version: 66.11
glider: 167
mission: 14
dive: 318
start: 12 28 112 13 47 33
data:
$ID,167
$MISSION,14
$DIVE,318
$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,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$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,-969223.62
$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,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,73
$R_STBD_OVSHOOT,41
$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
$GPS1,281212,133405,2224.857,12353.776,42,0.9,42,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-60.1
$GPS2,281212,134705,2224.339,12353.781,31,1.1,31,-3.5
$SPEED_LIMITS,0.147,0.264
$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,175.7,101204,-14.4,-8.462,-17.80
$D_GRID,5199
$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,-0.57,-171.1,0.0,0.0,0,84,0.00,0.00,-62.05,0.000,2,0.000,0.000,108,2463,2623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.57,-171.1,3.3,-3.6,6,130,9.52,2.08,-24.62,0.000,4,0.219,0.044,2476,1065,3668,0,0,0,0,0,0,24.94,26.15,26.70
$GC,318,-0.57,-171.1,36.4,-13.9,28,323,0.00,2.10,0.00,0.000,6,0.000,0.038,2476,2446,3669,0,0,0,0,0,0,28.83,26.16,28.83
$GC,631,-0.57,-171.1,80.4,-12.6,48,636,0.00,2.03,0.00,0.000,4,0.000,0.047,2475,3769,3669,0,0,0,0,0,0,28.83,26.17,28.83
$GC,735,-0.57,-171.1,93.1,-12.2,53,740,0.00,1.88,0.00,0.000,6,0.000,0.019,2475,2440,3669,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1058,-0.57,-171.1,131.1,-11.5,69,1063,0.00,1.98,0.00,0.000,4,0.000,0.031,2476,1071,3669,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1224,-0.57,-171.1,150.8,-11.8,77,1229,0.00,2.08,0.00,0.000,6,0.000,0.036,2475,2458,3669,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1548,-0.57,-171.1,183.7,-9.8,93,1554,0.00,2.00,0.00,0.000,4,0.000,0.047,2475,3766,3669,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1581,-0.57,-171.1,186.3,-10.0,94,1586,0.00,1.88,0.00,0.000,6,0.000,0.019,2475,2443,3669,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1894,-0.57,-171.1,218.6,-9.9,110,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2443,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2195,-0.57,-171.1,249.2,-10.3,125,2201,0.00,2.05,0.00,0.000,4,0.000,0.047,2468,3763,3669,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2242,-0.57,-171.1,254.0,-10.5,127,2247,0.00,1.85,0.00,0.000,6,0.000,0.018,2468,2431,3669,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2560,-0.57,-171.1,286.0,-9.2,143,2565,0.00,1.92,0.00,0.000,4,0.000,0.025,2468,1070,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2597,-0.57,-171.1,288.2,-9.2,144,2605,0.00,2.05,0.00,0.000,6,0.000,0.031,2467,2453,3668,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2903,-0.57,-171.1,317.3,-8.8,160,2909,0.00,2.03,0.00,0.000,4,0.000,0.035,2467,1071,3667,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2936,-0.57,-171.1,319.4,-9.0,161,2941,0.00,2.08,0.00,0.000,6,0.000,0.037,2463,2451,3667,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3249,-0.57,-171.1,348.5,-8.9,177,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2451,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3551,-0.57,-171.1,374.0,-8.2,192,3556,0.00,2.00,0.00,0.000,4,0.000,0.048,2466,3756,3664,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3595,-0.57,-171.1,377.8,-8.2,194,3600,0.00,1.83,0.00,0.000,6,0.000,0.020,2467,2445,3664,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3919,-0.57,-171.1,404.5,-8.4,210,3924,0.00,1.95,0.00,0.000,4,0.000,0.027,2467,1080,3662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3982,-0.57,-171.1,410.0,-8.5,213,3988,0.00,2.05,0.00,0.000,6,0.000,0.032,2467,2456,3662,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4306,-0.57,-171.1,436.5,-8.5,229,4312,0.00,2.00,0.00,0.000,4,0.000,0.047,2466,3759,3660,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4354,-0.57,-171.1,440.5,-8.6,231,4359,0.00,1.83,0.00,0.000,6,0.000,0.020,2466,2443,3661,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4672,-0.57,-171.1,468.7,-8.8,247,4677,0.00,1.95,0.00,0.000,4,0.000,0.027,2466,1079,3658,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4719,-0.57,-171.1,472.3,-8.6,249,4725,0.00,2.05,0.00,0.000,6,0.000,0.032,2466,2453,3658,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5038,-0.57,-171.1,497.3,-7.8,265,5044,0.00,2.05,-0.08,0.000,4,0.000,0.061,2467,3756,3686,0,0,0,0,0,0,28.83,26.10,25.50
$GC,5113,-0.57,-171.1,502.5,-7.8,268,5119,0.00,1.83,0.00,0.000,6,0.000,0.020,2466,2454,3686,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5427,-0.57,-171.1,527.2,-7.8,284,5432,0.00,1.98,0.00,0.000,4,0.000,0.027,2467,1076,3683,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5495,-0.57,-171.1,532.5,-8.4,287,5500,0.00,2.05,0.00,0.000,6,0.000,0.033,2466,2449,3684,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5813,-0.57,-171.1,558.2,-8.0,303,5819,0.00,2.03,0.00,0.000,4,0.000,0.049,2466,3759,3682,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5851,-0.57,-171.1,560.1,-8.0,304,5858,0.00,1.85,0.00,0.000,6,0.000,0.021,2466,2447,3681,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6157,-0.57,-171.1,585.9,-8.0,320,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2447,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6480,-0.57,-171.1,608.7,-6.8,334,6485,0.00,2.00,0.00,0.000,4,0.000,0.028,2466,1077,3677,0,0,0,0,0,0,28.83,25.19,28.83
$GC,6523,-0.57,-171.1,611.3,-6.9,335,6528,0.00,2.08,0.00,0.000,6,0.000,0.033,2466,2450,3677,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6849,-0.57,-171.1,633.1,-6.7,346,6854,0.00,2.05,0.00,0.000,4,0.000,0.049,2466,3769,3675,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6912,-0.57,-171.1,638.0,-7.1,348,6917,0.00,1.90,0.00,0.000,6,0.000,0.022,2466,2434,3674,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7249,-0.57,-171.1,665.6,-8.6,359,7254,0.00,1.95,0.00,0.000,4,0.000,0.034,2466,1083,3673,0,0,0,0,0,0,28.83,25.12,28.83
$GC,7265,-0.57,-171.1,665.6,-8.6,359,7271,0.00,2.08,0.00,0.000,6,0.000,0.039,2466,2455,3673,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7585,-0.57,-171.1,694.0,-8.2,370,7591,0.00,2.05,0.00,0.000,4,0.000,0.050,2466,3764,3670,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7628,-0.57,-171.1,697.0,-8.2,371,7634,0.00,1.88,0.00,0.000,6,0.000,0.023,2466,2443,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7954,-0.57,-171.1,724.2,-8.0,382,7959,0.00,2.00,0.00,0.000,4,0.000,0.028,2467,1076,3669,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7982,-0.57,-171.1,724.2,-8.0,382,7989,0.00,2.10,0.00,0.000,6,0.000,0.041,2466,2455,3668,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8288,-0.57,-171.1,750.3,-7.3,393,8293,0.00,2.03,0.00,0.000,4,0.000,0.050,2466,3758,3667,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8325,-0.57,-171.1,753.0,-7.4,394,8331,0.00,1.85,0.00,0.000,6,0.000,0.023,2466,2451,3666,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8657,-0.57,-171.1,777.1,-7.1,405,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2450,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8955,-0.57,-171.1,797.9,-6.8,415,8960,0.00,2.08,0.00,0.000,4,0.000,0.050,2466,3762,3663,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8998,-0.57,-171.1,800.3,-6.8,416,9004,0.00,1.88,0.00,0.000,6,0.000,0.024,2466,2449,3662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9323,-0.57,-171.1,821.7,-6.3,427,9329,0.00,2.08,0.00,0.000,4,0.000,0.050,2466,3758,3661,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9358,-0.57,-171.1,823.8,-6.3,428,9363,0.00,1.90,0.00,0.000,6,0.000,0.025,2466,2441,3661,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9693,-0.57,-171.1,845.0,-6.4,439,9699,0.00,2.10,0.00,0.000,4,0.000,0.051,2466,3756,3664,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9736,-0.57,-171.1,847.3,-6.4,440,9742,0.00,1.90,0.00,0.000,6,0.000,0.024,2466,2435,3658,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10063,-0.57,-171.1,869.6,-6.8,451,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2434,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10360,-0.57,-171.1,889.9,-6.5,461,10366,0.00,2.12,0.00,0.000,4,0.000,0.051,2467,3759,3656,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10395,-0.57,-171.1,892.1,-6.5,462,10400,0.00,1.90,0.00,0.000,6,0.000,0.025,2466,2438,3656,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10730,-0.57,-171.1,912.1,-5.8,473,10735,0.00,2.12,0.00,0.000,4,0.000,0.054,2466,3759,3656,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10765,-0.57,-171.1,914.2,-5.8,474,10770,0.00,1.90,0.00,0.000,6,0.000,0.025,2466,2438,3655,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11100,-0.57,-171.1,935.1,-6.6,485,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2437,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11399,-0.57,-171.1,956.7,-7.5,495,11404,0.00,2.12,0.00,0.000,4,0.000,0.052,2466,3754,3652,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11441,-0.57,-171.1,959.5,-7.6,496,11446,0.00,1.88,0.00,0.000,6,0.000,0.026,2460,2455,3653,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11767,-0.57,-171.1,984.0,-7.1,507,11772,0.00,2.10,0.00,0.000,4,0.000,0.053,2467,3763,3653,0,0,0,0,0,0,28.83,24.85,28.83
$GC,11805,-0.57,-171.1,986.5,-7.0,508,11811,0.00,1.90,0.00,0.000,6,0.000,0.025,2466,2444,3652,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,11861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11861,begin apogee
$GC,11867,-0.20,0.0,990.9,-6.9,510,12034,0.38,0.00,157.20,1.273,6,0.100,0.000,2594,2186,2962,0,0,0,0,0,0,25.83,28.83,22.68
$STATE,12036,end apogee,CONTROL_FINISHED_OK
$STATE,12036,begin climb
$GC,12038,0.57,171.1,997.2,0.0,515,12213,0.73,2.55,162.62,1.287,4,0.064,0.049,2849,3605,2259,0,0,0,0,0,0,24.67,23.83,22.09
$GC,12347,0.57,171.1,978.7,9.4,526,12353,0.00,2.10,0.00,0.000,6,0.000,0.028,2856,2230,2252,0,0,0,0,0,0,28.83,25.85,28.83
$GC,12683,0.58,185.8,951.6,8.0,537,12702,0.00,2.22,12.75,1.245,4,0.000,0.047,2856,3613,2203,0,0,0,0,0,0,28.83,25.89,24.08
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$STATE,23246,end climb,SURFACE_DEPTH_REACHED
$STATE,23246,begin surface coast
$FINISH,0.9,1.005697
$STATE,23290,end surface coast,CONTROL_FINISHED_OK
$STATE,23290,begin surface
$SM_CCo,23369,0.00,0.000,0,0,939,497.47
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$IRIDIUM_FIX,2216.01,12349.81,281212,131332
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.25
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,25.10
$XPDR_PINGS,59
$24V_AH,22.1,68.740
$10V_AH,10.0,44.894
$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,18.325,207.050,622.125,0.000,0.000,0.000,0.000,498.625,14.750,0.000,32.482,3324.054,16486.953,780.346,3036.146,512.703,0.000,2693.957,0.000,2436.103,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,61.200,1287.495,0.000,0.000,0.000,0.000,118.575,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23310.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.970,0.000,0.000,0.000
$MEM,329500
$DATA_FILE_SIZE,36751,1029
$CAP_FILE_SIZE,250848,0
$CFSIZE,260165632,218091520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,196.2,1
$GPS,281212,201823,2220.425,12354.054,38,1.3,38,-3.5