version: 66.11
glider: 167
mission: 14
dive: 412
start: 1 21 113 22 45 40
data:
$ID,167
$MISSION,14
$DIVE,412
$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,390
$T_MISSION,410
$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,-971330.62
$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,74
$R_STBD_OVSHOOT,65
$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
$GPS1,210113,223736,2234.368,12218.023,32,1.0,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.0
$GPS2,210113,224512,2234.428,12218.144,6,1.0,6,-3.4
$SPEED_LIMITS,0.147,0.260
$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,264.2,104222,-14.7,-8.462,-18.01
$D_GRID,4801
$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,-0.69,-166.2,0.0,0.0,0,74,0.00,0.00,-51.92,0.000,2,0.000,0.000,109,2485,2730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.69,-166.2,3.3,-4.5,5,115,9.40,2.12,-21.80,0.000,4,0.220,0.044,2435,1062,3644,0,0,0,0,0,0,24.98,26.06,26.68
$GC,225,-0.64,-166.2,24.0,-14.4,19,230,0.00,2.05,0.00,0.000,6,0.000,0.035,2435,2426,3646,0,0,0,0,0,0,28.83,26.05,28.83
$GC,540,-0.57,-166.2,66.6,-13.5,44,546,0.12,2.08,0.00,0.000,4,0.163,0.046,2466,3759,3646,0,0,0,0,0,0,26.17,25.82,28.83
$GC,568,-0.51,-166.2,70.1,-13.6,45,574,0.12,1.85,0.00,0.000,6,0.145,0.018,2500,2423,3646,0,0,0,0,0,0,25.99,26.37,28.83
$GC,887,-0.51,-166.2,108.8,-12.2,61,893,0.00,1.92,0.00,0.000,4,0.000,0.031,2499,1096,3647,0,0,0,0,0,0,28.83,26.09,28.83
$GC,915,-0.51,-166.2,111.8,-12.2,62,921,0.00,2.03,0.00,0.000,6,0.000,0.034,2494,2449,3646,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1234,-0.51,-166.2,147.5,-10.0,78,1239,0.00,2.03,0.00,0.000,4,0.000,0.050,2493,3755,3647,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1287,-0.51,-166.2,152.2,-10.3,80,1292,0.00,1.85,0.00,0.000,6,0.000,0.018,2493,2435,3647,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1600,-0.51,-166.2,183.9,-9.7,96,1605,0.00,1.98,0.00,0.000,4,0.000,0.030,2492,1076,3647,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1648,-0.51,-166.2,188.3,-10.0,98,1653,0.00,2.05,0.00,0.000,6,0.000,0.034,2491,2447,3648,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1967,-0.53,-166.2,217.7,-7.9,114,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2447,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2269,-0.59,-166.2,245.0,-9.5,129,2275,0.00,2.03,0.00,0.000,4,0.000,0.031,2493,1076,3648,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2322,-0.64,-166.2,249.3,-9.3,131,2327,0.00,2.08,0.00,0.000,6,0.000,0.034,2493,2454,3649,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2636,-0.69,-166.2,273.4,-7.0,147,2642,0.12,2.03,0.00,0.000,4,0.079,0.047,2400,3759,3648,0,0,0,0,0,0,26.58,25.84,28.83
$GC,2684,-0.70,-166.2,277.6,-8.1,149,2692,0.15,1.88,0.00,0.000,6,0.144,0.019,2441,2433,3649,0,0,0,0,0,0,25.91,26.39,28.83
$GC,3004,-0.70,-166.2,307.1,-8.9,165,3009,0.00,1.98,0.00,0.000,4,0.000,0.030,2441,1078,3648,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3031,-0.70,-166.2,309.2,-8.9,166,3036,0.00,2.08,0.00,0.000,6,0.000,0.034,2439,2464,3648,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3350,-0.70,-166.2,334.5,-7.7,182,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2459,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3651,-0.70,-166.2,359.0,-8.6,197,3657,0.00,2.03,0.00,0.000,4,0.000,0.030,2439,1088,3647,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3715,-0.70,-166.2,364.7,-8.7,200,3721,0.00,2.08,0.00,0.000,6,0.000,0.038,2438,2451,3646,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4040,-0.70,-166.2,390.1,-7.9,216,4045,0.00,2.03,0.00,0.000,4,0.000,0.051,2438,3748,3645,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4107,-0.70,-166.2,395.3,-8.0,219,4113,0.00,1.83,0.00,0.000,6,0.000,0.018,2438,2435,3645,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4426,-0.70,-166.2,419.7,-6.8,235,4431,0.00,1.98,0.00,0.000,4,0.000,0.029,2438,1087,3644,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4489,-0.70,-166.2,424.1,-6.9,238,4495,0.00,2.05,0.00,0.000,6,0.000,0.034,2438,2447,3643,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4813,-0.70,-166.2,446.4,-7.5,254,4818,0.00,2.05,0.00,0.000,4,0.000,0.051,2438,3758,3641,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4901,-0.70,-166.2,453.2,-8.1,258,4906,0.00,1.83,0.00,0.000,6,0.000,0.019,2438,2450,3641,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5219,-0.70,-166.2,480.0,-8.7,274,5225,0.00,2.08,0.00,0.000,4,0.000,0.050,2438,3753,3639,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5257,-0.70,-166.2,482.2,-9.1,275,5264,0.00,1.85,0.00,0.000,6,0.000,0.019,2438,2434,3639,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5563,-0.70,-166.2,513.1,-9.4,291,5568,0.00,1.95,0.00,0.000,4,0.000,0.030,2438,1096,3637,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5600,-0.70,-166.2,515.3,-9.4,292,5606,0.00,2.05,0.00,0.000,6,0.000,0.035,2438,2454,3637,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5907,-0.70,-166.2,543.9,-8.7,308,5912,0.00,2.05,0.00,0.000,4,0.000,0.051,2438,3752,3636,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5939,-0.70,-166.2,546.0,-8.6,309,5945,0.00,1.83,0.00,0.000,6,0.000,0.019,2438,2439,3636,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6254,-0.71,-166.2,572.5,-8.0,325,6259,0.00,1.95,0.00,0.000,4,0.000,0.030,2438,1102,3634,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6282,-0.72,-166.2,574.7,-8.2,326,6288,0.00,2.08,0.00,0.000,6,0.000,0.041,2437,2451,3634,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6591,-0.73,-166.2,603.4,-9.5,341,6596,0.00,2.05,0.00,0.000,4,0.000,0.051,2438,3753,3632,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6635,-0.74,-166.2,606.8,-9.6,342,6640,0.00,1.83,0.00,0.000,6,0.000,0.019,2437,2456,3632,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6961,-0.75,-166.2,637.8,-8.9,353,6966,0.00,2.10,0.00,0.000,4,0.000,0.052,2437,3758,3630,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7005,-0.77,-166.2,641.1,-9.0,354,7010,0.00,1.88,0.00,0.000,6,0.000,0.020,2438,2444,3629,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7330,-0.78,-166.2,670.0,-8.6,365,7336,0.00,2.12,0.00,0.000,4,0.000,0.053,2438,3757,3627,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7379,-0.79,-166.2,673.0,-8.6,366,7385,0.00,1.88,0.00,0.000,6,0.000,0.028,2438,2446,3626,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7700,-0.81,-166.2,701.2,-8.8,377,7705,0.00,2.10,0.00,0.000,4,0.000,0.053,2437,3754,3625,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7727,-0.82,-166.2,701.2,-8.8,377,7735,0.12,1.85,0.00,0.000,6,0.083,0.021,2372,2449,3625,0,0,0,0,0,0,26.20,26.36,28.83
$GC,8037,-0.79,-166.2,740.0,-11.9,388,8042,0.12,2.03,0.00,0.000,4,0.158,0.028,2409,1085,3622,0,0,0,0,0,0,26.17,25.98,28.83
$GC,8080,-0.76,-166.2,744.1,-11.6,389,8086,0.00,2.08,0.00,0.000,6,0.000,0.035,2409,2448,3622,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8406,-0.76,-166.2,777.9,-10.3,400,8411,0.00,2.08,0.00,0.000,4,0.000,0.053,2409,3756,3621,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8469,-0.76,-166.2,784.9,-10.3,402,8474,0.00,1.88,0.00,0.000,6,0.000,0.020,2409,2437,3621,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8805,-0.76,-166.2,818.8,-9.9,413,8810,0.00,2.00,0.00,0.000,4,0.000,0.036,2409,1089,3618,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8838,-0.76,-166.2,822.3,-9.8,414,8843,0.00,2.10,0.00,0.000,6,0.000,0.035,2409,2458,3618,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9173,-0.76,-166.2,855.1,-9.6,425,9179,0.00,2.08,0.00,0.000,4,0.000,0.054,2409,3752,3617,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9268,-0.76,-166.2,864.4,-9.6,428,9273,0.00,1.88,0.00,0.000,6,0.000,0.021,2409,2447,3616,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9603,-0.76,-166.2,897.2,-10.0,439,9608,0.00,2.00,0.00,0.000,4,0.000,0.031,2409,1096,3614,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9632,-0.76,-166.2,897.2,-10.0,439,9639,0.00,2.08,0.00,0.000,6,0.000,0.036,2409,2451,3614,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9936,-0.76,-166.2,929.2,-9.3,450,9941,0.00,2.08,0.00,0.000,4,0.000,0.054,2409,3752,3612,0,0,0,0,0,0,28.83,25.50,28.83
$GC,10009,-0.76,-166.2,935.0,-9.3,452,10015,0.00,1.85,0.00,0.000,6,0.000,0.022,2409,2459,3612,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10334,-0.76,-166.2,961.9,-7.3,463,10340,0.00,2.12,0.00,0.000,4,0.000,0.054,2409,3758,3610,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10371,-0.76,-166.2,964.4,-7.2,464,10377,0.00,1.90,0.00,0.000,6,0.000,0.021,2409,2429,3610,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10703,-0.76,-166.2,987.3,-6.7,475,10704,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2428,3609,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10757,begin apogee
$GC,10764,-0.27,0.0,991.5,-6.8,477,10917,0.50,0.00,142.57,1.269,6,0.115,0.000,2571,2192,2962,0,0,0,0,0,0,25.24,28.83,23.25
$STATE,10918,end apogee,CONTROL_FINISHED_OK
$STATE,10918,begin climb
$GC,10921,0.69,166.2,995.4,0.0,482,11081,0.90,2.20,151.10,1.226,4,0.077,0.038,2884,855,2283,0,0,0,0,0,0,24.93,24.46,22.90
$GC,11139,0.65,178.5,983.2,8.0,489,11155,0.00,2.10,10.93,1.235,6,0.000,0.034,2885,2206,2238,0,0,0,0,0,0,28.83,25.61,23.66
$GC,11457,0.60,178.5,952.9,8.8,500,11462,0.00,2.22,0.00,0.000,4,0.000,0.054,2887,3604,2225,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11534,0.54,178.5,946.5,9.2,502,11540,0.17,2.03,0.00,0.000,6,0.145,0.027,2845,2236,2224,0,0,0,0,0,0,25.75,26.22,28.83
$GC,11856,0.61,242.9,924.9,6.3,513,11921,0.00,0.00,62.55,1.207,6,0.000,0.000,2845,2236,1978,0,0,0,0,0,0,28.83,28.83,23.63
$GC,12215,0.66,285.2,900.6,7.0,525,12259,0.00,0.00,42.53,1.227,6,0.000,0.000,2845,2237,1804,0,0,0,0,0,0,28.83,28.83,23.67
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$STATE,21167,end climb,SURFACE_DEPTH_REACHED
$STATE,21167,begin surface coast
$FINISH,0.8,1.010054
$STATE,21188,end surface coast,CONTROL_FINISHED_OK
$STATE,21188,begin surface
$SM_CCo,21266,0.00,0.000,0,0,1153,445.22
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$IRIDIUM_FIX,2225.34,12216.64,210113,161656
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.33
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.60
$XPDR_PINGS,61
$24V_AH,22.9,88.806
$10V_AH,9.7,57.196
$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,20.375,210.300,570.800,0.000,0.000,0.000,0.000,253.600,15.250,0.000,7.926,3170.688,14644.213,748.074,2639.668,510.571,0.000,2329.530,0.000,2316.241,0.000,0.541,0.000
$DEVICE_MAMPS,220.320,54.315,1269.135,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21198.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.384,0.000,0.000,0.000
$MEM,323776
$DATA_FILE_SIZE,36651,937
$CAP_FILE_SIZE,240282,0
$CFSIZE,260165632,208285696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.139, 85.8,1
$GPS,220113,044130,2234.366,12217.221,41,1.2,41,-3.4