version: 66.11
glider: 167
mission: 14
dive: 337
start: 1 2 113 15 40 41
data:
$ID,167
$MISSION,14
$DIVE,337
$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,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,185
$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,-969252.44
$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,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,62
$R_STBD_OVSHOOT,50
$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
$GPS1,020113,153252,2128.787,12400.890,27,1.1,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-64.9
$GPS2,020113,153956,2128.765,12400.869,4,0.8,4,-3.2
$SPEED_LIMITS,0.154,0.275
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,329.1,2734,-15.6,-8.919,-18.75
$D_GRID,4800
$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,-0.59,-162.9,0.0,0.0,0,73,0.00,0.00,-51.08,0.000,2,0.000,0.000,108,2464,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.61,-180.8,3.1,-4.4,5,119,9.57,2.05,-24.95,0.000,4,0.221,0.067,2454,3737,3705,0,0,0,0,0,0,24.94,25.84,26.63
$GC,287,-0.61,-180.8,32.3,-16.0,25,295,0.00,1.88,0.00,0.000,6,0.000,0.025,2454,2428,3707,0,0,0,0,0,0,28.83,26.29,28.83
$GC,603,-0.61,-180.8,79.8,-15.0,47,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2428,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,-0.61,-180.8,118.7,-13.0,62,910,0.00,2.08,0.00,0.000,4,0.000,0.050,2451,3744,3709,0,0,0,0,0,0,28.83,26.03,28.83
$GC,936,-0.61,-180.8,121.7,-13.0,63,941,0.00,1.83,0.00,0.000,6,0.000,0.018,2452,2421,3708,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1249,-0.61,-180.8,163.7,-13.1,79,1255,0.00,1.90,0.00,0.000,4,0.000,0.028,2452,1095,3709,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1322,-0.61,-180.8,171.5,-12.2,82,1327,0.00,2.00,0.00,0.000,6,0.000,0.034,2452,2441,3710,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1635,-0.61,-180.8,204.2,-10.0,98,1640,0.00,2.00,0.00,0.000,4,0.000,0.035,2452,1087,3709,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1687,-0.61,-180.8,208.8,-10.3,100,1692,0.00,2.05,0.00,0.000,6,0.000,0.034,2452,2460,3709,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2000,-0.61,-180.8,246.0,-11.5,116,2005,0.00,2.00,0.00,0.000,4,0.000,0.048,2452,3760,3709,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2086,-0.61,-180.8,255.4,-11.5,120,2091,0.00,1.80,0.00,0.000,6,0.000,0.018,2452,2441,3709,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2405,-0.61,-180.8,283.7,-8.0,136,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2441,3710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2707,-0.61,-180.8,309.6,-10.1,151,2713,0.00,1.95,0.00,0.000,4,0.000,0.033,2452,1098,3709,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2775,-0.61,-180.8,317.3,-11.4,154,2780,0.00,2.03,0.00,0.000,6,0.000,0.034,2452,2457,3709,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3093,-0.61,-180.8,354.2,-10.8,170,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2457,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3394,-0.61,-180.8,384.8,-10.6,185,3400,0.00,1.98,0.00,0.000,4,0.000,0.028,2452,1104,3707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3421,-0.61,-180.8,387.5,-10.7,186,3426,0.00,2.00,0.00,0.000,6,0.000,0.034,2452,2448,3707,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3740,-0.61,-180.8,419.7,-8.7,202,3745,0.00,2.03,0.00,0.000,4,0.000,0.050,2451,3753,3706,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3772,-0.61,-180.8,421.6,-8.4,203,3777,0.00,1.80,0.00,0.000,6,0.000,0.018,2452,2450,3707,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4085,-0.61,-180.8,443.7,-7.5,219,4091,0.00,1.98,0.00,0.000,4,0.000,0.028,2452,1093,3705,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4133,-0.61,-180.8,447.6,-8.4,221,4139,0.00,2.03,0.00,0.000,6,0.000,0.033,2452,2449,3705,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4451,-0.61,-180.8,477.0,-9.1,237,4456,0.00,2.03,0.00,0.000,4,0.000,0.051,2452,3752,3703,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4508,-0.61,-180.8,481.0,-9.0,239,4515,0.00,1.80,0.00,0.000,6,0.000,0.018,2452,2442,3703,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4814,-0.61,-180.8,512.0,-10.4,255,4819,0.00,1.95,0.00,0.000,4,0.000,0.028,2452,1095,3701,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4847,-0.61,-180.8,514.5,-10.6,256,4853,0.00,2.05,0.00,0.000,6,0.000,0.034,2452,2452,3701,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5161,-0.61,-180.8,549.7,-10.8,272,5167,0.00,2.03,0.00,0.000,4,0.000,0.052,2452,3748,3699,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5218,-0.61,-180.8,554.3,-10.9,274,5226,0.00,1.83,0.00,0.000,6,0.000,0.020,2451,2460,3699,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5525,-0.61,-180.8,582.9,-8.0,290,5531,0.00,1.98,0.00,0.000,4,0.000,0.028,2452,1101,3696,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5552,-0.61,-180.8,585.0,-8.1,291,5558,0.00,2.03,0.00,0.000,6,0.000,0.034,2452,2446,3696,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5874,-0.61,-180.8,610.6,-7.8,305,5879,0.00,2.05,0.00,0.000,4,0.000,0.053,2452,3754,3695,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5916,-0.61,-180.8,613.4,-7.7,306,5922,0.00,1.83,0.00,0.000,6,0.000,0.020,2452,2451,3694,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6242,-0.61,-180.8,638.9,-7.9,317,6247,0.00,2.10,0.00,0.000,4,0.000,0.058,2452,3758,3692,0,0,0,0,0,0,28.83,24.96,28.83
$GC,6295,-0.61,-180.8,641.8,-8.0,318,6301,0.00,1.85,0.00,0.000,6,0.000,0.021,2452,2439,3692,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6609,-0.61,-180.8,671.7,-9.4,329,6614,0.00,2.12,0.00,0.000,4,0.000,0.054,2452,3761,3690,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6652,-0.61,-180.8,674.9,-9.4,330,6657,0.00,1.85,0.00,0.000,6,0.000,0.021,2452,2442,3689,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6978,-0.61,-180.8,704.7,-8.5,341,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2441,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7278,-0.61,-180.8,728.3,-7.5,351,7283,0.00,2.10,0.00,0.000,4,0.000,0.059,2451,3751,3686,0,0,0,0,0,0,28.83,25.01,28.83
$GC,7345,-0.61,-180.8,733.2,-7.6,353,7351,0.00,1.85,0.00,0.000,6,0.000,0.021,2452,2447,3685,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7677,-0.61,-180.8,756.8,-6.7,364,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2445,3684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7974,-0.61,-180.8,777.3,-7.2,374,7979,0.00,2.10,0.00,0.000,4,0.000,0.054,2451,3760,3683,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8041,-0.61,-180.8,782.3,-7.7,376,8047,0.00,1.85,0.00,0.000,6,0.000,0.022,2452,2456,3682,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8374,-0.61,-180.8,809.9,-8.3,387,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2455,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8671,-0.61,-180.8,832.5,-7.0,397,8676,0.00,2.08,0.00,0.000,4,0.000,0.054,2452,3752,3679,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8714,-0.61,-180.8,834.9,-7.0,398,8720,0.00,1.85,0.00,0.000,6,0.000,0.022,2451,2442,3678,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9039,-0.61,-180.8,859.2,-7.7,409,9045,0.00,2.12,0.00,0.000,4,0.000,0.054,2452,3758,3676,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9108,-0.61,-180.8,864.6,-8.0,411,9114,0.00,1.85,0.00,0.000,6,0.000,0.022,2451,2452,3676,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9439,-0.61,-180.8,890.5,-7.3,422,9444,0.00,2.03,0.00,0.000,4,0.000,0.031,2452,1082,3675,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9476,-0.61,-180.8,893.1,-7.2,423,9481,0.00,2.08,0.00,0.000,6,0.000,0.037,2452,2448,3675,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9809,-0.61,-180.8,915.2,-6.5,434,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2448,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10104,-0.61,-180.8,938.1,-8.2,444,10110,0.00,2.10,0.00,0.000,4,0.000,0.056,2452,3759,3673,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10158,-0.61,-180.8,941.0,-8.4,445,10164,0.00,1.88,0.00,0.000,6,0.000,0.023,2452,2447,3673,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10472,-0.61,-180.8,971.9,-9.7,456,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2446,3672,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10679,begin apogee
$GC,10686,-0.20,0.0,991.9,-9.5,463,10857,0.43,0.00,160.20,1.271,6,0.103,0.000,2595,2183,2961,0,0,0,0,0,0,25.68,28.83,22.64
$STATE,10858,end apogee,CONTROL_FINISHED_OK
$STATE,10858,begin climb
$GC,10861,0.61,180.8,1000.8,0.0,468,11043,0.75,2.53,171.15,1.298,4,0.064,0.050,2859,3604,2222,0,0,0,0,0,0,24.72,23.80,22.04
$GC,11156,0.61,180.8,985.6,9.6,478,11162,0.00,2.08,0.00,0.000,6,0.000,0.026,2867,2231,2211,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11470,0.61,180.8,951.3,10.3,489,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2231,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11770,0.61,180.8,922.3,9.4,499,11775,0.00,2.20,0.00,0.000,4,0.000,0.050,2867,3605,2209,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11804,0.61,180.8,918.8,9.5,500,11809,0.00,2.10,0.00,0.000,6,0.000,0.027,2868,2196,2209,0,0,0,0,0,0,28.83,26.33,28.83
$GC,12139,0.61,180.8,888.4,9.0,511,12140,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2196,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12438,0.61,181.5,861.2,8.9,521,12443,0.00,2.25,0.00,0.000,4,0.000,0.050,2868,3605,2207,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12480,0.61,181.5,857.8,9.0,522,12486,0.00,2.10,0.00,0.000,6,0.000,0.027,2874,2197,2207,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12807,0.64,206.2,829.9,8.0,533,12838,0.00,2.33,23.42,1.171,4,0.000,0.050,2874,3598,2120,0,0,0,0,0,0,28.83,25.74,24.01
$GC,12890,0.65,220.8,824.3,8.4,535,12914,0.00,2.12,16.02,1.203,6,0.000,0.028,2874,2191,2061,0,0,0,0,0,0,28.83,26.05,23.85
$GC,13227,0.66,227.7,791.8,8.7,547,13232,0.00,0.00,3.05,0.903,6,0.000,0.000,2874,2191,2039,0,0,0,0,0,0,28.83,28.83,23.75
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$GC,15346,0.69,247.1,587.0,10.0,618,15352,0.00,2.20,0.00,0.000,4,0.000,0.050,2874,3602,1952,0,0,0,0,0,0,28.83,25.94,28.83
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$STATE,21294,end climb,SURFACE_DEPTH_REACHED
$STATE,21294,begin surface coast
$FINISH,0.9,0.999836
$STATE,21316,end surface coast,CONTROL_FINISHED_OK
$STATE,21316,begin surface
$SM_CCo,21395,0.00,0.000,0,0,1017,478.33
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$IRIDIUM_FIX,2124.90,12358.76,020113,101050
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.43
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.50
$XPDR_PINGS,51
$24V_AH,22.0,72.279
$10V_AH,9.9,47.291
$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,18.200,177.650,595.600,0.000,0.000,0.000,0.000,237.250,12.750,0.000,5.523,3035.037,15101.916,724.745,2515.433,455.053,0.000,2239.156,0.000,2201.500,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,66.555,1298.205,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21337.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.922,0.000,0.000,0.000
$MEM,329552
$DATA_FILE_SIZE,33362,936
$CAP_FILE_SIZE,221868,0
$CFSIZE,260165632,216203264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.131,221.9,1
$GPS,020113,213836,2130.016,12357.922,36,0.9,36,-3.2