version: 66.11
glider: 167
mission: 14
dive: 500
start: 2 10 113 10 28 6
data:
$ID,167
$MISSION,14
$DIVE,500
$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,-971595.62
$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,54
$R_STBD_OVSHOOT,40
$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
$GPS1,100213,101935,2314.510,12135.681,37,1.0,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-70.1
$GPS2,100213,102739,2314.672,12135.712,8,0.9,8,-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,233.9,8754,-16.4,-9.877,-19.33
$D_GRID,1231
$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,-0.76,-176.0,0.0,0.0,0,75,0.00,0.00,-51.85,0.000,2,0.000,0.000,111,2474,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.76,-176.0,3.1,-3.6,5,125,10.80,2.45,-30.33,0.000,4,0.218,0.041,2408,1054,3688,0,0,0,0,0,0,22.53,22.96,23.41
$GC,339,-0.70,-176.0,47.2,-17.4,30,345,0.15,2.40,0.00,0.000,6,0.147,0.034,2433,2447,3690,0,0,0,0,0,0,22.71,23.03,28.83
$GC,546,-0.67,-176.0,75.8,-12.9,41,552,0.00,2.33,0.00,0.000,4,0.000,0.046,2425,3761,3691,0,0,0,0,0,0,28.83,23.15,28.83
$GC,640,-0.64,-176.0,86.8,-12.8,45,646,0.12,2.05,0.00,0.000,6,0.138,0.016,2453,2460,3691,0,0,0,0,0,0,23.16,23.61,28.83
$GC,835,-0.64,-176.0,108.4,-11.0,55,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2460,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1014,-0.64,-176.0,127.9,-10.4,64,1019,0.00,2.30,0.00,0.000,4,0.000,0.031,2453,1082,3693,0,0,0,0,0,0,28.83,23.06,28.83
$GC,1058,-0.64,-176.0,132.4,-10.4,66,1063,0.00,2.45,0.00,0.000,6,0.000,0.035,2452,2493,3693,0,0,0,0,0,0,28.83,23.10,28.83
$GC,1265,-0.66,-176.0,150.8,-8.3,76,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2493,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1442,-0.67,-176.0,165.4,-8.6,85,1448,0.00,2.40,0.00,0.000,4,0.000,0.032,2452,1081,3693,0,0,0,0,0,0,28.83,23.08,28.83
$GC,1477,-0.69,-176.0,167.6,-8.9,86,1483,0.00,2.40,0.00,0.000,6,0.000,0.035,2452,2470,3693,0,0,0,0,0,0,28.83,23.17,28.83
$GC,1674,-0.70,-176.0,185.4,-8.2,96,1679,0.00,2.35,0.00,0.000,4,0.000,0.036,2452,1079,3693,0,0,0,0,0,0,28.83,23.25,28.83
$GC,1688,-0.72,-176.0,185.4,-8.2,96,1693,0.00,2.38,0.00,0.000,6,0.000,0.036,2452,2468,3693,0,0,0,0,0,0,28.83,23.28,28.83
$GC,1885,-0.75,-176.0,201.7,-7.8,106,1890,0.00,2.28,0.00,0.000,4,0.000,0.047,2452,3755,3693,0,0,0,0,0,0,28.83,22.96,28.83
$GC,1951,-0.80,-176.0,207.4,-8.3,109,1957,0.15,2.03,0.00,0.000,6,0.062,0.016,2374,2467,3693,0,0,0,0,0,0,23.64,23.83,28.83
$GC,2158,-0.76,-176.0,230.6,-11.9,119,2160,0.17,0.00,0.00,0.000,6,0.141,0.000,2416,2464,3693,0,0,0,0,0,0,23.63,28.83,28.83
$GC,2336,-0.76,-176.0,248.8,-10.0,128,2341,0.00,2.30,0.00,0.000,4,0.000,0.047,2411,3754,3692,0,0,0,0,0,0,28.83,22.96,28.83
$GC,2383,-0.76,-176.0,253.5,-10.3,130,2389,0.00,2.00,0.00,0.000,6,0.000,0.016,2408,2483,3693,0,0,0,0,0,0,28.83,23.84,28.83
$GC,2582,-0.76,-176.0,274.8,-10.4,140,2589,0.00,2.33,0.00,0.000,4,0.000,0.031,2411,1080,3692,0,0,0,0,0,0,28.83,23.15,28.83
$GC,2617,-0.76,-176.0,277.4,-10.6,141,2622,0.00,2.40,0.00,0.000,6,0.000,0.036,2411,2482,3692,0,0,0,0,0,0,28.83,23.15,28.83
$GC,2811,-0.76,-176.0,298.7,-10.2,151,2816,0.00,2.25,0.00,0.000,4,0.000,0.047,2411,3760,3692,0,0,0,0,0,0,28.83,22.96,28.83
$GC,2854,-0.76,-176.0,303.2,-10.3,153,2859,0.00,2.03,0.00,0.000,6,0.000,0.017,2412,2478,3691,0,0,0,0,0,0,28.83,23.84,28.83
$GC,3059,-0.76,-176.0,324.1,-10.1,163,3064,0.00,2.30,0.00,0.000,4,0.000,0.047,2412,3762,3690,0,0,0,0,0,0,28.83,22.95,28.83
$GC,3086,-0.76,-176.0,326.4,-9.9,164,3091,0.00,2.00,0.00,0.000,6,0.000,0.016,2411,2490,3690,0,0,0,0,0,0,28.83,23.87,28.83
$GC,3285,-0.76,-176.0,346.4,-9.7,174,3290,0.00,2.35,0.00,0.000,4,0.000,0.031,2411,1079,3688,0,0,0,0,0,0,28.83,23.16,28.83
$GC,3334,-0.76,-176.0,350.8,-9.8,176,3340,0.00,2.40,0.00,0.000,6,0.000,0.036,2411,2484,3688,0,0,0,0,0,0,28.83,23.17,28.83
$GC,3534,-0.76,-176.0,372.0,-10.7,186,3540,0.00,2.28,0.00,0.000,4,0.000,0.048,2412,3762,3688,0,0,0,0,0,0,28.83,22.95,28.83
$GC,3623,-0.76,-176.0,380.9,-10.5,190,3628,0.00,2.00,0.00,0.000,6,0.000,0.017,2411,2485,3687,0,0,0,0,0,0,28.83,23.84,28.83
$GC,3822,-0.76,-176.0,400.7,-10.3,200,3827,0.00,2.30,0.00,0.000,4,0.000,0.030,2411,1093,3687,0,0,0,0,0,0,28.83,23.17,28.83
$GC,3860,-0.76,-176.0,403.2,-10.3,201,3868,0.00,2.42,0.00,0.000,6,0.000,0.036,2411,2506,3687,0,0,0,0,0,0,28.83,23.16,28.83
$GC,4045,-0.76,-176.0,423.4,-10.1,211,4050,0.00,2.22,0.00,0.000,4,0.000,0.049,2412,3762,3685,0,0,0,0,0,0,28.83,22.93,28.83
$GC,4119,-0.76,-176.0,429.3,-9.4,214,4125,0.00,2.00,0.00,0.000,6,0.000,0.019,2411,2498,3685,0,0,0,0,0,0,28.83,23.59,28.83
$GC,4314,-0.76,-176.0,447.6,-9.0,224,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2496,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4494,-0.76,-176.0,463.6,-9.1,233,4500,0.00,2.33,0.00,0.000,4,0.000,0.030,2411,1095,3683,0,0,0,0,0,0,28.83,23.17,28.83
$GC,4539,-0.76,-176.0,467.9,-9.5,235,4545,0.00,2.45,0.00,0.000,6,0.000,0.035,2411,2515,3683,0,0,0,0,0,0,28.83,23.16,28.83
$GC,4746,-0.76,-176.0,487.2,-9.1,245,4752,0.00,2.20,0.00,0.000,4,0.000,0.049,2411,3758,3682,0,0,0,0,0,0,28.83,22.92,28.83
$GC,4793,-0.76,-176.0,491.6,-9.2,247,4798,0.00,1.95,0.00,0.000,6,0.000,0.019,2411,2521,3682,0,0,0,0,0,0,28.83,23.75,28.83
$GC,4999,-0.77,-176.0,509.1,-8.3,257,5004,0.00,2.35,0.00,0.000,4,0.000,0.030,2412,1102,3680,0,0,0,0,0,0,28.83,23.16,28.83
$GC,5038,-0.77,-176.0,511.4,-8.3,258,5045,0.00,2.45,0.00,0.000,6,0.000,0.040,2411,2525,3680,0,0,0,0,0,0,28.83,23.34,28.83
$GC,5223,-0.77,-176.0,527.4,-7.7,268,5228,0.00,2.17,0.00,0.000,4,0.000,0.049,2411,3755,3679,0,0,0,0,0,0,28.83,22.93,28.83
$GC,5252,-0.77,-176.0,529.2,-7.8,269,5258,0.00,1.95,0.00,0.000,6,0.000,0.019,2411,2511,3679,0,0,0,0,0,0,28.83,23.74,28.83
$GC,5455,-0.78,-176.0,545.8,-8.2,279,5461,0.00,2.35,0.00,0.000,4,0.000,0.031,2411,1103,3678,0,0,0,0,0,0,28.83,23.15,28.83
$GC,5489,-0.79,-176.0,548.2,-8.3,280,5494,0.00,2.42,0.00,0.000,6,0.000,0.036,2412,2511,3678,0,0,0,0,0,0,28.83,23.15,28.83
$GC,5687,-0.80,-176.0,565.4,-8.5,290,5692,0.00,2.22,0.00,0.000,4,0.000,0.050,2411,3754,3677,0,0,0,0,0,0,28.83,22.89,28.83
$GC,5760,-0.81,-176.0,571.3,-8.6,293,5765,0.00,1.92,0.00,0.000,6,0.000,0.020,2411,2524,3676,0,0,0,0,0,0,28.83,23.71,28.83
$GC,5957,-0.83,-176.0,588.1,-8.1,303,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2522,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6144,-0.84,-176.0,602.7,-7.9,312,6149,0.00,2.22,0.00,0.000,4,0.000,0.050,2411,3755,3674,0,0,0,0,0,0,28.83,22.86,28.83
$GC,6192,-0.86,-176.0,605.1,-7.6,313,6198,0.00,1.98,0.00,0.000,6,0.000,0.027,2411,2529,3674,0,0,0,0,0,0,28.83,23.53,28.83
$GC,6393,-0.87,-176.0,620.6,-7.3,320,6399,0.00,2.42,0.00,0.000,4,0.000,0.031,2411,1104,3673,0,0,0,0,0,0,28.83,23.13,28.83
$GC,6431,-0.89,-176.0,623.3,-7.5,321,6437,0.00,2.47,0.00,0.000,6,0.000,0.037,2411,2524,3672,0,0,0,0,0,0,28.83,23.23,28.83
$GC,6642,-0.90,-176.0,641.9,-9.1,328,6644,0.12,0.00,0.00,0.000,6,0.078,0.000,2353,2525,3675,0,0,0,0,0,0,24.33,28.83,28.83
$GC,6821,-0.87,-176.0,664.9,-13.1,334,6827,0.12,2.42,0.00,0.000,4,0.153,0.029,2387,1105,3670,0,0,0,0,0,0,23.91,23.12,28.83
$GC,6866,-0.84,-176.0,669.5,-13.0,335,6871,0.00,2.45,0.00,0.000,6,0.000,0.036,2387,2515,3670,0,0,0,0,0,0,28.83,23.11,28.83
$GC,7070,-0.84,-176.0,694.3,-11.5,342,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2515,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7250,-0.84,-176.0,714.1,-10.9,348,7255,0.00,2.38,0.00,0.000,4,0.000,0.030,2387,1104,3668,0,0,0,0,0,0,28.83,23.12,28.83
$GC,7294,-0.84,-176.0,717.6,-10.8,349,7299,0.00,2.47,0.00,0.000,6,0.000,0.041,2385,2518,3667,0,0,0,0,0,0,28.83,23.18,28.83
$GC,7498,-0.84,-176.0,738.6,-9.3,356,7503,0.00,2.25,0.00,0.000,4,0.000,0.056,2385,3762,3667,0,0,0,0,0,0,28.83,22.92,28.83
$GC,7532,-0.84,-176.0,741.9,-9.4,357,7537,0.00,2.00,0.00,0.000,6,0.000,0.021,2384,2524,3666,0,0,0,0,0,0,28.83,23.60,28.83
$GC,7748,-0.84,-176.0,761.4,-8.8,364,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2522,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7926,-0.84,-176.0,776.8,-8.7,370,7931,0.00,2.25,0.00,0.000,4,0.000,0.051,2385,3761,3665,0,0,0,0,0,0,28.83,22.83,28.83
$GC,7960,-0.84,-176.0,780.0,-8.9,371,7965,0.00,1.98,0.00,0.000,6,0.000,0.021,2384,2536,3664,0,0,0,0,0,0,28.83,23.58,28.83
$STATE,8171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8171,begin apogee
$GC,8179,-0.27,0.0,800.6,-10.0,378,8432,0.65,0.00,245.30,0.928,4,0.113,0.000,2568,2201,2965,0,0,0,0,0,0,22.70,28.83,20.50
$STATE,8433,end apogee,CONTROL_FINISHED_OK
$STATE,8433,begin climb
$GC,8437,0.76,176.0,811.6,0.0,386,8632,1.17,2.55,181.52,1.043,4,0.076,0.034,2905,835,2239,0,0,0,0,0,0,21.67,21.77,20.23
$GC,8732,0.74,187.8,794.6,9.4,396,8742,0.00,2.55,4.22,0.788,6,0.000,0.034,2905,2198,2200,0,0,0,0,0,0,28.83,21.82,20.50
$GC,8933,0.69,187.8,773.9,9.9,403,8938,0.00,2.53,0.00,0.000,4,0.000,0.037,2911,840,2205,0,0,0,0,0,0,28.83,21.93,28.83
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$STATE,15919,end climb,SURFACE_DEPTH_REACHED
$STATE,15919,begin surface coast
$FINISH,1.0,1.015543
$STATE,15938,end surface coast,CONTROL_FINISHED_OK
$STATE,15938,begin surface
$SM_CCo,16019,0.00,0.000,0,0,837,522.73
$SM_GC,1.87,8.68,0.45,0.00,0.030,0.044,0.000,122,2454,837,-7.88,-1.05,522.73,0,0,0,0,0,0,23.20,23.30,28.83
$IRIDIUM_FIX,2305.10,12138.45,100213,050554
$TT8_MAMPS,0.027713,0.027713
$HUMID,60.94
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.50
$XPDR_PINGS,103
$24V_AH,20.2,109.249
$10V_AH,9.7,67.267
$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,23.350,254.425,801.475,0.000,0.000,0.000,0.000,269.550,25.750,0.000,9.360,2695.810,9937.242,899.774,2414.127,547.196,0.000,2481.379,0.000,2043.374,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,55.845,1042.695,0.000,0.000,0.000,0.000,134.640,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15958.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.061,0.000,0.000,0.000
$MEM,323624
$DATA_FILE_SIZE,26723,736
$CAP_FILE_SIZE,232205,0
$CFSIZE,260165632,199528448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.134, 35.7,1
$GPS,100213,145629,2314.468,12135.014,39,1.3,39,-3.5