version: 66.11
glider: 167
mission: 14
dive: 344
start: 1 4 113 8 3 33
data:
$ID,167
$MISSION,14
$DIVE,344
$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,-969261.19
$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,63
$R_STBD_OVSHOOT,40
$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
$GPS1,040113,074535,2135.519,12349.637,36,0.9,36,-3.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-59.9
$GPS2,040113,080305,2135.661,12349.387,41,1.0,41,-3.3
$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,317.5,293865,-14.7,-8.919,-17.97
$D_GRID,5261
$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,-180.8,0.0,0.0,0,85,0.00,0.00,-62.50,0.000,2,0.000,0.000,107,2457,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.58,-180.8,3.0,-3.3,6,132,9.57,2.15,-26.95,0.000,4,0.221,0.065,2461,3760,3707,0,0,0,0,0,0,24.88,25.97,26.70
$GC,362,-0.55,-180.8,37.7,-13.9,32,369,0.00,1.88,0.00,0.000,6,0.000,0.018,2461,2420,3708,0,0,0,0,0,0,28.83,26.48,28.83
$GC,678,-0.52,-180.8,82.2,-14.6,53,684,0.12,2.08,0.00,0.000,4,0.151,0.044,2496,3749,3708,0,0,0,0,0,0,26.32,26.10,28.83
$GC,752,-0.51,-180.8,90.6,-13.6,56,757,0.00,1.83,0.00,0.000,6,0.000,0.017,2496,2426,3708,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1066,-0.53,-180.8,118.1,-6.5,72,1071,0.00,1.95,0.00,0.000,4,0.000,0.031,2495,1085,3708,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1135,-0.55,-180.8,122.5,-6.8,75,1140,0.00,2.05,0.00,0.000,6,0.000,0.037,2493,2446,3708,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1454,-0.57,-180.8,147.5,-8.6,91,1459,0.00,2.00,0.00,0.000,4,0.000,0.046,2493,3759,3708,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1508,-0.60,-180.8,151.5,-8.9,93,1513,0.00,1.83,0.00,0.000,6,0.000,0.018,2493,2452,3709,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1821,-0.62,-180.8,177.7,-7.4,109,1828,0.00,2.00,0.00,0.000,4,0.000,0.031,2493,1077,3708,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1856,-0.65,-180.8,179.6,-7.5,110,1862,0.12,2.08,0.00,0.000,6,0.078,0.035,2416,2462,3708,0,0,0,0,0,0,26.27,26.27,28.83
$GC,2171,-0.62,-180.8,217.2,-11.8,126,2177,0.15,2.00,0.00,0.000,4,0.146,0.045,2459,3767,3708,0,0,0,0,0,0,26.25,26.15,28.83
$GC,2235,-0.61,-180.8,224.2,-11.0,129,2240,0.00,1.85,0.00,0.000,6,0.000,0.019,2459,2448,3708,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2559,-0.62,-180.8,258.6,-10.9,145,2564,0.00,2.00,0.00,0.000,4,0.000,0.029,2458,1074,3708,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2586,-0.62,-180.8,261.3,-10.9,146,2591,0.00,2.08,0.00,0.000,6,0.000,0.034,2459,2449,3708,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2906,-0.63,-180.8,295.0,-10.2,162,2911,0.00,2.03,0.00,0.000,4,0.000,0.047,2460,3762,3707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2963,-0.64,-180.8,299.6,-10.2,164,2971,0.00,1.85,0.00,0.000,6,0.000,0.020,2459,2442,3707,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3270,-0.65,-180.8,326.7,-7.0,180,3276,0.00,2.05,0.00,0.000,4,0.000,0.045,2454,3769,3705,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3304,-0.66,-180.8,328.3,-6.7,181,3309,0.00,1.85,0.00,0.000,6,0.000,0.020,2454,2450,3706,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3619,-0.68,-180.8,351.5,-8.4,197,3624,0.00,1.98,0.00,0.000,4,0.000,0.028,2454,1075,3705,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3671,-0.69,-180.8,355.6,-9.0,199,3676,0.00,2.08,0.00,0.000,6,0.000,0.034,2454,2460,3704,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3985,-0.70,-180.8,388.4,-9.9,215,3991,0.00,2.03,0.00,0.000,4,0.000,0.047,2453,3768,3703,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4029,-0.72,-180.8,392.9,-10.0,217,4034,0.00,1.90,0.00,0.000,6,0.000,0.028,2453,2441,3703,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4354,-0.73,-180.8,422.7,-10.1,233,4359,0.00,1.95,0.00,0.000,4,0.000,0.028,2453,1080,3702,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4411,-0.75,-180.8,427.6,-10.9,235,4419,0.00,2.08,0.00,0.000,6,0.000,0.034,2453,2455,3701,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4717,-0.77,-180.8,462.2,-9.8,251,4724,0.10,2.00,0.00,0.000,4,0.097,0.045,2391,3758,3700,0,0,0,0,0,0,26.65,26.11,28.83
$GC,4787,-0.75,-180.8,469.8,-11.1,254,4793,0.12,1.85,0.00,0.000,6,0.150,0.020,2423,2438,3699,0,0,0,0,0,0,26.13,26.52,28.83
$GC,5106,-0.75,-180.8,498.8,-8.3,270,5111,0.00,2.08,0.00,0.000,4,0.000,0.047,2423,3759,3699,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5155,-0.75,-180.8,502.4,-8.3,272,5161,0.00,1.85,0.00,0.000,6,0.000,0.020,2423,2438,3698,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5474,-0.75,-180.8,531.5,-10.1,288,5479,0.00,1.98,0.00,0.000,4,0.000,0.028,2423,1070,3696,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5511,-0.75,-180.8,533.9,-10.3,289,5518,0.00,2.10,0.00,0.000,6,0.000,0.034,2423,2453,3695,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5817,-0.75,-180.8,566.7,-9.1,305,5823,0.00,2.03,0.00,0.000,4,0.000,0.049,2423,3764,3694,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5884,-0.75,-180.8,572.1,-8.5,308,5889,0.00,1.85,0.00,0.000,6,0.000,0.021,2423,2453,3694,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6203,-0.76,-180.8,594.9,-7.7,324,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2452,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6523,-0.76,-180.8,626.4,-10.7,336,6529,0.00,2.05,0.00,0.000,4,0.000,0.048,2423,3762,3689,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6592,-0.77,-180.8,633.7,-11.1,338,6597,0.00,1.88,0.00,0.000,6,0.000,0.021,2423,2451,3689,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6923,-0.78,-180.8,671.6,-11.2,349,6929,0.00,2.00,0.00,0.000,4,0.000,0.028,2423,1073,3687,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6961,-0.78,-180.8,675.5,-11.1,350,6966,0.00,2.08,0.00,0.000,6,0.000,0.034,2423,2449,3687,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7292,-0.79,-180.8,707.8,-9.3,361,7297,0.00,2.05,0.00,0.000,4,0.000,0.050,2423,3766,3685,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7394,-0.80,-180.8,716.7,-9.2,364,7399,0.00,1.88,0.00,0.000,6,0.000,0.022,2423,2455,3684,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7720,-0.81,-180.8,746.6,-8.9,375,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2455,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8018,-0.83,-180.8,771.8,-8.2,385,8023,0.00,2.08,0.00,0.000,4,0.000,0.050,2423,3768,3680,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8061,-0.84,-180.8,774.5,-8.1,386,8066,0.00,1.90,0.00,0.000,6,0.000,0.023,2423,2447,3683,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8387,-0.85,-180.8,801.9,-8.4,397,8393,0.00,2.03,0.00,0.000,4,0.000,0.029,2423,1065,3678,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8452,-0.86,-180.8,808.2,-9.1,399,8459,0.12,2.12,0.00,0.000,6,0.084,0.036,2366,2457,3677,0,0,0,0,0,0,26.10,26.12,28.83
$GC,8787,-0.83,-180.8,854.1,-14.5,410,8793,0.12,2.05,0.00,0.000,4,0.156,0.048,2400,3763,3675,0,0,0,0,0,0,26.25,25.91,28.83
$GC,8856,-0.80,-180.8,863.3,-14.5,412,8862,0.00,1.90,0.00,0.000,6,0.000,0.023,2400,2443,3675,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9186,-0.80,-180.8,908.7,-13.2,423,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2442,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9485,-0.80,-180.8,941.3,-10.1,433,9490,0.00,2.10,0.00,0.000,4,0.000,0.051,2400,3762,3671,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9522,-0.80,-180.8,944.5,-9.7,434,9527,0.00,1.90,0.00,0.000,6,0.000,0.024,2399,2443,3671,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9853,-0.80,-180.8,971.6,-7.4,445,9859,0.00,2.03,0.00,0.000,4,0.000,0.030,2400,1060,3670,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9881,-0.80,-180.8,971.6,-7.4,445,9888,0.00,2.12,0.00,0.000,6,0.000,0.036,2400,2452,3669,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,10095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10095,begin apogee
$GC,10101,-0.20,0.0,990.4,-8.0,453,10268,0.60,0.00,156.15,1.267,6,0.114,0.000,2594,2179,2961,0,0,0,0,0,0,25.44,28.83,22.91
$STATE,10270,end apogee,CONTROL_FINISHED_OK
$STATE,10270,begin climb
$GC,10272,0.58,180.8,995.7,0.0,458,10449,0.73,2.45,165.00,1.210,4,0.070,0.048,2850,3603,2223,0,0,0,0,0,0,24.94,24.27,22.58
$GC,10496,0.66,271.9,987.8,5.9,466,10592,0.00,2.10,85.22,1.187,6,0.000,0.028,2854,2244,1850,0,0,0,0,0,0,28.83,25.45,23.15
$GC,10916,0.75,350.8,960.5,6.3,480,10999,0.12,2.28,75.45,1.172,4,0.086,0.039,2922,808,1530,0,0,0,0,0,0,26.40,25.23,23.58
$GC,11039,0.72,350.8,948.4,9.8,484,11045,0.00,2.17,0.00,0.000,6,0.000,0.031,2922,2216,1525,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11375,0.69,350.8,910.3,11.6,495,11380,0.12,2.17,0.00,0.000,4,0.142,0.047,2882,3610,1520,0,0,0,0,0,0,26.20,26.13,28.83
$GC,11419,0.66,350.8,906.3,11.5,496,11424,0.00,2.10,0.00,0.000,6,0.000,0.029,2882,2202,1519,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11744,0.68,363.1,876.8,8.5,507,11762,0.00,2.15,11.32,1.235,4,0.000,0.039,2883,798,1481,0,0,0,0,0,0,28.83,26.05,24.15
$GC,11806,0.70,386.3,871.8,8.2,509,11839,0.00,2.12,25.17,1.180,6,0.000,0.031,2882,2201,1388,0,0,0,0,0,0,28.83,26.13,23.91
$GC,12167,0.71,386.3,841.1,9.3,521,12173,0.00,2.20,0.00,0.000,4,0.000,0.048,2886,3607,1382,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12236,0.72,386.3,833.9,10.4,523,12242,0.00,2.10,0.00,0.000,6,0.000,0.028,2882,2197,1381,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12567,0.73,386.3,798.7,10.7,534,12572,0.00,2.12,0.00,0.000,4,0.000,0.038,2883,802,1380,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12621,0.74,386.3,795.0,10.8,535,12626,0.00,2.10,0.00,0.000,6,0.000,0.030,2882,2205,1381,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,19971,end climb,SURFACE_DEPTH_REACHED
$STATE,19971,begin surface coast
$FINISH,0.9,1.011717
$STATE,19993,end surface coast,CONTROL_FINISHED_OK
$STATE,19994,begin surface
$SM_CCo,20072,0.00,0.000,0,0,1039,473.18
$SM_GC,1.83,7.38,0.35,0.00,0.030,0.050,0.000,110,2453,1039,-7.89,-1.16,473.18,0,0,0,0,0,0,26.29,26.41,28.83
$IRIDIUM_FIX,2127.21,12352.33,040113,070745
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.07
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.80
$XPDR_PINGS,79
$24V_AH,22.6,73.661
$10V_AH,10.1,48.135
$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,20.300,177.225,588.150,0.000,0.000,0.000,0.000,700.975,19.750,0.000,43.031,2938.817,14035.883,764.812,2835.129,541.416,0.000,2678.379,0.000,2112.466,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,65.025,1266.840,0.000,0.000,0.000,0.000,135.405,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20012.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.388,0.000,0.000,0.000
$MEM,329584
$DATA_FILE_SIZE,33341,895
$CAP_FILE_SIZE,229070,0
$CFSIZE,260165632,215527424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062,168.6,1
$GPS,040113,133930,2137.354,12347.359,41,1.2,41,-3.3