version: 66.11
glider: 167
mission: 14
dive: 180
start: 11 22 112 23 40 37
data:
$ID,167
$MISSION,14
$DIVE,180
$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,380
$T_MISSION,400
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-968803.62
$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,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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,69
$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,0.00039999999
$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,22
$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,49
$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
$GPS1,221112,233330,2156.700,12321.909,40,1.0,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-61.7
$GPS2,221112,234009,2156.698,12321.940,5,0.9,5,-3.3
$SPEED_LIMITS,0.150,0.266
$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,329.6,233434,-14.8,-8.684,-18.08
$D_GRID,4890
$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,-0.56,-171.1,0.0,0.0,0,104,0.00,0.00,-82.20,0.000,2,0.000,0.000,110,2489,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.56,-171.1,3.3,-3.8,8,150,9.55,2.12,-24.23,0.000,4,0.223,0.040,2512,1046,3667,0,0,0,0,0,0,25.27,26.20,26.63
$GC,309,-0.55,-171.1,32.5,-15.1,27,317,0.00,2.08,0.00,0.000,6,0.000,0.038,2508,2424,3667,0,0,0,0,0,0,28.83,26.26,28.83
$GC,615,-0.54,-171.1,83.3,-15.9,48,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2424,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,917,-0.53,-171.1,126.2,-11.9,63,923,0.00,2.03,0.00,0.000,4,0.000,0.044,2505,3765,3667,0,0,0,0,0,0,28.83,26.36,28.83
$GC,975,-0.52,-171.1,132.0,-12.2,65,982,0.00,1.88,0.00,0.000,6,0.000,0.018,2505,2412,3667,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1281,-0.52,-171.1,174.2,-10.9,81,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2412,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1583,-0.53,-171.1,201.4,-9.7,96,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2412,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1885,-0.54,-171.1,231.6,-10.6,111,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2412,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2183,-0.55,-171.1,266.0,-10.1,126,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2412,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2483,-0.56,-171.1,288.0,-7.1,141,2488,0.00,1.90,0.00,0.000,4,0.000,0.029,2505,1081,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2551,-0.58,-171.1,293.0,-7.8,144,2557,0.00,2.03,0.00,0.000,6,0.000,0.034,2505,2448,3666,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2870,-0.59,-171.1,316.6,-6.9,160,2876,0.00,2.00,0.00,0.000,4,0.000,0.044,2505,3767,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2909,-0.61,-171.1,318.4,-7.2,161,2916,0.00,1.85,0.00,0.000,6,0.000,0.018,2505,2436,3664,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3215,-0.63,-171.1,352.5,-11.4,177,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2436,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3517,-0.65,-171.1,374.2,-5.6,192,3523,0.00,1.95,0.00,0.000,4,0.000,0.029,2504,1079,3662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3570,-0.67,-171.1,377.2,-6.1,194,3576,0.00,2.05,0.00,0.000,6,0.000,0.034,2505,2456,3662,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3884,-0.69,-171.1,402.9,-8.2,210,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2456,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,-0.71,-171.1,425.3,-7.9,225,4192,0.00,2.00,0.00,0.000,4,0.000,0.045,2505,3774,3659,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4225,-0.73,-171.1,427.5,-8.1,226,4233,0.12,1.88,0.00,0.000,6,0.078,0.020,2426,2415,3659,0,0,0,0,0,0,26.57,26.68,28.83
$GC,4531,-0.72,-171.1,469.7,-13.7,242,4537,0.12,1.90,0.00,0.000,4,0.148,0.025,2467,1086,3657,0,0,0,0,0,0,26.44,26.55,28.83
$GC,4589,-0.72,-171.1,475.1,-12.7,244,4598,0.00,2.03,-0.08,0.000,6,0.000,0.032,2467,2455,3682,0,0,0,0,0,0,28.83,26.48,25.32
$GC,4896,-0.73,-171.1,509.7,-10.7,260,4902,0.00,1.98,0.00,0.000,4,0.000,0.046,2467,3759,3680,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4960,-0.74,-171.1,516.3,-10.1,263,4967,0.00,1.83,0.00,0.000,6,0.000,0.021,2467,2450,3680,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5285,-0.75,-171.1,542.2,-6.8,279,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2450,3678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,-0.77,-171.1,566.1,-10.0,294,5591,0.00,2.00,0.00,0.000,4,0.000,0.048,2467,3756,3675,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5630,-0.78,-171.1,571.4,-11.1,296,5635,0.00,1.83,0.00,0.000,6,0.000,0.021,2467,2453,3675,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5944,-0.80,-171.1,612.8,-12.7,310,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2454,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6245,-0.81,-171.1,632.9,-5.1,320,6251,0.00,2.03,0.00,0.000,4,0.000,0.047,2472,3754,3671,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6310,-0.83,-171.1,636.8,-5.6,322,6315,0.00,1.85,0.00,0.000,6,0.000,0.021,2466,2435,3670,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6646,-0.84,-171.1,663.6,-9.6,333,6652,0.12,2.05,0.00,0.000,4,0.083,0.046,2391,3755,3668,0,0,0,0,0,0,26.70,26.29,28.83
$GC,6690,-0.85,-171.1,668.2,-10.4,334,6696,0.12,1.85,0.00,0.000,6,0.154,0.021,2423,2446,3667,0,0,0,0,0,0,26.26,26.66,28.83
$GC,7016,-0.85,-171.1,714.1,-13.0,345,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2446,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,-0.85,-171.1,747.6,-10.9,355,7320,0.00,1.98,0.00,0.000,4,0.000,0.027,2423,1073,3663,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7362,-0.85,-171.1,751.1,-10.6,356,7367,0.00,2.08,0.00,0.000,6,0.000,0.034,2423,2458,3663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7680,-0.85,-171.1,783.6,-9.6,367,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2458,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7980,-0.85,-171.1,812.7,-10.0,377,7985,0.00,2.00,0.00,0.000,4,0.000,0.049,2422,3756,3657,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8008,-0.85,-171.1,812.7,-10.0,377,8014,0.00,1.85,0.00,0.000,6,0.000,0.023,2422,2439,3657,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8314,-0.85,-171.1,844.1,-9.3,388,8319,0.00,1.95,0.00,0.000,4,0.000,0.028,2423,1085,3656,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8356,-0.85,-171.1,847.2,-9.2,389,8361,0.00,2.05,0.00,0.000,6,0.000,0.034,2423,2450,3655,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8680,-0.85,-171.1,880.8,-10.6,400,8685,0.00,2.03,0.00,0.000,4,0.000,0.050,2423,3759,3654,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8766,-0.85,-171.1,887.7,-10.7,402,8774,0.00,1.85,0.00,0.000,6,0.000,0.024,2423,2444,3657,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9073,-0.85,-171.1,926.5,-12.1,413,9078,0.00,2.05,0.00,0.000,4,0.000,0.050,2423,3755,3651,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9120,-0.85,-171.1,930.8,-12.4,414,9126,0.00,1.85,0.00,0.000,6,0.000,0.024,2423,2449,3651,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9440,-0.85,-171.1,969.3,-10.8,425,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2446,3650,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9677,begin apogee
$GC,9683,-0.27,0.0,990.5,-8.2,433,9855,0.55,0.00,161.80,1.206,6,0.112,0.000,2606,2306,2960,0,0,0,0,0,0,25.77,28.83,23.25
$STATE,9856,end apogee,CONTROL_FINISHED_OK
$STATE,9856,begin climb
$GC,9859,0.56,171.1,994.3,0.0,438,10035,0.75,2.30,166.80,1.249,4,0.053,0.034,2881,937,2259,0,0,0,0,0,0,24.68,23.91,22.57
$GC,10053,0.53,185.2,984.3,8.2,445,10063,0.00,2.22,4.28,0.865,6,0.000,0.031,2882,2301,2211,0,0,0,0,0,0,28.83,24.42,22.83
$GC,10378,0.50,185.2,950.1,9.4,456,10383,0.00,2.20,0.00,0.000,4,0.000,0.047,2881,3706,2215,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10426,0.48,185.2,946.4,9.6,457,10432,0.00,2.08,0.00,0.000,6,0.000,0.028,2881,2326,2215,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10747,0.45,185.2,914.7,9.5,468,10753,0.12,2.12,0.00,0.000,4,0.152,0.034,2841,906,2212,0,0,0,0,0,0,26.19,26.26,28.83
$GC,10821,0.44,189.3,909.8,8.5,470,10832,0.00,2.10,2.35,0.415,6,0.000,0.036,2841,2303,2193,0,0,0,0,0,0,28.83,25.40,23.87
$GC,11147,0.45,252.3,887.1,6.5,481,11223,0.00,2.40,61.35,1.589,4,0.000,0.048,2841,3708,1940,0,0,0,0,1,0,28.83,24.87,23.21
$GC,11281,0.45,268.0,877.1,8.1,485,11311,0.00,2.15,19.20,1.104,6,0.000,0.028,2841,2303,1875,0,0,0,0,1,0,28.83,25.63,23.58
$GC,11629,0.45,268.0,844.4,9.2,497,11634,0.00,2.12,0.00,0.000,4,0.000,0.036,2842,899,1879,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11748,0.46,268.0,836.1,9.1,500,11755,0.00,2.12,0.00,0.000,6,0.000,0.031,2841,2310,1878,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12053,0.46,268.0,805.9,9.0,511,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2310,1878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12352,0.46,274.0,779.8,8.5,521,12363,0.00,2.12,4.78,1.118,4,0.000,0.033,2841,904,1855,0,0,0,0,0,0,28.83,26.32,24.42
$GC,12410,0.47,285.8,777.2,8.3,522,12439,0.00,2.12,21.50,1.121,6,0.000,0.031,2841,2311,1796,0,0,0,0,0,0,28.83,26.31,24.51
$GC,12748,0.48,289.6,747.0,8.6,534,12753,0.00,2.15,0.00,0.000,4,0.000,0.034,2841,895,1785,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12812,0.49,289.6,741.1,9.0,536,12817,0.00,2.12,0.00,0.000,6,0.000,0.031,2841,2301,1785,0,0,0,0,0,0,28.83,26.25,28.83
$GC,13147,0.50,289.6,711.2,9.1,547,13148,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2301,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13446,0.50,289.6,684.2,8.8,557,13451,0.00,2.10,0.00,0.000,4,0.000,0.034,2841,899,1784,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13499,0.51,290.5,681.2,8.7,558,13504,0.00,2.10,0.00,0.000,6,0.000,0.029,2846,2306,1784,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13814,0.54,326.3,653.9,7.5,569,13862,0.00,0.00,46.05,1.018,6,0.000,0.000,2841,2306,1636,0,0,0,0,0,0,28.83,28.83,24.32
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$STATE,20174,end climb,SURFACE_DEPTH_REACHED
$STATE,20174,begin surface coast
$FINISH,0.8,0.998226
$STATE,20195,end surface coast,CONTROL_FINISHED_OK
$STATE,20195,begin surface
$SM_CCo,20276,0.00,0.000,0,0,436,621.10
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$IRIDIUM_FIX,2148.09,12327.23,221112,171707
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.91
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,17
$24V_AH,22.6,41.959
$10V_AH,10.2,27.593
$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
$DEVICE_SECS,19.925,144.075,806.575,0.000,0.000,0.000,0.000,230.225,4.250,0.000,5.900,2770.811,14273.779,882.972,2349.378,395.019,0.000,2328.879,0.000,2031.513,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.232,0.000,0.000,0.000
$MEM,329632
$DATA_FILE_SIZE,33368,892
$CAP_FILE_SIZE,213207,0
$CFSIZE,260165632,231784448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.037,193.3,1
$GPS,231112,051959,2159.337,12320.135,41,1.1,41,-3.3