version: 66.11
glider: 167
mission: 14
dive: 415
start: 1 22 113 17 13 25
data:
$ID,167
$MISSION,14
$DIVE,415
$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,-971334.38
$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,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,66
$R_STBD_OVSHOOT,62
$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
$GPS1,220113,170505,2237.009,12215.218,37,1.2,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-64.6
$GPS2,220113,171258,2237.131,12215.289,5,1.2,5,-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,269.8,97484,-14.7,-8.462,-18.01
$D_GRID,4911
$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,-0.69,-166.2,0.0,0.0,0,85,0.00,0.00,-62.22,0.000,2,0.000,0.000,107,2481,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.69,-166.2,3.2,-3.8,6,125,9.43,1.98,-21.60,0.000,4,0.221,0.062,2432,3725,3647,0,0,0,0,0,0,24.99,25.89,26.69
$GC,256,-0.63,-166.2,28.2,-15.4,22,262,0.12,1.85,0.00,0.000,6,0.151,0.024,2463,2431,3648,0,0,0,0,0,0,25.89,26.27,28.83
$GC,571,-0.59,-166.2,69.4,-13.2,46,576,0.00,1.98,0.00,0.000,4,0.000,0.031,2464,1073,3648,0,0,0,0,0,0,28.83,26.13,28.83
$GC,629,-0.56,-166.2,75.5,-13.5,48,636,0.00,2.03,0.00,0.000,6,0.000,0.034,2464,2426,3649,0,0,0,0,0,0,28.83,26.06,28.83
$GC,938,-0.53,-166.2,118.0,-13.6,64,943,0.00,2.10,0.00,0.000,4,0.000,0.057,2458,3762,3649,0,0,0,0,0,0,28.83,25.79,28.83
$GC,965,-0.50,-166.2,121.6,-13.7,65,971,0.15,1.88,0.00,0.000,6,0.136,0.020,2499,2439,3649,0,0,0,0,0,0,25.91,26.34,28.83
$GC,1284,-0.50,-166.2,159.9,-11.0,81,1290,0.00,1.98,0.00,0.000,4,0.000,0.031,2500,1081,3652,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1347,-0.50,-166.2,167.1,-11.3,84,1354,0.00,2.08,0.00,0.000,6,0.000,0.034,2500,2457,3649,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1672,-0.56,-166.2,199.3,-9.8,100,1677,0.00,2.03,0.00,0.000,4,0.000,0.049,2500,3765,3649,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1781,-0.63,-166.2,209.3,-9.7,105,1788,0.12,1.88,0.00,0.000,6,0.073,0.018,2419,2432,3649,0,0,0,0,0,0,26.29,26.40,28.83
$GC,2101,-0.59,-166.2,244.5,-11.0,121,2107,0.15,1.98,0.00,0.000,4,0.148,0.029,2467,1083,3649,0,0,0,0,0,0,26.13,26.09,28.83
$GC,2185,-0.59,-166.2,252.8,-9.8,125,2190,0.00,2.05,0.00,0.000,6,0.000,0.035,2466,2452,3650,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2509,-0.59,-166.2,285.2,-10.3,141,2514,0.00,2.03,0.00,0.000,4,0.000,0.031,2466,1084,3650,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2545,-0.59,-166.2,287.7,-10.4,142,2553,0.00,2.05,0.00,0.000,6,0.000,0.034,2466,2453,3649,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2852,-0.60,-166.2,318.5,-9.7,158,2858,0.00,2.03,0.00,0.000,4,0.000,0.050,2466,3751,3650,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2945,-0.60,-166.2,326.5,-9.5,162,2950,0.00,1.85,0.00,0.000,6,0.000,0.018,2466,2430,3650,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3259,-0.65,-166.2,351.9,-7.3,178,3264,0.00,2.08,0.00,0.000,4,0.000,0.049,2466,3751,3648,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3394,-0.70,-166.2,361.2,-7.5,184,3399,0.00,1.83,0.00,0.000,6,0.000,0.018,2466,2437,3648,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3708,-0.75,-166.2,386.0,-8.2,200,3714,0.12,1.98,0.00,0.000,4,0.078,0.028,2381,1084,3647,0,0,0,0,0,0,26.57,26.10,28.83
$GC,3776,-0.75,-166.2,393.6,-10.9,203,3782,0.15,2.05,0.00,0.000,6,0.155,0.034,2420,2449,3646,0,0,0,0,0,0,25.70,26.08,28.83
$GC,4097,-0.74,-166.2,429.6,-10.8,219,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2449,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4397,-0.73,-166.2,459.3,-9.6,234,4403,0.00,2.00,0.00,0.000,4,0.000,0.031,2420,1096,3643,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4436,-0.72,-166.2,461.8,-9.7,235,4442,0.00,2.05,0.00,0.000,6,0.000,0.035,2420,2455,3643,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4741,-0.72,-166.2,491.5,-8.7,251,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2455,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5044,-0.72,-166.2,520.9,-10.1,266,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2455,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5343,-0.72,-166.2,550.4,-9.6,281,5348,0.00,2.05,0.00,0.000,4,0.000,0.051,2419,3761,3638,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5390,-0.72,-166.2,554.8,-9.6,283,5395,0.00,1.88,0.00,0.000,6,0.000,0.026,2420,2445,3637,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5707,-0.72,-166.2,585.5,-9.3,299,5713,0.00,2.03,0.00,0.000,4,0.000,0.036,2419,1095,3635,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5751,-0.72,-166.2,589.8,-9.8,301,5757,0.00,2.08,0.00,0.000,6,0.000,0.034,2419,2458,3634,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6067,-0.72,-166.2,621.4,-10.2,313,6072,0.00,2.05,0.00,0.000,4,0.000,0.052,2419,3759,3632,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6114,-0.72,-166.2,625.1,-10.3,314,6120,0.00,1.88,0.00,0.000,6,0.000,0.019,2419,2449,3632,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6434,-0.72,-166.2,657.1,-9.2,325,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2447,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6733,-0.72,-166.2,681.3,-7.7,335,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2446,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7035,-0.72,-166.2,702.8,-7.1,345,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2446,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7334,-0.72,-166.2,725.4,-7.6,355,7339,0.00,2.10,0.00,0.000,4,0.000,0.052,2414,3757,3626,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7401,-0.72,-166.2,731.0,-8.3,357,7407,0.00,1.88,0.00,0.000,6,0.000,0.021,2414,2462,3625,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7734,-0.72,-166.2,761.2,-9.5,368,7739,0.00,2.10,0.00,0.000,4,0.000,0.059,2414,3752,3622,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7761,-0.72,-166.2,761.2,-9.5,368,7769,0.00,1.90,0.00,0.000,6,0.000,0.021,2414,2429,3622,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8068,-0.72,-166.2,795.6,-10.2,379,8073,0.00,2.17,0.00,0.000,4,0.000,0.059,2415,3752,3621,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8095,-0.72,-166.2,795.6,-10.2,379,8103,0.00,1.88,0.00,0.000,6,0.000,0.021,2414,2447,3621,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8401,-0.72,-166.2,828.7,-9.6,390,8406,0.00,2.03,0.00,0.000,4,0.000,0.031,2414,1082,3619,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8436,-0.72,-166.2,831.9,-9.5,391,8441,0.00,2.10,0.00,0.000,6,0.000,0.035,2414,2450,3618,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8771,-0.72,-166.2,861.7,-8.4,402,8777,0.00,2.10,0.00,0.000,4,0.000,0.054,2413,3757,3616,0,0,0,0,0,0,28.83,25.49,28.83
$GC,8840,-0.72,-166.2,866.7,-7.9,404,8845,0.00,1.88,0.00,0.000,6,0.000,0.021,2414,2442,3616,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9170,-0.72,-166.2,889.2,-6.5,415,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2441,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9469,-0.72,-166.2,907.6,-6.0,425,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2441,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9769,-0.72,-166.2,926.6,-6.4,435,9774,0.00,2.12,0.00,0.000,4,0.000,0.054,2414,3752,3609,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9821,-0.72,-166.2,928.9,-6.4,436,9826,0.00,1.88,0.00,0.000,6,0.000,0.022,2413,2444,3610,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10137,-0.72,-166.2,950.0,-6.2,447,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2442,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10435,-0.72,-166.2,970.4,-7.1,457,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2442,3608,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10702,begin apogee
$GC,10709,-0.27,0.0,990.8,-7.7,466,10860,0.50,0.00,143.88,1.281,6,0.113,0.000,2574,2188,2964,0,0,0,0,0,0,25.23,28.83,23.15
$STATE,10862,end apogee,CONTROL_FINISHED_OK
$STATE,10862,begin climb
$GC,10865,0.69,166.2,995.9,0.0,471,11029,0.90,2.28,152.12,1.248,4,0.076,0.040,2885,861,2282,0,0,0,0,0,0,24.79,24.18,22.63
$GC,11057,0.68,208.1,986.9,7.0,477,11102,0.00,2.15,39.47,1.227,6,0.000,0.034,2885,2208,2117,0,0,0,0,0,0,28.83,25.08,23.13
$GC,11431,0.64,208.1,943.3,11.4,490,11436,0.00,2.20,0.00,0.000,4,0.000,0.050,2885,3599,2101,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11521,0.59,208.1,935.3,11.9,492,11528,0.15,2.03,0.00,0.000,6,0.151,0.027,2852,2233,2100,0,0,0,0,0,0,25.82,26.23,28.83
$GC,11827,0.57,208.1,902.2,9.5,503,11832,0.00,2.20,0.00,0.000,4,0.000,0.050,2852,3602,2098,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11892,0.55,208.1,895.4,9.8,505,11897,0.00,2.12,0.00,0.000,6,0.000,0.027,2852,2196,2098,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12228,0.54,208.1,865.6,8.7,516,12233,0.00,2.12,0.00,0.000,4,0.000,0.041,2852,805,2097,0,0,0,0,0,0,28.83,25.91,28.83
$GC,12252,0.53,208.1,865.6,8.7,516,12257,0.00,2.12,0.00,0.000,6,0.000,0.034,2852,2205,2096,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12568,0.55,234.0,839.2,7.6,527,12599,0.00,2.30,24.08,1.209,4,0.000,0.050,2851,3596,2006,0,0,0,0,0,0,28.83,25.60,23.93
$GC,12679,0.53,234.0,831.2,8.5,530,12684,0.00,2.10,0.00,0.000,6,0.000,0.026,2853,2185,2002,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12994,0.54,238.9,803.1,8.3,541,12999,0.00,2.10,0.00,0.000,4,0.000,0.040,2858,811,2001,0,0,0,0,0,0,28.83,25.92,28.83
$GC,13016,0.54,243.7,803.1,8.3,541,13032,0.00,2.10,10.02,1.232,6,0.000,0.033,2858,2199,1971,0,0,0,0,0,0,28.83,26.04,24.18
$GC,13361,0.58,274.2,774.6,7.4,553,13400,0.00,2.28,32.50,1.160,4,0.000,0.049,2858,3602,1845,0,0,0,0,0,0,28.83,25.52,23.88
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$STATE,21548,end climb,SURFACE_DEPTH_REACHED
$STATE,21548,begin surface coast
$FINISH,0.8,1.019445
$STATE,21580,end surface coast,CONTROL_FINISHED_OK
$STATE,21580,begin surface
$SM_CCo,21659,0.00,0.000,0,0,1236,424.86
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$IRIDIUM_FIX,2227.67,12214.67,220113,101025
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.89
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.60
$XPDR_PINGS,77
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$10V_AH,9.6,57.587
$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
$DEVICE_SECS,20.025,195.600,557.050,0.000,0.000,0.000,0.000,272.600,19.250,0.000,6.247,3110.562,15185.916,722.874,2604.073,498.269,0.000,2297.469,0.000,2244.351,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.405,0.000,0.000,0.000
$MEM,323776
$DATA_FILE_SIZE,36651,950
$CAP_FILE_SIZE,235929,0
$CFSIZE,260165632,207986688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.236, 71.1,1
$GPS,220113,231536,2237.990,12215.331,29,1.4,29,-3.4