version: 66.11
glider: 167
mission: 14
dive: 363
start: 1 9 113 2 18 56
data:
$ID,167
$MISSION,14
$DIVE,363
$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,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$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,-969288.38
$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,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,0.5
$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,71
$R_STBD_OVSHOOT,47
$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
$GPS1,090113,021054,2153.119,12317.134,42,1.1,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-53.2
$GPS2,090113,021830,2152.958,12317.005,4,1.1,4,-3.3
$SPEED_LIMITS,0.147,0.264
$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,352.9,230215,-14.4,-8.462,-17.80
$D_GRID,5574
$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,16,begin dive
$GC,19,-0.57,-171.1,0.0,0.0,0,84,0.00,0.00,-62.17,0.000,2,0.000,0.000,108,2466,2578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.57,-171.1,3.0,-3.3,6,135,9.68,2.08,-29.60,0.000,4,0.223,0.063,2475,3740,3666,0,0,0,0,0,0,24.82,25.96,26.70
$GC,205,-0.51,-171.1,18.0,-16.1,17,211,0.00,1.85,0.00,0.000,6,0.000,0.020,2475,2441,3669,0,0,0,0,0,0,28.83,26.37,28.83
$GC,520,-0.47,-171.1,61.7,-13.1,44,522,0.12,0.00,0.00,0.000,6,0.148,0.000,2509,2441,3669,0,0,0,0,0,0,26.35,28.83,28.83
$GC,820,-0.47,-171.1,91.3,-10.3,59,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2441,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1122,-0.48,-171.1,127.4,-12.7,74,1127,0.00,2.05,0.00,0.000,4,0.000,0.050,2514,3746,3669,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1194,-0.49,-171.1,135.6,-12.2,77,1199,0.00,1.85,0.00,0.000,6,0.000,0.018,2508,2418,3669,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1508,-0.51,-171.1,165.6,-7.1,93,1514,0.00,1.92,0.00,0.000,4,0.000,0.025,2508,1063,3670,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1547,-0.53,-171.1,167.1,-6.7,94,1553,0.00,2.05,0.00,0.000,6,0.000,0.030,2508,2452,3669,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1853,-0.55,-171.1,186.6,-6.9,110,1858,0.00,2.00,0.00,0.000,4,0.000,0.047,2508,3761,3669,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1925,-0.59,-171.1,192.3,-8.5,113,1931,0.00,1.85,0.00,0.000,6,0.000,0.018,2508,2418,3669,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2239,-0.65,-171.1,223.2,-7.0,129,2245,0.12,1.88,0.00,0.000,4,0.078,0.021,2420,1087,3670,0,0,0,0,0,0,26.65,26.41,28.83
$GC,2267,-0.70,-171.1,224.9,-6.7,130,2272,0.00,2.00,0.00,0.000,6,0.000,0.029,2420,2452,3670,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2586,-0.67,-171.1,252.1,-8.2,146,2592,0.12,2.00,0.00,0.000,4,0.158,0.044,2452,3755,3669,0,0,0,0,0,0,26.31,26.13,28.83
$GC,2660,-0.65,-171.1,257.3,-8.0,149,2665,0.00,1.77,0.00,0.000,6,0.000,0.018,2453,2465,3670,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2973,-0.65,-171.1,291.1,-11.9,165,2979,0.00,1.98,0.00,0.000,4,0.000,0.026,2452,1075,3670,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3001,-0.65,-171.1,294.0,-11.9,166,3007,0.00,2.05,0.00,0.000,6,0.000,0.031,2452,2447,3670,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3319,-0.65,-171.1,330.7,-10.3,182,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2447,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3624,-0.65,-171.1,353.7,-6.5,197,3629,0.00,2.00,0.00,0.000,4,0.000,0.048,2452,3757,3667,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3711,-0.65,-171.1,359.6,-6.8,201,3716,0.00,1.83,0.00,0.000,6,0.000,0.018,2452,2435,3667,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4031,-0.66,-171.1,384.6,-9.1,217,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2435,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4332,-0.67,-171.1,413.1,-9.0,232,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2435,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-0.68,-171.1,441.7,-9.2,247,4637,0.00,1.92,0.00,0.000,4,0.000,0.026,2452,1082,3663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4695,-0.69,-171.1,447.8,-9.2,250,4701,0.00,2.08,0.00,0.000,6,0.000,0.031,2452,2460,3662,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5019,-0.71,-171.1,475.1,-8.2,266,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2460,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5322,-0.72,-171.1,499.2,-8.0,281,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2460,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.74,-171.1,523.8,-8.1,296,5628,0.00,2.00,0.00,0.000,4,0.000,0.027,2457,1083,3657,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5675,-0.76,-171.1,528.0,-8.5,298,5680,0.00,2.05,0.00,0.000,6,0.000,0.032,2452,2451,3656,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5988,-0.77,-171.1,556.4,-8.8,314,5990,0.12,0.00,0.00,0.000,6,0.082,0.000,2382,2452,3654,0,0,0,0,0,0,26.63,28.83,28.83
$GC,6291,-0.74,-171.1,590.1,-10.9,329,6293,0.15,0.00,0.00,0.000,6,0.145,0.000,2423,2452,3652,0,0,0,0,0,0,26.27,28.83,28.83
$GC,6590,-0.74,-171.1,613.6,-7.2,341,6595,0.00,2.03,0.00,0.000,4,0.000,0.049,2423,3759,3651,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6628,-0.74,-171.1,616.2,-7.3,342,6633,0.00,1.85,0.00,0.000,6,0.000,0.020,2423,2446,3651,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6959,-0.74,-171.1,642.3,-8.1,353,6965,0.00,2.08,0.00,0.000,4,0.000,0.049,2423,3766,3649,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7012,-0.74,-171.1,645.4,-8.1,354,7017,0.00,1.88,0.00,0.000,6,0.000,0.028,2423,2448,3647,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7328,-0.74,-171.1,670.2,-7.5,365,7333,0.00,1.98,0.00,0.000,4,0.000,0.028,2423,1080,3647,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7375,-0.74,-171.1,673.3,-7.9,366,7380,0.00,2.08,0.00,0.000,6,0.000,0.033,2423,2457,3645,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7695,-0.74,-171.1,701.2,-8.4,377,7701,0.00,2.03,0.00,0.000,4,0.000,0.050,2423,3760,3644,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7748,-0.74,-171.1,704.0,-8.3,378,7753,0.00,1.85,0.00,0.000,6,0.000,0.021,2423,2461,3644,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8064,-0.74,-171.1,731.2,-8.2,389,8069,0.00,2.03,0.00,0.000,4,0.000,0.028,2423,1064,3642,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8098,-0.75,-171.1,734.4,-8.2,390,8104,0.00,2.10,0.00,0.000,6,0.000,0.033,2423,2450,3642,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8433,-0.75,-171.1,763.3,-9.0,401,8440,0.00,2.05,0.00,0.000,4,0.000,0.027,2423,1065,3640,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8463,-0.76,-171.1,763.3,-9.0,401,8470,0.00,2.10,0.00,0.000,6,0.000,0.033,2423,2455,3639,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8770,-0.76,-171.1,792.9,-8.4,412,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2455,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9069,-0.77,-171.1,817.2,-7.9,422,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2451,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9368,-0.78,-171.1,837.8,-6.9,432,9374,0.00,2.05,0.00,0.000,4,0.000,0.050,2423,3764,3634,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9438,-0.78,-171.1,842.3,-6.9,434,9443,0.00,1.90,0.00,0.000,6,0.000,0.023,2423,2435,3635,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9769,-0.79,-171.1,865.5,-7.0,445,9770,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2434,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10067,-0.80,-171.1,886.6,-7.1,455,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2434,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10367,-0.82,-171.1,907.6,-6.8,465,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2434,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10667,-0.83,-171.1,926.4,-6.0,475,10673,0.00,2.12,0.00,0.000,4,0.000,0.051,2423,3765,3630,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10726,-0.84,-171.1,928.6,-6.1,476,10732,0.00,1.90,0.00,0.000,6,0.000,0.024,2420,2443,3629,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11034,-0.85,-171.1,950.2,-6.9,487,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2442,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11331,-0.87,-171.1,971.8,-7.2,497,11337,0.12,2.10,0.00,0.000,4,0.086,0.050,2358,3755,3627,0,0,0,0,0,0,26.56,25.75,28.83
$GC,11390,-0.87,-171.1,974.9,-7.6,498,11396,0.00,1.88,0.00,0.000,6,0.000,0.024,2358,2455,3626,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,11512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11512,begin apogee
$GC,11520,-0.20,0.0,991.1,-10.8,503,11675,0.75,0.00,148.15,1.293,6,0.127,0.000,2592,2172,2964,0,0,0,0,0,0,25.08,28.83,22.76
$STATE,11677,end apogee,CONTROL_FINISHED_OK
$STATE,11677,begin climb
$GC,11680,0.57,171.1,995.4,0.0,508,11847,0.73,0.00,160.18,1.337,6,0.070,0.000,2846,2173,2266,0,0,0,0,0,0,24.87,28.83,22.20
$GC,12148,0.55,174.0,961.7,8.4,524,12153,0.00,2.28,0.00,0.000,4,0.000,0.047,2846,3611,2251,0,0,0,0,0,0,28.83,26.02,28.83
$GC,12306,0.50,174.0,947.3,9.3,529,12312,0.00,2.05,0.00,0.000,6,0.000,0.028,2855,2232,2249,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12638,0.49,191.1,920.5,7.9,540,12666,0.12,2.28,17.92,1.278,4,0.153,0.048,2816,3606,2181,0,0,0,0,0,0,26.20,25.82,23.89
$GC,12702,0.51,220.9,915.9,7.5,542,12739,0.00,2.12,30.30,1.291,6,0.000,0.028,2816,2196,2063,0,0,0,0,0,0,28.83,26.08,23.58
$GC,13062,0.58,272.1,891.9,6.8,554,13122,0.10,2.33,51.00,1.271,4,0.096,0.049,2872,3603,1851,0,0,0,0,0,0,26.45,25.29,23.53
$GC,13158,0.57,272.1,882.5,9.3,557,13164,0.12,2.15,0.00,0.000,6,0.146,0.028,2848,2195,1846,0,0,0,0,0,0,25.59,25.84,28.83
$GC,13493,0.60,303.0,855.3,7.4,568,13531,0.00,2.15,30.80,1.244,4,0.000,0.037,2855,806,1725,0,0,0,0,0,0,28.83,25.58,23.80
$GC,13549,0.65,339.3,853.3,7.3,569,13594,0.00,2.15,36.88,1.196,6,0.000,0.031,2856,2208,1578,0,0,0,0,0,0,28.83,25.80,23.61
$GC,13918,0.68,354.7,824.9,7.9,582,13941,0.00,2.28,15.60,1.230,4,0.000,0.049,2855,3602,1515,0,0,0,0,0,0,28.83,25.82,24.03
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$STATE,22407,end climb,SURFACE_DEPTH_REACHED
$STATE,22407,begin surface coast
$FINISH,0.8,1.020675
$STATE,22437,end surface coast,CONTROL_FINISHED_OK
$STATE,22437,begin surface
$SM_CCo,22516,0.00,0.000,0,0,1011,480.05
$SM_GC,1.79,7.28,0.35,0.00,0.027,0.051,0.000,112,2448,1011,-7.88,-1.36,480.05,0,0,0,0,0,0,26.31,26.41,28.83
$IRIDIUM_FIX,2148.09,12322.08,080113,202043
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.58
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.60
$XPDR_PINGS,30
$24V_AH,22.2,77.674
$10V_AH,9.7,50.573
$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,20.525,177.800,612.475,0.000,0.000,0.000,0.000,260.300,7.500,0.000,5.436,3199.789,15869.967,739.633,2663.872,488.824,0.000,2343.766,0.000,2320.875,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,63.495,1337.220,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22450.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.388,0.000,0.000,0.000
$MEM,329560
$DATA_FILE_SIZE,36654,991
$CAP_FILE_SIZE,246022,0
$CFSIZE,260165632,213626880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.247,198.9,1
$GPS,090113,083536,2153.096,12315.458,39,0.9,39,-3.3