version: 66.11
glider: 167
mission: 14
dive: 386
start: 1 15 113 8 5 7
data:
$ID,167
$MISSION,14
$DIVE,386
$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,-971298.12
$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,67
$R_STBD_OVSHOOT,47
$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
$GPS1,150113,075659,2211.704,12229.324,37,1.1,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-63.4
$GPS2,150113,080440,2211.686,12229.380,4,1.1,4,-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,307.0,144800,-14.5,-8.919,-17.77
$D_GRID,4835
$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,20,-0.59,-185.7,0.0,0.0,0,83,0.00,0.00,-61.33,0.000,2,0.000,0.000,109,2468,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.59,-185.7,3.0,-2.9,6,134,9.62,2.05,-31.73,0.000,4,0.222,0.066,2465,3738,3725,0,0,0,0,0,0,24.96,25.84,26.70
$GC,274,-0.54,-185.7,27.6,-14.5,24,280,0.00,1.85,0.00,0.000,6,0.000,0.022,2465,2441,3726,0,0,0,0,0,0,28.83,26.36,28.83
$GC,599,-0.50,-185.7,71.1,-13.1,48,601,0.12,0.00,0.00,0.000,6,0.152,0.000,2499,2440,3726,0,0,0,0,0,0,26.32,28.83,28.83
$GC,899,-0.50,-185.7,105.4,-11.0,63,904,0.00,2.03,0.00,0.000,4,0.000,0.046,2492,3745,3726,0,0,0,0,0,0,28.83,26.07,28.83
$GC,963,-0.49,-185.7,112.6,-11.0,66,968,0.00,1.88,0.00,0.000,6,0.000,0.027,2493,2434,3726,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1286,-0.50,-185.7,148.4,-9.4,82,1292,0.00,1.98,0.00,0.000,4,0.000,0.030,2493,1060,3727,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1371,-0.51,-185.7,155.6,-8.6,86,1376,0.00,2.05,0.00,0.000,6,0.000,0.033,2493,2438,3727,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1696,-0.53,-185.7,183.6,-9.2,102,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2438,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1997,-0.55,-185.7,211.0,-8.7,117,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2439,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2298,-0.57,-185.7,237.6,-9.3,132,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2439,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2597,-0.60,-185.7,262.2,-7.6,147,2602,0.00,2.03,0.00,0.000,4,0.000,0.048,2493,3758,3728,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2676,-0.64,-185.7,267.3,-7.7,150,2683,0.10,1.85,0.00,0.000,6,0.090,0.018,2424,2430,3728,0,0,0,0,0,0,26.37,26.51,28.83
$GC,2980,-0.61,-185.7,302.2,-10.7,166,2986,0.12,2.08,0.00,0.000,4,0.148,0.044,2464,3764,3727,0,0,0,0,0,0,26.32,26.06,28.83
$GC,3014,-0.60,-185.7,304.6,-10.3,167,3020,0.00,1.85,0.00,0.000,6,0.000,0.019,2464,2445,3727,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3328,-0.62,-185.7,327.1,-5.9,183,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2444,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3631,-0.64,-185.7,350.5,-8.6,198,3636,0.00,2.05,0.00,0.000,4,0.000,0.047,2464,3762,3725,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3664,-0.66,-185.7,352.7,-8.5,199,3669,0.00,1.85,0.00,0.000,6,0.000,0.020,2464,2443,3725,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3978,-0.68,-185.7,382.4,-9.7,215,3983,0.00,2.05,0.00,0.000,4,0.000,0.047,2464,3762,3723,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4036,-0.72,-185.7,386.7,-9.6,217,4042,0.00,1.85,0.00,0.000,6,0.000,0.021,2464,2445,3723,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4342,-0.77,-185.7,415.5,-8.3,233,4348,0.12,2.00,0.00,0.000,4,0.077,0.034,2381,1067,3721,0,0,0,0,0,0,26.61,26.31,28.83
$GC,4407,-0.76,-185.7,422.8,-10.7,236,4413,0.15,2.10,0.00,0.000,6,0.152,0.034,2421,2457,3721,0,0,0,0,0,0,25.84,26.18,28.83
$GC,4731,-0.74,-185.7,453.7,-9.9,252,4737,0.00,2.00,0.00,0.000,4,0.000,0.047,2414,3755,3719,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4791,-0.72,-185.7,457.8,-9.5,254,4798,0.00,1.88,0.00,0.000,6,0.000,0.020,2413,2455,3718,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5096,-0.71,-185.7,487.3,-10.5,270,5101,0.00,2.00,0.00,0.000,4,0.000,0.026,2414,1062,3717,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5129,-0.70,-185.7,490.4,-11.3,271,5134,0.00,2.10,0.00,0.000,6,0.000,0.033,2413,2462,3717,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5442,-0.68,-185.7,526.0,-11.5,287,5448,0.12,2.05,0.00,0.000,4,0.154,0.024,2454,1061,3715,0,0,0,0,0,0,26.29,26.32,28.83
$GC,5467,-0.67,-185.7,528.5,-11.4,288,5472,0.00,2.10,0.00,0.000,6,0.000,0.031,2453,2454,3715,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5791,-0.70,-185.7,552.8,-7.4,304,5796,0.00,2.05,0.00,0.000,4,0.000,0.056,2453,3764,3713,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5836,-0.72,-185.7,556.6,-7.9,306,5841,0.00,1.90,0.00,0.000,6,0.000,0.028,2452,2443,3713,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6159,-0.78,-185.7,585.6,-9.6,322,6166,0.12,2.00,0.00,0.000,4,0.080,0.025,2375,1063,3710,0,0,0,0,0,0,26.59,26.29,28.83
$GC,6271,-0.74,-185.7,599.0,-13.3,327,6277,0.17,2.10,0.00,0.000,6,0.145,0.034,2422,2452,3710,0,0,0,0,0,0,25.75,26.15,28.83
$GC,6593,-0.75,-185.7,632.9,-9.8,338,6598,0.00,2.05,0.00,0.000,4,0.000,0.056,2422,3762,3708,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6713,-0.75,-185.7,642.3,-9.7,341,6720,0.00,1.90,0.00,0.000,6,0.000,0.021,2422,2438,3707,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7018,-0.76,-185.7,671.3,-8.4,352,7024,0.00,2.10,0.00,0.000,4,0.000,0.049,2422,3763,3704,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7084,-0.77,-185.7,677.1,-8.7,354,7090,0.00,1.90,0.00,0.000,6,0.000,0.030,2422,2456,3704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7421,-0.78,-185.7,704.6,-8.1,365,7427,0.00,2.05,0.00,0.000,4,0.000,0.049,2422,3755,3702,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7495,-0.79,-185.7,710.2,-8.3,367,7501,0.00,1.88,0.00,0.000,6,0.000,0.021,2422,2443,3701,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7821,-0.80,-185.7,740.2,-9.6,378,7827,0.00,2.08,0.00,0.000,4,0.000,0.049,2422,3755,3699,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7880,-0.80,-185.7,744.0,-9.9,379,7887,0.00,1.90,0.00,0.000,6,0.000,0.022,2422,2425,3700,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8187,-0.82,-185.7,776.5,-9.6,390,8192,0.00,2.12,0.00,0.000,4,0.000,0.050,2422,3753,3696,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8266,-0.83,-185.7,782.7,-9.4,392,8271,0.00,1.88,0.00,0.000,6,0.000,0.023,2422,2445,3695,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8586,-0.85,-185.7,808.3,-7.0,403,8591,0.00,2.10,0.00,0.000,4,0.000,0.057,2422,3757,3693,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8625,-0.88,-185.7,810.8,-7.0,404,8631,0.12,1.88,0.00,0.000,6,0.081,0.024,2361,2439,3693,0,0,0,0,0,0,26.25,26.40,28.83
$GC,8956,-0.84,-185.7,845.1,-11.0,415,8958,0.12,0.00,0.00,0.000,6,0.156,0.000,2394,2437,3691,0,0,0,0,0,0,26.29,28.83,28.83
$GC,9255,-0.83,-185.7,876.8,-11.0,425,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2437,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9554,-0.82,-185.7,910.2,-11.0,435,9560,0.00,2.10,0.00,0.000,4,0.000,0.051,2394,3753,3688,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9607,-0.81,-185.7,913.9,-10.9,436,9613,0.00,1.90,0.00,0.000,6,0.000,0.024,2394,2446,3687,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9923,-0.80,-185.7,947.5,-9.8,447,9928,0.00,2.10,0.00,0.000,4,0.000,0.051,2394,3761,3686,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10001,-0.79,-185.7,954.3,-10.1,449,10006,0.00,1.90,0.00,0.000,6,0.000,0.024,2393,2440,3685,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10322,-0.78,-185.7,987.4,-10.0,460,10327,0.00,2.10,0.00,0.000,4,0.000,0.050,2387,3755,3683,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,10353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10353,begin apogee
$GC,10362,-0.20,0.0,991.3,-10.4,461,10531,0.65,0.00,159.25,1.249,6,0.119,0.000,2593,2197,2963,0,0,0,0,0,0,25.22,28.83,23.05
$STATE,10533,end apogee,CONTROL_FINISHED_OK
$STATE,10533,begin climb
$GC,10535,0.59,185.7,998.1,0.0,466,10716,0.73,2.40,170.45,1.259,4,0.070,0.046,2850,3600,2202,0,0,0,0,0,0,25.04,24.37,22.58
$GC,10814,0.55,185.7,981.3,9.5,476,10819,0.00,2.10,0.00,0.000,6,0.000,0.028,2857,2210,2195,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11146,0.53,185.7,951.3,9.0,487,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2210,2190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11443,0.52,200.0,925.7,8.5,497,11461,0.00,2.22,12.75,1.250,4,0.000,0.047,2857,3602,2141,0,0,0,0,0,0,28.83,25.91,24.06
$GC,11520,0.49,200.0,919.7,8.9,499,11526,0.15,2.10,0.00,0.000,6,0.151,0.028,2824,2198,2140,0,0,0,0,0,0,25.81,26.17,28.83
$GC,11841,0.56,264.2,895.1,6.8,510,11907,0.00,0.00,63.90,1.268,6,0.000,0.000,2824,2199,1891,0,0,0,0,0,0,28.83,28.83,23.49
$GC,12202,0.69,353.0,872.2,6.1,522,12298,0.15,2.35,88.35,1.203,4,0.073,0.048,2908,3609,1521,0,0,0,0,0,0,26.39,25.10,23.39
$GC,12328,0.67,353.0,860.0,9.8,526,12335,0.12,2.15,0.00,0.000,6,0.152,0.028,2883,2204,1516,0,0,0,0,0,0,25.45,25.70,28.83
$GC,12658,0.67,353.0,828.5,9.7,537,12663,0.00,2.15,0.00,0.000,4,0.000,0.039,2885,794,1510,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12712,0.68,353.0,825.1,9.9,538,12717,0.00,2.12,0.00,0.000,6,0.000,0.031,2885,2206,1510,0,0,0,0,0,0,28.83,26.19,28.83
$GC,13025,0.68,353.0,789.0,11.2,549,13031,0.00,2.17,0.00,0.000,4,0.000,0.047,2885,3599,1508,0,0,0,0,0,0,28.83,26.03,28.83
$GC,13103,0.68,353.0,781.0,12.0,551,13110,0.00,2.10,0.00,0.000,6,0.000,0.029,2885,2198,1507,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13425,0.68,353.0,745.8,9.7,562,13430,0.00,2.10,0.00,0.000,4,0.000,0.038,2885,805,1507,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,20073,end climb,SURFACE_DEPTH_REACHED
$STATE,20073,begin surface coast
$FINISH,0.9,1.012242
$STATE,20094,end surface coast,CONTROL_FINISHED_OK
$STATE,20094,begin surface
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$IRIDIUM_FIX,2202.04,12228.45,150113,020254
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.21
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.80
$XPDR_PINGS,71
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$10V_AH,9.8,53.798
$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
$DEVICE_SECS,21.500,169.550,679.925,0.000,0.000,0.000,0.000,264.900,17.750,0.000,6.233,2969.075,13868.562,781.750,2534.200,470.246,0.000,2325.349,0.000,2184.805,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20117.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.344,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,33323,884
$CAP_FILE_SIZE,226364,0
$CFSIZE,260165632,210915328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142,120.9,1
$GPS,150113,134235,2212.612,12228.764,31,0.9,31,-3.3