version: 66.11
glider: 167
mission: 14
dive: 341
start: 1 3 113 14 9 23
data:
$ID,167
$MISSION,14
$DIVE,341
$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,370
$T_MISSION,390
$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,185
$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,-969257.44
$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,0.0099999998
$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,67
$R_STBD_OVSHOOT,47
$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
$GPS1,030113,140136,2130.542,12357.952,36,1.0,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-63.6
$GPS2,030113,140855,2130.499,12357.906,4,0.9,4,-3.2
$SPEED_LIMITS,0.154,0.275
$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,315.0,311247,-14.7,-8.919,-17.97
$D_GRID,5039
$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,-0.58,-180.8,0.0,0.0,0,74,0.00,0.00,-51.78,0.000,2,0.000,0.000,108,2463,2621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.58,-180.8,3.1,-4.8,5,121,9.52,2.12,-27.35,0.000,4,0.222,0.065,2465,3752,3707,0,0,0,0,0,0,25.01,25.92,26.67
$GC,257,-0.55,-180.8,25.1,-12.1,22,262,0.00,1.88,0.00,0.000,6,0.000,0.018,2465,2422,3709,0,0,0,0,0,0,28.83,26.40,28.83
$GC,571,-0.52,-180.8,65.8,-12.6,47,577,0.12,1.95,0.00,0.000,4,0.152,0.026,2505,1074,3710,0,0,0,0,0,0,26.30,26.27,28.83
$GC,595,-0.50,-180.8,68.9,-12.6,48,600,0.00,2.05,0.00,0.000,6,0.000,0.036,2505,2442,3710,0,0,0,0,0,0,28.83,26.22,28.83
$GC,918,-0.53,-180.8,100.2,-9.8,64,924,0.00,2.03,0.00,0.000,4,0.000,0.047,2505,3760,3710,0,0,0,0,0,0,28.83,26.06,28.83
$GC,971,-0.56,-180.8,104.3,-9.8,66,977,0.00,1.85,0.00,0.000,6,0.000,0.017,2505,2429,3710,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1286,-0.60,-180.8,135.6,-9.1,82,1291,0.00,1.92,0.00,0.000,4,0.000,0.028,2501,1092,3711,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1330,-0.63,-180.8,139.4,-8.8,84,1336,0.15,2.05,0.00,0.000,6,0.068,0.034,2420,2453,3711,0,0,0,0,0,0,26.27,26.27,28.83
$GC,1654,-0.59,-180.8,181.6,-13.2,100,1660,0.15,2.00,0.00,0.000,4,0.148,0.045,2466,3751,3711,0,0,0,0,0,0,26.22,26.06,28.83
$GC,1703,-0.57,-180.8,186.6,-12.2,102,1708,0.00,1.83,0.00,0.000,6,0.000,0.017,2465,2443,3711,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2020,-0.57,-180.8,217.5,-9.6,118,2026,0.00,1.95,0.00,0.000,4,0.000,0.029,2465,1089,3711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2053,-0.57,-180.8,219.7,-9.7,119,2058,0.00,2.05,0.00,0.000,6,0.000,0.038,2465,2449,3711,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2367,-0.58,-180.8,247.7,-8.5,135,2372,0.00,2.03,0.00,0.000,4,0.000,0.047,2465,3758,3711,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2425,-0.59,-180.8,251.5,-8.6,137,2432,0.00,1.83,0.00,0.000,6,0.000,0.017,2466,2441,3711,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2731,-0.60,-180.8,284.2,-10.3,153,2736,0.00,1.95,0.00,0.000,4,0.000,0.029,2465,1088,3711,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2783,-0.61,-180.8,288.6,-10.4,155,2789,0.00,2.05,0.00,0.000,6,0.000,0.034,2465,2458,3710,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3097,-0.63,-180.8,316.1,-7.7,171,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2459,3710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,-0.64,-180.8,336.5,-7.2,186,3404,0.00,2.05,0.00,0.000,4,0.000,0.037,2465,1085,3709,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3423,-0.66,-180.8,338.5,-7.5,187,3428,0.00,2.05,0.00,0.000,6,0.000,0.034,2465,2452,3709,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3746,-0.68,-180.8,369.3,-9.5,203,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2452,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4050,-0.71,-180.8,391.3,-6.4,218,4055,0.00,2.03,0.00,0.000,4,0.000,0.052,2465,3752,3707,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4083,-0.73,-180.8,393.1,-6.5,219,4089,0.12,1.83,0.00,0.000,6,0.081,0.018,2394,2426,3707,0,0,0,0,0,0,26.41,26.57,28.83
$GC,4397,-0.69,-180.8,429.6,-12.3,235,4404,0.12,1.92,0.00,0.000,4,0.152,0.028,2433,1098,3706,0,0,0,0,0,0,26.30,26.29,28.83
$GC,4447,-0.67,-180.8,434.4,-11.6,237,4452,0.00,2.03,0.00,0.000,6,0.000,0.035,2433,2450,3705,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4765,-0.67,-180.8,464.1,-8.8,253,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2450,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5067,-0.67,-180.8,495.4,-10.9,268,5072,0.00,2.03,0.00,0.000,4,0.000,0.050,2433,3757,3702,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5134,-0.67,-180.8,502.9,-11.3,271,5139,0.00,1.83,0.00,0.000,6,0.000,0.018,2433,2457,3702,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5454,-0.68,-180.8,532.8,-8.3,287,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2454,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5754,-0.69,-180.8,558.5,-8.7,302,5760,0.00,2.00,0.00,0.000,4,0.000,0.030,2433,1084,3698,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5819,-0.70,-180.8,564.7,-9.1,305,5825,0.00,2.08,0.00,0.000,6,0.000,0.035,2434,2453,3697,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6144,-0.70,-180.8,594.9,-9.6,321,6149,0.00,2.03,0.00,0.000,4,0.000,0.050,2429,3751,3696,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6182,-0.71,-180.8,597.2,-9.7,322,6188,0.00,1.83,0.00,0.000,6,0.000,0.020,2433,2445,3696,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6509,-0.72,-180.8,630.4,-9.9,334,6514,0.00,2.08,0.00,0.000,4,0.000,0.050,2433,3759,3693,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6546,-0.74,-180.8,633.9,-9.8,335,6551,0.00,1.83,0.00,0.000,6,0.000,0.021,2433,2455,3693,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6878,-0.75,-180.8,666.3,-9.8,346,6884,0.00,2.05,0.00,0.000,4,0.000,0.050,2433,3751,3691,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6907,-0.76,-180.8,666.3,-9.8,346,6914,0.00,1.85,0.00,0.000,6,0.000,0.021,2433,2447,3691,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7215,-0.78,-180.8,697.8,-9.1,357,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2445,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7513,-0.79,-180.8,721.7,-7.6,367,7518,0.00,2.08,0.00,0.000,4,0.000,0.051,2433,3752,3687,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7567,-0.81,-180.8,724.2,-7.4,368,7573,0.00,1.85,0.00,0.000,6,0.000,0.022,2433,2454,3686,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7883,-0.82,-180.8,748.1,-6.9,379,7889,0.00,2.03,0.00,0.000,4,0.000,0.031,2433,1084,3684,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7913,-0.84,-180.8,748.1,-6.9,379,7921,0.12,2.10,0.00,0.000,6,0.081,0.037,2372,2454,3684,0,0,0,0,0,0,25.94,25.86,28.83
$GC,8219,-0.81,-180.8,783.0,-11.4,390,8226,0.12,2.05,0.00,0.000,4,0.157,0.050,2410,3753,3683,0,0,0,0,0,0,26.24,25.83,28.83
$GC,8254,-0.78,-180.8,787.1,-11.4,391,8259,0.00,1.88,0.00,0.000,6,0.000,0.023,2410,2442,3683,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8591,-0.78,-180.8,821.1,-10.4,402,8596,0.00,2.12,0.00,0.000,4,0.000,0.052,2410,3759,3681,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8633,-0.78,-180.8,825.1,-10.5,403,8638,0.00,1.88,0.00,0.000,6,0.000,0.022,2410,2440,3681,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8959,-0.78,-180.8,856.0,-8.3,414,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2437,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9256,-0.78,-180.8,882.2,-9.0,424,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2438,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9557,-0.78,-180.8,910.3,-9.4,434,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2438,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9856,-0.78,-180.8,939.0,-9.5,444,9862,0.00,2.12,0.00,0.000,4,0.000,0.053,2410,3756,3676,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9923,-0.78,-180.8,945.1,-9.6,446,9928,0.00,1.88,0.00,0.000,6,0.000,0.023,2410,2446,3675,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10254,-0.79,-180.8,976.3,-9.3,457,10259,0.00,2.10,0.00,0.000,4,0.000,0.053,2410,3755,3674,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10306,-0.79,-180.8,979.7,-9.3,458,10312,0.00,1.88,0.00,0.000,6,0.000,0.024,2410,2444,3674,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,10408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10408,begin apogee
$GC,10415,-0.20,0.0,991.1,-9.3,462,10581,0.55,0.00,158.50,1.248,6,0.115,0.000,2590,2189,2966,0,0,0,0,0,0,25.43,28.83,22.84
$STATE,10582,end apogee,CONTROL_FINISHED_OK
$STATE,10582,begin climb
$GC,10586,0.58,180.8,997.3,0.0,467,10758,0.75,0.00,166.90,1.219,6,0.071,0.000,2852,2188,2229,0,0,0,0,0,0,24.79,28.83,22.33
$GC,11043,0.56,180.8,966.0,9.0,483,11048,0.00,2.28,0.00,0.000,4,0.000,0.050,2852,3612,2210,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11168,0.52,180.8,952.9,10.4,487,11173,0.00,2.05,0.00,0.000,6,0.000,0.028,2853,2241,2209,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11504,0.50,180.8,921.7,9.1,498,11509,0.00,2.17,0.00,0.000,4,0.000,0.049,2852,3607,2208,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11551,0.47,180.8,918.3,9.1,499,11558,0.12,2.10,0.00,0.000,6,0.164,0.028,2820,2194,2208,0,0,0,0,0,0,25.98,26.34,28.83
$GC,11874,0.51,212.7,892.2,7.9,510,11910,0.00,2.15,29.33,1.198,4,0.000,0.038,2828,808,2095,0,0,0,0,0,0,28.83,25.67,23.92
$GC,11942,0.53,232.2,887.0,8.3,512,11972,0.00,2.15,20.70,1.196,6,0.000,0.034,2828,2207,2015,0,0,0,0,0,0,28.83,25.88,23.77
$GC,12295,0.54,232.2,853.7,9.2,524,12300,0.00,2.22,0.00,0.000,4,0.000,0.049,2828,3609,2007,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12378,0.55,232.2,847.4,9.4,526,12383,0.00,2.10,0.00,0.000,6,0.000,0.028,2828,2199,2006,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12694,0.65,306.3,823.0,6.5,537,12775,0.12,2.20,74.75,1.112,4,0.085,0.037,2910,801,1714,0,0,0,0,0,0,26.52,25.25,23.59
$GC,12818,0.62,306.3,811.2,9.6,541,12825,0.15,2.17,0.00,0.000,6,0.125,0.033,2868,2206,1707,0,0,0,0,0,0,25.53,25.72,28.83
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$STATE,20769,end climb,SURFACE_DEPTH_REACHED
$STATE,20769,begin surface coast
$FINISH,1.2,1.023715
$STATE,20791,end surface coast,CONTROL_FINISHED_OK
$STATE,20792,begin surface
$SM_CCo,20870,0.00,0.000,0,0,1012,480.05
$SM_GC,1.81,7.45,0.35,0.00,0.035,0.049,0.000,121,2460,1012,-7.88,-1.16,480.05,0,0,0,0,0,0,26.20,26.43,28.83
$IRIDIUM_FIX,2122.58,12400.68,030113,080857
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.06
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.70
$XPDR_PINGS,36
$24V_AH,22.3,73.005
$10V_AH,9.7,47.748
$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,20.650,185.375,598.325,0.000,0.000,0.000,0.000,249.600,9.000,0.000,5.452,3019.450,14573.984,726.800,2507.514,475.361,0.000,2250.763,0.000,2180.413,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,65.025,1248.480,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20810.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.384,0.000,0.000,0.000
$MEM,329584
$DATA_FILE_SIZE,33387,921
$CAP_FILE_SIZE,234692,0
$CFSIZE,260165632,215818240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.155,204.1,1
$GPS,030113,195835,2130.998,12354.767,39,1.1,39,-3.2