version: 66.11
glider: 167
mission: 14
dive: 444
start: 1 29 113 19 44 5
data:
$ID,167
$MISSION,14
$DIVE,444
$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,-971372.44
$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,69
$R_STBD_OVSHOOT,35
$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
$GPS1,290113,193535,2304.648,12205.613,30,1.8,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.7
$GPS2,290113,194338,2304.854,12205.443,8,1.6,9,-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,242.2,67525,-14.8,-9.429,-18.00
$D_GRID,4635
$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,-51.40,0.000,2,0.000,0.000,113,2463,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.73,-195.5,3.2,-4.3,5,125,9.27,2.12,-32.40,0.000,4,0.220,0.061,2413,3759,3766,0,0,0,0,0,0,25.01,25.82,26.66
$GC,257,-0.64,-195.5,33.1,-21.5,22,262,0.15,1.88,0.00,0.000,6,0.145,0.019,2453,2450,3768,0,0,0,0,0,0,25.70,26.19,28.83
$GC,582,-0.61,-195.5,80.9,-13.7,43,587,0.00,2.05,0.00,0.000,4,0.000,0.033,2453,1065,3769,0,0,0,0,0,0,28.83,25.84,28.83
$GC,707,-0.59,-195.5,97.7,-13.3,49,712,0.00,2.12,0.00,0.000,6,0.000,0.036,2452,2455,3769,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1030,-0.56,-195.5,140.2,-12.4,65,1036,0.12,2.10,0.00,0.000,4,0.151,0.032,2492,1064,3768,0,0,0,0,0,0,26.15,25.81,28.83
$GC,1064,-0.54,-195.5,142.9,-11.9,66,1070,0.00,2.10,0.00,0.000,6,0.000,0.035,2492,2453,3770,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1379,-0.54,-195.5,172.2,-9.7,82,1384,0.00,2.03,0.00,0.000,4,0.000,0.047,2492,3758,3769,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1417,-0.55,-195.5,174.6,-9.8,83,1424,0.00,1.88,0.00,0.000,6,0.000,0.018,2492,2413,3769,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1723,-0.61,-195.5,204.6,-9.4,99,1729,0.00,2.12,0.00,0.000,4,0.000,0.047,2492,3759,3769,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1802,-0.67,-195.5,210.4,-9.0,102,1809,0.12,1.83,0.00,0.000,6,0.075,0.018,2413,2456,3769,0,0,0,0,0,0,26.14,26.27,28.83
$GC,2107,-0.67,-195.5,242.9,-10.6,118,2113,0.12,2.08,0.00,0.000,4,0.145,0.045,2452,3762,3769,0,0,0,0,0,0,26.17,25.52,28.83
$GC,2226,-0.67,-195.5,253.1,-9.6,123,2232,0.00,1.85,0.00,0.000,6,0.000,0.018,2452,2433,3770,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2532,-0.72,-195.5,279.7,-7.8,139,2537,0.00,2.10,0.00,0.000,4,0.000,0.048,2452,3759,3770,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2659,-0.77,-195.5,289.7,-8.3,145,2665,0.10,1.85,0.00,0.000,6,0.090,0.018,2384,2443,3770,0,0,0,0,0,0,26.13,26.27,28.83
$GC,2984,-0.73,-195.5,326.8,-11.8,161,2989,0.12,2.00,0.00,0.000,4,0.153,0.030,2423,1095,3770,0,0,0,0,0,0,26.14,25.84,28.83
$GC,3018,-0.69,-195.5,329.6,-11.6,162,3023,0.00,2.05,0.00,0.000,6,0.000,0.036,2423,2458,3770,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3331,-0.69,-195.5,362.1,-9.8,178,3337,0.00,2.03,0.00,0.000,4,0.000,0.050,2423,3744,3765,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3438,-0.68,-195.5,372.3,-9.7,183,3444,0.00,1.83,0.00,0.000,6,0.000,0.018,2422,2433,3768,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3763,-0.68,-195.5,401.8,-9.4,199,3768,0.00,1.95,0.00,0.000,4,0.000,0.031,2423,1104,3766,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3850,-0.68,-195.5,410.1,-9.9,203,3856,0.00,2.05,0.00,0.000,6,0.000,0.034,2422,2445,3765,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4169,-0.68,-195.5,441.6,-9.6,219,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2444,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4471,-0.68,-195.5,470.4,-10.0,234,4476,0.00,2.08,0.00,0.000,4,0.000,0.050,2423,3757,3762,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4495,-0.68,-195.5,472.8,-9.9,235,4500,0.00,1.83,0.00,0.000,6,0.000,0.018,2423,2456,3762,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4819,-0.69,-195.5,499.9,-7.8,251,4825,0.00,2.03,0.00,0.000,4,0.000,0.030,2423,1085,3759,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4878,-0.69,-195.5,503.4,-7.7,253,4884,0.00,2.08,0.00,0.000,6,0.000,0.034,2423,2453,3759,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5183,-0.69,-195.5,526.4,-7.5,269,5188,0.00,2.05,0.00,0.000,4,0.000,0.050,2423,3749,3757,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5237,-0.69,-195.5,529.8,-7.8,271,5243,0.00,1.83,0.00,0.000,6,0.000,0.018,2423,2434,3757,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5551,-0.71,-195.5,556.1,-8.3,287,5556,0.00,2.12,0.00,0.000,4,0.000,0.051,2423,3757,3755,0,0,0,0,0,0,28.83,25.38,28.83
$GC,5580,-0.72,-195.5,558.0,-8.2,288,5585,0.00,1.83,0.00,0.000,6,0.000,0.018,2423,2454,3755,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5899,-0.73,-195.5,583.9,-8.2,304,5904,0.00,2.00,0.00,0.000,4,0.000,0.031,2423,1100,3752,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5945,-0.75,-195.5,587.7,-8.5,306,5950,0.00,2.08,0.00,0.000,6,0.000,0.035,2422,2453,3752,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6271,-0.76,-195.5,615.7,-8.6,319,6276,0.00,2.10,0.00,0.000,4,0.000,0.054,2422,3757,3750,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6382,-0.77,-195.5,624.4,-8.9,322,6387,0.00,1.85,0.00,0.000,6,0.000,0.020,2423,2450,3749,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6703,-0.78,-195.5,654.5,-8.9,333,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2448,3748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7002,-0.80,-195.5,680.5,-8.5,343,7007,0.00,2.12,0.00,0.000,4,0.000,0.056,2422,3751,3746,0,0,0,0,0,0,28.83,25.04,28.83
$GC,7061,-0.81,-195.5,683.7,-8.5,344,7069,0.00,1.85,0.00,0.000,6,0.000,0.021,2423,2450,3745,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7370,-0.83,-195.5,709.9,-7.5,355,7375,0.00,2.10,0.00,0.000,4,0.000,0.052,2423,3751,3742,0,0,0,0,0,0,28.83,25.25,28.83
$GC,7413,-0.84,-195.5,712.8,-7.6,356,7418,0.00,1.85,0.00,0.000,6,0.000,0.021,2423,2450,3742,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7740,-0.86,-195.5,740.2,-8.5,367,7745,0.10,2.03,0.00,0.000,4,0.097,0.029,2370,1090,3740,0,0,0,0,0,0,26.49,25.72,28.83
$GC,7823,-0.86,-195.5,747.7,-9.7,369,7828,0.00,2.10,0.00,0.000,6,0.000,0.037,2370,2455,3739,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8140,-0.83,-195.5,786.1,-11.5,380,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2455,3737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8437,-0.80,-195.5,821.9,-11.9,390,8442,0.12,2.10,0.00,0.000,4,0.161,0.050,2401,3757,3735,0,0,0,0,0,0,26.07,25.15,28.83
$GC,8471,-0.77,-195.5,825.8,-11.8,391,8477,0.00,1.88,0.00,0.000,6,0.000,0.021,2402,2453,3735,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8808,-0.77,-195.5,858.5,-9.7,402,8813,0.00,2.05,0.00,0.000,4,0.000,0.031,2401,1079,3733,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8830,-0.77,-195.5,858.5,-9.7,402,8835,0.00,2.12,0.00,0.000,6,0.000,0.037,2401,2455,3733,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9144,-0.77,-195.5,891.4,-9.6,413,9150,0.00,2.08,0.00,0.000,4,0.000,0.031,2401,1081,3731,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9171,-0.77,-195.5,891.4,-9.6,413,9178,0.00,2.12,0.00,0.000,6,0.000,0.037,2402,2454,3731,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9478,-0.77,-195.5,923.4,-9.4,424,9484,0.00,2.10,0.00,0.000,4,0.000,0.054,2401,3757,3730,0,0,0,0,0,0,28.83,25.08,28.83
$GC,9522,-0.77,-195.5,926.5,-9.3,425,9527,0.00,1.88,0.00,0.000,6,0.000,0.022,2401,2455,3729,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9848,-0.77,-195.5,956.8,-8.8,436,9853,0.00,2.12,0.00,0.000,4,0.000,0.054,2401,3754,3727,0,0,0,0,0,0,28.83,25.04,28.83
$GC,9901,-0.77,-195.5,960.1,-8.9,437,9907,0.00,1.90,0.00,0.000,6,0.000,0.021,2401,2436,3727,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10218,-0.77,-195.5,989.9,-9.0,448,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2434,3725,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10243,begin apogee
$GC,10249,-0.27,0.0,992.5,-9.0,449,10427,0.52,0.00,168.80,1.267,6,0.113,0.000,2569,2177,2960,0,0,0,0,0,0,24.94,28.83,23.01
$STATE,10429,end apogee,CONTROL_FINISHED_OK
$STATE,10429,begin climb
$GC,10432,0.73,195.5,1000.2,0.0,455,10624,0.98,2.35,179.35,1.222,4,0.076,0.040,2898,861,2163,0,0,0,0,0,0,24.43,23.47,22.12
$GC,10647,0.70,223.6,987.9,8.5,462,10680,0.00,2.22,27.75,1.202,6,0.000,0.035,2897,2201,2054,0,0,0,0,0,0,28.83,24.21,22.49
$GC,10999,0.65,223.6,948.8,10.7,474,11005,0.00,2.25,0.00,0.000,4,0.000,0.050,2898,3606,2038,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11114,0.60,223.6,937.2,12.1,477,11120,0.17,2.03,0.00,0.000,6,0.140,0.027,2856,2243,2037,0,0,0,0,0,0,25.64,26.10,28.83
$GC,11431,0.61,242.7,906.7,8.8,488,11454,0.00,2.22,17.77,1.218,4,0.000,0.039,2866,809,1972,0,0,0,0,0,0,28.83,25.70,24.16
$GC,11472,0.62,261.9,903.8,8.8,489,11501,0.00,2.15,20.60,1.203,6,0.000,0.035,2866,2205,1893,0,0,0,0,0,0,28.83,25.86,23.90
$GC,11825,0.64,275.6,871.1,9.0,501,11843,0.00,2.22,13.80,1.231,4,0.000,0.049,2866,3599,1837,0,0,0,0,0,0,28.83,25.73,24.22
$GC,11907,0.63,275.6,864.8,9.6,503,11912,0.00,2.10,0.00,0.000,6,0.000,0.027,2866,2198,1836,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12220,0.63,275.6,832.6,9.7,514,12225,0.00,2.28,0.00,0.000,4,0.000,0.049,2866,3604,1835,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12242,0.63,275.6,832.6,9.7,514,12248,0.00,2.12,0.00,0.000,6,0.000,0.027,2872,2191,1834,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12556,0.63,275.6,798.1,10.1,525,12562,0.00,2.30,0.00,0.000,4,0.000,0.050,2872,3604,1833,0,0,0,0,0,0,28.83,25.50,28.83
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$STATE,20374,end climb,SURFACE_DEPTH_REACHED
$STATE,20374,begin surface coast
$FINISH,0.9,1.015365
$STATE,20409,end surface coast,CONTROL_FINISHED_OK
$STATE,20409,begin surface
$SM_CCo,20491,0.00,0.000,0,0,1005,481.52
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$IRIDIUM_FIX,2258.07,12204.55,290113,131330
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.80
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.60
$XPDR_PINGS,79
$24V_AH,22.1,95.701
$10V_AH,9.6,61.190
$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,20.750,204.725,626.975,0.000,0.000,0.000,0.000,273.675,19.750,0.000,10.013,3071.648,13973.715,761.739,2626.785,530.755,0.000,2367.412,0.000,2276.028,0.000,0.542,0.000
$DEVICE_MAMPS,219.555,61.200,1266.840,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20416.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.946,0.000,0.000,0.000
$MEM,323776
$DATA_FILE_SIZE,33342,902
$CAP_FILE_SIZE,236322,0
$CFSIZE,260165632,205099008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.320, 41.3,1
$GPS,300113,012659,2306.505,12205.994,39,1.9,39,-3.5