version: 66.11
glider: 167
mission: 14
dive: 443
start: 1 29 113 13 54 34
data:
$ID,167
$MISSION,14
$DIVE,443
$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,-971371.19
$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,63
$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
$GPS1,290113,134505,2304.116,12206.013,36,1.0,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.3
$GPS2,290113,135407,2304.279,12205.956,7,1.0,7,-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,238.7,68370,-14.8,-9.429,-18.00
$D_GRID,4699
$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,-195.5,0.0,0.0,0,74,0.00,0.00,-51.80,0.000,2,0.000,0.000,111,2469,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.73,-195.5,3.2,-4.2,5,131,9.27,2.15,-33.22,0.000,4,0.219,0.046,2423,1072,3766,0,0,0,0,0,0,25.03,25.96,26.66
$GC,291,-0.67,-195.5,35.7,-17.1,25,298,0.00,2.10,0.00,0.000,6,0.000,0.041,2422,2434,3768,0,0,0,0,0,0,28.83,25.75,28.83
$GC,607,-0.61,-195.5,91.5,-15.4,45,614,0.12,2.10,0.00,0.000,4,0.158,0.036,2463,1065,3768,0,0,0,0,0,0,26.09,25.72,28.83
$GC,661,-0.56,-195.5,97.7,-14.5,47,666,0.00,2.12,0.00,0.000,6,0.000,0.039,2463,2456,3768,0,0,0,0,0,0,28.83,25.80,28.83
$GC,975,-0.54,-195.5,139.6,-12.0,63,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2458,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1276,-0.53,-195.5,175.6,-12.0,78,1282,0.12,2.10,0.00,0.000,4,0.144,0.031,2506,1061,3768,0,0,0,0,0,0,26.19,25.84,28.83
$GC,1310,-0.53,-195.5,178.4,-11.5,79,1316,0.00,2.10,0.00,0.000,6,0.000,0.035,2505,2452,3769,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1626,-0.60,-195.5,205.1,-8.4,95,1632,0.12,2.10,0.00,0.000,4,0.079,0.031,2413,1056,3769,0,0,0,0,0,0,26.51,25.84,28.83
$GC,1672,-0.63,-195.5,209.8,-9.4,97,1678,0.17,2.15,0.00,0.000,6,0.139,0.043,2459,2456,3769,0,0,0,0,0,0,25.38,25.78,28.83
$GC,1996,-0.63,-195.5,243.7,-10.1,113,2002,0.00,2.03,0.00,0.000,4,0.000,0.047,2460,3756,3770,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2021,-0.63,-195.5,245.9,-10.0,114,2027,0.00,1.88,0.00,0.000,6,0.000,0.018,2460,2418,3770,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2346,-0.65,-195.5,273.8,-7.9,130,2351,0.00,1.95,0.00,0.000,4,0.000,0.033,2460,1092,3770,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2420,-0.67,-195.5,279.4,-8.6,133,2425,0.00,2.05,0.00,0.000,6,0.000,0.035,2459,2450,3770,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2734,-0.71,-195.5,306.3,-8.1,149,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2450,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3039,-0.75,-195.5,334.7,-9.6,164,3044,0.12,2.08,0.00,0.000,4,0.078,0.044,2372,3760,3768,0,0,0,0,0,0,26.51,25.52,28.83
$GC,3096,-0.75,-195.5,339.7,-9.8,166,3105,0.17,1.83,0.00,0.000,6,0.138,0.018,2420,2449,3768,0,0,0,0,0,0,25.72,26.29,28.83
$GC,3403,-0.74,-195.5,371.4,-9.5,182,3409,0.00,2.03,0.00,0.000,4,0.000,0.032,2420,1091,3767,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3427,-0.74,-195.5,373.8,-9.5,183,3433,0.00,2.10,0.00,0.000,6,0.000,0.036,2420,2459,3764,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3751,-0.74,-195.5,403.7,-9.2,199,3756,0.00,2.03,0.00,0.000,4,0.000,0.048,2420,3755,3765,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3828,-0.74,-195.5,409.8,-9.5,202,3835,0.00,1.83,0.00,0.000,6,0.000,0.018,2420,2465,3764,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4134,-0.74,-195.5,443.0,-10.7,218,4140,0.00,2.08,0.00,0.000,4,0.000,0.032,2420,1071,3763,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4192,-0.74,-195.5,447.7,-10.8,220,4199,0.00,2.10,0.00,0.000,6,0.000,0.036,2420,2451,3762,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4498,-0.74,-195.5,478.4,-8.7,236,4504,0.00,2.10,0.00,0.000,4,0.000,0.038,2420,1075,3760,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4536,-0.74,-195.5,480.4,-8.5,237,4543,0.00,2.10,0.00,0.000,6,0.000,0.035,2420,2455,3758,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4842,-0.74,-195.5,506.7,-8.0,253,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2455,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5144,-0.74,-195.5,532.9,-8.9,268,5149,0.00,2.08,0.00,0.000,4,0.000,0.031,2420,1072,3757,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5192,-0.74,-195.5,537.1,-9.1,270,5198,0.00,2.10,0.00,0.000,6,0.000,0.036,2420,2450,3756,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5511,-0.74,-195.5,565.7,-8.7,286,5516,0.00,2.05,0.00,0.000,4,0.000,0.050,2420,3752,3753,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5545,-0.74,-195.5,567.7,-8.6,287,5551,0.00,1.88,0.00,0.000,6,0.000,0.019,2420,2434,3754,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5860,-0.74,-195.5,597.4,-9.2,303,5865,0.00,2.12,0.00,0.000,4,0.000,0.050,2420,3752,3752,0,0,0,0,0,0,28.83,25.40,28.83
$GC,5905,-0.74,-195.5,601.6,-9.3,305,5910,0.00,1.92,0.00,0.000,6,0.000,0.024,2420,2429,3751,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6230,-0.74,-195.5,632.1,-9.5,316,6235,0.00,2.12,0.00,0.000,4,0.000,0.050,2420,3752,3748,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6298,-0.74,-195.5,638.4,-9.6,318,6304,0.00,1.85,0.00,0.000,6,0.000,0.020,2420,2443,3748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6630,-0.75,-195.5,667.6,-8.5,329,6635,0.00,2.12,0.00,0.000,4,0.000,0.050,2420,3761,3745,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6653,-0.77,-195.5,667.6,-8.5,329,6658,0.00,1.88,0.00,0.000,6,0.000,0.021,2420,2443,3745,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6970,-0.78,-195.5,696.5,-8.5,340,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2441,3743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7268,-0.79,-195.5,721.1,-8.2,350,7273,0.00,2.12,0.00,0.000,4,0.000,0.051,2420,3758,3740,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7334,-0.80,-195.5,726.6,-8.4,352,7339,0.00,1.88,0.00,0.000,6,0.000,0.021,2420,2453,3739,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7670,-0.81,-195.5,754.9,-8.6,363,7675,0.00,2.10,0.00,0.000,4,0.000,0.051,2420,3752,3737,0,0,0,0,0,0,28.83,25.25,28.83
$GC,7705,-0.82,-195.5,758.2,-8.7,364,7710,0.00,1.88,0.00,0.000,6,0.000,0.022,2420,2451,3737,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8041,-0.84,-195.5,787.9,-8.9,375,8046,0.00,2.05,0.00,0.000,4,0.000,0.032,2420,1085,3735,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8085,-0.85,-195.5,791.2,-9.0,376,8090,0.00,2.12,0.00,0.000,6,0.000,0.037,2420,2447,3735,0,0,0,0,0,0,28.83,24.87,28.83
$GC,8411,-0.87,-195.5,821.9,-9.4,387,8417,0.10,2.10,0.00,0.000,4,0.097,0.050,2364,3755,3732,0,0,0,0,0,0,26.48,25.18,28.83
$GC,8500,-0.87,-195.5,830.0,-10.8,389,8507,0.00,1.88,0.00,0.000,6,0.000,0.023,2368,2448,3732,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8806,-0.84,-195.5,870.9,-12.6,400,8811,0.00,2.12,0.00,0.000,4,0.000,0.052,2368,3759,3730,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8871,-0.81,-195.5,879.4,-13.0,402,8877,0.12,1.90,0.00,0.000,6,0.151,0.023,2400,2445,3729,0,0,0,0,0,0,25.67,26.11,28.83
$GC,9206,-0.81,-195.5,915.2,-9.9,413,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2443,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9506,-0.81,-195.5,941.7,-8.4,423,9512,0.00,2.15,0.00,0.000,4,0.000,0.051,2398,3759,3726,0,0,0,0,0,0,28.83,25.10,28.83
$GC,9541,-0.81,-195.5,944.5,-8.2,424,9546,0.00,1.90,0.00,0.000,6,0.000,0.024,2398,2451,3726,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9878,-0.81,-195.5,970.3,-7.7,435,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2450,3725,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10141,begin apogee
$GC,10148,-0.27,0.0,992.4,-8.1,444,10326,0.55,0.00,169.12,1.265,6,0.112,0.000,2573,2175,2961,0,0,0,0,0,0,24.89,28.83,22.99
$STATE,10327,end apogee,CONTROL_FINISHED_OK
$STATE,10327,begin climb
$GC,10330,0.73,195.5,998.3,0.0,450,10523,0.95,2.35,179.73,1.216,4,0.076,0.040,2898,860,2161,0,0,0,0,0,0,24.42,23.45,22.10
$GC,10552,0.71,227.8,985.5,8.4,457,10589,0.00,2.22,31.15,1.200,6,0.000,0.034,2898,2211,2038,0,0,0,0,0,0,28.83,24.32,22.59
$GC,10899,0.67,227.8,946.2,10.8,469,10904,0.00,2.20,0.00,0.000,4,0.000,0.049,2898,3600,2021,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11014,0.62,227.8,935.0,11.5,472,11020,0.15,2.03,0.00,0.000,6,0.150,0.027,2862,2244,2020,0,0,0,0,0,0,25.69,26.11,28.83
$GC,11331,0.65,266.3,905.7,8.2,483,11371,0.00,0.00,37.92,1.190,6,0.000,0.000,2862,2244,1881,0,0,0,0,0,0,28.83,28.83,23.96
$GC,11660,0.73,333.7,880.2,7.2,494,11737,0.12,2.30,68.18,1.159,4,0.082,0.048,2925,3599,1599,0,0,0,0,0,0,26.36,25.20,23.79
$GC,11751,0.70,334.2,870.9,9.4,497,11757,0.15,2.15,0.00,0.000,6,0.145,0.028,2894,2202,1595,0,0,0,0,0,0,25.36,25.66,28.83
$GC,12086,0.72,353.5,841.9,8.8,508,12115,0.00,2.33,20.05,1.185,4,0.000,0.047,2894,3601,1517,0,0,0,0,0,0,28.83,25.63,24.13
$GC,12149,0.72,355.1,835.7,9.4,510,12155,0.00,2.12,0.00,0.000,6,0.000,0.028,2898,2198,1514,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12485,0.72,355.1,801.5,10.7,521,12490,0.00,2.15,0.00,0.000,4,0.000,0.041,2898,801,1512,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12513,0.72,355.1,801.5,10.7,521,12520,0.00,2.15,0.00,0.000,6,0.000,0.034,2898,2203,1512,0,0,0,0,0,0,28.83,25.93,28.83
$GC,12818,0.72,355.1,764.6,10.9,532,12823,0.00,2.25,0.00,0.000,4,0.000,0.051,2898,3598,1511,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12855,0.72,355.1,760.6,11.2,533,12860,0.00,2.10,0.00,0.000,6,0.000,0.028,2898,2200,1507,0,0,0,0,0,0,28.83,26.01,28.83
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$STATE,20280,end climb,SURFACE_DEPTH_REACHED
$STATE,20283,begin surface coast
$FINISH,0.9,1.009733
$STATE,20304,end surface coast,CONTROL_FINISHED_OK
$STATE,20304,begin surface
$SM_CCo,20386,0.00,0.000,0,0,1147,446.69
$SM_GC,1.87,7.53,2.58,0.00,0.031,0.036,0.000,118,2450,1147,-7.87,-1.10,446.69,0,0,0,0,0,0,25.91,25.65,28.83
$IRIDIUM_FIX,2255.72,12205.29,290113,070730
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.80
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.70
$XPDR_PINGS,88
$24V_AH,22.1,95.485
$10V_AH,9.7,61.071
$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,20.375,189.525,589.325,0.000,0.000,0.000,0.000,335.800,22.000,0.000,8.061,2915.149,14225.018,756.847,2516.319,506.837,0.000,2322.697,0.000,2112.629,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,52.020,1265.310,0.000,0.000,0.000,0.000,129.285,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20312.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.946,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,33387,899
$CAP_FILE_SIZE,224578,0
$CFSIZE,260165632,205209600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.212, 45.9,1
$GPS,290113,193535,2304.648,12205.613,30,1.8,30,-3.5