version: 66.11
glider: 167
mission: 14
dive: 353
start: 1 6 113 12 48 32
data:
$ID,167
$MISSION,14
$DIVE,353
$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,-969272.44
$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,64
$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
$GPS1,060113,124036,2147.405,12330.275,40,1.2,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-61.4
$GPS2,060113,124804,2147.338,12330.176,4,1.0,4,-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,345.9,254631,-14.7,-8.919,-17.97
$D_GRID,4786
$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,-180.8,0.0,0.0,0,94,0.00,0.00,-72.05,0.000,2,0.000,0.000,109,2451,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.58,-180.8,3.0,-3.0,7,145,9.60,2.12,-29.83,0.000,4,0.223,0.073,2465,3745,3707,0,0,0,0,0,0,24.96,25.93,26.68
$GC,278,-0.55,-180.8,25.9,-14.3,24,285,0.00,1.85,0.00,0.000,6,0.000,0.018,2464,2406,3708,0,0,0,0,0,0,28.83,26.48,28.83
$GC,595,-0.52,-180.8,70.6,-13.8,49,601,0.12,2.12,0.00,0.000,4,0.149,0.043,2497,3762,3708,0,0,0,0,0,0,26.29,26.10,28.83
$GC,649,-0.50,-180.8,75.9,-12.9,51,654,0.00,1.80,0.00,0.000,6,0.000,0.018,2497,2437,3708,0,0,0,0,0,0,28.83,26.56,28.83
$GC,962,-0.50,-180.8,109.2,-9.9,67,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2435,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1265,-0.51,-180.8,136.3,-8.6,82,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2435,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1564,-0.53,-180.8,163.9,-10.0,97,1570,0.00,1.88,0.00,0.000,4,0.000,0.022,2497,1101,3709,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1609,-0.55,-180.8,168.8,-10.2,99,1615,0.00,1.98,0.00,0.000,6,0.000,0.028,2495,2452,3708,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1933,-0.57,-180.8,198.8,-8.2,115,1938,0.00,1.98,0.00,0.000,4,0.000,0.046,2495,3749,3709,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1981,-0.60,-180.8,202.5,-8.1,117,1987,0.00,1.77,0.00,0.000,6,0.000,0.017,2502,2430,3709,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2300,-0.67,-180.8,230.7,-8.5,133,2306,0.12,1.88,0.00,0.000,4,0.078,0.021,2407,1098,3710,0,0,0,0,0,0,26.65,26.43,28.83
$GC,2340,-0.71,-180.8,233.1,-8.8,134,2347,0.12,2.00,0.00,0.000,6,0.157,0.028,2431,2461,3709,0,0,0,0,0,0,26.02,26.34,28.83
$GC,2645,-0.69,-180.8,268.5,-11.0,150,2650,0.00,1.98,0.00,0.000,4,0.000,0.046,2425,3748,3709,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2698,-0.67,-180.8,273.8,-11.6,152,2703,0.00,1.75,0.00,0.000,6,0.000,0.018,2424,2468,3709,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3011,-0.64,-180.8,311.8,-12.0,168,3018,0.12,1.98,0.00,0.000,4,0.148,0.021,2465,1077,3709,0,0,0,0,0,0,26.33,26.41,28.83
$GC,3056,-0.64,-180.8,316.6,-11.6,170,3062,0.00,2.05,0.00,0.000,6,0.000,0.029,2465,2460,3709,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3380,-0.66,-180.8,347.8,-9.9,186,3385,0.00,1.98,0.00,0.000,4,0.000,0.047,2465,3751,3708,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3427,-0.68,-180.8,352.4,-10.2,188,3433,0.00,1.80,0.00,0.000,6,0.000,0.018,2465,2438,3708,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3747,-0.70,-180.8,388.6,-11.0,204,3752,0.00,1.90,0.00,0.000,4,0.000,0.023,2465,1093,3707,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3774,-0.73,-180.8,391.1,-10.9,205,3780,0.12,2.03,0.00,0.000,6,0.080,0.030,2393,2460,3706,0,0,0,0,0,0,26.28,26.30,28.83
$GC,4094,-0.69,-180.8,431.9,-12.0,221,4100,0.12,2.03,0.00,0.000,4,0.157,0.047,2431,3761,3705,0,0,0,0,0,0,26.29,26.09,28.83
$GC,4195,-0.68,-180.8,440.3,-9.9,225,4202,0.00,1.80,0.00,0.000,6,0.000,0.018,2432,2454,3705,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4498,-0.68,-180.8,466.4,-7.5,241,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2452,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4802,-0.68,-180.8,485.2,-5.9,256,4807,0.00,2.03,0.00,0.000,4,0.000,0.047,2427,3752,3701,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4829,-0.68,-180.8,486.9,-6.0,257,4835,0.00,1.80,0.00,0.000,6,0.000,0.018,2427,2454,3701,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5148,-0.68,-180.8,511.8,-8.9,273,5153,0.00,2.03,0.00,0.000,4,0.000,0.048,2427,3751,3699,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5180,-0.68,-180.8,513.9,-9.1,274,5186,0.00,1.80,0.00,0.000,6,0.000,0.020,2426,2453,3699,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5494,-0.68,-180.8,547.5,-10.9,290,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2451,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5796,-0.68,-180.8,579.6,-11.0,305,5802,0.00,1.98,0.00,0.000,4,0.000,0.025,2426,1079,3695,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5830,-0.68,-180.8,582.4,-11.0,306,5835,0.00,2.08,0.00,0.000,6,0.000,0.035,2426,2457,3695,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6166,-0.68,-180.8,622.1,-11.5,320,6171,0.00,2.03,0.00,0.000,4,0.000,0.050,2426,3761,3693,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6243,-0.68,-180.8,629.5,-11.3,322,6249,0.00,1.85,0.00,0.000,6,0.000,0.021,2426,2439,3692,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6565,-0.69,-180.8,661.7,-9.0,333,6570,0.00,1.95,0.00,0.000,4,0.000,0.026,2426,1084,3690,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6612,-0.70,-180.8,664.9,-9.0,334,6617,0.00,2.05,0.00,0.000,6,0.000,0.031,2426,2452,3690,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6933,-0.70,-180.8,690.5,-6.7,345,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2452,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7232,-0.71,-180.8,705.4,-4.5,355,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2452,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7532,-0.72,-180.8,724.1,-7.2,365,7537,0.00,2.03,0.00,0.000,4,0.000,0.050,2427,3752,3684,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7595,-0.72,-180.8,729.5,-7.9,367,7601,0.00,1.88,0.00,0.000,6,0.000,0.022,2427,2440,3683,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7932,-0.74,-180.8,761.7,-10.1,378,7937,0.00,2.08,0.00,0.000,4,0.000,0.050,2426,3749,3681,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7989,-0.75,-180.8,765.4,-10.1,379,7996,0.00,1.85,0.00,0.000,6,0.000,0.022,2426,2437,3681,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8298,-0.76,-180.8,797.5,-9.8,390,8303,0.00,2.08,0.00,0.000,4,0.000,0.050,2426,3750,3678,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8365,-0.77,-180.8,804.1,-9.7,392,8370,0.00,1.85,0.00,0.000,6,0.000,0.023,2426,2442,3679,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8696,-0.78,-180.8,835.0,-8.9,403,8701,0.00,2.10,0.00,0.000,4,0.000,0.057,2426,3752,3676,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8805,-0.79,-180.8,843.6,-8.9,406,8811,0.00,1.88,0.00,0.000,6,0.000,0.023,2426,2437,3675,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9127,-0.81,-180.8,871.3,-8.3,417,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2435,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9425,-0.83,-180.8,896.0,-8.1,427,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2435,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9725,-0.84,-180.8,919.5,-7.8,437,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2435,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10025,-0.86,-180.8,944.2,-8.4,447,10027,0.12,0.00,0.00,0.000,6,0.086,0.000,2367,2435,3670,0,0,0,0,0,0,26.58,28.83,28.83
$GC,10325,-0.83,-180.8,980.4,-12.5,457,10331,0.12,1.98,0.00,0.000,4,0.160,0.026,2404,1091,3669,0,0,0,0,0,0,26.22,26.17,28.83
$GC,10360,-0.81,-180.8,984.5,-12.3,458,10365,0.00,2.10,0.00,0.000,6,0.000,0.035,2400,2453,3669,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,10421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10421,begin apogee
$GC,10427,-0.20,0.0,991.6,-11.6,460,10594,0.60,0.00,158.00,1.297,6,0.116,0.000,2593,2217,2964,0,0,0,0,0,0,25.39,28.83,22.68
$STATE,10596,end apogee,CONTROL_FINISHED_OK
$STATE,10596,begin climb
$GC,10598,0.58,180.8,999.8,0.0,465,10773,0.75,0.00,168.60,1.302,6,0.071,0.000,2853,2216,2227,0,0,0,0,0,0,24.75,28.83,22.19
$GC,11089,0.60,212.6,971.9,7.9,482,11126,0.00,2.28,29.27,1.278,4,0.000,0.048,2853,3613,2093,0,0,0,0,0,0,28.83,25.51,23.71
$GC,11166,0.60,231.0,966.6,8.3,484,11191,0.00,2.12,17.85,1.273,6,0.000,0.027,2854,2206,2024,0,0,0,0,0,0,28.83,25.94,23.72
$GC,11514,0.59,231.0,933.0,9.3,496,11519,0.00,2.12,0.00,0.000,4,0.000,0.037,2859,808,2015,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11542,0.58,231.0,933.0,9.3,496,11550,0.00,2.12,0.00,0.000,6,0.000,0.031,2859,2224,2015,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11849,0.56,231.0,898.5,10.7,507,11854,0.00,2.12,0.00,0.000,4,0.000,0.047,2859,3596,2014,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11923,0.54,231.0,890.9,11.1,509,11928,0.00,2.08,0.00,0.000,6,0.000,0.028,2868,2192,2012,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12248,0.52,231.0,853.8,10.7,520,12250,0.12,0.00,0.00,0.000,6,0.145,0.000,2833,2191,2011,0,0,0,0,0,0,26.32,28.83,28.83
$GC,12550,0.58,270.7,829.6,7.6,530,12595,0.00,2.30,39.70,1.179,4,0.000,0.047,2833,3599,1860,0,0,0,0,0,0,28.83,25.49,23.81
$GC,12624,0.64,312.2,825.0,7.5,532,12674,0.10,2.12,43.20,1.141,6,0.094,0.028,2889,2190,1693,0,0,0,0,0,0,25.80,25.87,23.62
$GC,13003,0.65,334.1,789.2,8.2,545,13032,0.00,2.28,21.42,1.200,4,0.000,0.047,2889,3600,1598,0,0,0,0,0,0,28.83,25.70,23.98
$GC,13060,0.66,351.8,786.6,8.3,546,13085,0.00,2.12,19.10,1.177,6,0.000,0.028,2889,2194,1531,0,0,0,0,0,0,28.83,25.98,23.84
$GC,13398,0.66,351.8,753.3,9.7,558,13404,0.00,2.10,0.00,0.000,4,0.000,0.037,2892,805,1521,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,20549,end climb,SURFACE_DEPTH_REACHED
$STATE,20550,begin surface coast
$FINISH,0.8,1.009816
$STATE,20581,end surface coast,CONTROL_FINISHED_OK
$STATE,20581,begin surface
$SM_CCo,20661,0.00,0.000,0,0,1095,459.45
$SM_GC,1.72,7.40,1.70,0.00,0.034,0.019,0.000,116,2462,1095,-7.89,1.84,459.45,0,0,0,0,0,0,26.21,26.50,28.83
$IRIDIUM_FIX,2136.49,12333.04,060113,070715
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.55
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.90
$XPDR_PINGS,27
$24V_AH,22.2,75.568
$10V_AH,9.9,49.256
$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,20.100,183.475,606.700,0.000,0.000,0.000,0.000,260.725,6.750,0.000,5.472,2928.700,14488.872,748.866,2469.201,469.019,0.000,2277.632,0.000,2134.409,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,72.675,1302.030,0.000,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20599.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.365,0.000,0.000,0.000
$MEM,329584
$DATA_FILE_SIZE,33344,914
$CAP_FILE_SIZE,230711,0
$CFSIZE,260165632,214650880
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.161,197.9,1
$GPS,060113,183406,2148.595,12328.892,29,0.9,29,-3.3