version: 66.11
glider: 167
mission: 14
dive: 171
start: 11 20 112 20 50 20
data:
$ID,167
$MISSION,14
$DIVE,171
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-968792.38
$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,2660
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,31
$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,0.00039999999
$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,22
$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,49
$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
$GPS1,201112,204335,2138.570,12344.934,33,1.0,33,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.4
$GPS2,201112,204952,2138.522,12344.804,5,1.0,5,-3.3
$SPEED_LIMITS,0.150,0.266
$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,351.6,284427,-14.8,-8.684,-18.08
$D_GRID,5023
$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,16,begin dive
$GC,19,-0.56,-171.1,0.0,0.0,0,84,0.00,0.00,-62.55,0.000,2,0.000,0.000,111,2445,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.56,-171.1,3.1,-3.5,6,130,9.55,2.10,-25.00,0.000,4,0.230,0.068,2464,3757,3665,0,0,0,0,0,0,25.30,25.96,26.60
$GC,269,-0.53,-171.1,36.4,-19.8,23,277,0.00,1.90,0.00,0.000,6,0.000,0.025,2463,2458,3669,0,0,0,0,0,0,28.83,26.29,28.83
$GC,585,-0.50,-171.1,97.1,-18.2,43,587,0.12,0.00,0.00,0.000,6,0.157,0.000,2497,2458,3667,0,0,0,0,0,0,26.32,28.83,28.83
$GC,887,-0.50,-171.1,133.4,-11.8,58,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2458,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1186,-0.50,-171.1,169.1,-12.2,73,1192,0.00,2.05,0.00,0.000,4,0.000,0.031,2497,1040,3668,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1239,-0.50,-171.1,174.7,-12.4,75,1245,0.00,2.12,0.00,0.000,6,0.000,0.036,2495,2463,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1553,-0.50,-171.1,212.5,-11.6,91,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2463,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,-0.50,-171.1,247.6,-11.7,106,1861,0.00,2.08,0.00,0.000,4,0.000,0.031,2495,1043,3667,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1899,-0.51,-171.1,253.2,-12.0,108,1905,0.00,2.10,0.00,0.000,6,0.000,0.036,2495,2451,3667,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2223,-0.52,-171.1,289.7,-10.4,124,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2452,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2525,-0.53,-171.1,318.3,-8.7,139,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2457,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2828,-0.54,-171.1,342.1,-7.3,154,2833,0.00,2.08,0.00,0.000,4,0.000,0.030,2496,1029,3664,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2880,-0.56,-171.1,345.9,-7.6,156,2886,0.00,2.12,0.00,0.000,6,0.000,0.035,2495,2453,3664,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3194,-0.57,-171.1,374.6,-9.6,172,3200,0.00,1.98,0.00,0.000,4,0.000,0.045,2495,3763,3663,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3238,-0.59,-171.1,378.9,-9.8,174,3244,0.00,1.90,0.00,0.000,6,0.000,0.020,2495,2408,3663,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3564,-0.61,-171.1,403.8,-6.2,190,3569,0.00,1.92,0.00,0.000,4,0.000,0.030,2495,1066,3660,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3592,-0.63,-171.1,405.3,-6.1,191,3598,0.12,2.08,0.00,0.000,6,0.079,0.035,2421,2458,3662,0,0,0,0,0,0,26.44,26.44,28.83
$GC,3911,-0.61,-171.1,442.9,-13.5,207,3917,0.12,1.98,0.00,0.000,4,0.155,0.045,2456,3759,3661,0,0,0,0,0,0,26.41,26.36,28.83
$GC,3955,-0.60,-171.1,448.3,-12.9,209,3960,0.00,1.85,0.00,0.000,6,0.000,0.020,2455,2442,3661,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4279,-0.60,-171.1,488.4,-12.1,225,4284,0.00,1.98,0.00,0.000,4,0.000,0.029,2456,1061,3659,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4322,-0.60,-171.1,493.5,-12.0,227,4327,0.00,2.08,0.00,0.000,6,0.000,0.034,2453,2458,3658,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4645,-0.60,-171.1,524.5,-8.2,243,4651,0.00,1.98,0.00,0.000,4,0.000,0.047,2453,3758,3656,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4683,-0.60,-171.1,526.6,-8.3,244,4690,0.00,1.85,0.00,0.000,6,0.000,0.021,2453,2442,3656,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4989,-0.60,-171.1,556.7,-10.2,260,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2441,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5292,-0.61,-171.1,588.5,-10.3,275,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2442,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5590,-0.62,-171.1,618.1,-9.5,287,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2442,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5889,-0.62,-171.1,646.4,-9.7,297,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2442,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6190,-0.63,-171.1,674.8,-9.5,307,6195,0.00,2.00,0.00,0.000,4,0.000,0.031,2453,1063,3646,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6283,-0.64,-171.1,683.9,-9.7,310,6289,0.00,2.10,0.00,0.000,6,0.000,0.036,2453,2449,3646,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6620,-0.65,-171.1,712.0,-7.8,321,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2450,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6918,-0.66,-171.1,734.4,-7.3,331,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2449,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7218,-0.67,-171.1,757.9,-8.0,341,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2450,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7518,-0.68,-171.1,783.0,-8.1,351,7523,0.00,2.03,0.00,0.000,4,0.000,0.030,2453,1072,3637,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7561,-0.69,-171.1,785.6,-7.9,352,7566,0.00,2.10,0.00,0.000,6,0.000,0.036,2453,2461,3637,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7886,-0.70,-171.1,808.5,-6.5,363,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2462,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,-0.71,-171.1,827.0,-6.3,373,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2462,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8484,-0.72,-171.1,848.9,-7.7,383,8490,0.00,2.05,0.00,0.000,4,0.000,0.030,2453,1070,3633,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8534,-0.74,-171.1,851.8,-7.9,384,8539,0.00,2.10,0.00,0.000,6,0.000,0.036,2453,2457,3632,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8854,-0.75,-171.1,881.0,-8.9,395,8856,0.10,0.00,0.00,0.000,6,0.100,0.000,2399,2457,3630,0,0,0,0,0,0,26.70,28.83,28.83
$GC,9153,-0.74,-171.1,918.3,-13.0,405,9159,0.00,2.03,0.00,0.000,4,0.000,0.049,2398,3764,3629,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9187,-0.73,-171.1,922.8,-13.0,406,9192,0.00,1.90,0.00,0.000,6,0.000,0.023,2399,2446,3629,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9522,-0.72,-171.1,967.1,-12.8,417,9524,0.10,0.00,0.00,0.000,6,0.168,0.000,2423,2446,3628,0,0,0,0,0,0,26.51,28.83,28.83
$STATE,9728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9728,begin apogee
$GC,9735,-0.27,0.0,990.3,-10.9,424,9895,0.43,0.00,151.35,1.223,6,0.113,0.000,2564,2285,2961,0,0,0,0,0,0,25.81,28.83,23.25
$STATE,9897,end apogee,CONTROL_FINISHED_OK
$STATE,9897,begin climb
$GC,9900,0.56,171.1,998.6,0.0,429,10071,0.80,2.25,161.18,1.183,4,0.083,0.034,2835,936,2260,0,0,0,0,0,0,24.59,23.91,22.65
$GC,10099,0.59,268.5,992.7,5.4,436,10203,0.00,2.22,94.70,1.150,6,0.000,0.032,2835,2304,1862,0,0,0,0,0,0,28.83,24.51,22.63
$GC,10518,0.59,268.5,956.3,9.0,450,10523,0.00,2.22,0.00,0.000,4,0.000,0.047,2835,3711,1844,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10546,0.59,268.5,956.3,9.0,450,10552,0.00,2.08,0.00,0.000,6,0.000,0.028,2835,2325,1843,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10852,0.59,268.5,924.4,9.9,461,10857,0.00,2.15,0.00,0.000,4,0.000,0.038,2835,902,1842,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10900,0.59,268.5,921.3,9.7,462,10905,0.00,2.12,0.00,0.000,6,0.000,0.034,2835,2302,1842,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11220,0.60,279.9,892.2,8.3,473,11231,0.00,2.25,1.77,0.188,4,0.000,0.050,2835,3710,1825,0,0,0,0,0,0,28.83,26.20,25.67
$GC,11263,0.61,290.6,889.1,8.3,474,11293,0.00,2.10,16.95,1.184,6,0.000,0.028,2835,2293,1778,0,0,0,0,1,0,28.83,26.38,24.51
$GC,11616,0.64,352.2,864.2,6.6,486,11694,0.00,2.25,68.50,1.130,4,0.000,0.037,2835,909,1521,0,0,0,0,0,0,28.83,25.12,23.94
$GC,11749,0.68,419.3,856.3,6.4,490,11829,0.12,2.17,69.82,1.097,6,0.079,0.033,2897,2309,1248,0,0,0,0,0,0,25.61,25.61,23.68
$GC,12128,0.68,419.3,818.2,9.9,503,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2310,1232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12428,0.68,419.3,789.5,9.5,513,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2310,1231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12728,0.68,419.3,760.5,9.9,523,12733,0.00,2.15,0.00,0.000,4,0.000,0.037,2897,895,1229,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12791,0.68,419.3,754.5,9.8,525,12797,0.00,2.12,0.00,0.000,6,0.000,0.032,2898,2302,1230,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13126,0.68,419.3,717.1,11.8,536,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2302,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13425,0.68,419.3,678.8,12.8,546,13431,0.00,2.12,0.00,0.000,4,0.000,0.037,2897,899,1228,0,0,0,0,0,0,28.83,26.36,28.83
$GC,13462,0.69,419.3,674.8,12.5,547,13468,0.00,2.10,0.00,0.000,6,0.000,0.031,2897,2304,1229,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13793,0.69,419.3,634.4,12.1,558,13794,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2304,1228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14092,0.69,419.3,601.1,10.9,568,14093,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2304,1228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14404,0.70,419.3,571.2,9.0,583,14410,0.00,2.17,0.00,0.000,4,0.000,0.047,2897,3700,1230,0,0,0,0,0,0,28.83,26.27,28.83
$GC,14442,0.70,419.3,568.7,9.0,584,14449,0.00,2.08,0.00,0.000,6,0.000,0.027,2897,2297,1228,0,0,0,0,0,0,28.83,26.49,28.83
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$STATE,20061,end climb,SURFACE_DEPTH_REACHED
$STATE,20061,begin surface coast
$FINISH,1.0,1.023067
$STATE,20083,end surface coast,CONTROL_FINISHED_OK
$STATE,20083,begin surface
$SM_CCo,20161,0.00,0.000,0,0,757,542.36
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$IRIDIUM_FIX,2127.21,12348.48,201112,141420
$TT8_MAMPS,0.029211,0.029211
$HUMID,52.24
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.50
$XPDR_PINGS,11
$24V_AH,22.6,39.734
$10V_AH,10.1,26.519
$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,19.500,137.875,669.650,0.000,0.000,0.000,0.000,208.300,2.750,0.000,5.898,2701.829,14465.684,751.959,2238.163,377.397,0.000,2115.564,0.000,1948.125,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,68.085,1223.235,0.000,0.000,0.000,0.000,130.050,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20093.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.234,0.000,0.000,0.000
$MEM,329608
$DATA_FILE_SIZE,33398,890
$CAP_FILE_SIZE,209184,0
$CFSIZE,260165632,232632320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.039,281.2,1
$GPS,211112,022737,2141.994,12343.762,31,1.2,31,-3.3