version: 66.11
glider: 167
mission: 14
dive: 280
start: 12 18 112 5 29 13
data:
$ID,167
$MISSION,14
$DIVE,280
$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,440
$T_MISSION,460
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,165
$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,-969176
$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,2700
$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,0.0070000002
$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,72
$R_STBD_OVSHOOT,76
$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
$GPS1,181212,052106,2344.185,12352.966,34,0.8,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.2
$GPS2,181212,052846,2344.118,12352.922,4,0.7,4,-3.8
$SPEED_LIMITS,0.130,0.246
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,143.2,248686,-13.3,-7.500,-16.96
$D_GRID,3197
$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,-0.64,-161.3,0.0,0.0,0,73,0.00,0.00,-51.70,0.000,2,0.000,0.000,108,2486,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.64,-161.3,3.4,-4.8,5,113,9.70,2.10,-21.23,0.000,4,0.224,0.041,2485,1064,3626,0,0,0,0,0,0,24.96,26.15,26.65
$GC,234,-0.61,-161.3,26.8,-15.2,20,239,0.00,2.03,0.00,0.000,6,0.000,0.034,2481,2422,3628,0,0,0,0,0,0,28.83,26.21,28.83
$GC,548,-0.57,-161.3,68.6,-13.4,44,553,0.12,2.05,0.00,0.000,4,0.157,0.045,2519,3754,3628,0,0,0,0,0,0,26.30,26.13,28.83
$GC,581,-0.54,-161.3,71.9,-13.4,45,587,0.00,1.85,0.00,0.000,6,0.000,0.018,2519,2413,3628,0,0,0,0,0,0,28.83,26.55,28.83
$GC,896,-0.55,-161.3,100.3,-9.1,61,901,0.00,1.90,0.00,0.000,4,0.000,0.028,2519,1086,3628,0,0,0,0,0,0,28.83,26.38,28.83
$GC,989,-0.56,-161.3,108.5,-9.7,65,994,0.00,2.03,0.00,0.000,6,0.000,0.034,2519,2455,3629,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1302,-0.57,-161.3,136.1,-8.1,81,1308,0.00,1.98,0.00,0.000,4,0.000,0.047,2519,3750,3628,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1331,-0.58,-161.3,138.1,-8.3,82,1336,0.00,1.80,0.00,0.000,6,0.000,0.017,2519,2430,3629,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1650,-0.59,-161.3,166.5,-8.6,98,1655,0.00,1.90,0.00,0.000,4,0.000,0.028,2519,1105,3629,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1703,-0.61,-161.3,170.3,-8.4,100,1708,0.00,2.00,0.00,0.000,6,0.000,0.034,2519,2457,3629,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2017,-0.63,-161.3,194.1,-6.8,116,2022,0.00,2.00,0.00,0.000,4,0.000,0.047,2519,3758,3629,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2060,-0.65,-161.3,196.9,-6.4,118,2066,0.00,1.83,0.00,0.000,6,0.000,0.018,2519,2446,3629,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2385,-0.67,-161.3,217.3,-7.1,134,2391,0.10,1.92,0.00,0.000,4,0.093,0.026,2447,1107,3629,0,0,0,0,0,0,26.70,26.41,28.83
$GC,2471,-0.66,-161.3,226.8,-11.2,138,2477,0.15,2.00,0.00,0.000,6,0.141,0.034,2490,2465,3629,0,0,0,0,0,0,26.08,26.39,28.83
$GC,2796,-0.66,-161.3,255.9,-8.7,154,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2455,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3097,-0.67,-161.3,281.4,-8.2,169,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2459,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,-0.67,-161.3,308.1,-8.7,184,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2458,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3699,-0.68,-161.3,333.5,-8.5,199,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2458,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3997,-0.69,-161.3,359.8,-9.3,214,4003,0.00,1.98,0.00,0.000,4,0.000,0.028,2490,1104,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4021,-0.70,-161.3,362.4,-9.4,215,4028,0.00,2.00,0.00,0.000,6,0.000,0.033,2489,2457,3625,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4346,-0.72,-161.3,392.3,-8.6,231,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2457,3624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4648,-0.73,-161.3,415.1,-7.3,246,4654,0.00,1.98,0.00,0.000,4,0.000,0.028,2490,1101,3623,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4701,-0.75,-161.3,418.4,-7.2,248,4707,0.00,2.00,0.00,0.000,6,0.000,0.033,2489,2450,3622,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5016,-0.76,-161.3,439.9,-6.8,264,5018,0.10,0.00,0.00,0.000,6,0.094,0.000,2424,2450,3621,0,0,0,0,0,0,26.70,28.83,28.83
$GC,5317,-0.74,-161.3,472.4,-11.6,279,5319,0.12,0.00,0.00,0.000,6,0.148,0.000,2458,2450,3621,0,0,0,0,0,0,26.44,28.83,28.83
$GC,5617,-0.74,-161.3,504.7,-11.1,294,5622,0.00,2.00,0.00,0.000,4,0.000,0.050,2458,3746,3619,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5664,-0.74,-161.3,509.8,-11.3,296,5670,0.00,1.77,0.00,0.000,6,0.000,0.019,2458,2463,3619,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5982,-0.74,-161.3,543.3,-10.0,312,5988,0.00,2.00,0.00,0.000,4,0.000,0.028,2458,1090,3617,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6046,-0.75,-161.3,549.5,-9.9,315,6051,0.00,2.05,0.00,0.000,6,0.000,0.034,2458,2458,3617,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6370,-0.75,-161.3,578.7,-8.4,331,6375,0.00,2.00,0.00,0.000,4,0.000,0.027,2458,1089,3616,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6416,-0.75,-161.3,582.5,-8.6,333,6421,0.00,2.05,0.00,0.000,6,0.000,0.034,2458,2459,3616,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6727,-0.75,-161.3,607.2,-7.5,347,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2460,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7025,-0.76,-161.3,629.7,-7.6,357,7031,0.00,2.00,0.00,0.000,4,0.000,0.050,2458,3751,3613,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7109,-0.77,-161.3,634.8,-7.7,359,7115,0.00,1.83,0.00,0.000,6,0.000,0.020,2458,2443,3612,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7425,-0.77,-161.3,659.3,-7.0,370,7431,0.00,2.08,0.00,0.000,4,0.000,0.051,2458,3760,3611,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7500,-0.78,-161.3,664.2,-7.2,372,7505,0.00,1.85,0.00,0.000,6,0.000,0.021,2458,2444,3610,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7825,-0.79,-161.3,689.6,-8.0,383,7831,0.00,1.98,0.00,0.000,4,0.000,0.029,2458,1086,3608,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7914,-0.80,-161.3,695.6,-8.6,385,7920,0.00,2.05,0.00,0.000,6,0.000,0.034,2458,2452,3607,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8219,-0.81,-161.3,726.0,-9.3,396,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2453,3606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8519,-0.82,-161.3,752.7,-8.5,406,8525,0.00,2.03,0.00,0.000,4,0.000,0.029,2458,1078,3604,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8567,-0.83,-161.3,755.5,-8.4,407,8572,0.00,2.08,0.00,0.000,6,0.000,0.035,2458,2455,3602,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8888,-0.85,-161.3,781.9,-7.9,418,8894,0.00,2.03,0.00,0.000,4,0.000,0.052,2458,3753,3602,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8946,-0.86,-161.3,784.8,-7.9,419,8953,0.12,1.85,0.00,0.000,6,0.082,0.021,2396,2445,3601,0,0,0,0,0,0,26.40,26.55,28.83
$GC,9253,-0.83,-161.3,821.5,-11.8,430,9255,0.12,0.00,0.00,0.000,6,0.151,0.000,2428,2445,3600,0,0,0,0,0,0,26.38,28.83,28.83
$GC,9552,-0.83,-161.3,850.8,-9.5,440,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2445,3599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9852,-0.82,-161.3,877.9,-8.8,450,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2444,3597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10152,-0.82,-161.3,902.2,-7.9,460,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2445,3596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10452,-0.81,-161.3,924.5,-7.3,470,10458,0.00,2.08,0.00,0.000,4,0.000,0.054,2427,3752,3594,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10491,-0.81,-161.3,927.1,-7.3,471,10496,0.00,1.85,0.00,0.000,6,0.000,0.023,2427,2456,3593,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10821,-0.81,-161.3,953.2,-8.2,482,10827,0.00,2.10,0.00,0.000,4,0.000,0.059,2426,3761,3592,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10880,-0.81,-161.3,956.2,-8.2,483,10887,0.00,1.90,0.00,0.000,6,0.000,0.024,2427,2442,3592,0,0,0,0,0,0,28.83,26.48,28.83
$GC,11187,-0.81,-161.3,980.7,-7.4,494,11192,0.00,2.03,0.00,0.000,4,0.000,0.031,2427,1076,3591,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11250,-0.81,-161.3,985.7,-7.7,496,11255,0.00,2.10,0.00,0.000,6,0.000,0.037,2426,2451,3591,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,11311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11311,begin apogee
$GC,11318,-0.27,0.0,990.2,-7.4,498,11469,0.55,0.00,140.55,1.283,6,0.112,0.000,2606,2207,2965,0,0,0,0,0,0,25.57,28.83,22.86
$STATE,11470,end apogee,CONTROL_FINISHED_OK
$STATE,11470,begin climb
$GC,11474,0.64,161.3,993.7,0.0,503,11635,0.85,2.33,152.62,1.323,4,0.064,0.037,2913,832,2305,0,0,0,0,0,0,24.82,23.94,22.23
$GC,11668,0.56,161.3,983.1,8.3,509,11674,0.12,2.22,0.00,0.000,6,0.143,0.033,2882,2215,2297,0,0,0,0,0,0,24.59,24.78,28.83
$GC,11984,0.52,161.3,947.8,10.0,520,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2215,2291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12283,0.47,161.3,921.0,8.7,530,12289,0.12,2.17,0.00,0.000,4,0.158,0.047,2843,3606,2289,0,0,0,0,0,0,26.22,26.13,28.83
$GC,12382,0.43,161.3,912.8,8.6,533,12388,0.00,2.05,0.00,0.000,6,0.000,0.027,2843,2218,2288,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12714,0.41,162.2,888.0,7.5,544,12719,0.00,2.20,0.00,0.000,4,0.000,0.049,2843,3605,2286,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12751,0.39,162.2,885.0,7.6,545,12757,0.00,2.08,0.00,0.000,6,0.000,0.028,2843,2199,2286,0,0,0,0,0,0,28.83,26.41,28.83
$GC,13083,0.37,173.2,860.6,7.2,556,13089,0.00,0.00,4.90,1.193,6,0.000,0.000,2843,2200,2264,0,0,0,0,0,0,28.83,28.83,24.15
$GC,13382,0.37,190.4,839.2,7.0,566,13410,0.00,2.33,23.35,1.179,4,0.000,0.048,2843,3598,2188,0,0,0,0,0,0,28.83,25.76,24.10
$GC,13428,0.37,205.7,837.1,7.0,567,13452,0.00,2.10,16.92,1.223,6,0.000,0.028,2843,2203,2125,0,0,0,0,0,0,28.83,25.96,23.81
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$STATE,22771,end climb,SURFACE_DEPTH_REACHED
$STATE,22771,begin surface coast
$FINISH,0.9,1.023533
$STATE,22790,end surface coast,CONTROL_FINISHED_OK
$STATE,22790,begin surface
$SM_CCo,22868,0.00,0.000,0,0,678,561.74
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$IRIDIUM_FIX,2335.63,12347.94,171212,222252
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.75
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,8
$24V_AH,22.2,61.947
$10V_AH,10.0,40.029
$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,20.650,185.400,608.625,0.000,0.000,0.000,0.000,270.500,2.000,0.000,5.531,3224.841,16228.820,738.644,2645.209,480.733,0.000,2329.843,0.000,2294.570,0.000,0.542,0.000
$DEVICE_MAMPS,224.145,58.905,1322.685,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22797.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.968,0.000,0.000,0.000
$MEM,329552
$DATA_FILE_SIZE,36691,1007
$CAP_FILE_SIZE,248873,0
$CFSIZE,260165632,221949952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,285.7,1
$GPS,181212,115135,2341.977,12354.318,30,1.0,30,-3.8