version: 66.11
glider: 167
mission: 14
dive: 413
start: 1 22 113 4 49 39
data:
$ID,167
$MISSION,14
$DIVE,413
$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,-971331.88
$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,65
$R_STBD_OVSHOOT,55
$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
$GPS1,220113,044130,2234.366,12217.221,41,1.2,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.1
$GPS2,220113,044912,2234.438,12217.245,4,1.4,4,-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,286.8,102908,-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,-166.2,0.0,0.0,0,85,0.00,0.00,-62.20,0.000,2,0.000,0.000,110,2467,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.69,-166.2,3.3,-4.1,6,125,9.45,2.15,-18.77,0.000,4,0.222,0.046,2438,1065,3649,0,0,0,0,0,0,25.03,26.07,26.68
$GC,289,-0.63,-166.2,32.3,-14.8,25,297,0.00,2.08,0.00,0.000,6,0.000,0.039,2436,2431,3648,0,0,0,0,0,0,28.83,26.00,28.83
$GC,605,-0.57,-166.2,80.7,-15.1,47,611,0.12,2.05,0.00,0.000,4,0.164,0.044,2466,3759,3649,0,0,0,0,0,0,26.17,25.88,28.83
$GC,649,-0.52,-166.2,87.2,-15.0,49,655,0.00,1.88,0.00,0.000,6,0.000,0.018,2466,2433,3649,0,0,0,0,0,0,28.83,26.39,28.83
$GC,973,-0.49,-166.2,132.6,-14.2,65,979,0.12,2.00,0.00,0.000,4,0.146,0.031,2505,1072,3649,0,0,0,0,0,0,26.23,26.07,28.83
$GC,1021,-0.47,-166.2,138.2,-13.3,67,1026,0.00,2.08,0.00,0.000,6,0.000,0.035,2506,2450,3649,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1339,-0.48,-166.2,171.2,-9.0,83,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2450,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1641,-0.51,-166.2,193.9,-7.0,98,1647,0.00,2.05,0.00,0.000,4,0.000,0.034,2506,1078,3650,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1686,-0.54,-166.2,197.3,-7.3,100,1691,0.00,2.05,0.00,0.000,6,0.000,0.034,2506,2454,3650,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2009,-0.61,-166.2,227.7,-9.9,116,2015,0.12,2.05,0.00,0.000,4,0.078,0.031,2417,1075,3651,0,0,0,0,0,0,26.58,26.09,28.83
$GC,2043,-0.66,-166.2,230.4,-10.0,117,2051,0.15,2.10,0.00,0.000,6,0.151,0.035,2451,2459,3652,0,0,0,0,0,0,25.71,26.08,28.83
$GC,2360,-0.66,-166.2,261.2,-8.2,133,2366,0.00,2.00,0.00,0.000,4,0.000,0.047,2451,3752,3651,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2464,-0.66,-166.2,270.3,-8.8,138,2469,0.00,1.85,0.00,0.000,6,0.000,0.017,2451,2430,3651,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2787,-0.66,-166.2,299.9,-9.7,154,2793,0.00,1.98,0.00,0.000,4,0.000,0.031,2451,1083,3651,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2831,-0.66,-166.2,304.4,-10.1,156,2837,0.00,2.08,0.00,0.000,6,0.000,0.035,2451,2450,3647,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3156,-0.66,-166.2,336.6,-9.7,172,3161,0.00,2.03,0.00,0.000,4,0.000,0.032,2451,1090,3649,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3213,-0.66,-166.2,340.9,-9.6,174,3220,0.00,2.05,0.00,0.000,6,0.000,0.036,2451,2452,3653,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3520,-0.66,-166.2,368.3,-7.4,190,3525,0.00,2.05,0.00,0.000,4,0.000,0.056,2451,3760,3648,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3547,-0.66,-166.2,370.2,-7.4,191,3553,0.00,1.83,0.00,0.000,6,0.000,0.018,2451,2459,3648,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3866,-0.66,-166.2,394.3,-7.9,207,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2458,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4169,-0.67,-166.2,417.9,-8.1,222,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2460,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4469,-0.69,-166.2,442.2,-8.4,237,4474,0.00,2.05,0.00,0.000,4,0.000,0.049,2451,3758,3644,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4502,-0.71,-166.2,444.4,-8.4,238,4507,0.00,1.85,0.00,0.000,6,0.000,0.018,2451,2440,3644,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4817,-0.76,-166.2,470.4,-7.7,254,4822,0.00,1.98,0.00,0.000,4,0.000,0.031,2451,1086,3642,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4844,-0.80,-166.2,472.3,-7.6,255,4851,0.12,2.10,0.00,0.000,6,0.079,0.040,2379,2460,3642,0,0,0,0,0,0,26.01,26.03,28.83
$GC,5165,-0.77,-166.2,503.3,-10.3,271,5171,0.12,2.03,0.00,0.000,4,0.158,0.047,2412,3752,3640,0,0,0,0,0,0,26.20,25.76,28.83
$GC,5190,-0.73,-166.2,505.8,-10.0,272,5195,0.00,1.88,0.00,0.000,6,0.000,0.027,2412,2448,3640,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5513,-0.72,-166.2,537.3,-9.7,288,5519,0.00,2.08,0.00,0.000,4,0.000,0.050,2412,3755,3637,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5578,-0.71,-166.2,543.8,-10.1,291,5584,0.00,1.85,0.00,0.000,6,0.000,0.019,2411,2434,3638,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5901,-0.71,-166.2,574.1,-9.3,307,5906,0.00,2.10,0.00,0.000,4,0.000,0.050,2411,3752,3635,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5934,-0.71,-166.2,576.1,-9.1,308,5939,0.00,1.83,0.00,0.000,6,0.000,0.019,2412,2449,3635,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6250,-0.71,-166.2,606.6,-9.6,323,6255,0.00,2.08,0.00,0.000,4,0.000,0.051,2412,3751,3632,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6292,-0.71,-166.2,610.1,-9.6,324,6297,0.00,1.83,0.00,0.000,6,0.000,0.019,2412,2453,3633,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6617,-0.71,-166.2,643.1,-10.2,335,6622,0.00,2.10,0.00,0.000,4,0.000,0.053,2412,3756,3630,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6654,-0.71,-166.2,646.8,-10.3,336,6660,0.00,1.85,0.00,0.000,6,0.000,0.021,2411,2451,3630,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6987,-0.71,-166.2,680.2,-9.6,347,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2449,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7285,-0.71,-166.2,705.7,-8.0,357,7290,0.00,2.10,0.00,0.000,4,0.000,0.054,2412,3756,3625,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7348,-0.71,-166.2,710.8,-7.9,359,7354,0.00,1.88,0.00,0.000,6,0.000,0.022,2411,2454,3625,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7686,-0.71,-166.2,738.2,-8.5,370,7691,0.00,2.05,0.00,0.000,4,0.000,0.031,2411,1082,3622,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7713,-0.71,-166.2,738.2,-8.5,370,7721,0.00,2.08,0.00,0.000,6,0.000,0.036,2411,2446,3622,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8019,-0.71,-166.2,767.3,-8.2,381,8024,0.00,2.08,0.00,0.000,4,0.000,0.054,2411,3752,3621,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8084,-0.71,-166.2,772.7,-8.3,383,8089,0.00,1.88,0.00,0.000,6,0.000,0.021,2412,2438,3621,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8419,-0.71,-166.2,796.0,-6.5,394,8424,0.00,2.00,0.00,0.000,4,0.000,0.031,2412,1085,3618,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8462,-0.71,-166.2,798.3,-6.6,395,8467,0.00,2.10,0.00,0.000,6,0.000,0.036,2411,2456,3618,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8788,-0.71,-166.2,819.9,-6.7,406,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2456,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9086,-0.71,-166.2,843.8,-8.0,416,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2456,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9386,-0.71,-166.2,867.0,-7.4,426,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2456,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9687,-0.71,-166.2,889.9,-7.6,436,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2456,3612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9987,-0.71,-166.2,914.5,-8.6,446,9992,0.00,2.08,0.00,0.000,4,0.000,0.054,2411,3752,3610,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10044,-0.71,-166.2,917.5,-8.7,447,10051,0.00,1.85,0.00,0.000,6,0.000,0.022,2412,2458,3610,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10351,-0.71,-166.2,947.6,-9.4,458,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2458,3609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10650,-0.71,-166.2,976.4,-9.8,468,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2457,3608,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10798,begin apogee
$GC,10805,-0.27,0.0,991.5,-10.1,473,10956,0.50,0.00,143.73,1.275,6,0.113,0.000,2572,2183,2965,0,0,0,0,0,0,25.23,28.83,23.14
$STATE,10958,end apogee,CONTROL_FINISHED_OK
$STATE,10958,begin climb
$GC,10961,0.69,166.2,1000.3,0.0,478,11123,0.90,2.25,154.23,1.313,4,0.078,0.039,2883,854,2283,0,0,0,0,0,0,24.78,23.96,22.33
$GC,11220,0.70,221.1,990.1,6.6,486,11278,0.00,2.10,51.53,1.290,6,0.000,0.035,2883,2209,2063,0,0,0,0,0,0,28.83,25.71,23.37
$GC,11577,0.67,221.1,959.2,9.1,498,11582,0.00,2.20,0.00,0.000,4,0.000,0.050,2883,3598,2047,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11687,0.62,221.1,949.2,10.4,501,11693,0.00,2.03,0.00,0.000,6,0.000,0.027,2888,2236,2046,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12009,0.58,221.1,916.0,9.6,512,12011,0.15,0.00,0.00,0.000,6,0.145,0.000,2850,2236,2046,0,0,0,0,0,0,26.11,28.83,28.83
$GC,12307,0.59,229.4,891.5,8.2,522,12313,0.00,2.22,1.38,0.249,4,0.000,0.049,2850,3602,2036,0,0,0,0,0,0,28.83,25.77,24.01
$GC,12345,0.59,231.2,888.4,8.4,523,12355,0.00,2.10,3.22,0.961,6,0.000,0.027,2852,2191,2027,0,0,0,0,0,0,28.83,26.19,24.05
$GC,12674,0.58,231.2,859.0,9.0,534,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2190,2031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12973,0.58,231.2,830.3,9.6,544,12978,0.00,2.25,0.00,0.000,4,0.000,0.050,2852,3596,2031,0,0,0,0,0,0,28.83,25.69,28.83
$GC,13020,0.57,231.2,826.7,9.9,545,13026,0.00,2.08,0.00,0.000,6,0.000,0.027,2855,2203,2031,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13342,0.57,231.2,791.9,10.6,556,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2202,2031,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21613,end climb,SURFACE_DEPTH_REACHED
$STATE,21613,begin surface coast
$FINISH,0.8,1.008355
$STATE,21645,end surface coast,CONTROL_FINISHED_OK
$STATE,21645,begin surface
$SM_CCo,21724,0.00,0.000,0,0,1138,448.90
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$IRIDIUM_FIX,2225.34,12219.86,210113,222258
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.05
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.70
$XPDR_PINGS,66
$24V_AH,22.3,89.011
$10V_AH,9.7,57.326
$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,19.825,186.900,572.400,0.000,0.000,0.000,0.000,262.325,16.500,0.000,5.286,3079.865,15328.855,700.690,2567.458,497.963,0.000,2260.755,0.000,2218.694,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,55.845,1312.740,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.359,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,36676,955
$CAP_FILE_SIZE,234707,0
$CFSIZE,260165632,208187392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122, 74.3,1
$GPS,220113,105305,2235.519,12215.805,39,1.5,39,-3.4