version: 66.11
glider: 167
mission: 14
dive: 404
start: 1 19 113 21 30 38
data:
$ID,167
$MISSION,14
$DIVE,404
$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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,170
$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,-971320.62
$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,66
$R_STBD_OVSHOOT,49
$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
$GPS1,190113,212134,2228.125,12220.312,44,1.2,44,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-60.5
$GPS2,190113,213011,2228.168,12220.436,4,1.3,4,-3.4
$SPEED_LIMITS,0.147,0.260
$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,271.7,113846,-14.7,-8.462,-18.01
$D_GRID,4781
$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,18,begin dive
$GC,20,-0.69,-166.2,0.0,0.0,0,85,0.00,0.00,-61.88,0.000,2,0.000,0.000,107,2465,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.69,-166.2,3.1,-3.5,6,131,9.38,2.15,-23.23,0.000,4,0.219,0.042,2433,1039,3647,0,0,0,0,0,0,24.95,26.18,26.70
$GC,250,-0.63,-166.2,26.2,-15.1,21,258,0.12,2.12,0.00,0.000,6,0.160,0.033,2458,2443,3648,0,0,0,0,0,0,25.78,26.08,28.83
$GC,568,-0.59,-166.2,65.1,-11.2,46,573,0.00,2.03,0.00,0.000,4,0.000,0.047,2451,3758,3648,0,0,0,0,0,0,28.83,25.94,28.83
$GC,632,-0.54,-166.2,72.0,-10.8,49,638,0.15,1.88,0.00,0.000,6,0.140,0.021,2492,2437,3647,0,0,0,0,0,0,25.91,26.36,28.83
$GC,956,-0.53,-166.2,115.3,-15.9,65,962,0.00,1.98,0.00,0.000,4,0.000,0.031,2492,1070,3648,0,0,0,0,0,0,28.83,26.18,28.83
$GC,980,-0.52,-166.2,119.2,-16.5,66,987,0.00,2.10,0.00,0.000,6,0.000,0.034,2492,2455,3648,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1304,-0.52,-166.2,161.6,-10.2,82,1309,0.00,2.05,0.00,0.000,4,0.000,0.031,2493,1063,3648,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1337,-0.52,-166.2,164.2,-10.4,83,1342,0.00,2.08,0.00,0.000,6,0.000,0.034,2492,2452,3648,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1650,-0.53,-166.2,198.9,-10.3,99,1655,0.00,2.00,0.00,0.000,4,0.000,0.046,2492,3762,3648,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1717,-0.54,-166.2,204.9,-9.5,102,1722,0.00,1.85,0.00,0.000,6,0.000,0.018,2492,2446,3648,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2036,-0.56,-166.2,234.1,-8.9,118,2041,0.00,2.03,0.00,0.000,4,0.000,0.044,2492,3756,3648,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2080,-0.58,-166.2,238.0,-9.0,120,2085,0.00,1.85,0.00,0.000,6,0.000,0.018,2492,2437,3648,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2404,-0.65,-166.2,264.4,-8.1,136,2410,0.12,2.05,0.00,0.000,4,0.077,0.043,2400,3759,3648,0,0,0,0,0,0,26.60,26.02,28.83
$GC,2594,-0.59,-166.2,287.6,-13.3,145,2600,0.25,1.85,0.00,0.000,6,0.132,0.028,2473,2456,3649,0,0,0,0,0,0,25.72,26.39,28.83
$GC,2913,-0.61,-166.2,317.9,-8.8,161,2918,0.00,2.03,0.00,0.000,4,0.000,0.031,2474,1066,3649,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2947,-0.62,-166.2,320.0,-8.7,162,2952,0.00,2.10,0.00,0.000,6,0.000,0.034,2469,2459,3648,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3261,-0.64,-166.2,345.8,-7.9,178,3266,0.00,2.05,0.00,0.000,4,0.000,0.032,2469,1072,3648,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3305,-0.66,-166.2,349.3,-8.0,180,3311,0.00,2.08,0.00,0.000,6,0.000,0.034,2467,2452,3648,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3630,-0.68,-166.2,374.9,-8.0,196,3635,0.00,2.00,0.00,0.000,4,0.000,0.047,2466,3752,3647,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3703,-0.70,-166.2,380.5,-8.6,199,3708,0.00,1.83,0.00,0.000,6,0.000,0.018,2467,2444,3647,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4016,-0.75,-166.2,410.8,-9.2,215,4023,0.12,2.05,0.00,0.000,4,0.081,0.045,2383,3752,3644,0,0,0,0,0,0,26.58,25.90,28.83
$GC,4031,-0.80,-166.2,410.8,-9.2,215,4036,0.00,1.83,0.00,0.000,6,0.000,0.018,2382,2435,3645,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4344,-0.75,-166.2,446.6,-10.0,231,4350,0.12,2.08,0.00,0.000,4,0.156,0.045,2420,3755,3643,0,0,0,0,0,0,26.22,25.89,28.83
$GC,4564,-0.73,-166.2,466.5,-10.0,241,4571,0.00,1.83,0.00,0.000,6,0.000,0.018,2414,2439,3642,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4870,-0.72,-166.2,499.2,-10.4,257,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2438,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5173,-0.70,-166.2,529.7,-10.2,272,5178,0.00,1.98,0.00,0.000,4,0.000,0.031,2413,1085,3639,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5207,-0.69,-166.2,532.2,-10.1,273,5212,0.00,2.05,0.00,0.000,6,0.000,0.034,2414,2450,3639,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5520,-0.67,-166.2,566.5,-10.3,289,5527,0.12,2.05,0.00,0.000,4,0.155,0.049,2452,3755,3636,0,0,0,0,0,0,26.24,25.82,28.83
$GC,5566,-0.67,-166.2,570.6,-9.6,291,5572,0.00,1.83,0.00,0.000,6,0.000,0.019,2452,2451,3636,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5890,-0.70,-166.2,598.0,-8.3,307,5895,0.00,2.08,0.00,0.000,4,0.000,0.051,2452,3757,3634,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5949,-0.72,-166.2,601.5,-8.1,309,5955,0.00,1.83,0.00,0.000,6,0.000,0.021,2452,2450,3633,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6256,-0.74,-166.2,625.4,-7.6,320,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2449,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6555,-0.77,-166.2,648.6,-7.8,330,6560,0.10,2.10,0.00,0.000,4,0.095,0.055,2394,3759,3630,0,0,0,0,0,0,26.58,25.28,28.83
$GC,6603,-0.78,-166.2,652.0,-8.2,331,6609,0.00,1.88,0.00,0.000,6,0.000,0.027,2394,2446,3629,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6925,-0.76,-166.2,685.1,-9.7,342,6930,0.00,2.00,0.00,0.000,4,0.000,0.030,2394,1081,3627,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6973,-0.73,-166.2,689.0,-9.9,343,6979,0.12,2.08,0.00,0.000,6,0.157,0.035,2425,2449,3627,0,0,0,0,0,0,25.73,26.03,28.83
$GC,7294,-0.73,-166.2,717.4,-8.6,354,7299,0.00,2.05,0.00,0.000,4,0.000,0.053,2425,3754,3625,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7321,-0.73,-166.2,717.4,-8.6,354,7328,0.00,1.85,0.00,0.000,6,0.000,0.020,2425,2434,3625,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7627,-0.73,-166.2,748.2,-9.8,365,7632,0.00,2.00,0.00,0.000,4,0.000,0.034,2424,1083,3622,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7675,-0.73,-166.2,751.7,-10.2,366,7681,0.00,2.12,0.00,0.000,6,0.000,0.042,2426,2455,3622,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7994,-0.73,-166.2,783.9,-9.2,377,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2458,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8294,-0.73,-166.2,810.9,-9.1,387,8299,0.00,2.03,0.00,0.000,4,0.000,0.030,2425,1091,3619,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8336,-0.73,-166.2,814.1,-9.1,388,8341,0.00,2.08,0.00,0.000,6,0.000,0.035,2425,2455,3619,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8660,-0.73,-166.2,844.7,-8.9,399,8665,0.00,2.08,0.00,0.000,4,0.000,0.054,2425,3762,3617,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8693,-0.73,-166.2,847.6,-9.0,400,8699,0.00,1.88,0.00,0.000,6,0.000,0.021,2425,2448,3617,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9029,-0.75,-166.2,872.8,-6.7,411,9034,0.00,2.03,0.00,0.000,4,0.000,0.030,2425,1082,3614,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9067,-0.76,-166.2,875.3,-6.7,412,9072,0.00,2.10,0.00,0.000,6,0.000,0.036,2425,2458,3613,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9398,-0.77,-166.2,897.6,-6.7,423,9403,0.00,2.08,0.00,0.000,4,0.000,0.053,2425,3762,3612,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9441,-0.78,-166.2,900.2,-6.9,424,9447,0.00,1.88,0.00,0.000,6,0.000,0.021,2425,2448,3612,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9768,-0.79,-166.2,925.2,-7.6,435,9773,0.00,2.10,0.00,0.000,4,0.000,0.054,2425,3752,3610,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9802,-0.81,-166.2,928.1,-7.6,436,9807,0.00,1.88,0.00,0.000,6,0.000,0.023,2425,2459,3610,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10140,-0.82,-166.2,954.3,-7.6,447,10146,0.00,2.05,0.00,0.000,4,0.000,0.031,2425,1073,3609,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10168,-0.84,-166.2,954.3,-7.6,447,10175,0.00,2.12,0.00,0.000,6,0.000,0.037,2425,2448,3609,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10477,-0.85,-166.2,980.8,-8.1,458,10483,0.12,2.12,0.00,0.000,4,0.085,0.052,2359,3762,3607,0,0,0,0,0,0,26.51,25.31,28.83
$GC,10530,-0.85,-166.2,984.5,-8.5,459,10536,0.12,1.90,0.00,0.000,6,0.161,0.023,2390,2450,3607,0,0,0,0,0,0,25.81,26.27,28.83
$STATE,10571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10571,begin apogee
$GC,10579,-0.27,0.0,991.3,-10.0,461,10730,0.57,0.00,144.52,1.343,6,0.121,0.000,2573,2184,2969,0,0,0,0,0,0,25.10,28.83,22.96
$STATE,10731,end apogee,CONTROL_FINISHED_OK
$STATE,10732,begin climb
$GC,10734,0.69,166.2,997.8,0.0,466,10899,0.90,2.30,154.52,1.292,4,0.077,0.039,2881,848,2281,0,0,0,0,0,0,24.68,24.06,22.39
$GC,10938,0.69,211.3,988.3,6.9,473,10987,0.00,2.17,42.20,1.285,6,0.000,0.034,2880,2203,2102,0,0,0,0,0,0,28.83,25.17,23.08
$GC,11300,0.65,211.3,955.8,9.0,485,11306,0.00,2.22,0.00,0.000,4,0.000,0.050,2881,3610,2087,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11427,0.60,211.3,942.6,10.7,489,11432,0.00,2.05,0.00,0.000,6,0.000,0.028,2884,2236,2086,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11763,0.56,211.3,909.9,9.7,500,11765,0.15,0.00,0.00,0.000,6,0.151,0.000,2843,2235,2085,0,0,0,0,0,0,26.12,28.83,28.83
$GC,12061,0.59,234.8,886.3,7.7,510,12091,0.00,2.22,21.50,1.256,4,0.000,0.050,2843,3600,2005,0,0,0,0,0,0,28.83,25.67,23.89
$GC,12143,0.61,247.1,880.8,8.0,512,12164,0.00,2.10,13.32,1.254,6,0.000,0.026,2848,2199,1955,0,0,0,0,0,0,28.83,26.09,23.89
$GC,12488,0.64,273.4,851.9,7.6,524,12518,0.00,0.00,28.17,1.252,6,0.000,0.000,2849,2199,1851,0,0,0,0,0,0,28.83,28.83,23.82
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$STATE,21358,end climb,SURFACE_DEPTH_REACHED
$STATE,21358,begin surface coast
$FINISH,1.1,1.011711
$STATE,21379,end surface coast,CONTROL_FINISHED_OK
$STATE,21379,begin surface
$SM_CCo,21463,0.00,0.000,0,0,1164,442.52
$SM_GC,1.68,7.43,2.50,0.00,0.028,0.029,0.000,103,2442,1164,-7.88,-1.50,442.52,0,0,0,0,0,0,26.23,26.16,28.83
$IRIDIUM_FIX,2218.34,12218.61,190113,151511
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.58
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.60
$XPDR_PINGS,71
$24V_AH,22.4,87.198
$10V_AH,9.7,56.145
$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,21.175,207.050,566.750,0.000,0.000,0.000,0.000,316.800,17.750,0.000,5.252,3201.045,14795.461,740.614,2735.794,495.447,0.000,2406.544,0.000,2332.607,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,55.080,1342.575,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21392.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.380,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,36759,942
$CAP_FILE_SIZE,243454,0
$CFSIZE,260165632,209100800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.162, 90.5,1
$GPS,200113,032935,2228.183,12219.842,30,1.2,30,-3.4