version: 66.11
glider: 167
mission: 14
dive: 435
start: 1 27 113 15 18 40
data:
$ID,167
$MISSION,14
$DIVE,435
$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,350
$T_MISSION,370
$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,200
$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,-971361.19
$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,67
$R_STBD_OVSHOOT,40
$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
$GPS1,270113,151015,2258.446,12204.351,40,2.7,59,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-59.3
$GPS2,270113,151813,2258.512,12204.359,17,1.7,18,-3.5
$SPEED_LIMITS,0.163,0.290
$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,263.2,66311,-14.8,-9.429,-18.00
$D_GRID,4872
$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,-0.73,-195.5,0.0,0.0,0,85,0.00,0.00,-62.55,0.000,2,0.000,0.000,110,2454,2768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.73,-195.5,3.3,-3.7,6,125,9.30,2.12,-22.02,0.000,4,0.219,0.063,2422,3752,3766,0,0,0,0,0,0,25.01,25.84,26.67
$GC,357,-0.66,-195.5,47.0,-15.7,32,362,0.00,1.88,0.00,0.000,6,0.000,0.020,2422,2440,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,680,-0.61,-195.5,99.4,-15.9,49,686,0.12,2.08,0.00,0.000,4,0.157,0.044,2456,3753,3767,0,0,0,0,0,0,26.14,25.68,28.83
$GC,765,-0.57,-195.5,111.6,-14.4,53,770,0.00,1.88,0.00,0.000,6,0.000,0.021,2456,2446,3768,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1088,-0.56,-195.5,151.6,-13.0,69,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2445,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1391,-0.56,-195.5,184.5,-10.1,84,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2445,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1691,-0.56,-195.5,215.7,-10.7,99,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2445,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.56,-195.5,245.5,-10.6,114,1996,0.00,2.03,0.00,0.000,4,0.000,0.034,2456,1073,3770,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2047,-0.56,-195.5,250.4,-10.7,116,2055,0.12,2.08,0.00,0.000,6,0.135,0.035,2490,2447,3770,0,0,0,0,0,0,25.67,25.90,28.83
$GC,2354,-0.64,-195.5,277.8,-8.4,132,2359,0.00,2.05,0.00,0.000,4,0.000,0.032,2489,1067,3770,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2460,-0.70,-195.5,286.7,-8.6,137,2466,0.15,2.10,0.00,0.000,6,0.067,0.035,2406,2460,3770,0,0,0,0,0,0,25.91,25.91,28.83
$GC,2784,-0.70,-195.5,320.5,-10.2,153,2790,0.12,2.03,0.00,0.000,4,0.148,0.047,2446,3751,3769,0,0,0,0,0,0,26.20,25.60,28.83
$GC,2912,-0.74,-195.5,332.8,-10.0,159,2918,0.00,1.88,0.00,0.000,6,0.000,0.017,2446,2411,3768,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3232,-0.78,-195.5,363.8,-9.0,175,3237,0.00,1.92,0.00,0.000,4,0.000,0.031,2446,1095,3767,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3281,-0.81,-195.5,367.8,-9.1,177,3287,0.12,2.05,0.00,0.000,6,0.077,0.036,2374,2451,3767,0,0,0,0,0,0,25.88,25.90,28.83
$GC,3600,-0.77,-195.5,404.5,-10.6,193,3606,0.12,2.05,0.00,0.000,4,0.155,0.047,2412,3752,3765,0,0,0,0,0,0,26.15,25.58,28.83
$GC,3635,-0.73,-195.5,406.8,-10.0,194,3640,0.00,1.80,0.00,0.000,6,0.000,0.017,2412,2451,3765,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3948,-0.72,-195.5,438.5,-9.9,210,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2455,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4251,-0.72,-195.5,469.8,-10.4,225,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2456,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4551,-0.72,-195.5,499.7,-9.6,240,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2456,3760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4851,-0.72,-195.5,526.8,-8.9,255,4856,0.00,2.05,0.00,0.000,4,0.000,0.036,2411,1088,3758,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4905,-0.72,-195.5,531.0,-8.9,257,4910,0.00,2.08,0.00,0.000,6,0.000,0.034,2411,2449,3758,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5218,-0.72,-195.5,562.0,-10.2,273,5223,0.00,2.08,0.00,0.000,4,0.000,0.051,2411,3759,3756,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5284,-0.72,-195.5,568.8,-10.6,276,5289,0.00,1.85,0.00,0.000,6,0.000,0.019,2411,2452,3755,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5603,-0.72,-195.5,599.9,-8.8,292,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2449,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5922,-0.72,-195.5,633.5,-10.0,303,5928,0.00,2.10,0.00,0.000,4,0.000,0.052,2413,3756,3750,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5960,-0.72,-195.5,636.7,-9.5,304,5966,0.00,1.90,0.00,0.000,6,0.000,0.021,2411,2448,3750,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6290,-0.72,-195.5,669.2,-9.5,315,6295,0.00,2.12,0.00,0.000,4,0.000,0.054,2412,3748,3752,0,0,0,0,0,0,28.83,24.33,28.83
$GC,6343,-0.72,-195.5,672.3,-9.2,316,6349,0.00,1.85,0.00,0.000,6,0.000,0.020,2411,2439,3748,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6659,-0.72,-195.5,702.4,-9.2,327,6665,0.00,2.12,0.00,0.000,4,0.000,0.053,2411,3754,3745,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6713,-0.72,-195.5,706.0,-9.3,328,6718,0.00,1.85,0.00,0.000,6,0.000,0.020,2411,2444,3745,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7029,-0.72,-195.5,736.0,-9.0,339,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2442,3742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7326,-0.72,-195.5,762.5,-8.7,349,7332,0.00,2.12,0.00,0.000,4,0.000,0.053,2412,3754,3740,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7421,-0.72,-195.5,770.7,-8.5,352,7426,0.00,1.88,0.00,0.000,6,0.000,0.021,2411,2438,3739,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7757,-0.72,-195.5,799.0,-8.6,363,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2437,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8056,-0.72,-195.5,823.8,-8.2,373,8062,0.00,2.15,0.00,0.000,4,0.000,0.054,2411,3752,3735,0,0,0,0,0,0,28.83,25.26,28.83
$GC,8109,-0.72,-195.5,826.9,-8.3,374,8114,0.00,1.85,0.00,0.000,6,0.000,0.021,2411,2452,3735,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8425,-0.72,-195.5,854.8,-8.3,385,8430,0.00,2.12,0.00,0.000,4,0.000,0.053,2412,3758,3732,0,0,0,0,0,0,28.83,25.24,28.83
$GC,8458,-0.72,-195.5,858.1,-8.6,386,8464,0.00,1.88,0.00,0.000,6,0.000,0.021,2411,2451,3733,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8794,-0.73,-195.5,889.4,-9.7,397,8800,0.00,2.03,0.00,0.000,4,0.000,0.031,2411,1092,3732,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8824,-0.74,-195.5,889.4,-9.7,397,8830,0.00,2.10,0.00,0.000,6,0.000,0.037,2411,2454,3731,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9128,-0.74,-195.5,921.0,-9.2,408,9134,0.00,2.10,0.00,0.000,4,0.000,0.054,2411,3758,3729,0,0,0,0,0,0,28.83,25.18,28.83
$GC,9157,-0.74,-195.5,921.0,-9.2,408,9164,0.00,1.88,0.00,0.000,6,0.000,0.022,2411,2456,3729,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9466,-0.75,-195.5,950.4,-8.7,419,9472,0.00,2.08,0.00,0.000,4,0.000,0.034,2412,1084,3726,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9500,-0.77,-195.5,953.6,-8.7,420,9506,0.00,2.12,0.00,0.000,6,0.000,0.037,2411,2453,3727,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9837,-0.78,-195.5,981.2,-8.1,431,9843,0.00,2.10,0.00,0.000,4,0.000,0.059,2411,3754,3725,0,0,0,0,0,0,28.83,23.78,28.83
$GC,9906,-0.79,-195.5,986.7,-8.2,433,9911,0.00,1.88,0.00,0.000,6,0.000,0.021,2411,2447,3725,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,9961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9961,begin apogee
$GC,9969,-0.27,0.0,991.7,-8.1,435,10145,0.50,0.00,168.77,1.252,6,0.112,0.000,2572,2181,2963,0,0,0,0,0,0,25.08,28.83,23.06
$STATE,10146,end apogee,CONTROL_FINISHED_OK
$STATE,10146,begin climb
$GC,10150,0.73,195.5,998.3,0.0,441,10335,0.95,0.00,179.88,1.217,6,0.076,0.000,2892,2180,2170,0,0,0,0,0,0,24.47,28.83,22.24
$GC,10627,0.69,195.5,959.0,9.8,457,10632,0.00,2.30,0.00,0.000,4,0.000,0.050,2892,3606,2150,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10709,0.63,195.5,951.6,10.4,459,10715,0.00,2.05,0.00,0.000,6,0.000,0.027,2898,2235,2150,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11025,0.58,195.5,916.4,10.7,470,11031,0.12,2.20,0.00,0.000,4,0.162,0.038,2868,802,2148,0,0,0,0,0,0,26.04,25.80,28.83
$GC,11074,0.54,195.5,912.7,10.5,471,11079,0.00,2.15,0.00,0.000,6,0.000,0.035,2868,2209,2146,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11395,0.52,195.5,880.9,9.8,482,11402,0.12,2.22,0.00,0.000,4,0.139,0.048,2829,3602,2145,0,0,0,0,0,0,26.13,25.54,28.83
$GC,11449,0.49,195.5,877.4,9.6,483,11454,0.00,2.10,0.00,0.000,6,0.000,0.026,2828,2192,2145,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11764,0.57,254.7,851.7,7.5,494,11827,0.00,2.33,57.55,1.159,4,0.000,0.047,2828,3596,1921,0,0,0,0,0,0,28.83,25.25,23.79
$GC,11845,0.64,316.4,847.2,7.4,496,11916,0.12,2.12,62.50,1.141,6,0.080,0.025,2889,2199,1673,0,0,0,0,0,0,25.62,25.69,23.53
$GC,12216,0.64,316.4,807.2,10.4,509,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2199,1659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12515,0.64,316.4,775.7,10.6,519,12520,0.00,2.28,0.00,0.000,4,0.000,0.051,2889,3602,1657,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12548,0.64,316.4,772.0,10.8,520,12554,0.00,2.12,0.00,0.000,6,0.000,0.027,2893,2188,1656,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12885,0.64,316.4,736.3,10.7,531,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2188,1659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13182,0.64,316.4,704.9,10.4,541,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2188,1654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13483,0.64,316.4,674.9,9.8,551,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2188,1654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13782,0.64,316.4,646.5,9.7,561,13788,0.00,2.28,0.00,0.000,4,0.000,0.049,2894,3596,1653,0,0,0,0,0,0,28.83,25.43,28.83
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$STATE,20208,end climb,SURFACE_DEPTH_REACHED
$STATE,20209,begin surface coast
$FINISH,1.0,1.011746
$STATE,20230,end surface coast,CONTROL_FINISHED_OK
$STATE,20230,begin surface
$SM_CCo,20312,0.00,0.000,0,0,834,523.72
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$IRIDIUM_FIX,2248.70,12207.27,270113,090931
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.00
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.80
$XPDR_PINGS,114
$24V_AH,22.2,93.723
$10V_AH,9.8,60.116
$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,20.275,176.150,631.625,0.000,0.000,0.000,0.000,262.525,28.500,0.000,19.898,2909.807,14157.595,756.354,2469.780,488.038,0.000,2246.962,0.000,2130.965,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,62.730,1252.305,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.356,0.000,0.000,0.000
$MEM,323776
$DATA_FILE_SIZE,33372,889
$CAP_FILE_SIZE,220538,0
$CFSIZE,260165632,206008320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.228, 56.1,1
$GPS,270113,205836,2259.737,12204.087,40,1.2,40,-3.5