version: 66.11
glider: 167
mission: 14
dive: 347
start: 1 5 113 1 32 9
data:
$ID,167
$MISSION,14
$DIVE,347
$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,-969264.94
$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,0.0099999998
$PITCH_ADJ_DBAND,0.5
$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,60
$R_STBD_OVSHOOT,35
$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
$GPS1,050113,012353,2140.144,12342.489,41,1.1,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-65.7
$GPS2,050113,013141,2140.150,12342.465,4,1.1,5,-3.3
$SPEED_LIMITS,0.154,0.275
$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,322.7,279440,-14.7,-8.919,-17.97
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.58,-180.8,0.0,0.0,0,84,0.00,0.00,-61.72,0.000,2,0.000,0.000,108,2447,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.58,-180.8,3.1,-3.1,6,130,9.48,2.15,-27.50,0.000,4,0.220,0.067,2458,3768,3705,0,0,0,0,0,0,24.98,25.98,26.67
$GC,277,-0.55,-180.8,26.3,-13.2,24,283,0.00,1.92,0.00,0.000,6,0.000,0.018,2457,2418,3708,0,0,0,0,0,0,28.83,26.43,28.83
$GC,601,-0.52,-180.8,72.3,-16.2,49,607,0.12,2.10,0.00,0.000,4,0.152,0.044,2493,3765,3708,0,0,0,0,0,0,26.29,26.08,28.83
$GC,645,-0.50,-180.8,79.1,-15.9,51,650,0.00,1.85,0.00,0.000,6,0.000,0.018,2493,2431,3708,0,0,0,0,0,0,28.83,26.51,28.83
$GC,968,-0.51,-180.8,126.3,-12.2,67,973,0.00,1.92,0.00,0.000,4,0.000,0.025,2493,1071,3709,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1015,-0.52,-180.8,130.1,-10.0,69,1020,0.00,2.05,0.00,0.000,6,0.000,0.031,2493,2455,3709,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1335,-0.54,-180.8,146.0,-5.0,85,1340,0.00,2.00,0.00,0.000,4,0.000,0.047,2493,3761,3709,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1388,-0.56,-180.8,148.5,-5.3,87,1393,0.00,1.83,0.00,0.000,6,0.000,0.018,2493,2427,3709,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1702,-0.59,-180.8,179.2,-11.4,103,1708,0.00,1.88,0.00,0.000,4,0.000,0.024,2493,1094,3710,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1742,-0.61,-180.8,182.4,-11.6,104,1749,0.00,2.00,0.00,0.000,6,0.000,0.029,2493,2455,3710,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2046,-0.64,-180.8,215.3,-9.2,120,2052,0.10,2.00,0.00,0.000,4,0.093,0.044,2425,3761,3710,0,0,0,0,0,0,26.65,26.11,28.83
$GC,2146,-0.62,-180.8,224.8,-11.4,124,2154,0.15,1.83,0.00,0.000,6,0.138,0.020,2467,2462,3710,0,0,0,0,0,0,26.09,26.51,28.83
$GC,2450,-0.63,-180.8,252.8,-9.6,140,2456,0.00,2.00,0.00,0.000,4,0.000,0.028,2467,1070,3710,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2503,-0.64,-180.8,257.8,-10.9,142,2509,0.00,2.05,0.00,0.000,6,0.000,0.034,2466,2445,3710,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2818,-0.66,-180.8,302.8,-14.3,158,2823,0.00,2.03,0.00,0.000,4,0.000,0.048,2466,3765,3709,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2884,-0.67,-180.8,311.4,-13.4,161,2890,0.00,1.85,0.00,0.000,6,0.000,0.019,2466,2436,3709,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3203,-0.69,-180.8,340.9,-6.9,177,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2435,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3505,-0.71,-180.8,363.1,-7.7,192,3511,0.00,1.95,0.00,0.000,4,0.000,0.026,2466,1067,3708,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3532,-0.73,-180.8,365.2,-7.9,193,3539,0.12,2.08,0.00,0.000,6,0.081,0.033,2394,2457,3708,0,0,0,0,0,0,26.25,26.25,28.83
$GC,3853,-0.69,-180.8,403.5,-11.7,209,3858,0.12,2.03,0.00,0.000,4,0.154,0.046,2433,3766,3707,0,0,0,0,0,0,26.30,26.10,28.83
$GC,3965,-0.69,-180.8,414.8,-10.6,214,3971,0.00,1.85,0.00,0.000,6,0.000,0.019,2433,2437,3703,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4279,-0.69,-180.8,448.4,-10.5,230,4284,0.00,1.95,0.00,0.000,4,0.000,0.025,2433,1068,3705,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4312,-0.69,-180.8,450.9,-10.5,231,4317,0.00,2.08,0.00,0.000,6,0.000,0.033,2433,2455,3705,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4625,-0.69,-180.8,482.2,-9.4,247,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2455,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4927,-0.69,-180.8,508.4,-9.1,262,4932,0.00,2.03,0.00,0.000,4,0.000,0.048,2433,3766,3702,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4971,-0.69,-180.8,512.5,-9.2,264,4976,0.00,1.85,0.00,0.000,6,0.000,0.020,2433,2434,3702,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5294,-0.70,-180.8,538.2,-7.8,280,5300,0.00,2.08,0.00,0.000,4,0.000,0.047,2433,3756,3700,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5348,-0.70,-180.8,541.8,-8.1,282,5354,0.00,1.83,0.00,0.000,6,0.000,0.021,2433,2454,3699,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5663,-0.71,-180.8,568.2,-8.5,298,5668,0.00,2.05,0.00,0.000,4,0.000,0.049,2433,3759,3697,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5716,-0.71,-180.8,572.4,-8.9,300,5722,0.00,1.85,0.00,0.000,6,0.000,0.020,2433,2457,3697,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6030,-0.72,-180.8,601.7,-8.8,316,6036,0.00,2.05,0.00,0.000,4,0.000,0.050,2433,3761,3692,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6085,-0.73,-180.8,604.7,-8.7,317,6090,0.00,1.88,0.00,0.000,6,0.000,0.021,2433,2441,3695,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6400,-0.74,-180.8,630.8,-7.5,328,6405,0.00,2.08,0.00,0.000,4,0.000,0.050,2432,3756,3693,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6454,-0.76,-180.8,633.6,-7.6,329,6460,0.00,1.88,0.00,0.000,6,0.000,0.021,2433,2447,3693,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6768,-0.77,-180.8,662.2,-9.4,340,6774,0.00,2.08,0.00,0.000,4,0.000,0.050,2430,3756,3691,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6807,-0.78,-180.8,665.9,-9.9,341,6813,0.00,1.88,0.00,0.000,6,0.000,0.021,2430,2446,3690,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7138,-0.80,-180.8,705.8,-12.6,352,7143,0.00,2.00,0.00,0.000,4,0.000,0.028,2430,1066,3688,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7180,-0.81,-180.8,710.1,-12.7,353,7185,0.00,2.10,0.00,0.000,6,0.000,0.034,2430,2450,3688,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7506,-0.83,-180.8,743.1,-8.3,364,7512,0.00,2.05,0.00,0.000,4,0.000,0.050,2430,3764,3686,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7560,-0.84,-180.8,745.7,-7.7,365,7566,0.12,1.90,0.00,0.000,6,0.085,0.022,2370,2438,3685,0,0,0,0,0,0,26.32,26.48,28.83
$GC,7877,-0.81,-180.8,774.0,-8.1,376,7879,0.12,0.00,0.00,0.000,6,0.156,0.000,2402,2435,3684,0,0,0,0,0,0,26.32,28.83,28.83
$GC,8176,-0.80,-180.8,796.2,-7.8,386,8182,0.00,2.10,0.00,0.000,4,0.000,0.050,2400,3762,3682,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8255,-0.79,-180.8,801.8,-8.0,388,8261,0.00,1.88,0.00,0.000,6,0.000,0.022,2400,2444,3682,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8577,-0.79,-180.8,828.8,-8.0,399,8583,0.00,2.10,0.00,0.000,4,0.000,0.052,2400,3756,3679,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8682,-0.78,-180.8,837.4,-8.7,402,8688,0.00,1.88,0.00,0.000,6,0.000,0.023,2400,2450,3679,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9007,-0.78,-180.8,869.6,-10.1,413,9012,0.00,2.00,0.00,0.000,4,0.000,0.028,2400,1078,3678,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9040,-0.78,-180.8,873.3,-10.3,414,9046,0.00,2.10,0.00,0.000,6,0.000,0.034,2400,2450,3677,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9376,-0.77,-180.8,911.6,-11.8,425,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2450,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9675,-0.76,-180.8,947.6,-11.9,435,9680,0.00,2.08,0.00,0.000,4,0.000,0.051,2400,3768,3675,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9742,-0.76,-180.8,955.3,-12.0,437,9747,0.00,1.90,0.00,0.000,6,0.000,0.024,2400,2449,3674,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,10070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10070,begin apogee
$GC,10077,-0.20,0.0,993.2,-11.3,448,10241,0.60,0.00,156.90,1.262,6,0.114,0.000,2594,2186,2965,0,0,0,0,0,0,25.42,28.83,22.86
$STATE,10243,end apogee,CONTROL_FINISHED_OK
$STATE,10243,begin climb
$GC,10246,0.58,180.8,1001.3,0.0,453,10418,0.73,0.00,166.65,1.266,6,0.071,0.000,2849,2185,2229,0,0,0,0,0,0,24.84,28.83,22.41
$GC,10703,0.60,210.8,975.3,7.9,469,10736,0.00,2.30,27.38,1.203,4,0.000,0.047,2848,3606,2104,0,0,0,0,0,0,28.83,25.56,23.82
$GC,10864,0.57,210.8,960.6,9.9,474,10869,0.00,2.05,0.00,0.000,6,0.000,0.028,2853,2233,2096,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11191,0.60,248.4,933.6,7.7,485,11230,0.00,0.00,37.05,1.191,6,0.000,0.000,2853,2233,1954,0,0,0,0,0,0,28.83,28.83,23.83
$GC,11520,0.62,272.3,907.4,8.1,496,11548,0.00,0.00,24.20,1.195,6,0.000,0.000,2853,2232,1853,0,0,0,0,0,0,28.83,28.83,23.96
$GC,11849,0.62,272.3,878.2,9.0,507,11855,0.00,2.15,0.00,0.000,4,0.000,0.037,2853,807,1845,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11901,0.62,272.3,875.0,9.0,508,11907,0.00,2.10,0.00,0.000,6,0.000,0.031,2854,2210,1843,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12215,0.62,272.3,842.4,10.3,519,12221,0.00,2.17,0.00,0.000,4,0.000,0.047,2853,3603,1843,0,0,0,0,0,0,28.83,26.11,28.83
$GC,12302,0.62,272.3,834.8,11.2,521,12309,0.00,2.08,0.00,0.000,6,0.000,0.028,2854,2202,1842,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12609,0.62,272.3,799.6,10.4,532,12614,0.00,2.20,0.00,0.000,4,0.000,0.047,2853,3599,1841,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12636,0.62,272.3,799.6,10.4,532,12643,0.00,2.08,0.00,0.000,6,0.000,0.028,2853,2198,1841,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12943,0.65,292.7,770.0,8.2,543,12971,0.00,0.00,20.85,1.161,6,0.000,0.000,2853,2198,1767,0,0,0,0,0,0,28.83,28.83,24.08
$GC,13275,0.70,327.2,744.6,7.8,554,13321,0.10,2.35,36.10,1.102,4,0.099,0.047,2908,3601,1626,0,0,0,0,0,0,26.46,25.53,23.92
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$STATE,20727,end climb,SURFACE_DEPTH_REACHED
$STATE,20727,begin surface coast
$FINISH,0.8,1.019657
$STATE,20748,end surface coast,CONTROL_FINISHED_OK
$STATE,20748,begin surface
$SM_CCo,20827,0.00,0.000,0,0,968,490.60
$SM_GC,1.76,7.28,0.32,0.00,0.027,0.044,0.000,112,2450,968,-7.86,-1.50,490.60,0,0,0,0,0,0,26.36,26.51,28.83
$IRIDIUM_FIX,2127.21,12343.97,040113,191918
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.84
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.80
$XPDR_PINGS,27
$24V_AH,22.4,74.306
$10V_AH,9.9,48.513
$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,20.025,180.650,627.575,0.000,0.000,0.000,0.000,279.150,6.750,0.000,5.453,3014.402,14493.810,770.504,2545.906,464.666,0.000,2327.604,0.000,2188.184,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,67.320,1266.075,0.000,0.000,0.000,0.000,123.165,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20766.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.352,0.000,0.000,0.000
$MEM,329584
$DATA_FILE_SIZE,33385,923
$CAP_FILE_SIZE,232331,0
$CFSIZE,260165632,215228416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,197.3,1
$GPS,050113,072036,2141.524,12340.085,37,1.5,37,-3.3