version: 66.11
glider: 167
mission: 14
dive: 498
start: 2 10 113 1 29 43
data:
$ID,167
$MISSION,14
$DIVE,498
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$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,270
$T_MISSION,300
$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,180
$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,-971593.12
$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,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,57
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$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,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$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
$GPS1,100213,012006,2314.782,12137.064,37,0.9,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-59.1
$GPS2,100213,012914,2315.107,12137.222,9,0.8,9,-3.5
$SPEED_LIMITS,0.171,0.282
$TGT_NAME,NB
$TGT_LATLONG,2311.960,12131.500
$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,241.4,11350,-16.4,-9.877,-19.33
$D_GRID,1223
$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,21,-0.76,-176.0,0.0,0.0,0,94,0.00,0.00,-71.45,0.000,2,0.000,0.000,108,2456,2688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.76,-176.0,3.5,-4.2,7,141,10.45,2.35,-22.45,0.000,4,0.220,0.060,2411,3751,3689,0,0,0,0,0,0,23.14,23.52,24.37
$GC,334,-0.69,-176.0,42.0,-16.8,29,342,0.00,2.10,0.00,0.000,6,0.000,0.020,2411,2432,3690,0,0,0,0,0,0,28.83,23.94,28.83
$GC,523,-0.64,-176.0,71.9,-14.7,41,529,0.15,2.35,0.00,0.000,4,0.145,0.047,2452,3761,3690,0,0,0,0,0,0,23.92,23.51,28.83
$GC,562,-0.60,-176.0,75.3,-14.0,42,569,0.00,2.03,0.00,0.000,6,0.000,0.017,2451,2452,3690,0,0,0,0,0,0,28.83,24.12,28.83
$GC,750,-0.62,-176.0,96.1,-10.0,52,755,0.00,2.22,0.00,0.000,4,0.000,0.031,2451,1082,3691,0,0,0,0,0,0,28.83,23.68,28.83
$GC,787,-0.63,-176.0,98.9,-10.2,53,795,0.00,2.30,0.00,0.000,6,0.000,0.035,2451,2464,3690,0,0,0,0,0,0,28.83,23.70,28.83
$GC,974,-0.63,-176.0,121.0,-10.8,63,980,0.00,2.22,0.00,0.000,4,0.000,0.047,2451,3757,3692,0,0,0,0,0,0,28.83,23.60,28.83
$GC,992,-0.63,-176.0,121.0,-10.8,63,999,0.00,2.03,0.00,0.000,6,0.000,0.016,2450,2430,3691,0,0,0,0,0,0,28.83,24.29,28.83
$GC,1181,-0.69,-176.0,141.1,-9.4,73,1186,0.00,2.30,0.00,0.000,4,0.000,0.047,2451,3758,3692,0,0,0,0,0,0,28.83,23.66,28.83
$GC,1246,-0.73,-176.0,147.2,-9.3,76,1251,0.00,1.95,0.00,0.000,6,0.000,0.017,2451,2491,3692,0,0,0,0,0,0,28.83,24.35,28.83
$GC,1452,-0.78,-176.0,165.0,-8.7,86,1459,0.12,2.20,0.00,0.000,4,0.075,0.046,2368,3757,3693,0,0,0,0,0,0,24.79,23.71,28.83
$GC,1580,-0.72,-176.0,180.8,-12.9,92,1586,0.22,1.88,0.00,0.000,6,0.133,0.016,2426,2525,3693,0,0,0,0,0,0,23.63,24.46,28.83
$GC,1788,-0.72,-176.0,201.6,-9.9,102,1793,0.00,2.33,0.00,0.000,4,0.000,0.031,2426,1080,3693,0,0,0,0,0,0,28.83,23.87,28.83
$GC,1861,-0.72,-176.0,209.0,-10.9,105,1866,0.00,2.38,0.00,0.000,6,0.000,0.036,2426,2514,3693,0,0,0,0,0,0,28.83,23.89,28.83
$GC,2055,-0.72,-176.0,230.8,-10.6,115,2060,0.00,2.12,0.00,0.000,4,0.000,0.048,2426,3763,3693,0,0,0,0,0,0,28.83,23.75,28.83
$GC,2093,-0.72,-176.0,233.3,-10.6,116,2100,0.00,1.90,0.00,0.000,6,0.000,0.017,2426,2507,3693,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2278,-0.72,-176.0,253.6,-10.1,126,2283,0.00,2.28,0.00,0.000,4,0.000,0.031,2426,1085,3693,0,0,0,0,0,0,28.83,23.93,28.83
$GC,2315,-0.72,-176.0,255.9,-9.9,127,2322,0.00,2.35,0.00,0.000,6,0.000,0.035,2426,2508,3692,0,0,0,0,0,0,28.83,23.98,28.83
$GC,2503,-0.72,-176.0,275.1,-9.2,137,2509,0.00,2.12,0.00,0.000,4,0.000,0.048,2426,3759,3691,0,0,0,0,0,0,28.83,23.82,28.83
$GC,2536,-0.72,-176.0,277.5,-9.3,138,2542,0.00,1.92,0.00,0.000,6,0.000,0.018,2426,2493,3692,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2732,-0.72,-176.0,294.9,-8.6,148,2737,0.00,2.25,0.00,0.000,4,0.000,0.031,2426,1078,3690,0,0,0,0,0,0,28.83,23.97,28.83
$GC,2765,-0.72,-176.0,297.2,-8.7,149,2770,0.00,2.33,0.00,0.000,6,0.000,0.036,2426,2488,3691,0,0,0,0,0,0,28.83,24.01,28.83
$GC,2962,-0.74,-176.0,316.1,-9.7,159,2967,0.00,2.17,0.00,0.000,4,0.000,0.048,2426,3761,3689,0,0,0,0,0,0,28.83,23.80,28.83
$GC,3006,-0.75,-176.0,320.8,-9.7,161,3012,0.00,2.00,0.00,0.000,6,0.000,0.018,2426,2459,3689,0,0,0,0,0,0,28.83,24.64,28.83
$GC,3212,-0.76,-176.0,341.2,-10.2,171,3218,0.00,2.25,0.00,0.000,4,0.000,0.047,2424,3757,3688,0,0,0,0,0,0,28.83,23.82,28.83
$GC,3272,-0.77,-176.0,345.7,-9.8,173,3278,0.00,1.92,0.00,0.000,6,0.000,0.018,2423,2486,3688,0,0,0,0,0,0,28.83,24.66,28.83
$GC,3459,-0.79,-176.0,363.6,-8.9,183,3465,0.00,2.25,0.00,0.000,4,0.000,0.031,2424,1076,3687,0,0,0,0,0,0,28.83,24.02,28.83
$GC,3485,-0.81,-176.0,366.2,-9.2,184,3491,0.00,2.38,0.00,0.000,6,0.000,0.036,2424,2514,3687,0,0,0,0,0,0,28.83,24.10,28.83
$GC,3692,-0.82,-176.0,384.7,-9.0,194,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2513,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,-0.84,-176.0,402.7,-10.1,203,3876,0.00,2.33,0.00,0.000,4,0.000,0.031,2424,1085,3685,0,0,0,0,0,0,28.83,24.02,28.83
$GC,3924,-0.85,-176.0,407.4,-10.4,205,3930,0.12,2.35,0.00,0.000,6,0.076,0.036,2361,2512,3681,0,0,0,0,0,0,24.09,24.06,28.83
$GC,4122,-0.82,-176.0,432.8,-12.8,215,4128,0.12,2.15,0.00,0.000,4,0.153,0.046,2388,3764,3684,0,0,0,0,0,0,24.49,24.00,28.83
$GC,4171,-0.79,-176.0,438.6,-12.7,217,4177,0.00,1.95,0.00,0.000,6,0.000,0.025,2387,2504,3683,0,0,0,0,0,0,28.83,24.74,28.83
$GC,4371,-0.78,-176.0,461.6,-11.2,227,4377,0.00,2.28,0.00,0.000,4,0.000,0.031,2387,1083,3682,0,0,0,0,0,0,28.83,24.05,28.83
$GC,4416,-0.77,-176.0,466.6,-11.1,229,4424,0.12,2.35,0.00,0.000,6,0.145,0.037,2414,2496,3682,0,0,0,0,0,0,23.89,24.10,28.83
$GC,4627,-0.78,-176.0,489.0,-10.8,239,4632,0.00,2.28,0.00,0.000,4,0.000,0.031,2414,1081,3680,0,0,0,0,0,0,28.83,24.06,28.83
$GC,4652,-0.80,-176.0,492.1,-10.8,240,4658,0.00,2.33,0.00,0.000,6,0.000,0.039,2414,2484,3681,0,0,0,0,0,0,28.83,24.42,28.83
$GC,4859,-0.81,-176.0,511.5,-9.1,250,4864,0.00,2.20,0.00,0.000,4,0.000,0.055,2413,3762,3679,0,0,0,0,0,0,28.83,24.16,28.83
$GC,4913,-0.82,-176.0,515.6,-9.1,252,4919,0.00,1.95,0.00,0.000,6,0.000,0.019,2413,2479,3679,0,0,0,0,0,0,28.83,24.71,28.83
$GC,5110,-0.84,-176.0,533.8,-9.5,262,5115,0.00,2.20,0.00,0.000,4,0.000,0.049,2415,3757,3677,0,0,0,0,0,0,28.83,23.93,28.83
$GC,5134,-0.86,-176.0,536.5,-9.8,263,5139,0.00,1.92,0.00,0.000,6,0.000,0.020,2413,2494,3677,0,0,0,0,0,0,28.83,24.71,28.83
$GC,5341,-0.87,-176.0,557.4,-10.8,273,5347,0.00,2.25,0.00,0.000,4,0.000,0.031,2413,1081,3676,0,0,0,0,0,0,28.83,24.07,28.83
$GC,5406,-0.88,-176.0,564.9,-11.2,276,5412,0.00,2.30,0.00,0.000,6,0.000,0.036,2414,2466,3675,0,0,0,0,0,0,28.83,24.10,28.83
$GC,5615,-0.90,-176.0,582.7,-8.2,286,5621,0.12,2.22,0.00,0.000,4,0.080,0.047,2343,3761,3674,0,0,0,0,0,0,25.26,23.95,28.83
$GC,5734,-0.86,-176.0,595.1,-12.0,291,5742,0.17,1.98,0.00,0.000,6,0.146,0.021,2385,2491,3674,0,0,0,0,0,0,23.98,24.70,28.83
$GC,5929,-0.86,-176.0,616.9,-10.1,299,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2486,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6109,-0.86,-176.0,635.2,-10.0,305,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2486,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6290,-0.86,-176.0,651.3,-9.0,311,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2485,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6469,-0.86,-176.0,669.0,-10.0,317,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2486,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6649,-0.86,-176.0,688.1,-10.8,323,6655,0.00,2.28,0.00,0.000,4,0.000,0.031,2386,1065,3668,0,0,0,0,0,0,28.83,24.09,28.83
$GC,6684,-0.86,-176.0,691.9,-10.9,324,6689,0.00,2.35,0.00,0.000,6,0.000,0.037,2385,2484,3668,0,0,0,0,0,0,28.83,24.24,28.83
$GC,6897,-0.86,-176.0,715.1,-10.7,331,6903,0.00,2.17,0.00,0.000,4,0.000,0.050,2385,3764,3666,0,0,0,0,0,0,28.83,23.99,28.83
$GC,6950,-0.86,-176.0,718.5,-10.6,332,6956,0.00,1.98,0.00,0.000,6,0.000,0.022,2385,2472,3666,0,0,0,0,0,0,28.83,24.73,28.83
$GC,7145,-0.86,-176.0,740.3,-10.1,339,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2470,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7324,-0.86,-176.0,758.8,-10.3,345,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2471,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7504,-0.86,-176.0,779.7,-12.0,351,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2470,3663,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7681,begin apogee
$GC,7689,-0.27,0.0,800.1,-11.4,357,7871,0.62,0.00,172.07,1.163,4,0.115,0.000,2571,2185,2958,0,0,0,0,0,0,23.86,28.83,20.51
$STATE,7872,end apogee,CONTROL_FINISHED_OK
$STATE,7872,begin climb
$GC,7876,0.76,176.0,810.8,0.0,363,8068,1.15,2.47,182.68,1.082,4,0.074,0.034,2905,849,2249,0,0,0,0,0,0,21.81,21.94,20.48
$GC,8212,0.80,237.6,797.6,7.6,374,8288,0.00,2.47,66.57,1.011,6,0.000,0.034,2905,2200,1989,0,0,0,0,0,0,28.83,22.15,20.49
$GC,8468,0.78,237.6,769.5,11.2,383,8474,0.00,2.50,0.00,0.000,4,0.000,0.040,2908,855,1966,0,0,0,0,0,0,28.83,22.06,28.83
$GC,8598,0.76,237.6,757.2,9.9,387,8605,0.00,2.45,0.00,0.000,6,0.000,0.032,2909,2210,1964,0,0,0,0,0,0,28.83,22.25,28.83
$GC,8809,0.73,237.6,735.0,10.3,394,8814,0.00,2.58,0.00,0.000,4,0.000,0.045,2909,3602,1963,0,0,0,0,0,0,28.83,22.36,28.83
$GC,8906,0.69,237.6,724.4,10.9,397,8912,0.00,2.35,0.00,0.000,6,0.000,0.025,2909,2255,1961,0,0,0,0,0,0,28.83,22.68,28.83
$GC,9116,0.66,237.6,702.1,10.8,404,9121,0.00,2.50,0.00,0.000,4,0.000,0.039,2909,850,1961,0,0,0,0,0,0,28.83,22.66,28.83
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$STATE,15632,end climb,SURFACE_DEPTH_REACHED
$STATE,15632,begin surface coast
$FINISH,1.0,1.022844
$STATE,15653,end surface coast,CONTROL_FINISHED_OK
$STATE,15653,begin surface
$SM_CCo,15736,0.00,0.000,0,0,861,516.60
$SM_GC,1.84,8.50,0.45,0.00,0.032,0.037,0.000,120,2453,861,-7.88,-1.33,516.60,0,0,0,0,0,0,23.70,23.92,28.83
$IRIDIUM_FIX,2305.10,12138.45,090213,202001
$TT8_MAMPS,0.028462,0.028462
$HUMID,60.04
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.50
$XPDR_PINGS,99
$24V_AH,20.5,108.804
$10V_AH,9.6,67.061
$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,22.975,241.625,728.600,0.000,0.000,0.000,0.000,326.950,24.750,0.000,10.334,2662.471,9726.991,880.587,2413.489,588.193,0.000,2490.973,0.000,2011.167,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,60.435,1162.800,0.000,0.000,0.000,0.000,132.345,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15665.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.063,0.000,0.000,0.000
$MEM,323716
$DATA_FILE_SIZE,26744,724
$CAP_FILE_SIZE,231246,0
$CFSIZE,260165632,199725056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.130, 60.2,1
$GPS,100213,055323,2314.775,12136.709,40,1.2,40,-3.5