version: 66.11
glider: 167
mission: 14
dive: 425
start: 1 25 113 5 19 5
data:
$ID,167
$MISSION,14
$DIVE,425
$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,-971346.88
$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,58
$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
$GPS1,250113,051106,2250.665,12209.668,40,1.3,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-62.0
$GPS2,250113,051839,2250.804,12209.602,4,1.2,4,-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,248.8,78246,-14.8,-9.429,-18.00
$D_GRID,5003
$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,-0.73,-195.5,0.0,0.0,0,85,0.00,0.00,-62.12,0.000,2,0.000,0.000,108,2473,2547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.73,-195.5,3.1,-3.1,6,136,9.27,2.03,-30.58,0.000,4,0.218,0.064,2413,3738,3766,0,0,0,0,0,0,25.08,25.85,26.67
$GC,339,-0.66,-195.5,44.4,-17.4,30,345,0.15,1.88,0.00,0.000,6,0.146,0.024,2453,2438,3767,0,0,0,0,0,0,25.77,26.22,28.83
$GC,653,-0.62,-195.5,88.9,-13.3,47,658,0.00,2.00,0.00,0.000,4,0.000,0.031,2453,1078,3768,0,0,0,0,0,0,28.83,26.01,28.83
$GC,737,-0.60,-195.5,100.4,-13.9,51,742,0.00,2.08,0.00,0.000,6,0.000,0.037,2452,2441,3767,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1060,-0.57,-195.5,138.6,-12.1,67,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2441,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-0.56,-195.5,174.7,-10.4,82,1369,0.12,2.05,0.00,0.000,4,0.144,0.032,2493,1073,3768,0,0,0,0,0,0,26.25,25.98,28.83
$GC,1410,-0.56,-195.5,179.0,-9.8,84,1416,0.00,2.08,0.00,0.000,6,0.000,0.034,2493,2456,3769,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1730,-0.63,-195.5,205.3,-7.9,100,1737,0.00,2.03,0.00,0.000,4,0.000,0.049,2493,3760,3770,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1789,-0.70,-195.5,208.7,-7.6,102,1797,0.17,1.85,0.00,0.000,6,0.059,0.018,2388,2427,3770,0,0,0,0,0,0,26.25,26.36,28.83
$GC,2095,-0.66,-195.5,248.7,-14.5,118,2101,0.17,1.98,0.00,0.000,4,0.142,0.030,2445,1084,3769,0,0,0,0,0,0,26.02,26.04,28.83
$GC,2143,-0.63,-195.5,254.4,-14.0,120,2149,0.00,2.05,0.00,0.000,6,0.000,0.035,2445,2449,3769,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2462,-0.63,-195.5,288.1,-9.6,136,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2449,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2765,-0.63,-195.5,314.4,-8.7,151,2770,0.00,2.05,0.00,0.000,4,0.000,0.050,2445,3754,3770,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2823,-0.63,-195.5,318.5,-8.6,153,2831,0.00,1.85,0.00,0.000,6,0.000,0.017,2445,2460,3769,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3129,-0.64,-195.5,347.8,-9.1,169,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2460,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3431,-0.69,-195.5,374.0,-8.3,184,3437,0.00,2.05,0.00,0.000,4,0.000,0.031,2445,1071,3767,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3531,-0.71,-195.5,381.1,-8.2,188,3538,0.00,2.10,0.00,0.000,6,0.000,0.035,2444,2452,3767,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3835,-0.73,-195.5,407.3,-8.5,204,3840,0.00,2.03,0.00,0.000,4,0.000,0.050,2444,3749,3765,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3899,-0.75,-195.5,413.1,-9.0,207,3904,0.00,1.88,0.00,0.000,6,0.000,0.018,2445,2435,3765,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4223,-0.77,-195.5,440.8,-8.5,223,4229,0.00,1.98,0.00,0.000,4,0.000,0.031,2445,1097,3763,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4248,-0.79,-195.5,443.0,-8.4,224,4254,0.12,2.05,0.00,0.000,6,0.077,0.035,2373,2448,3763,0,0,0,0,0,0,25.96,25.98,28.83
$GC,4572,-0.76,-195.5,480.1,-11.7,240,4579,0.12,2.03,0.00,0.000,4,0.151,0.029,2412,1092,3761,0,0,0,0,0,0,26.19,25.99,28.83
$GC,4623,-0.74,-195.5,485.0,-11.1,242,4628,0.00,2.08,0.00,0.000,6,0.000,0.036,2412,2449,3760,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4941,-0.74,-195.5,518.6,-10.2,258,4946,0.00,2.08,0.00,0.000,4,0.000,0.057,2412,3755,3758,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5014,-0.74,-195.5,525.0,-10.2,261,5019,0.00,1.85,0.00,0.000,6,0.000,0.018,2412,2433,3758,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5328,-0.74,-195.5,554.8,-9.3,277,5333,0.00,2.12,0.00,0.000,4,0.000,0.050,2412,3764,3757,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5366,-0.74,-195.5,556.8,-9.1,278,5373,0.00,1.83,0.00,0.000,6,0.000,0.018,2412,2453,3758,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5671,-0.74,-195.5,584.9,-8.6,294,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2450,3754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5971,-0.74,-195.5,613.1,-9.8,307,5977,0.00,2.03,0.00,0.000,4,0.000,0.031,2412,1088,3752,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6005,-0.74,-195.5,616.7,-10.0,308,6011,0.00,2.10,0.00,0.000,6,0.000,0.036,2412,2462,3750,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6341,-0.74,-195.5,652.6,-10.8,319,6346,0.00,2.05,0.00,0.000,4,0.000,0.052,2412,3759,3751,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6444,-0.74,-195.5,663.1,-11.0,322,6450,0.00,1.88,0.00,0.000,6,0.000,0.028,2412,2448,3750,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6768,-0.74,-195.5,695.9,-9.6,333,6773,0.00,2.05,0.00,0.000,4,0.000,0.037,2412,1093,3747,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6791,-0.74,-195.5,695.9,-9.6,333,6796,0.00,2.10,0.00,0.000,6,0.000,0.041,2412,2458,3748,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7104,-0.74,-195.5,727.3,-9.1,344,7109,0.00,2.05,0.00,0.000,4,0.000,0.052,2412,3751,3745,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7184,-0.74,-195.5,733.1,-9.0,346,7189,0.00,1.85,0.00,0.000,6,0.000,0.021,2412,2438,3743,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7504,-0.74,-195.5,762.2,-8.5,357,7509,0.00,2.12,0.00,0.000,4,0.000,0.058,2412,3749,3742,0,0,0,0,0,0,28.83,24.89,28.83
$GC,7531,-0.74,-195.5,762.2,-8.5,357,7538,0.00,1.88,0.00,0.000,6,0.000,0.021,2412,2453,3741,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7838,-0.74,-195.5,789.1,-7.6,368,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2452,3739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8137,-0.74,-195.5,811.0,-7.3,378,8143,0.00,2.03,0.00,0.000,4,0.000,0.031,2412,1085,3738,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8177,-0.74,-195.5,813.8,-7.6,379,8183,0.00,2.10,0.00,0.000,6,0.000,0.037,2412,2453,3737,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8508,-0.74,-195.5,842.4,-8.9,390,8513,0.00,2.10,0.00,0.000,4,0.000,0.058,2412,3761,3735,0,0,0,0,0,0,28.83,24.51,28.83
$GC,8545,-0.74,-195.5,845.6,-9.0,391,8551,0.00,1.88,0.00,0.000,6,0.000,0.021,2412,2448,3735,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8878,-0.75,-195.5,875.5,-8.9,402,8884,0.00,2.12,0.00,0.000,4,0.000,0.054,2411,3758,3733,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8917,-0.76,-195.5,878.8,-8.8,403,8923,0.00,1.88,0.00,0.000,6,0.000,0.022,2412,2453,3732,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9249,-0.78,-195.5,906.6,-8.4,414,9254,0.00,2.05,0.00,0.000,4,0.000,0.031,2412,1075,3734,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9307,-0.79,-195.5,909.7,-8.5,415,9314,0.00,2.15,0.00,0.000,6,0.000,0.041,2412,2449,3730,0,0,0,0,0,0,28.83,24.56,28.83
$GC,9615,-0.80,-195.5,935.3,-7.5,426,9621,0.00,2.12,0.00,0.000,4,0.000,0.054,2412,3760,3729,0,0,0,0,0,0,28.83,25.28,28.83
$GC,9689,-0.82,-195.5,940.7,-7.7,428,9694,0.00,1.90,0.00,0.000,6,0.000,0.023,2412,2443,3729,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10016,-0.83,-195.5,966.5,-7.8,439,10022,0.00,2.08,0.00,0.000,4,0.000,0.033,2412,1078,3727,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10045,-0.85,-195.5,966.5,-7.8,439,10052,0.00,2.15,0.00,0.000,6,0.000,0.044,2412,2454,3727,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,10317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10317,begin apogee
$GC,10325,-0.27,0.0,991.1,-8.1,449,10501,0.50,0.00,170.90,1.330,6,0.111,0.000,2575,2181,2966,0,0,0,0,0,0,25.19,28.83,22.77
$STATE,10503,end apogee,CONTROL_FINISHED_OK
$STATE,10503,begin climb
$GC,10506,0.73,195.5,997.7,0.0,455,10699,0.95,0.00,182.35,1.290,6,0.074,0.000,2894,2180,2164,0,0,0,0,0,0,24.32,28.83,21.94
$GC,11012,0.68,195.5,954.1,10.4,472,11018,0.00,2.30,0.00,0.000,4,0.000,0.050,2894,3608,2152,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11070,0.63,195.5,950.3,10.5,473,11079,0.12,2.05,0.00,0.000,6,0.167,0.026,2867,2240,2151,0,0,0,0,0,0,25.75,26.14,28.83
$GC,11380,0.62,211.4,919.7,8.9,484,11403,0.00,2.28,14.30,1.249,4,0.000,0.041,2872,810,2098,0,0,0,0,0,0,28.83,25.78,24.10
$GC,11420,0.60,220.7,916.4,9.1,485,11440,0.00,2.15,10.05,1.248,6,0.000,0.035,2872,2212,2060,0,0,0,0,0,0,28.83,25.94,23.94
$GC,11744,0.58,220.8,885.2,9.4,496,11749,0.00,2.20,0.00,0.000,4,0.000,0.050,2872,3597,2055,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11822,0.55,220.8,878.1,10.1,498,11829,0.12,2.10,0.00,0.000,6,0.150,0.027,2846,2191,2055,0,0,0,0,0,0,25.80,26.15,28.83
$GC,12145,0.56,227.3,847.3,9.2,509,12155,0.00,2.15,2.72,0.804,4,0.000,0.040,2854,811,2041,0,0,0,0,0,0,28.83,26.01,24.03
$GC,12172,0.57,233.8,847.3,9.2,509,12192,0.00,2.12,12.32,1.275,6,0.000,0.034,2854,2204,2010,0,0,0,0,0,0,28.83,26.02,24.11
$GC,12510,0.57,239.8,812.6,9.2,521,12521,0.00,2.25,3.10,0.946,4,0.000,0.050,2854,3593,1991,0,0,0,0,0,0,28.83,25.94,24.07
$GC,12588,0.56,239.8,806.0,9.7,523,12593,0.00,2.08,0.00,0.000,6,0.000,0.027,2861,2202,1994,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12909,0.62,292.7,778.4,7.7,534,12976,0.00,2.28,61.12,1.187,4,0.000,0.041,2861,809,1769,0,0,0,0,0,0,28.83,25.25,23.68
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$STATE,20332,end climb,SURFACE_DEPTH_REACHED
$STATE,20333,begin surface coast
$FINISH,0.9,1.023239
$STATE,20351,end surface coast,CONTROL_FINISHED_OK
$STATE,20351,begin surface
$SM_CCo,20430,0.00,0.000,0,0,1014,479.32
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$IRIDIUM_FIX,2239.35,12153.14,240113,232331
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.07
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.40
$XPDR_PINGS,93
$24V_AH,21.9,91.536
$10V_AH,9.6,58.872
$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,20.025,195.950,636.250,0.000,0.000,0.000,0.000,255.750,23.250,0.000,5.253,2999.335,14049.270,767.667,2563.869,494.602,0.000,2340.586,0.000,2236.178,0.000,0.542,0.000
$DEVICE_MAMPS,218.025,64.260,1329.570,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20355.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.338,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,33347,891
$CAP_FILE_SIZE,231488,0
$CFSIZE,260165632,206983168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.190, 40.6,1
$GPS,250113,110105,2251.531,12208.622,47,1.3,47,-3.4