version: 66.11
glider: 167
mission: 14
dive: 414
start: 1 22 113 11 1 6
data:
$ID,167
$MISSION,14
$DIVE,414
$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,390
$T_MISSION,410
$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,170
$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,-971333.12
$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,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$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,68
$R_STBD_OVSHOOT,49
$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
$GPS1,220113,105305,2235.519,12215.805,39,1.5,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-67.8
$GPS2,220113,110039,2235.610,12215.848,3,1.5,4,-3.4
$SPEED_LIMITS,0.147,0.260
$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,284.7,99743,-14.7,-8.462,-18.01
$D_GRID,4893
$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,21,-0.69,-166.2,0.0,0.0,0,85,0.00,0.00,-61.65,0.000,2,0.000,0.000,108,2456,2800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.69,-166.2,3.2,-3.9,6,124,9.40,2.15,-19.62,0.000,4,0.220,0.046,2433,1066,3647,0,0,0,0,0,0,25.01,26.07,26.67
$GC,279,-0.63,-166.2,31.7,-15.3,24,286,0.12,2.08,0.00,0.000,6,0.158,0.034,2457,2446,3648,0,0,0,0,0,0,25.75,26.06,28.83
$GC,596,-0.60,-166.2,76.3,-13.8,47,601,0.00,2.03,0.00,0.000,4,0.000,0.050,2458,3749,3646,0,0,0,0,0,0,28.83,25.81,28.83
$GC,643,-0.56,-166.2,82.5,-14.0,49,648,0.00,1.85,0.00,0.000,6,0.000,0.018,2458,2428,3649,0,0,0,0,0,0,28.83,26.39,28.83
$GC,961,-0.52,-166.2,127.1,-13.6,65,968,0.12,1.98,0.00,0.000,4,0.148,0.030,2499,1081,3649,0,0,0,0,0,0,26.25,26.06,28.83
$GC,1006,-0.50,-166.2,132.6,-12.9,67,1012,0.00,2.05,0.00,0.000,6,0.000,0.036,2499,2450,3649,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1330,-0.50,-166.2,168.0,-10.6,83,1335,0.00,2.03,0.00,0.000,4,0.000,0.033,2499,1078,3649,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1393,-0.50,-166.2,174.2,-9.8,86,1398,0.00,2.05,0.00,0.000,6,0.000,0.034,2499,2450,3649,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1716,-0.52,-166.2,199.9,-8.1,102,1721,0.00,2.03,0.00,0.000,4,0.000,0.048,2499,3759,3649,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1775,-0.55,-166.2,203.6,-8.2,104,1781,0.00,1.83,0.00,0.000,6,0.000,0.018,2498,2437,3649,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2080,-0.61,-166.2,231.2,-9.0,120,2085,0.00,1.95,0.00,0.000,4,0.000,0.031,2499,1095,3651,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2132,-0.67,-166.2,235.2,-9.2,122,2138,0.15,2.08,0.00,0.000,6,0.067,0.037,2410,2452,3651,0,0,0,0,0,0,26.08,26.07,28.83
$GC,2447,-0.63,-166.2,275.4,-13.1,138,2453,0.15,2.03,0.00,0.000,4,0.149,0.046,2452,3758,3651,0,0,0,0,0,0,26.13,25.84,28.83
$GC,2471,-0.60,-166.2,278.3,-12.7,139,2478,0.00,1.88,0.00,0.000,6,0.000,0.018,2452,2421,3651,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2796,-0.60,-166.2,311.9,-10.5,155,2801,0.00,2.08,0.00,0.000,4,0.000,0.047,2452,3748,3651,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2823,-0.60,-166.2,314.4,-10.6,156,2829,0.00,1.80,0.00,0.000,6,0.000,0.018,2452,2448,3651,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3141,-0.60,-166.2,348.5,-9.9,172,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2447,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3444,-0.64,-166.2,377.0,-9.7,187,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2447,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-0.67,-166.2,402.6,-7.9,202,3751,0.00,2.00,0.00,0.000,4,0.000,0.031,2452,1089,3648,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3789,-0.70,-166.2,406.5,-8.1,204,3796,0.00,2.05,0.00,0.000,6,0.000,0.034,2452,2448,3648,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4114,-0.71,-166.2,434.9,-9.6,220,4119,0.00,2.00,0.00,0.000,4,0.000,0.030,2451,1094,3646,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4161,-0.73,-166.2,439.4,-10.0,222,4167,0.00,2.08,0.00,0.000,6,0.000,0.039,2452,2455,3645,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4480,-0.75,-166.2,470.2,-8.7,238,4485,0.00,2.03,0.00,0.000,4,0.000,0.050,2452,3751,3644,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4553,-0.77,-166.2,475.8,-8.8,241,4560,0.10,1.83,0.00,0.000,6,0.093,0.018,2391,2433,3644,0,0,0,0,0,0,26.28,26.41,28.83
$GC,4868,-0.74,-166.2,507.1,-9.9,257,4874,0.12,1.98,0.00,0.000,4,0.151,0.029,2430,1102,3642,0,0,0,0,0,0,26.24,26.05,28.83
$GC,4943,-0.73,-166.2,513.2,-9.6,260,4948,0.00,2.03,0.00,0.000,6,0.000,0.035,2427,2448,3646,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5256,-0.73,-166.2,542.2,-8.6,276,5262,0.00,2.05,0.00,0.000,4,0.000,0.052,2427,3751,3640,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5325,-0.73,-166.2,548.4,-9.6,279,5330,0.00,1.83,0.00,0.000,6,0.000,0.019,2427,2444,3639,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5643,-0.73,-166.2,576.5,-8.3,295,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2444,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5946,-0.73,-166.2,598.1,-6.9,310,5951,0.00,2.10,0.00,0.000,4,0.000,0.051,2426,3762,3635,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5993,-0.73,-166.2,600.8,-7.0,312,5999,0.00,1.88,0.00,0.000,6,0.000,0.022,2426,2453,3634,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6314,-0.73,-166.2,624.6,-7.3,323,6320,0.00,2.08,0.00,0.000,4,0.000,0.052,2426,3752,3635,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6363,-0.73,-166.2,627.4,-7.4,324,6368,0.00,1.85,0.00,0.000,6,0.000,0.019,2426,2444,3632,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6681,-0.73,-166.2,655.6,-8.7,335,6686,0.00,2.10,0.00,0.000,4,0.000,0.052,2426,3755,3631,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6715,-0.73,-166.2,658.7,-8.9,336,6721,0.00,1.90,0.00,0.000,6,0.000,0.020,2426,2431,3630,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7052,-0.73,-166.2,689.4,-8.7,347,7058,0.00,2.12,0.00,0.000,4,0.000,0.052,2426,3754,3627,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7087,-0.73,-166.2,692.5,-8.6,348,7092,0.00,1.85,0.00,0.000,6,0.000,0.021,2426,2450,3627,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7421,-0.73,-166.2,718.2,-7.4,359,7427,0.00,2.00,0.00,0.000,4,0.000,0.031,2426,1093,3625,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7459,-0.73,-166.2,720.9,-7.5,360,7464,0.00,2.08,0.00,0.000,6,0.000,0.041,2426,2448,3625,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7791,-0.73,-166.2,746.5,-7.5,371,7797,0.00,2.08,0.00,0.000,4,0.000,0.054,2426,3755,3623,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7860,-0.73,-166.2,751.8,-7.8,373,7865,0.00,1.85,0.00,0.000,6,0.000,0.021,2426,2441,3622,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8191,-0.73,-166.2,775.8,-7.2,384,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2440,3620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8488,-0.74,-166.2,798.3,-7.6,394,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2439,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8789,-0.75,-166.2,821.8,-8.0,404,8795,0.00,2.00,0.00,0.000,4,0.000,0.031,2426,1090,3617,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8813,-0.76,-166.2,821.8,-8.0,404,8819,0.00,2.10,0.00,0.000,6,0.000,0.036,2426,2449,3617,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9130,-0.77,-166.2,847.3,-7.2,415,9136,0.00,2.10,0.00,0.000,4,0.000,0.054,2426,3763,3615,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9199,-0.77,-166.2,852.4,-7.4,417,9204,0.00,1.88,0.00,0.000,6,0.000,0.021,2426,2452,3615,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9530,-0.78,-166.2,878.4,-8.3,428,9536,0.00,2.05,0.00,0.000,4,0.000,0.037,2426,1086,3613,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9559,-0.79,-166.2,878.4,-8.3,428,9566,0.00,2.10,0.00,0.000,6,0.000,0.037,2426,2453,3613,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9865,-0.81,-166.2,911.3,-10.3,439,9871,0.00,2.08,0.00,0.000,4,0.000,0.054,2426,3752,3611,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9903,-0.82,-166.2,914.8,-10.4,440,9908,0.00,1.88,0.00,0.000,6,0.000,0.022,2425,2448,3611,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10233,-0.83,-166.2,949.5,-10.5,451,10234,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2447,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10532,-0.85,-166.2,979.4,-9.7,461,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2447,3609,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10649,begin apogee
$GC,10655,-0.27,0.0,990.3,-9.1,465,10808,0.45,0.00,143.38,1.276,6,0.112,0.000,2571,2182,2966,0,0,0,0,0,0,25.34,28.83,23.16
$STATE,10809,end apogee,CONTROL_FINISHED_OK
$STATE,10809,begin climb
$GC,10812,0.69,166.2,997.3,0.0,470,10975,0.90,2.28,151.80,1.239,4,0.078,0.040,2881,855,2282,0,0,0,0,0,0,24.79,24.23,22.68
$GC,11018,0.65,182.2,986.3,7.9,477,11044,0.00,2.12,14.62,1.225,6,0.000,0.034,2880,2206,2218,0,0,0,0,0,0,28.83,25.35,23.41
$GC,11344,0.61,182.2,953.4,9.9,488,11350,0.00,2.22,0.00,0.000,4,0.000,0.050,2881,3608,2211,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11417,0.56,182.2,946.4,10.4,490,11423,0.17,2.05,0.00,0.000,6,0.150,0.027,2840,2228,2209,0,0,0,0,0,0,25.72,26.20,28.83
$GC,11744,0.55,182.2,917.7,8.5,501,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2228,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12042,0.53,182.2,890.7,8.9,511,12047,0.00,2.22,0.00,0.000,4,0.000,0.050,2840,3606,2206,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12095,0.52,182.2,887.4,9.1,512,12100,0.00,2.10,0.00,0.000,6,0.000,0.027,2843,2197,2206,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12411,0.51,182.2,858.1,8.6,523,12416,0.00,2.28,0.00,0.000,4,0.000,0.050,2843,3608,2205,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12448,0.49,182.2,854.8,8.7,524,12453,0.00,2.10,0.00,0.000,6,0.000,0.028,2850,2195,2205,0,0,0,0,0,0,28.83,26.14,28.83
$GC,12781,0.53,227.0,829.6,6.9,535,12837,0.00,2.40,44.20,1.180,4,0.000,0.050,2850,3603,2034,0,0,0,0,0,0,28.83,25.36,23.76
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$STATE,21646,end climb,SURFACE_DEPTH_REACHED
$STATE,21646,begin surface coast
$FINISH,0.8,1.016287
$STATE,21679,end surface coast,CONTROL_FINISHED_OK
$STATE,21680,begin surface
$SM_CCo,21758,0.00,0.000,0,0,1070,465.58
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$IRIDIUM_FIX,2225.34,12217.89,220113,040450
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.26
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.70
$XPDR_PINGS,84
$24V_AH,22.7,89.211
$10V_AH,9.7,57.457
$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,20.200,182.325,577.200,0.000,0.000,0.000,0.000,256.700,21.000,0.000,5.248,3124.789,15253.310,735.005,2586.339,503.550,0.000,2286.386,0.000,2252.510,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,54.315,1276.020,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21687.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.427,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,36666,955
$CAP_FILE_SIZE,237925,0
$CFSIZE,260165632,208084992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.187, 69.6,1
$GPS,220113,170505,2237.009,12215.218,37,1.2,37,-3.4