version: 66.11
glider: 167
mission: 14
dive: 383
start: 1 14 113 14 30 41
data:
$ID,167
$MISSION,14
$DIVE,383
$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,-971294.38
$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,60
$R_STBD_OVSHOOT,42
$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
$GPS1,140113,142206,2207.907,12231.181,28,1.7,28,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-56.1
$GPS2,140113,143014,2207.944,12231.240,22,1.4,23,-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,307.5,151803,-14.5,-8.919,-17.77
$D_GRID,4838
$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,17,begin dive
$GC,20,-0.59,-185.7,0.0,0.0,0,84,0.00,0.00,-62.10,0.000,2,0.000,0.000,108,2466,2679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.59,-185.7,3.1,-3.3,6,130,9.60,2.00,-24.20,0.000,4,0.222,0.059,2465,3751,3727,0,0,0,0,0,0,24.94,25.96,26.70
$GC,246,-0.55,-185.7,24.8,-12.0,21,251,0.00,1.88,0.00,0.000,6,0.000,0.019,2465,2430,3728,0,0,0,0,0,0,28.83,26.38,28.83
$GC,570,-0.51,-185.7,60.5,-10.3,48,576,0.12,2.00,0.00,0.000,4,0.155,0.031,2504,1060,3728,0,0,0,0,0,0,26.25,26.23,28.83
$GC,604,-0.48,-185.7,62.8,-9.7,49,610,0.00,2.10,0.00,0.000,6,0.000,0.035,2505,2446,3728,0,0,0,0,0,0,28.83,26.16,28.83
$GC,917,-0.48,-185.7,91.8,-10.3,65,922,0.00,2.03,0.00,0.000,4,0.000,0.048,2504,3766,3728,0,0,0,0,0,0,28.83,26.06,28.83
$GC,980,-0.48,-185.7,98.2,-10.2,68,986,0.00,1.90,0.00,0.000,6,0.000,0.020,2504,2433,3728,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1304,-0.48,-185.7,133.8,-13.0,84,1309,0.00,2.00,0.00,0.000,4,0.000,0.031,2504,1062,3728,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1341,-0.48,-185.7,136.7,-12.3,85,1349,0.00,2.08,0.00,0.000,6,0.000,0.034,2504,2452,3728,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1648,-0.49,-185.7,172.8,-10.8,101,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2452,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1950,-0.51,-185.7,196.7,-7.6,116,1955,0.00,2.05,0.00,0.000,4,0.000,0.032,2505,1062,3731,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1977,-0.54,-185.7,198.4,-7.2,117,1983,0.00,2.08,0.00,0.000,6,0.000,0.034,2504,2449,3728,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2297,-0.60,-185.7,225.0,-9.4,133,2302,0.00,2.05,0.00,0.000,4,0.000,0.033,2504,1064,3729,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2376,-0.65,-185.7,230.9,-9.3,136,2383,0.15,2.08,0.00,0.000,6,0.068,0.034,2414,2457,3729,0,0,0,0,0,0,26.25,26.24,28.83
$GC,2681,-0.61,-185.7,269.5,-12.6,152,2687,0.15,2.00,0.00,0.000,4,0.148,0.045,2458,3757,3729,0,0,0,0,0,0,26.19,26.05,28.83
$GC,2755,-0.60,-185.7,276.9,-11.8,155,2760,0.00,1.85,0.00,0.000,6,0.000,0.022,2458,2448,3729,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3068,-0.60,-185.7,314.3,-11.7,171,3074,0.00,2.00,0.00,0.000,4,0.000,0.029,2458,1069,3729,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3117,-0.60,-185.7,319.3,-11.5,173,3122,0.00,2.05,0.00,0.000,6,0.000,0.034,2453,2449,3729,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3435,-0.60,-185.7,355.4,-10.0,189,3440,0.00,2.00,0.00,0.000,4,0.000,0.049,2453,3749,3728,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3473,-0.60,-185.7,357.6,-9.9,190,3480,0.00,1.83,0.00,0.000,6,0.000,0.019,2453,2435,3728,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3779,-0.61,-185.7,384.2,-8.0,206,3784,0.00,2.05,0.00,0.000,4,0.000,0.049,2453,3749,3727,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3812,-0.62,-185.7,386.3,-8.4,207,3818,0.00,1.83,0.00,0.000,6,0.000,0.023,2453,2449,3727,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4127,-0.64,-185.7,416.4,-9.6,223,4132,0.00,1.98,0.00,0.000,4,0.000,0.029,2453,1084,3726,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4195,-0.65,-185.7,422.8,-9.9,226,4200,0.00,2.05,0.00,0.000,6,0.000,0.034,2453,2458,3726,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4514,-0.67,-185.7,450.8,-8.0,242,4520,0.00,2.00,0.00,0.000,4,0.000,0.047,2453,3756,3724,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4548,-0.69,-185.7,452.8,-8.0,243,4553,0.00,1.83,0.00,0.000,6,0.000,0.018,2453,2434,3724,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4862,-0.71,-185.7,476.5,-7.2,259,4867,0.00,2.10,0.00,0.000,4,0.000,0.050,2453,3758,3722,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4907,-0.73,-185.7,479.8,-7.3,261,4912,0.00,1.83,0.00,0.000,6,0.000,0.018,2453,2450,3721,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5231,-0.76,-185.7,503.7,-7.5,277,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2447,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5534,-0.79,-185.7,526.0,-7.0,292,5540,0.12,2.05,0.00,0.000,4,0.082,0.048,2372,3749,3715,0,0,0,0,0,0,26.60,25.96,28.83
$GC,5679,-0.74,-185.7,542.3,-11.1,299,5685,0.20,1.83,0.00,0.000,6,0.142,0.019,2428,2431,3716,0,0,0,0,0,0,25.86,26.47,28.83
$GC,6004,-0.75,-185.7,568.8,-8.1,315,6010,0.00,2.10,0.00,0.000,4,0.000,0.051,2427,3757,3714,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6084,-0.75,-185.7,574.7,-8.9,318,6091,0.00,1.85,0.00,0.000,6,0.000,0.020,2427,2450,3714,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6389,-0.76,-185.7,600.5,-7.2,334,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2450,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6689,-0.77,-185.7,629.1,-10.3,344,6694,0.00,2.05,0.00,0.000,4,0.000,0.051,2427,3749,3709,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6808,-0.78,-185.7,639.1,-10.7,347,6816,0.00,1.85,0.00,0.000,6,0.000,0.021,2427,2450,3709,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7115,-0.79,-185.7,676.1,-12.1,358,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2446,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7413,-0.81,-185.7,712.7,-11.7,368,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2450,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7714,-0.82,-185.7,740.6,-8.2,378,7719,0.00,2.10,0.00,0.000,4,0.000,0.054,2427,3753,3702,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7782,-0.83,-185.7,745.8,-7.9,380,7788,0.00,1.88,0.00,0.000,6,0.000,0.022,2426,2451,3701,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8114,-0.85,-185.7,774.3,-9.1,391,8119,0.10,2.08,0.00,0.000,4,0.096,0.051,2371,3748,3698,0,0,0,0,0,0,26.60,25.81,28.83
$GC,8187,-0.85,-185.7,781.9,-10.3,393,8192,0.00,1.88,0.00,0.000,6,0.000,0.021,2371,2444,3697,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8513,-0.82,-185.7,822.4,-12.5,404,8519,0.12,2.10,0.00,0.000,4,0.158,0.050,2401,3755,3696,0,0,0,0,0,0,26.22,25.80,28.83
$GC,8623,-0.80,-185.7,833.6,-11.7,407,8629,0.00,1.88,0.00,0.000,6,0.000,0.021,2401,2437,3696,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8945,-0.79,-185.7,869.8,-10.8,418,8950,0.00,2.10,0.00,0.000,4,0.000,0.053,2398,3748,3693,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9012,-0.79,-185.7,876.7,-10.6,420,9017,0.00,1.85,0.00,0.000,6,0.000,0.021,2398,2443,3693,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9343,-0.78,-185.7,906.7,-8.4,431,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2442,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9640,-0.78,-185.7,929.4,-7.4,441,9646,0.00,2.10,0.00,0.000,4,0.000,0.054,2398,3748,3690,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9714,-0.78,-185.7,934.2,-7.5,443,9720,0.00,1.85,0.00,0.000,6,0.000,0.022,2398,2449,3689,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10039,-0.78,-185.7,960.4,-8.1,454,10045,0.00,2.10,0.00,0.000,4,0.000,0.058,2398,3747,3688,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10093,-0.78,-185.7,963.3,-8.3,455,10098,0.00,1.85,0.00,0.000,6,0.000,0.022,2398,2447,3687,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,10404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10406,begin apogee
$GC,10412,-0.20,0.0,992.7,-9.2,466,10582,0.60,0.00,162.25,1.284,6,0.113,0.000,2592,2183,2962,0,0,0,0,0,0,25.33,28.83,22.91
$STATE,10584,end apogee,CONTROL_FINISHED_OK
$STATE,10584,begin climb
$GC,10586,0.59,185.7,999.8,0.0,471,10770,0.73,2.53,172.75,1.284,4,0.070,0.050,2848,3595,2201,0,0,0,0,0,0,24.90,24.22,22.46
$GC,10843,0.60,226.0,988.4,7.6,480,10886,0.00,2.08,37.72,1.249,6,0.000,0.027,2853,2226,2044,0,0,0,0,0,0,28.83,25.76,23.44
$GC,11196,0.59,226.0,955.8,9.3,492,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2225,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11495,0.58,226.0,926.2,10.0,502,11496,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2226,2022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11795,0.56,226.0,897.5,9.1,512,11801,0.00,2.20,0.00,0.000,4,0.000,0.050,2854,3603,2022,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11849,0.55,226.0,894.2,9.1,513,11854,0.00,2.08,0.00,0.000,6,0.000,0.028,2854,2204,2020,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12164,0.65,324.2,871.2,5.7,524,12269,0.00,0.00,97.93,1.200,6,0.000,0.000,2855,2202,1636,0,0,0,0,0,0,28.83,28.83,23.37
$GC,12583,0.71,357.4,842.7,7.8,538,12619,0.12,0.00,32.67,1.196,6,0.086,0.000,2919,2203,1511,0,0,0,0,0,0,26.41,28.83,23.79
$GC,12915,0.69,357.4,805.1,11.1,549,12921,0.12,2.12,0.00,0.000,4,0.141,0.037,2884,805,1493,0,0,0,0,0,0,26.15,26.08,28.83
$GC,12939,0.66,357.4,805.1,11.1,549,12945,0.00,2.12,0.00,0.000,6,0.000,0.032,2884,2211,1493,0,0,0,0,0,0,28.83,26.17,28.83
$GC,13255,0.73,416.6,778.5,7.0,560,13325,0.00,2.33,60.90,1.151,4,0.000,0.050,2885,3595,1258,0,0,0,0,0,0,28.83,25.29,23.61
$GC,13367,0.80,470.7,772.1,7.2,563,13434,0.12,2.12,55.70,1.129,6,0.083,0.026,2946,2194,1038,0,0,0,0,0,0,25.81,25.87,23.56
$GC,13734,0.78,470.7,722.3,14.7,576,13739,0.00,2.12,0.00,0.000,4,0.000,0.039,2950,804,1028,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,19998,end climb,SURFACE_DEPTH_REACHED
$STATE,19998,begin surface coast
$FINISH,0.9,1.023691
$STATE,20019,end surface coast,CONTROL_FINISHED_OK
$STATE,20019,begin surface
$SM_CCo,20097,0.00,0.000,0,0,596,581.85
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$IRIDIUM_FIX,2159.71,12232.37,140113,080839
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.37
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,57
$24V_AH,22.5,82.618
$10V_AH,9.7,53.419
$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,20.550,164.150,711.350,0.000,0.000,0.000,0.000,275.000,14.250,0.000,24.326,2898.048,13916.560,832.845,2474.240,454.370,0.000,2329.497,0.000,2111.197,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,58.905,1284.435,0.000,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20042.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.304,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,33333,887
$CAP_FILE_SIZE,220851,0
$CFSIZE,260165632,211218432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.102, 96.7,1
$GPS,140113,200659,2209.935,12230.051,37,1.5,37,-3.3