version: 66.11
glider: 167
mission: 14
dive: 399
start: 1 18 113 14 8 35
data:
$ID,167
$MISSION,14
$DIVE,399
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,170
$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,-971314.38
$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,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,0.0049999999
$PITCH_ADJ_DBAND,2
$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,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
$GPS1,180113,135824,2223.546,12221.678,41,1.6,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-62.1
$GPS2,180113,140807,2223.634,12221.842,38,0.9,38,-3.3
$SPEED_LIMITS,0.154,0.265
$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,295.6,120769,-15.4,-8.919,-18.60
$D_GRID,4836
$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,-0.71,-166.2,0.0,0.0,0,73,0.00,0.00,-51.47,0.000,2,0.000,0.000,108,2470,2521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.71,-166.2,3.0,-3.6,5,124,9.23,2.08,-30.05,0.000,4,0.214,0.065,2424,3741,3647,0,0,0,0,0,0,24.97,25.94,26.72
$GC,300,-0.68,-166.2,39.6,-19.5,26,306,0.00,1.85,0.00,0.000,6,0.000,0.018,2424,2427,3647,0,0,0,0,0,0,28.83,26.37,28.83
$GC,615,-0.64,-166.2,92.9,-17.0,45,617,0.12,0.00,0.00,0.000,6,0.168,0.000,2455,2427,3648,0,0,0,0,0,0,26.22,28.83,28.83
$GC,917,-0.63,-166.2,135.1,-13.5,60,923,0.00,1.95,0.00,0.000,4,0.000,0.030,2455,1068,3648,0,0,0,0,0,0,28.83,26.25,28.83
$GC,941,-0.61,-166.2,138.9,-13.8,61,947,0.00,2.05,0.00,0.000,6,0.000,0.033,2452,2434,3648,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1265,-0.61,-166.2,179.4,-10.4,77,1270,0.00,2.00,0.00,0.000,4,0.000,0.031,2452,1071,3648,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1298,-0.61,-166.2,181.9,-10.7,78,1303,0.00,2.10,0.00,0.000,6,0.000,0.035,2452,2454,3648,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1611,-0.61,-166.2,217.6,-11.4,94,1616,0.00,2.05,0.00,0.000,4,0.000,0.032,2452,1071,3649,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1658,-0.61,-166.2,222.8,-11.7,96,1663,0.00,2.08,0.00,0.000,6,0.000,0.036,2452,2453,3650,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1977,-0.61,-166.2,261.2,-11.2,112,1982,0.00,2.05,0.00,0.000,4,0.000,0.033,2451,1067,3650,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2014,-0.61,-166.2,263.8,-10.8,113,2021,0.00,2.08,0.00,0.000,6,0.000,0.035,2452,2455,3649,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2320,-0.61,-166.2,294.2,-9.6,129,2326,0.00,2.05,0.00,0.000,4,0.000,0.031,2451,1076,3649,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2370,-0.61,-166.2,298.7,-10.0,131,2376,0.00,2.08,0.00,0.000,6,0.000,0.034,2451,2456,3649,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2688,-0.61,-166.2,328.8,-9.0,147,2693,0.00,2.00,0.00,0.000,4,0.000,0.048,2451,3758,3648,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2721,-0.61,-166.2,330.9,-9.1,148,2727,0.00,1.85,0.00,0.000,6,0.000,0.018,2451,2414,3648,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3035,-0.61,-166.2,359.4,-9.2,164,3040,0.00,2.10,0.00,0.000,4,0.000,0.047,2451,3755,3647,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3133,-0.61,-166.2,367.6,-9.8,168,3139,0.00,1.80,0.00,0.000,6,0.000,0.018,2451,2446,3647,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3438,-0.61,-166.2,397.9,-9.7,184,3443,0.00,1.95,0.00,0.000,4,0.000,0.030,2451,1101,3645,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3482,-0.61,-166.2,402.2,-9.8,186,3487,0.00,2.05,0.00,0.000,6,0.000,0.034,2452,2462,3645,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3805,-0.61,-166.2,430.7,-8.6,202,3811,0.00,2.00,0.00,0.000,4,0.000,0.050,2451,3752,3643,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3899,-0.62,-166.2,438.2,-9.0,206,3905,0.00,1.80,0.00,0.000,6,0.000,0.018,2451,2457,3643,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4213,-0.63,-166.2,462.4,-7.3,222,4218,0.00,2.00,0.00,0.000,4,0.000,0.029,2451,1081,3641,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4258,-0.65,-166.2,465.8,-7.6,224,4263,0.00,2.05,0.00,0.000,6,0.000,0.034,2451,2450,3641,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4582,-0.66,-166.2,488.5,-6.9,240,4587,0.00,2.05,0.00,0.000,4,0.000,0.050,2451,3758,3639,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4661,-0.67,-166.2,493.3,-7.4,243,4668,0.00,1.83,0.00,0.000,6,0.000,0.018,2451,2448,3639,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4967,-0.69,-166.2,519.9,-8.9,259,4972,0.00,1.98,0.00,0.000,4,0.000,0.030,2451,1093,3640,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4999,-0.70,-166.2,522.2,-9.0,260,5004,0.00,2.05,0.00,0.000,6,0.000,0.034,2451,2455,3637,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5313,-0.71,-166.2,550.2,-8.0,276,5319,0.00,2.03,0.00,0.000,4,0.000,0.051,2451,3752,3635,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5372,-0.73,-166.2,553.8,-7.9,278,5379,0.00,1.85,0.00,0.000,6,0.000,0.020,2451,2446,3634,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5678,-0.74,-166.2,576.6,-6.9,294,5683,0.00,2.08,0.00,0.000,4,0.000,0.051,2451,3752,3632,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5716,-0.76,-166.2,578.4,-7.1,295,5723,0.00,1.85,0.00,0.000,6,0.000,0.021,2451,2442,3632,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6043,-0.77,-166.2,605.2,-8.4,311,6049,0.12,2.10,0.00,0.000,4,0.079,0.050,2372,3755,3630,0,0,0,0,0,0,26.57,25.77,28.83
$GC,6096,-0.77,-166.2,609.0,-9.0,312,6102,0.15,1.88,0.00,0.000,6,0.148,0.021,2412,2443,3629,0,0,0,0,0,0,25.83,26.30,28.83
$GC,6412,-0.77,-166.2,644.5,-10.4,323,6418,0.00,2.03,0.00,0.000,4,0.000,0.030,2412,1078,3627,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6485,-0.77,-166.2,651.4,-10.6,325,6490,0.00,2.08,0.00,0.000,6,0.000,0.034,2412,2447,3627,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6811,-0.77,-166.2,684.3,-9.6,336,6817,0.00,2.08,0.00,0.000,4,0.000,0.053,2412,3761,3625,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6869,-0.77,-166.2,687.6,-9.5,337,6876,0.00,1.88,0.00,0.000,6,0.000,0.021,2412,2440,3625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7175,-0.77,-166.2,718.4,-9.4,348,7180,0.00,2.00,0.00,0.000,4,0.000,0.029,2412,1083,3623,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7202,-0.77,-166.2,718.4,-9.4,348,7208,0.00,2.08,0.00,0.000,6,0.000,0.036,2412,2449,3622,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7509,-0.77,-166.2,751.1,-10.1,359,7514,0.00,2.08,0.00,0.000,4,0.000,0.054,2412,3760,3621,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7590,-0.77,-166.2,757.8,-10.3,361,7596,0.00,1.85,0.00,0.000,6,0.000,0.021,2412,2447,3620,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7906,-0.77,-166.2,789.3,-8.9,372,7912,0.00,2.12,0.00,0.000,4,0.000,0.057,2412,3759,3619,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7940,-0.77,-166.2,792.4,-8.7,373,7946,0.00,1.88,0.00,0.000,6,0.000,0.021,2412,2444,3618,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8278,-0.77,-166.2,820.1,-8.3,384,8284,0.00,2.15,0.00,0.000,4,0.000,0.059,2412,3765,3617,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8336,-0.77,-166.2,823.2,-8.3,385,8342,0.00,1.88,0.00,0.000,6,0.000,0.022,2412,2446,3616,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8643,-0.77,-166.2,851.0,-8.1,396,8648,0.00,2.03,0.00,0.000,4,0.000,0.031,2412,1091,3614,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8670,-0.77,-166.2,851.0,-8.1,396,8677,0.00,2.08,0.00,0.000,6,0.000,0.037,2411,2451,3614,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8976,-0.77,-166.2,876.4,-7.2,407,8981,0.00,2.08,0.00,0.000,4,0.000,0.054,2412,3758,3613,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9014,-0.77,-166.2,878.6,-7.2,408,9019,0.00,1.88,0.00,0.000,6,0.000,0.022,2412,2446,3613,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9344,-0.77,-166.2,901.5,-6.8,419,9350,0.00,2.12,0.00,0.000,4,0.000,0.054,2411,3762,3611,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9373,-0.77,-166.2,901.5,-6.8,419,9379,0.00,1.90,0.00,0.000,6,0.000,0.023,2411,2437,3611,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9679,-0.77,-166.2,924.8,-7.2,430,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2436,3610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9978,-0.77,-166.2,949.3,-8.4,440,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2436,3608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10279,-0.77,-166.2,975.4,-8.6,450,10285,0.00,2.03,0.00,0.000,4,0.000,0.031,2411,1075,3607,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10308,-0.77,-166.2,975.4,-8.6,450,10315,0.00,2.12,0.00,0.000,6,0.000,0.038,2412,2450,3608,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,10461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10461,begin apogee
$GC,10468,-0.27,0.0,991.3,-8.4,456,10624,0.50,0.00,148.80,1.307,6,0.114,0.000,2575,2189,2967,0,0,0,0,0,0,25.32,28.83,22.86
$STATE,10625,end apogee,CONTROL_FINISHED_OK
$STATE,10625,begin climb
$GC,10628,0.71,166.2,996.6,0.0,461,10796,0.93,2.30,158.02,1.326,4,0.076,0.039,2899,836,2280,0,0,0,0,0,0,24.68,23.88,22.14
$GC,10860,0.71,184.5,983.7,8.3,469,10884,0.00,2.15,15.98,1.255,6,0.000,0.034,2899,2206,2208,0,0,0,0,0,0,28.83,25.40,23.33
$GC,11185,0.68,184.5,952.4,9.3,480,11190,0.00,2.20,0.00,0.000,4,0.000,0.050,2899,3599,2197,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11252,0.65,184.5,945.5,9.9,482,11258,0.12,2.05,0.00,0.000,6,0.164,0.027,2875,2215,2195,0,0,0,0,0,0,25.87,26.25,28.83
$GC,11582,0.66,201.6,917.6,8.3,493,11600,0.00,0.00,16.62,1.248,6,0.000,0.000,2875,2214,2144,0,0,0,0,0,0,28.83,28.83,23.98
$GC,11882,0.65,201.6,891.0,8.9,503,11883,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2214,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12182,0.64,205.0,864.4,8.8,513,12187,0.00,2.22,0.00,0.000,4,0.000,0.051,2875,3605,2128,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12291,0.62,205.0,854.6,10.1,516,12296,0.00,2.12,0.00,0.000,6,0.000,0.028,2883,2193,2127,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,21367,end climb,SURFACE_DEPTH_REACHED
$STATE,21367,begin surface coast
$FINISH,1.0,1.013748
$STATE,21392,end surface coast,CONTROL_FINISHED_OK
$STATE,21392,begin surface
$SM_CCo,21471,0.00,0.000,0,0,668,563.94
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$TT8_MAMPS,0.028462,0.028462
$HUMID,53.42
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.50
$XPDR_PINGS,92
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$10V_AH,9.8,55.473
$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
$DEVICE_SECS,19.875,202.950,668.925,0.000,0.000,0.000,0.000,322.775,23.000,0.000,39.297,3110.457,14854.994,815.511,2728.018,519.526,0.000,2492.573,0.000,2310.125,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.354,0.000,0.000,0.000
$MEM,323756
$DATA_FILE_SIZE,36721,940
$CAP_FILE_SIZE,241276,0
$CFSIZE,260165632,209612800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.224, 85.1,1
$GPS,180113,200736,2224.936,12221.910,27,1.7,27,-3.4