2452,2441,3768,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2405,-0.65,-195.5,267.8,-9.2,135,2411,0.00,2.08,0.00,0.000,4,0.000,0.047,2452,3758,3770,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2424,-0.69,-195.5,267.8,-9.2,135,2431,0.00,1.88,0.00,0.000,6,0.000,0.020,2452,2443,3770,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2730,-0.74,-195.5,296.0,-8.9,151,2735,0.00,2.08,0.00,0.000,4,0.000,0.047,2447,3761,3769,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2835,-0.79,-195.5,306.0,-9.7,156,2841,0.12,1.88,0.00,0.000,6,0.076,0.021,2371,2445,3769,0,0,0,0,0,0,26.10,26.21,28.83
$GC,3159,-0.74,-195.5,347.0,-12.5,172,3165,0.15,2.08,0.00,0.000,4,0.149,0.030,2418,1062,3768,0,0,0,0,0,0,26.04,25.84,28.83
$GC,3208,-0.71,-195.5,352.1,-11.8,174,3213,0.00,2.10,0.00,0.000,6,0.000,0.034,2413,2450,3768,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3526,-0.69,-195.5,384.4,-9.8,190,3532,0.00,2.08,0.00,0.000,4,0.000,0.031,2413,1060,3767,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3559,-0.68,-195.5,386.8,-9.8,191,3565,0.12,2.12,0.00,0.000,6,0.149,0.036,2444,2455,3767,0,0,0,0,0,0,25.50,25.78,28.83
$GC,3874,-0.73,-195.5,416.1,-9.1,207,3880,0.00,2.08,0.00,0.000,4,0.000,0.031,2444,1066,3765,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3943,-0.77,-195.5,422.4,-9.6,210,3948,0.00,2.12,0.00,0.000,6,0.000,0.036,2444,2458,3764,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4262,-0.81,-195.5,451.9,-8.8,226,4267,0.12,2.05,0.00,0.000,4,0.080,0.046,2364,3766,3762,0,0,0,0,0,0,26.50,25.55,28.83
$GC,4300,-0.84,-195.5,454.5,-9.3,227,4306,0.00,1.90,0.00,0.000,6,0.000,0.021,2364,2445,3762,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4606,-0.80,-195.5,491.9,-11.7,243,4612,0.12,2.10,0.00,0.000,4,0.159,0.036,2402,1057,3760,0,0,0,0,0,0,26.12,25.77,28.83
$GC,4650,-0.77,-195.5,496.7,-11.4,245,4656,0.00,2.17,0.00,0.000,6,0.000,0.036,2400,2456,3761,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4975,-0.76,-195.5,530.2,-10.5,261,4980,0.00,2.05,0.00,0.000,4,0.000,0.047,2400,3765,3757,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5048,-0.74,-195.5,537.3,-11.0,264,5054,0.00,1.90,0.00,0.000,6,0.000,0.021,2400,2442,3757,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5362,-0.73,-195.5,571.1,-10.0,280,5368,0.10,2.05,0.00,0.000,4,0.164,0.029,2425,1065,3755,0,0,0,0,0,0,26.31,25.82,28.83
$GC,5411,-0.73,-195.5,575.2,-9.6,282,5416,0.00,2.12,0.00,0.000,6,0.000,0.035,2425,2452,3755,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5740,-0.74,-195.5,602.8,-8.2,298,5746,0.00,2.08,0.00,0.000,4,0.000,0.031,2424,1070,3752,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5769,-0.76,-195.5,602.8,-8.2,298,5777,0.00,2.12,0.00,0.000,6,0.000,0.036,2423,2455,3751,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6076,-0.78,-195.5,629.7,-7.9,309,6082,0.00,2.08,0.00,0.000,4,0.000,0.048,2425,3765,3749,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6111,-0.79,-195.5,632.8,-8.1,310,6116,0.00,1.95,0.00,0.000,6,0.000,0.028,2425,2447,3749,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6448,-0.81,-195.5,662.3,-9.0,321,6453,0.00,2.05,0.00,0.000,4,0.000,0.031,2425,1065,3747,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6496,-0.83,-195.5,665.9,-9.0,322,6501,0.00,2.12,0.00,0.000,6,0.000,0.036,2425,2449,3747,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6819,-0.84,-195.5,694.4,-8.1,333,6824,0.00,2.08,0.00,0.000,4,0.000,0.049,2425,3762,3745,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6897,-0.86,-195.5,700.0,-8.2,335,6903,0.12,1.95,0.00,0.000,6,0.080,0.028,2365,2443,3744,0,0,0,0,0,0,25.77,25.86,28.83
$GC,7219,-0.83,-195.5,735.7,-10.8,346,7225,0.12,2.10,0.00,0.000,4,0.153,0.036,2403,1065,3741,0,0,0,0,0,0,26.11,25.60,28.83
$GC,7287,-0.81,-195.5,742.3,-10.3,348,7293,0.00,2.15,0.00,0.000,6,0.000,0.041,2401,2449,3741,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7619,-0.81,-195.5,773.2,-9.3,359,7624,0.00,2.12,0.00,0.000,4,0.000,0.034,2401,1061,3736,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7677,-0.81,-195.5,776.6,-9.3,360,7684,0.00,2.20,0.00,0.000,6,0.000,0.044,2400,2451,3738,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7984,-0.81,-195.5,805.1,-8.1,371,7990,0.00,2.10,0.00,0.000,4,0.000,0.050,2398,3766,3736,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8037,-0.81,-195.5,808.1,-8.2,372,8043,0.00,1.92,0.00,0.000,6,0.000,0.023,2400,2453,3735,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8354,-0.81,-195.5,834.5,-8.0,383,8359,0.00,2.08,0.00,0.000,4,0.000,0.031,2400,1061,3733,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8396,-0.81,-195.5,837.6,-8.1,384,8401,0.00,2.15,0.00,0.000,6,0.000,0.037,2400,2450,3732,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8722,-0.81,-195.5,866.1,-9.0,395,8727,0.00,2.10,0.00,0.000,4,0.000,0.031,2400,1069,3731,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8746,-0.81,-195.5,866.1,-9.0,395,8751,0.00,2.15,0.00,0.000,6,0.000,0.037,2400,2450,3731,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9059,-0.81,-195.5,900.7,-10.4,406,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2450,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9360,-0.81,-195.5,931.7,-10.4,416,9365,0.00,2.10,0.00,0.000,4,0.000,0.031,2400,1064,3728,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9402,-0.81,-195.5,935.1,-10.3,417,9407,0.00,2.17,0.00,0.000,6,0.000,0.037,2400,2463,3727,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9727,-0.81,-195.5,967.6,-9.5,428,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2463,3726,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9993,begin apogee
$GC,10000,-0.27,0.0,992.5,-9.1,437,10177,0.55,0.08,167.77,1.276,6,0.112,0.089,2575,2198,2961,0,0,0,0,0,0,24.91,24.14,22.98
$STATE,10179,end apogee,CONTROL_FINISHED_OK
$STATE,10179,begin climb
$GC,10182,0.73,195.5,999.8,0.0,443,10376,0.98,2.58,181.43,1.260,4,0.073,0.048,2901,3605,2162,0,0,0,0,0,0,24.44,23.36,21.99
$GC,10400,0.69,220.9,987.1,8.6,450,10432,0.00,2.20,25.23,1.240,6,0.000,0.027,2909,2253,2061,0,0,0,0,0,0,28.83,24.22,22.39
$GC,10750,0.64,220.9,946.9,11.1,462,10757,0.12,2.15,0.00,0.000,4,0.155,0.038,2877,854,2048,0,0,0,0,0,0,26.00,25.89,28.83
$GC,10801,0.59,220.9,943.6,10.7,463,10807,0.00,2.10,0.00,0.000,6,0.000,0.034,2877,2221,2046,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11123,0.59,238.9,912.9,8.8,474,11146,0.00,2.22,16.27,1.241,4,0.000,0.047,2877,3606,1987,0,0,0,0,0,0,28.83,25.69,24.18
$GC,11264,0.55,238.9,899.8,10.6,478,11270,0.15,2.05,0.00,0.000,6,0.146,0.029,2843,2242,1982,0,0,0,0,0,0,25.70,26.06,28.83
$GC,11581,0.60,280.8,872.5,8.1,489,11632,0.00,2.30,42.83,1.203,4,0.000,0.041,2843,811,1816,0,0,0,0,0,0,28.83,25.41,23.94
$GC,11650,0.65,318.2,867.4,8.2,491,11699,0.00,2.15,38.53,1.225,6,0.000,0.032,2843,2205,1664,0,0,0,0,0,0,28.83,25.72,23.68
$GC,12001,0.70,334.0,836.0,8.9,503,12024,0.12,2.28,15.35,1.193,4,0.079,0.049,2913,3600,1599,0,0,0,0,0,0,26.34,25.75,24.20
$GC,12114,0.69,334.0,823.8,12.2,506,12120,0.12,2.10,0.00,0.000,6,0.153,0.028,2888,2204,1595,0,0,0,0,0,0,25.77,26.07,28.83
$GC,12431,0.69,334.0,788.2,9.9,517,12437,0.00,2.25,0.00,0.000,4,0.000,0.049,2889,3601,1593,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12454,0.69,334.0,788.2,9.9,517,12459,0.00,2.12,0.00,0.000,6,0.000,0.029,2895,2193,1592,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,19978,end climb,SURFACE_DEPTH_REACHED
$STATE,19978,begin surface coast
$FINISH,0.9,1.010767
$STATE,19999,end surface coast,CONTROL_FINISHED_OK
$STATE,19999,begin surface
$SM_CCo,20078,0.00,0.000,0,0,832,523.96
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$IRIDIUM_FIX,2253.38,12205.29,290113,191902
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.71
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.40
$XPDR_PINGS,94
$24V_AH,22.0,95.934
$10V_AH,9.7,61.307
$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,21.075,207.975,673.025,0.000,0.000,0.000,0.000,268.675,23.500,0.000,9.181,2953.448,13733.005,825.907,2514.713,518.320,0.000,2377.594,0.000,2164.070,0.000,0.542,0.000
$DEVICE_MAMPS,215.730,88.740,1276.020,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,7.922,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,33401,879
$CAP_FILE_SIZE,232515,0
$CFSIZE,260165632,205000704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.202, 52.2,1
$GPS,300113,071125,2306.647,12206.495,39,1.8,39,-3.5