version: 66.11
glider: 167
mission: 14
dive: 422
start: 1 24 113 11 45 24
data:
$ID,167
$MISSION,14
$DIVE,422
$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,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,-971343.12
$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,69
$R_STBD_OVSHOOT,67
$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
$GPS1,240113,113034,2245.151,12210.367,48,1.0,51,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-63.5
$GPS2,240113,114455,2245.548,12210.452,58,1.8,58,-3.4
$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,259.7,83047,-14.5,-8.919,-17.77
$D_GRID,4757
$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,-0.71,-185.7,0.0,0.0,0,84,0.00,0.00,-61.97,0.000,2,0.000,0.000,107,2481,2735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.71,-185.7,3.2,-3.5,6,130,9.38,2.12,-23.48,0.000,4,0.219,0.046,2431,1064,3732,0,0,0,0,0,0,24.95,26.08,26.70
$GC,267,-0.65,-185.7,30.8,-15.8,23,272,0.00,2.05,0.00,0.000,6,0.000,0.039,2426,2423,3729,0,0,0,0,0,0,28.83,25.96,28.83
$GC,580,-0.59,-185.7,76.8,-14.5,45,586,0.15,2.08,0.00,0.000,4,0.153,0.044,2464,3751,3729,0,0,0,0,0,0,26.06,25.79,28.83
$GC,605,-0.53,-185.7,80.0,-14.2,46,610,0.00,1.88,0.00,0.000,6,0.000,0.021,2464,2425,3729,0,0,0,0,0,0,28.83,26.32,28.83
$GC,929,-0.50,-185.7,119.0,-12.2,62,935,0.12,1.98,0.00,0.000,4,0.142,0.029,2505,1079,3729,0,0,0,0,0,0,26.25,26.03,28.83
$GC,983,-0.49,-185.7,124.0,-11.6,64,989,0.00,2.08,0.00,0.000,6,0.000,0.036,2505,2457,3729,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1297,-0.51,-185.7,156.8,-9.9,80,1303,0.00,2.05,0.00,0.000,4,0.000,0.032,2505,1077,3729,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1351,-0.53,-185.7,161.1,-9.7,82,1356,0.00,2.08,0.00,0.000,6,0.000,0.034,2505,2460,3729,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1664,-0.60,-185.7,191.2,-8.9,98,1669,0.00,2.00,0.00,0.000,4,0.000,0.048,2505,3751,3729,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1699,-0.67,-185.7,193.2,-8.8,99,1704,0.17,1.83,0.00,0.000,6,0.060,0.019,2399,2448,3729,0,0,0,0,0,0,26.29,26.36,28.83
$GC,2013,-0.62,-185.7,230.4,-10.9,115,2018,0.20,2.05,0.00,0.000,4,0.136,0.045,2455,3750,3729,0,0,0,0,0,0,25.98,25.79,28.83
$GC,2161,-0.62,-185.7,244.6,-9.6,122,2166,0.00,1.83,0.00,0.000,6,0.000,0.018,2455,2439,3729,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2480,-0.62,-185.7,275.0,-9.5,138,2485,0.00,1.98,0.00,0.000,4,0.000,0.031,2455,1084,3729,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2537,-0.62,-185.7,279.5,-10.0,140,2545,0.00,2.05,0.00,0.000,6,0.000,0.034,2451,2450,3729,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2845,-0.62,-185.7,309.7,-8.4,156,2851,0.00,2.03,0.00,0.000,4,0.000,0.048,2452,3754,3729,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2913,-0.62,-185.7,314.7,-7.6,159,2918,0.00,1.83,0.00,0.000,6,0.000,0.017,2452,2432,3729,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3232,-0.65,-185.7,340.8,-9.0,175,3237,0.00,1.95,0.00,0.000,4,0.000,0.030,2452,1092,3728,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3319,-0.67,-185.7,349.1,-9.8,179,3326,0.00,2.05,0.00,0.000,6,0.000,0.034,2452,2459,3728,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3639,-0.70,-185.7,379.5,-8.9,195,3644,0.00,2.00,0.00,0.000,4,0.000,0.029,2451,1102,3727,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3651,-0.74,-185.7,379.5,-8.9,195,3657,0.00,2.03,0.00,0.000,6,0.000,0.034,2452,2450,3727,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3966,-0.78,-185.7,404.7,-7.4,211,3972,0.12,2.00,0.00,0.000,4,0.080,0.028,2369,1101,3725,0,0,0,0,0,0,26.55,26.06,28.83
$GC,4005,-0.80,-185.7,407.0,-7.7,212,4013,0.12,2.03,0.00,0.000,6,0.163,0.034,2406,2449,3724,0,0,0,0,0,0,25.68,26.03,28.83
$GC,4311,-0.78,-185.7,440.4,-10.8,228,4317,0.00,2.05,0.00,0.000,4,0.000,0.050,2398,3755,3723,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4355,-0.76,-185.7,445.3,-10.9,230,4361,0.00,1.85,0.00,0.000,6,0.000,0.019,2398,2443,3723,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4680,-0.73,-185.7,482.0,-11.6,246,4685,0.12,2.10,0.00,0.000,4,0.150,0.047,2437,3763,3721,0,0,0,0,0,0,26.22,25.71,28.83
$GC,4713,-0.71,-185.7,484.5,-11.3,247,4719,0.00,1.85,0.00,0.000,6,0.000,0.018,2437,2451,3721,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5027,-0.73,-185.7,515.9,-9.2,263,5032,0.00,2.00,0.00,0.000,4,0.000,0.030,2437,1087,3719,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5065,-0.74,-185.7,518.2,-9.4,264,5071,0.00,2.08,0.00,0.000,6,0.000,0.034,2437,2459,3718,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5371,-0.75,-185.7,547.0,-9.1,280,5376,0.00,2.03,0.00,0.000,4,0.000,0.050,2437,3752,3717,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5463,-0.77,-185.7,554.5,-9.0,284,5468,0.00,1.85,0.00,0.000,6,0.000,0.019,2437,2436,3716,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5777,-0.79,-185.7,581.2,-8.5,300,5783,0.00,2.10,0.00,0.000,4,0.000,0.051,2437,3750,3714,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5811,-0.80,-185.7,583.2,-8.3,301,5816,0.00,1.83,0.00,0.000,6,0.000,0.019,2437,2453,3714,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6145,-0.82,-185.7,610.6,-8.0,316,6151,0.12,2.03,0.00,0.000,4,0.081,0.028,2366,1079,3711,0,0,0,0,0,0,26.53,26.00,28.83
$GC,6183,-0.82,-185.7,614.2,-8.5,317,6189,0.12,2.10,0.00,0.000,6,0.162,0.037,2396,2447,3711,0,0,0,0,0,0,25.58,25.90,28.83
$GC,6515,-0.80,-185.7,646.3,-9.4,328,6521,0.00,2.08,0.00,0.000,4,0.000,0.052,2396,3762,3709,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6554,-0.79,-185.7,649.9,-9.3,329,6559,0.00,1.88,0.00,0.000,6,0.000,0.020,2396,2448,3708,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6885,-0.77,-185.7,681.3,-9.4,340,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2440,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7183,-0.76,-185.7,709.6,-9.3,350,7189,0.00,2.03,0.00,0.000,4,0.000,0.030,2396,1071,3703,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7217,-0.74,-185.7,713.1,-9.5,351,7222,0.00,2.12,0.00,0.000,6,0.000,0.035,2396,2458,3702,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7553,-0.73,-185.7,744.4,-9.3,362,7559,0.12,2.08,0.00,0.000,4,0.156,0.050,2437,3758,3701,0,0,0,0,0,0,26.17,25.51,28.83
$GC,7601,-0.73,-185.7,747.5,-9.1,363,7606,0.00,1.88,0.00,0.000,6,0.000,0.021,2436,2434,3701,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7922,-0.75,-185.7,773.9,-8.1,374,7928,0.00,2.17,0.00,0.000,4,0.000,0.053,2436,3762,3697,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7946,-0.77,-185.7,773.9,-8.1,374,7952,0.00,1.90,0.00,0.000,6,0.000,0.028,2436,2446,3698,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8263,-0.80,-185.7,802.8,-8.5,385,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2445,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8560,-0.82,-185.7,826.9,-7.8,395,8566,0.10,2.12,0.00,0.000,4,0.097,0.051,2382,3758,3694,0,0,0,0,0,0,26.54,25.43,28.83
$GC,8590,-0.84,-185.7,826.9,-7.8,395,8597,0.00,1.88,0.00,0.000,6,0.000,0.022,2382,2452,3693,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8897,-0.82,-185.7,862.4,-10.7,406,8902,0.00,2.05,0.00,0.000,4,0.000,0.031,2382,1077,3691,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8955,-0.80,-185.7,866.4,-10.9,407,8961,0.00,2.10,0.00,0.000,6,0.000,0.037,2381,2448,3691,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9263,-0.78,-185.7,904.5,-11.5,418,9269,0.12,2.10,0.00,0.000,4,0.164,0.051,2413,3755,3690,0,0,0,0,0,0,26.12,25.37,28.83
$GC,9307,-0.77,-185.7,908.6,-11.4,419,9313,0.00,1.88,0.00,0.000,6,0.000,0.021,2413,2442,3688,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9633,-0.77,-185.7,941.2,-9.7,430,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2442,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9931,-0.77,-185.7,971.0,-10.1,440,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2441,3686,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10138,begin apogee
$GC,10146,-0.27,0.0,990.8,-9.1,447,10316,0.50,0.00,160.93,1.344,6,0.112,0.000,2574,2189,2962,0,0,0,0,0,0,25.20,28.83,22.93
$STATE,10317,end apogee,CONTROL_FINISHED_OK
$STATE,10318,begin climb
$GC,10321,0.71,185.7,997.8,0.0,452,10502,0.93,2.35,171.02,1.297,4,0.076,0.039,2886,851,2203,0,0,0,0,0,0,24.51,23.76,22.20
$GC,10572,0.65,185.7,982.5,9.3,461,10578,0.00,2.12,0.00,0.000,6,0.000,0.035,2891,2204,2194,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10903,0.60,185.7,946.8,10.8,472,10909,0.12,2.22,0.00,0.000,4,0.144,0.048,2851,3608,2190,0,0,0,0,0,0,26.10,25.82,28.83
$GC,11000,0.56,185.7,936.5,10.7,475,11006,0.00,2.05,0.00,0.000,6,0.000,0.028,2856,2238,2188,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11337,0.55,202.7,906.7,8.4,486,11354,0.00,0.00,15.12,1.255,6,0.000,0.000,2856,2239,2140,0,0,0,0,0,0,28.83,28.83,24.09
$GC,11637,0.58,243.6,883.2,7.6,496,11687,0.00,2.30,41.45,1.252,4,0.000,0.050,2856,3596,1966,0,0,0,0,0,0,28.83,25.36,23.73
$GC,11716,0.60,279.4,878.4,7.8,498,11759,0.00,2.12,36.22,1.228,6,0.000,0.027,2856,2189,1827,0,0,0,0,0,0,28.83,25.86,23.61
$GC,12087,0.63,307.2,846.8,8.0,511,12122,0.00,2.15,28.75,1.219,4,0.000,0.039,2856,815,1708,0,0,0,0,0,0,28.83,25.58,23.94
$GC,12155,0.66,333.6,841.7,8.1,513,12189,0.00,2.12,26.70,1.205,6,0.000,0.033,2856,2203,1603,0,0,0,0,0,0,28.83,25.88,23.75
$GC,12513,0.75,388.6,815.2,7.1,525,12578,0.12,2.28,56.75,1.166,4,0.082,0.050,2926,3596,1376,0,0,0,0,0,0,26.39,25.29,23.77
$GC,12652,0.72,388.6,801.0,11.3,529,12658,0.00,2.10,0.00,0.000,6,0.000,0.027,2925,2204,1370,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,20714,end climb,SURFACE_DEPTH_REACHED
$STATE,20714,begin surface coast
$FINISH,1.0,1.022850
$STATE,20735,end surface coast,CONTROL_FINISHED_OK
$STATE,20736,begin surface
$SM_CCo,20816,0.00,0.000,0,0,1174,439.82
$SM_GC,1.64,7.62,0.40,0.00,0.031,0.050,0.000,118,2456,1174,-7.86,-1.22,439.82,0,0,0,0,0,0,26.06,26.26,28.83
$IRIDIUM_FIX,2239.35,12209.99,240113,111101
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.43
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.60
$XPDR_PINGS,97
$24V_AH,22.2,90.878
$10V_AH,9.7,58.497
$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,21.075,199.225,579.275,0.000,0.000,0.000,0.000,545.750,24.250,0.000,59.777,3057.597,14455.907,738.460,2899.087,517.513,0.000,2587.731,0.000,2237.328,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,52.785,1344.105,0.000,0.000,0.000,0.000,117.810,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20759.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.379,0.000,0.000,0.000
$MEM,323836
$DATA_FILE_SIZE,33404,918
$CAP_FILE_SIZE,239611,0
$CFSIZE,260165632,207273984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.295, 33.6,1
$GPS,240113,173336,2247.856,12210.125,33,0.8,33,-3.4