version: 66.11
glider: 167
mission: 14
dive: 377
start: 1 13 113 3 40 32
data:
$ID,167
$MISSION,14
$DIVE,377
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,190
$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,9
$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,-971286.88
$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,65
$R_STBD_OVSHOOT,66
$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
$GPS1,130113,033236,2159.561,12238.637,39,0.9,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-54.2
$GPS2,130113,034005,2159.629,12238.610,4,0.9,4,-3.3
$SPEED_LIMITS,0.154,0.278
$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,292.8,171502,-14.5,-8.919,-17.77
$D_GRID,4635
$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,-0.59,-185.7,0.0,0.0,0,105,0.00,0.00,-82.57,0.000,2,0.000,0.000,108,2487,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.59,-185.7,3.4,-4.4,8,145,9.68,2.00,-18.33,0.000,4,0.223,0.066,2464,3717,3729,0,0,0,0,0,0,25.01,25.98,26.70
$GC,378,-0.55,-185.7,46.3,-15.0,34,383,0.00,1.80,0.00,0.000,6,0.000,0.018,2464,2427,3729,0,0,0,0,0,0,28.83,26.45,28.83
$GC,691,-0.51,-185.7,92.6,-15.2,51,697,0.12,2.03,0.00,0.000,4,0.153,0.043,2496,3731,3729,0,0,0,0,0,0,26.28,26.08,28.83
$GC,724,-0.48,-185.7,96.1,-15.0,52,729,0.00,1.80,0.00,0.000,6,0.000,0.018,2496,2442,3729,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1038,-0.48,-185.7,135.9,-12.3,68,1043,0.00,2.00,0.00,0.000,4,0.000,0.046,2491,3732,3729,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1070,-0.47,-185.7,138.9,-12.7,69,1076,0.00,1.85,0.00,0.000,6,0.000,0.022,2493,2437,3730,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1385,-0.48,-185.7,178.0,-10.7,85,1390,0.00,2.00,0.00,0.000,4,0.000,0.031,2492,1057,3729,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1443,-0.50,-185.7,182.8,-10.8,87,1451,0.00,2.05,0.00,0.000,6,0.000,0.035,2493,2422,3729,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1749,-0.53,-185.7,212.3,-8.5,103,1755,0.00,2.05,0.00,0.000,4,0.000,0.047,2493,3764,3730,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1859,-0.56,-185.7,222.2,-9.7,108,1865,0.00,1.88,0.00,0.000,6,0.000,0.019,2493,2437,3730,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2178,-0.63,-185.7,254.3,-9.8,124,2183,0.00,2.05,0.00,0.000,4,0.000,0.047,2493,3762,3730,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2255,-0.71,-185.7,260.1,-9.3,127,2263,0.15,1.88,0.00,0.000,6,0.070,0.020,2402,2445,3729,0,0,0,0,0,0,26.37,26.49,28.83
$GC,2561,-0.66,-185.7,298.1,-12.5,143,2563,0.17,0.00,0.00,0.000,6,0.139,0.000,2452,2444,3729,0,0,0,0,0,0,26.20,28.83,28.83
$GC,2864,-0.67,-185.7,328.5,-10.4,158,2869,0.00,2.03,0.00,0.000,4,0.000,0.046,2452,3755,3729,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2921,-0.68,-185.7,333.2,-10.2,160,2929,0.00,1.85,0.00,0.000,6,0.000,0.019,2452,2441,3728,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3228,-0.69,-185.7,361.4,-7.9,176,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2441,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3529,-0.70,-185.7,388.0,-9.4,191,3534,0.00,2.05,0.00,0.000,4,0.000,0.047,2452,3759,3726,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3583,-0.72,-185.7,392.5,-9.9,193,3588,0.00,1.88,0.00,0.000,6,0.000,0.020,2451,2431,3726,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3897,-0.73,-185.7,422.8,-8.8,209,3902,0.00,1.95,0.00,0.000,4,0.000,0.028,2452,1071,3724,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3961,-0.75,-185.7,428.7,-9.2,212,3967,0.00,2.10,0.00,0.000,6,0.000,0.033,2452,2457,3724,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4286,-0.77,-185.7,456.2,-8.5,228,4292,0.10,2.03,0.00,0.000,4,0.095,0.046,2387,3767,3722,0,0,0,0,0,0,26.63,26.06,28.83
$GC,4319,-0.78,-185.7,458.8,-9.0,229,4324,0.00,1.85,0.00,0.000,6,0.000,0.019,2387,2450,3721,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4633,-0.74,-185.7,495.8,-11.7,245,4639,0.12,2.05,0.00,0.000,4,0.155,0.045,2426,3761,3720,0,0,0,0,0,0,26.28,26.04,28.83
$GC,4712,-0.73,-185.7,501.8,-9.6,248,4719,0.00,1.88,0.00,0.000,6,0.000,0.021,2425,2445,3719,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5018,-0.73,-185.7,534.6,-10.7,264,5023,0.00,1.98,0.00,0.000,4,0.000,0.027,2426,1073,3718,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5085,-0.73,-185.7,541.6,-11.1,267,5092,0.00,2.10,0.00,0.000,6,0.000,0.033,2426,2460,3717,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5405,-0.74,-185.7,574.0,-8.9,283,5410,0.00,2.03,0.00,0.000,4,0.000,0.049,2426,3768,3716,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5463,-0.75,-185.7,577.8,-8.9,285,5470,0.00,1.88,0.00,0.000,6,0.000,0.021,2426,2451,3716,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5779,-0.76,-185.7,603.8,-8.1,301,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2451,3713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6078,-0.77,-185.7,632.1,-9.9,311,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2451,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6380,-0.79,-185.7,659.4,-8.6,321,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2451,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6678,-0.80,-185.7,685.3,-9.0,331,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2451,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6979,-0.81,-185.7,713.6,-9.5,341,6984,0.00,2.10,0.00,0.000,4,0.000,0.056,2426,3756,3704,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7067,-0.83,-185.7,720.0,-9.8,343,7074,0.00,1.88,0.00,0.000,6,0.000,0.021,2426,2432,3703,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7375,-0.85,-185.7,749.8,-8.6,354,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2430,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7673,-0.86,-185.7,775.4,-8.6,364,7679,0.12,2.12,0.00,0.000,4,0.085,0.054,2357,3758,3699,0,0,0,0,0,0,26.56,25.34,28.83
$GC,7737,-0.86,-185.7,783.4,-10.5,366,7744,0.12,1.90,0.00,0.000,6,0.156,0.023,2389,2445,3698,0,0,0,0,0,0,25.99,26.42,28.83
$GC,8072,-0.84,-185.7,821.6,-11.7,377,8077,0.00,2.08,0.00,0.000,4,0.000,0.049,2387,3755,3696,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8145,-0.83,-185.7,829.3,-12.1,379,8150,0.00,1.88,0.00,0.000,6,0.000,0.023,2386,2437,3696,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8471,-0.82,-185.7,869.6,-12.0,390,8476,0.00,2.10,0.00,0.000,4,0.000,0.050,2387,3756,3694,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8518,-0.81,-185.7,873.9,-11.9,391,8524,0.00,1.88,0.00,0.000,6,0.000,0.023,2387,2444,3693,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8840,-0.79,-185.7,910.1,-10.5,402,8845,0.00,2.10,0.00,0.000,4,0.000,0.056,2385,3755,3692,0,0,0,0,0,0,28.83,25.08,28.83
$GC,8888,-0.78,-185.7,914.0,-10.4,403,8893,0.00,1.88,0.00,0.000,6,0.000,0.024,2385,2446,3691,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9208,-0.77,-185.7,946.1,-9.4,414,9210,0.12,0.00,0.00,0.000,6,0.154,0.000,2416,2444,3689,0,0,0,0,0,0,26.29,28.83,28.83
$GC,9509,-0.79,-185.7,968.8,-7.3,424,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2444,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9806,-0.80,-185.7,989.2,-6.7,434,9812,0.00,2.10,0.00,0.000,4,0.000,0.050,2414,3759,3687,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,9838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9838,begin apogee
$GC,9846,-0.20,0.0,991.5,-6.7,435,10023,0.55,0.00,167.68,1.269,6,0.112,0.000,2593,2195,2958,0,0,0,0,0,0,25.37,28.83,22.89
$STATE,10024,end apogee,CONTROL_FINISHED_OK
$STATE,10024,begin climb
$GC,10027,0.59,185.7,995.9,0.0,441,10214,0.73,2.42,178.48,1.241,4,0.061,0.047,2856,3601,2203,0,0,0,0,0,0,24.96,24.34,22.58
$GC,10303,0.54,185.7,975.8,10.2,450,10308,0.00,2.10,0.00,0.000,6,0.000,0.027,2864,2210,2186,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10630,0.51,185.7,942.0,10.2,461,10632,0.12,0.00,0.00,0.000,6,0.152,0.000,2831,2210,2182,0,0,0,0,0,0,26.20,28.83,28.83
$GC,10927,0.50,185.7,914.4,9.4,471,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2210,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11227,0.50,185.7,886.5,9.1,481,11232,0.00,2.22,0.00,0.000,4,0.000,0.047,2831,3609,2179,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11275,0.49,185.7,883.3,9.0,482,11281,0.00,2.10,0.00,0.000,6,0.000,0.028,2837,2188,2178,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11596,0.52,220.9,855.6,7.8,493,11637,0.00,2.30,34.38,1.147,4,0.000,0.047,2837,3603,2057,0,0,0,0,0,0,28.83,25.56,23.75
$GC,11707,0.53,242.7,847.8,8.2,496,11736,0.00,2.10,21.85,1.183,6,0.000,0.028,2839,2207,1972,0,0,0,0,0,0,28.83,26.04,23.77
$GC,12050,0.58,285.2,819.4,7.5,508,12097,0.00,0.00,45.60,1.151,6,0.000,0.000,2838,2207,1804,0,0,0,0,0,0,28.83,28.83,23.71
$GC,12382,0.66,329.7,795.2,7.5,519,12440,0.12,2.35,46.85,1.126,4,0.083,0.047,2910,3606,1603,0,0,0,0,0,0,26.41,25.40,23.70
$GC,12470,0.66,329.7,788.7,9.4,521,12477,0.12,2.15,0.00,0.000,6,0.156,0.028,2879,2194,1596,0,0,0,0,0,0,25.56,25.84,28.83
$GC,12776,0.66,329.7,749.0,11.9,532,12781,0.00,2.10,0.00,0.000,4,0.000,0.037,2884,805,1591,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12823,0.66,329.7,745.0,11.7,533,12829,0.00,2.12,0.00,0.000,6,0.000,0.031,2884,2219,1591,0,0,0,0,0,0,28.83,26.18,28.83
$GC,13143,0.66,330.1,711.4,8.9,544,13149,0.00,2.17,0.00,0.000,4,0.000,0.048,2884,3605,1590,0,0,0,0,0,0,28.83,26.02,28.83
$GC,13186,0.66,330.7,708.1,8.9,545,13192,0.00,2.10,0.00,0.000,6,0.000,0.028,2884,2193,1589,0,0,0,0,0,0,28.83,26.29,28.83
$GC,13512,0.67,341.3,680.3,8.6,556,13519,0.00,2.17,1.92,0.182,4,0.000,0.037,2883,808,1573,0,0,0,0,0,0,28.83,26.08,25.18
$GC,13550,0.68,347.0,677.0,8.7,557,13561,0.00,2.10,4.20,0.894,6,0.000,0.030,2884,2208,1554,0,0,0,0,0,0,28.83,26.19,24.32
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$STATE,19956,end climb,SURFACE_DEPTH_REACHED
$STATE,19956,begin surface coast
$FINISH,0.8,1.023023
$STATE,19976,end surface coast,CONTROL_FINISHED_OK
$STATE,19976,begin surface
$SM_CCo,20055,0.00,0.000,0,0,1086,461.65
$SM_GC,1.72,7.43,0.32,0.00,0.034,0.047,0.000,115,2451,1086,-7.88,-1.64,461.65,0,0,0,0,0,0,26.23,26.45,28.83
$IRIDIUM_FIX,2152.74,12239.50,120113,212150
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.17
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.60
$XPDR_PINGS,54
$24V_AH,22.6,81.245
$10V_AH,9.9,52.670
$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,20.700,165.700,641.575,0.000,0.000,0.000,0.000,256.900,13.500,0.000,5.480,2902.211,13923.551,756.646,2456.964,457.570,0.000,2259.567,0.000,2141.204,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,65.790,1295.145,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19980.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.332,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,33353,885
$CAP_FILE_SIZE,225515,0
$CFSIZE,260165632,211804160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.132,204.6,1
$GPS,130113,091605,2159.563,12235.337,33,1.0,33,-3.3