version: 66.11
glider: 167
mission: 14
dive: 424
start: 1 24 113 23 38 37
data:
$ID,167
$MISSION,14
$DIVE,424
$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,350
$T_MISSION,370
$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,200
$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,-971345.62
$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,72
$R_STBD_OVSHOOT,38
$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
$GPS1,240113,233005,2249.779,12210.114,35,1.3,35,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-52.4
$GPS2,240113,233810,2249.906,12210.123,8,1.3,8,-3.4
$SPEED_LIMITS,0.163,0.290
$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,247.0,79607,-14.8,-9.429,-18.00
$D_GRID,4922
$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,-0.73,-195.5,0.0,0.0,0,84,0.00,0.00,-61.78,0.000,2,0.000,0.000,108,2460,2755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.73,-195.5,3.1,-3.6,6,130,9.32,2.10,-22.65,0.000,4,0.220,0.064,2412,3741,3767,0,0,0,0,0,0,25.00,25.86,26.58
$GC,361,-0.66,-195.5,55.0,-17.3,31,367,0.15,1.85,0.00,0.000,6,0.146,0.025,2452,2449,3768,0,0,0,0,0,0,25.72,26.15,28.83
$GC,680,-0.63,-195.5,100.7,-14.1,47,686,0.00,2.03,0.00,0.000,4,0.000,0.031,2453,1059,3768,0,0,0,0,0,0,28.83,26.05,28.83
$GC,738,-0.60,-195.5,107.0,-14.2,49,745,0.00,2.10,0.00,0.000,6,0.000,0.035,2452,2453,3768,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1045,-0.57,-195.5,144.6,-10.3,65,1050,0.00,2.05,0.00,0.000,4,0.000,0.031,2452,1065,3768,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1092,-0.55,-195.5,149.0,-10.0,67,1099,0.12,2.10,0.00,0.000,6,0.148,0.035,2485,2460,3769,0,0,0,0,0,0,25.71,25.99,28.83
$GC,1413,-0.57,-195.5,176.8,-8.9,83,1418,0.00,2.05,0.00,0.000,4,0.000,0.030,2486,1066,3769,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1431,-0.60,-195.5,176.8,-8.9,83,1438,0.00,2.08,0.00,0.000,6,0.000,0.033,2483,2455,3769,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1738,-0.65,-195.5,205.5,-9.1,99,1743,0.00,2.05,0.00,0.000,4,0.000,0.030,2482,1063,3769,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1765,-0.70,-195.5,208.1,-9.6,100,1771,0.12,2.10,0.00,0.000,6,0.078,0.034,2405,2462,3769,0,0,0,0,0,0,25.99,26.01,28.83
$GC,2084,-0.67,-195.5,247.4,-11.9,116,2090,0.12,2.05,0.00,0.000,4,0.155,0.047,2438,3762,3769,0,0,0,0,0,0,26.20,25.70,28.83
$GC,2123,-0.64,-195.5,250.2,-11.8,117,2129,0.00,1.85,0.00,0.000,6,0.000,0.018,2437,2432,3769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2429,-0.64,-195.5,279.6,-9.1,133,2434,0.00,1.95,0.00,0.000,4,0.000,0.031,2438,1085,3769,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2476,-0.64,-195.5,283.8,-9.2,135,2482,0.00,2.05,0.00,0.000,6,0.000,0.035,2438,2453,3769,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2795,-0.64,-195.5,314.6,-9.7,151,2800,0.00,2.03,0.00,0.000,4,0.000,0.049,2437,3752,3769,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2827,-0.64,-195.5,316.9,-9.8,152,2833,0.00,1.88,0.00,0.000,6,0.000,0.018,2437,2420,3769,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3143,-0.64,-195.5,350.0,-10.2,168,3148,0.00,2.10,0.00,0.000,4,0.000,0.048,2437,3753,3768,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3175,-0.64,-195.5,352.4,-10.0,169,3180,0.00,1.80,0.00,0.000,6,0.000,0.018,2437,2444,3768,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3488,-0.64,-195.5,381.6,-8.7,185,3494,0.00,1.98,0.00,0.000,4,0.000,0.031,2438,1086,3767,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3557,-0.64,-195.5,387.7,-9.4,188,3562,0.00,2.05,0.00,0.000,6,0.000,0.034,2437,2451,3766,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3875,-0.64,-195.5,419.8,-9.6,204,3880,0.00,2.03,0.00,0.000,4,0.000,0.050,2437,3751,3765,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3918,-0.65,-195.5,424.3,-10.1,206,3923,0.00,1.83,0.00,0.000,6,0.000,0.018,2437,2460,3765,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4242,-0.67,-195.5,454.0,-8.8,222,4247,0.00,2.08,0.00,0.000,4,0.000,0.058,2437,3754,3763,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4260,-0.68,-195.5,454.0,-8.8,222,4267,0.00,1.88,0.00,0.000,6,0.000,0.018,2437,2410,3764,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4566,-0.70,-195.5,481.6,-8.9,238,4571,0.00,1.90,0.00,0.000,4,0.000,0.030,2437,1099,3761,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4630,-0.71,-195.5,487.8,-9.7,241,4635,0.00,2.08,0.00,0.000,6,0.000,0.035,2437,2455,3761,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4954,-0.76,-195.5,515.3,-8.1,257,4960,0.00,2.03,0.00,0.000,4,0.000,0.050,2437,3751,3759,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5075,-0.81,-195.5,523.7,-8.2,262,5081,0.00,1.80,0.00,0.000,6,0.000,0.018,2436,2437,3758,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5379,-0.85,-195.5,550.1,-8.5,278,5385,0.12,1.98,0.00,0.000,4,0.080,0.028,2357,1100,3757,0,0,0,0,0,0,26.54,26.01,28.83
$GC,5414,-0.88,-195.5,552.6,-9.0,279,5419,0.00,2.08,0.00,0.000,6,0.000,0.037,2356,2450,3756,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5727,-0.83,-195.5,593.7,-12.3,295,5729,0.15,0.00,0.00,0.000,6,0.160,0.000,2396,2451,3755,0,0,0,0,0,0,26.10,28.83,28.83
$GC,6028,-0.83,-195.5,623.1,-9.5,306,6034,0.00,2.08,0.00,0.000,4,0.000,0.057,2396,3752,3754,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6085,-0.83,-195.5,626.5,-9.5,307,6093,0.00,1.83,0.00,0.000,6,0.000,0.019,2396,2457,3753,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6392,-0.83,-195.5,658.5,-10.0,318,6397,0.00,2.08,0.00,0.000,4,0.000,0.052,2396,3754,3751,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6445,-0.83,-195.5,661.9,-10.0,319,6450,0.00,1.85,0.00,0.000,6,0.000,0.019,2396,2454,3751,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6760,-0.83,-195.5,694.9,-9.7,330,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2455,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7059,-0.83,-195.5,725.8,-10.4,340,7064,0.00,2.10,0.00,0.000,4,0.000,0.053,2396,3762,3747,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7126,-0.83,-195.5,732.7,-10.9,342,7132,0.00,1.85,0.00,0.000,6,0.000,0.020,2396,2444,3746,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7456,-0.83,-195.5,769.4,-11.0,353,7462,0.00,2.12,0.00,0.000,4,0.000,0.055,2397,3752,3743,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7491,-0.83,-195.5,773.2,-11.0,354,7496,0.00,1.85,0.00,0.000,6,0.000,0.021,2396,2448,3742,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7826,-0.83,-195.5,807.2,-9.6,365,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2448,3740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8125,-0.83,-195.5,835.5,-9.4,375,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2447,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8424,-0.83,-195.5,865.4,-9.9,385,8430,0.00,2.03,0.00,0.000,4,0.000,0.032,2396,1083,3736,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8448,-0.83,-195.5,865.4,-9.9,385,8454,0.00,2.10,0.00,0.000,6,0.000,0.037,2397,2453,3740,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8763,-0.83,-195.5,899.8,-10.3,396,8768,0.00,2.08,0.00,0.000,4,0.000,0.054,2396,3754,3734,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8845,-0.83,-195.5,906.8,-10.6,398,8851,0.00,1.85,0.00,0.000,6,0.000,0.022,2396,2456,3733,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9160,-0.83,-195.5,942.2,-10.4,409,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2454,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9459,-0.83,-195.5,973.4,-10.2,419,9464,0.00,2.12,0.00,0.000,4,0.000,0.054,2396,3762,3730,0,0,0,0,0,0,28.83,25.30,28.83
$GC,9506,-0.83,-195.5,977.0,-10.3,420,9512,0.00,1.88,0.00,0.000,6,0.000,0.022,2396,2451,3730,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,9643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9644,begin apogee
$GC,9650,-0.27,0.0,992.8,-10.3,425,9827,0.55,0.00,168.02,1.297,6,0.113,0.000,2574,2178,2962,0,0,0,0,0,0,25.10,28.83,23.05
$STATE,9828,end apogee,CONTROL_FINISHED_OK
$STATE,9828,begin climb
$GC,9832,0.73,195.5,1002.0,0.0,431,10015,0.95,0.00,177.18,1.247,6,0.074,0.000,2897,2178,2170,0,0,0,0,0,0,24.63,28.83,22.49
$GC,10308,0.68,195.5,966.1,9.6,447,10313,0.00,2.30,0.00,0.000,4,0.000,0.050,2897,3611,2151,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10402,0.62,195.5,955.9,10.4,450,10408,0.12,2.05,0.00,0.000,6,0.168,0.028,2866,2245,2149,0,0,0,0,0,0,25.70,26.02,28.83
$GC,10737,0.65,245.0,929.0,7.8,461,10789,0.00,0.00,46.25,1.205,6,0.000,0.000,2865,2245,1961,0,0,0,0,0,0,28.83,28.83,23.80
$GC,11098,0.67,270.7,897.7,8.6,473,11126,0.00,0.00,25.48,1.214,6,0.000,0.000,2870,2245,1862,0,0,0,0,0,0,28.83,28.83,23.94
$GC,11427,0.69,291.2,868.5,8.8,484,11455,0.00,0.00,21.42,1.216,6,0.000,0.000,2866,2245,1775,0,0,0,0,0,0,28.83,28.83,24.01
$GC,11758,0.71,303.3,839.1,9.0,495,11777,0.00,2.22,13.02,1.227,4,0.000,0.038,2879,808,1725,0,0,0,0,0,0,28.83,25.86,24.17
$GC,11804,0.72,310.2,835.9,9.2,496,11814,0.00,2.12,4.03,1.125,6,0.000,0.033,2873,2207,1703,0,0,0,0,0,0,28.83,26.01,24.07
$GC,12123,0.72,310.2,803.3,9.7,507,12129,0.00,2.20,0.00,0.000,4,0.000,0.050,2873,3603,1708,0,0,0,0,0,0,28.83,25.81,28.83
$GC,12191,0.72,310.2,796.2,10.3,509,12198,0.00,2.10,0.00,0.000,6,0.000,0.028,2879,2190,1707,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12522,0.74,326.2,765.4,8.9,520,12550,0.00,0.00,22.17,1.192,6,0.000,0.000,2878,2190,1631,0,0,0,0,0,0,28.83,28.83,24.03
$GC,12852,0.74,328.2,734.6,9.4,531,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2190,1626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13151,0.75,338.1,706.8,9.1,541,13169,0.00,2.28,12.75,1.170,4,0.000,0.048,2874,3602,1582,0,0,0,0,0,0,28.83,25.84,24.21
$GC,13207,0.75,341.4,703.7,9.3,542,13214,0.00,2.10,0.00,0.000,6,0.000,0.027,2878,2191,1580,0,0,0,0,0,0,28.83,26.10,28.83
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$STATE,19763,end climb,SURFACE_DEPTH_REACHED
$STATE,19763,begin surface coast
$FINISH,0.8,1.010675
$STATE,19785,end surface coast,CONTROL_FINISHED_OK
$STATE,19785,begin surface
$SM_CCo,19864,0.00,0.000,0,0,907,505.81
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$IRIDIUM_FIX,2241.69,12444.96,240113,171703
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.84
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.50
$XPDR_PINGS,79
$24V_AH,22.5,91.310
$10V_AH,9.8,58.746
$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,20.075,173.500,625.025,0.000,0.000,0.000,0.000,279.000,19.750,0.000,10.087,2849.849,13815.637,770.251,2438.042,466.629,0.000,2264.024,0.000,2089.118,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,64.260,1296.675,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19791.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.329,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,33330,870
$CAP_FILE_SIZE,217265,0
$CFSIZE,260165632,207093760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.217, 44.1,1
$GPS,250113,051106,2250.665,12209.668,40,1.3,40,-3.4