version: 66.11
glider: 167
mission: 14
dive: 451
start: 1 31 113 11 25 37
data:
$ID,167
$MISSION,14
$DIVE,451
$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,310
$T_MISSION,330
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,270
$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,-971451.5
$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,59
$R_STBD_OVSHOOT,58
$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,20.5
$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
$GPS1,310113,111535,2312.598,12206.687,43,0.9,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-65.4
$GPS2,310113,112510,2312.654,12206.790,7,0.9,7,-3.5
$SPEED_LIMITS,0.184,0.361
$TGT_NAME,HEADING
$TGT_LATLONG,2312.654,12155.040
$TGT_RADIUS,1852.000
$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,273.5,20000,-13.3,-10.645,-16.43
$D_GRID,4139
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.80,-293.3,0.0,0.0,0,92,0.00,0.00,-70.28,0.000,2,0.000,0.000,111,2482,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.80,-293.3,3.0,-2.7,7,156,9.05,2.15,-42.03,0.000,4,0.215,0.044,2401,1052,3961,0,0,0,0,0,0,25.05,25.94,26.63
$GC,255,-0.73,-293.3,25.9,-17.3,22,263,0.12,2.12,0.00,0.000,6,0.159,0.037,2428,2437,3962,0,0,0,0,0,0,25.51,25.81,28.83
$GC,561,-0.69,-293.3,71.6,-14.7,46,566,0.00,2.08,0.00,0.000,4,0.000,0.047,2424,3755,3962,0,0,0,0,0,0,28.83,25.49,28.83
$GC,676,-0.64,-293.3,87.6,-15.5,51,682,0.12,1.88,0.00,0.000,6,0.145,0.017,2457,2418,3962,0,0,0,0,0,0,25.80,26.22,28.83
$GC,991,-0.62,-293.3,127.0,-11.7,67,996,0.00,2.12,0.00,0.000,4,0.000,0.046,2452,3764,3962,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1029,-0.60,-293.3,130.1,-12.1,68,1036,0.00,1.85,0.00,0.000,6,0.000,0.018,2452,2450,3962,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1334,-0.59,-293.3,170.9,-12.1,84,1339,0.00,2.03,0.00,0.000,4,0.000,0.033,2452,1081,3962,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1378,-0.59,-293.3,176.1,-12.1,86,1383,0.00,2.08,0.00,0.000,6,0.000,0.036,2452,2450,3962,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1701,-0.59,-293.3,209.6,-9.9,102,1707,0.00,2.05,0.00,0.000,4,0.000,0.047,2452,3765,3962,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1760,-0.59,-293.3,213.5,-9.2,104,1766,0.00,1.88,0.00,0.000,6,0.000,0.019,2452,2444,3962,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2065,-0.59,-293.3,243.8,-10.1,120,2070,0.00,2.08,0.00,0.000,4,0.000,0.047,2452,3755,3962,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2109,-0.59,-293.3,248.3,-10.2,122,2115,0.00,1.85,0.00,0.000,6,0.000,0.018,2452,2454,3962,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2433,-0.65,-293.3,278.8,-8.9,138,2439,0.00,2.05,0.00,0.000,4,0.000,0.032,2452,1079,3962,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2518,-0.69,-293.3,286.6,-9.3,142,2524,0.00,2.10,0.00,0.000,6,0.000,0.036,2452,2459,3961,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2843,-0.75,-293.3,317.0,-9.2,158,2848,0.00,2.08,0.00,0.000,4,0.000,0.031,2452,1077,3961,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2861,-0.81,-293.3,317.0,-9.2,158,2869,0.15,2.10,0.00,0.000,6,0.068,0.036,2365,2452,3960,0,0,0,0,0,0,25.75,25.74,28.83
$GC,3167,-0.76,-293.3,357.0,-13.9,174,3172,0.17,2.05,0.00,0.000,4,0.142,0.045,2413,3752,3960,0,0,0,0,0,0,25.92,25.43,28.83
$GC,3263,-0.74,-293.3,366.4,-11.1,178,3269,0.00,1.85,-0.05,0.000,6,0.000,0.018,2413,2434,3973,0,0,0,0,0,0,28.83,26.29,24.81
$GC,3577,-0.77,-293.3,400.5,-10.3,194,3582,0.00,2.00,0.00,0.000,4,0.000,0.031,2413,1082,3972,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3641,-0.79,-293.3,407.5,-10.9,197,3646,0.00,2.10,0.00,0.000,6,0.000,0.035,2413,2455,3972,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3965,-0.82,-293.3,440.9,-10.3,213,3970,0.00,2.05,0.00,0.000,4,0.000,0.049,2413,3752,3970,0,0,0,0,0,0,28.83,25.40,28.83
$GC,4032,-0.86,-293.3,447.6,-10.5,216,4038,0.00,1.85,0.00,0.000,6,0.000,0.018,2413,2442,3970,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4351,-0.90,-293.3,478.4,-9.0,232,4357,0.12,2.12,0.00,0.000,4,0.078,0.047,2332,3759,3968,0,0,0,0,0,0,26.46,25.35,28.83
$GC,4420,-0.87,-293.3,486.3,-11.4,235,4426,0.17,1.90,0.00,0.000,6,0.148,0.027,2378,2453,3968,0,0,0,0,0,0,25.47,26.12,28.83
$GC,4739,-0.85,-293.3,522.9,-10.8,251,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2453,3963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5042,-0.82,-293.3,555.3,-10.7,266,5047,0.00,2.08,0.00,0.000,4,0.000,0.048,2377,3751,3964,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5065,-0.80,-293.3,558.0,-10.7,267,5071,0.12,1.88,0.00,0.000,6,0.144,0.019,2410,2433,3964,0,0,0,0,0,0,25.81,26.22,28.83
$GC,5391,-0.80,-293.3,588.2,-9.3,283,5396,0.00,2.00,0.00,0.000,4,0.000,0.031,2410,1082,3962,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5438,-0.80,-293.3,592.7,-9.6,285,5444,0.00,2.12,0.00,0.000,6,0.000,0.035,2410,2455,3962,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5760,-0.80,-293.3,623.6,-9.5,297,5765,0.00,2.10,0.00,0.000,4,0.000,0.057,2410,3756,3959,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5823,-0.80,-293.3,630.2,-9.7,299,5828,0.00,1.88,0.00,0.000,6,0.000,0.021,2410,2442,3959,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6158,-0.80,-293.3,659.7,-8.5,310,6164,0.00,2.12,0.00,0.000,4,0.000,0.050,2410,3754,3957,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6217,-0.80,-293.3,662.6,-8.4,311,6224,0.00,1.88,0.00,0.000,6,0.000,0.021,2410,2439,3955,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6524,-0.81,-293.3,689.9,-8.6,322,6530,0.00,2.15,0.00,0.000,4,0.000,0.051,2410,3757,3954,0,0,0,0,0,0,28.83,25.19,28.83
$GC,6563,-0.82,-293.3,693.2,-8.8,323,6569,0.00,1.88,0.00,0.000,6,0.000,0.021,2410,2450,3954,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6895,-0.83,-293.3,725.0,-9.7,334,6901,0.00,2.15,0.00,0.000,4,0.000,0.052,2417,3759,3951,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6934,-0.84,-293.3,728.7,-9.8,335,6939,0.00,1.88,0.00,0.000,6,0.000,0.021,2410,2452,3951,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7264,-0.85,-293.3,760.2,-9.3,346,7270,0.00,2.12,0.00,0.000,4,0.000,0.051,2410,3758,3949,0,0,0,0,0,0,28.83,25.13,28.83
$GC,7338,-0.87,-293.3,766.4,-9.2,348,7344,0.00,1.92,0.00,0.000,6,0.000,0.024,2410,2446,3948,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7664,-0.88,-293.3,796.5,-9.1,359,7669,0.00,2.12,0.00,0.000,4,0.000,0.052,2410,3752,3947,0,0,0,0,0,0,28.83,25.09,28.83
$GC,7713,-0.89,-293.3,799.8,-9.2,360,7718,0.00,1.90,0.00,0.000,6,0.000,0.023,2410,2437,3946,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8034,-0.90,-293.3,830.1,-8.7,371,8039,0.12,2.15,0.00,0.000,4,0.083,0.050,2344,3751,3944,0,0,0,0,0,0,26.41,25.04,28.83
$GC,8088,-0.90,-293.3,834.0,-9.2,372,8094,0.12,1.90,0.00,0.000,6,0.155,0.023,2375,2443,3943,0,0,0,0,0,0,25.60,26.07,28.83
$GC,8405,-0.88,-293.3,867.9,-9.7,383,8410,0.00,2.15,0.00,0.000,4,0.000,0.053,2374,3751,3942,0,0,0,0,0,0,28.83,25.03,28.83
$GC,8448,-0.86,-293.3,871.6,-10.0,384,8453,0.00,1.90,0.00,0.000,6,0.000,0.022,2374,2443,3942,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8775,-0.85,-293.3,904.9,-10.2,395,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2441,3941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,-0.83,-293.3,937.6,-11.1,405,9078,0.00,2.17,0.00,0.000,4,0.000,0.053,2374,3759,3939,0,0,0,0,0,0,28.83,24.96,28.83
$GC,9115,-0.81,-293.3,941.5,-11.0,406,9121,0.00,1.92,0.00,0.000,6,0.000,0.023,2374,2442,3939,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9441,-0.80,-293.3,979.2,-11.6,417,9443,0.12,0.00,0.00,0.000,6,0.152,0.000,2407,2441,3938,0,0,0,0,0,0,26.13,28.83,28.83
$STATE,9556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9556,begin apogee
$GC,9564,-0.27,0.0,991.5,-10.2,421,9812,0.50,0.00,240.75,1.161,6,0.104,0.000,2572,2182,2965,0,0,0,0,0,0,25.06,28.83,23.34
$STATE,9814,end apogee,CONTROL_FINISHED_OK
$STATE,9814,begin climb
$GC,9817,0.80,293.3,1008.2,0.0,429,10147,1.00,2.60,317.10,1.094,4,0.062,0.049,2920,3599,1762,0,0,0,0,0,0,24.53,23.68,22.48
$GC,10223,0.72,293.3,978.4,11.5,443,10228,0.00,2.10,0.00,0.000,6,0.000,0.027,2925,2251,1747,0,0,0,0,0,0,28.83,25.27,28.83
$GC,10561,0.66,293.3,940.9,11.0,454,10566,0.15,2.17,0.00,0.000,4,0.152,0.044,2886,850,1743,0,0,0,0,0,0,25.92,25.75,28.83
$GC,10609,0.60,293.3,937.1,10.8,455,10614,0.00,2.08,0.00,0.000,6,0.000,0.034,2886,2205,1742,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10931,0.62,338.5,906.4,9.5,466,10976,0.00,2.28,33.80,1.221,4,0.000,0.048,2886,3600,1586,0,0,0,0,1,0,28.83,25.42,23.69
$GC,11109,0.59,338.5,886.4,11.7,472,11120,0.15,2.03,2.70,0.594,6,0.139,0.027,2852,2244,1583,0,0,0,0,0,0,25.79,26.14,24.18
$GC,11443,0.69,429.4,857.5,8.4,483,11546,0.12,2.42,87.95,1.601,4,0.082,0.041,2930,815,1216,0,0,0,0,1,0,26.35,24.45,22.82
$GC,11571,0.67,429.4,843.1,11.8,487,11577,0.15,2.20,0.00,0.000,6,0.118,0.033,2883,2209,1221,0,0,0,0,0,0,25.04,25.22,28.83
$GC,11902,0.72,471.5,810.6,9.6,498,11959,0.00,2.35,41.92,1.472,4,0.000,0.049,2883,3602,1046,0,0,0,0,1,0,28.83,25.26,23.49
$GC,11995,0.75,497.0,801.1,10.0,501,12036,0.00,2.12,27.85,1.276,6,0.000,0.028,2885,2198,937,0,0,0,0,1,0,28.83,25.98,23.56
$GC,12356,0.88,506.0,763.2,10.4,513,12385,0.15,2.25,16.67,1.196,4,0.111,0.046,2940,3601,890,0,0,0,0,1,0,26.10,25.78,23.87
$GC,12469,0.99,515.7,753.7,10.4,516,12481,0.12,2.10,3.08,0.793,6,0.083,0.027,3008,2199,864,0,0,0,0,0,0,26.06,26.13,24.18
$GC,12780,0.92,515.7,697.3,17.7,527,12790,0.15,2.20,1.73,0.169,4,0.139,0.041,2970,811,865,0,0,0,0,0,0,25.94,25.85,25.02
$GC,12869,0.87,515.7,688.1,15.7,529,12876,0.00,2.12,0.00,0.000,6,0.000,0.032,2970,2203,872,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,18587,end climb,SURFACE_DEPTH_REACHED
$STATE,18587,begin surface coast
$FINISH,0.9,1.018651
$STATE,18608,end surface coast,CONTROL_FINISHED_OK
$STATE,18610,begin surface
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$IRIDIUM_FIX,2302.75,12207.78,310113,050550
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.28
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,94
$24V_AH,22.5,97.680
$10V_AH,9.7,61.999
$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
$DEVICE_SECS,21.400,180.400,887.925,0.000,0.000,0.000,0.000,335.900,23.500,0.000,8.581,2615.365,12587.316,965.775,2541.465,528.753,0.000,2600.635,0.000,2165.424,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.888,0.000,0.000,0.000
$MEM,323752
$DATA_FILE_SIZE,30102,823
$CAP_FILE_SIZE,221851,0
$CFSIZE,260165632,204427264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,310113,163835,2314.552,12206.567,42,0.9,42,-3.5