version: 66.11
glider: 167
mission: 14
dive: 406
start: 1 20 113 9 49 53
data:
$ID,167
$MISSION,14
$DIVE,406
$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,-971323.12
$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,60
$R_STBD_OVSHOOT,74
$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
$GPS1,200113,094129,2229.451,12219.023,46,1.5,46,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-59.4
$GPS2,200113,094926,2229.526,12219.087,5,1.5,5,-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,280.8,110521,-14.7,-8.462,-18.01
$D_GRID,4743
$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,-0.69,-166.2,0.0,0.0,0,73,0.00,0.00,-51.12,0.000,2,0.000,0.000,108,2494,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.69,-166.2,3.1,-4.0,5,124,9.38,2.22,-28.67,0.000,4,0.219,0.045,2434,1055,3647,0,0,0,0,0,0,25.02,26.08,26.70
$GC,274,-0.63,-166.2,30.7,-14.0,24,280,0.12,2.08,0.00,0.000,6,0.157,0.035,2458,2427,3648,0,0,0,0,0,0,25.79,26.09,28.83
$GC,589,-0.59,-166.2,72.9,-13.4,47,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2428,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-0.55,-166.2,114.2,-13.6,62,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2428,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1193,-0.51,-166.2,153.2,-12.7,77,1198,0.12,2.08,0.00,0.000,4,0.155,0.045,2493,3761,3648,0,0,0,0,0,0,26.25,25.91,28.83
$GC,1220,-0.47,-166.2,156.5,-12.4,78,1227,0.00,1.90,0.00,0.000,6,0.000,0.019,2493,2424,3648,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1540,-0.48,-166.2,190.5,-9.0,94,1545,0.00,1.98,0.00,0.000,4,0.000,0.032,2493,1070,3648,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1587,-0.50,-166.2,194.4,-8.8,96,1592,0.00,2.08,0.00,0.000,6,0.000,0.036,2493,2452,3648,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1906,-0.51,-166.2,221.2,-8.8,112,1911,0.00,2.00,0.00,0.000,4,0.000,0.046,2493,3758,3649,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1939,-0.53,-166.2,223.4,-9.0,113,1944,0.00,1.85,0.00,0.000,6,0.000,0.019,2493,2449,3649,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2252,-0.58,-166.2,251.2,-9.1,129,2258,0.00,2.03,0.00,0.000,4,0.000,0.046,2491,3757,3649,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2331,-0.64,-166.2,257.2,-9.3,132,2338,0.10,1.85,0.00,0.000,6,0.088,0.020,2421,2445,3649,0,0,0,0,0,0,26.29,26.40,28.83
$GC,2636,-0.64,-166.2,289.0,-8.9,148,2638,0.12,0.00,0.00,0.000,6,0.140,0.000,2457,2445,3649,0,0,0,0,0,0,26.36,28.83,28.83
$GC,2940,-0.68,-166.2,313.1,-8.1,163,2945,0.00,2.00,0.00,0.000,4,0.000,0.030,2457,1065,3649,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3012,-0.71,-166.2,318.8,-8.4,166,3018,0.00,2.10,0.00,0.000,6,0.000,0.034,2456,2452,3649,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3327,-0.74,-166.2,347.2,-8.7,182,3333,0.00,2.05,0.00,0.000,4,0.000,0.031,2457,1064,3649,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3345,-0.77,-166.2,347.2,-8.7,182,3353,0.12,2.10,0.00,0.000,6,0.077,0.034,2383,2460,3648,0,0,0,0,0,0,26.10,26.10,28.83
$GC,3652,-0.72,-166.2,382.6,-10.9,198,3659,0.15,2.03,0.00,0.000,4,0.151,0.048,2424,3761,3648,0,0,0,0,0,0,26.12,25.91,28.83
$GC,3677,-0.68,-166.2,385.2,-10.7,199,3683,0.00,1.85,0.00,0.000,6,0.000,0.020,2424,2449,3648,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4002,-0.66,-166.2,415.1,-10.0,215,4007,0.00,2.03,0.00,0.000,4,0.000,0.031,2424,1061,3646,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4079,-0.65,-166.2,421.9,-10.2,218,4087,0.12,2.10,0.00,0.000,6,0.150,0.035,2458,2454,3646,0,0,0,0,0,0,25.82,26.09,28.83
$GC,4386,-0.66,-166.2,449.9,-8.3,234,4391,0.00,2.05,0.00,0.000,4,0.000,0.031,2458,1071,3644,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4429,-0.68,-166.2,453.7,-8.5,236,4435,0.00,2.10,0.00,0.000,6,0.000,0.034,2458,2457,3644,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4754,-0.71,-166.2,479.8,-8.0,252,4759,0.00,2.05,0.00,0.000,4,0.000,0.030,2458,1067,3641,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4778,-0.73,-166.2,481.8,-7.9,253,4783,0.00,2.10,0.00,0.000,6,0.000,0.034,2458,2451,3642,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5102,-0.77,-166.2,505.3,-6.7,269,5108,0.12,2.05,0.00,0.000,4,0.080,0.028,2380,1066,3640,0,0,0,0,0,0,26.58,26.16,28.83
$GC,5213,-0.73,-166.2,515.4,-10.1,274,5218,0.20,2.10,0.00,0.000,6,0.143,0.034,2427,2455,3640,0,0,0,0,0,0,25.62,26.08,28.83
$GC,5531,-0.73,-166.2,545.7,-9.9,290,5536,0.00,2.05,0.00,0.000,4,0.000,0.031,2427,1070,3637,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5574,-0.73,-166.2,550.2,-10.3,292,5579,0.00,2.10,0.00,0.000,6,0.000,0.034,2427,2451,3637,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5897,-0.73,-166.2,581.8,-9.4,308,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2451,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6207,-0.73,-166.2,609.3,-8.5,322,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2451,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6508,-0.73,-166.2,633.4,-8.5,332,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2451,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6807,-0.73,-166.2,658.9,-8.6,342,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2452,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7109,-0.73,-166.2,684.5,-8.4,352,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2451,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7407,-0.73,-166.2,709.0,-8.2,362,7414,0.00,2.08,0.00,0.000,4,0.000,0.055,2427,3758,3625,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7453,-0.73,-166.2,711.9,-8.3,363,7459,0.00,1.90,0.00,0.000,6,0.000,0.030,2427,2459,3625,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7780,-0.73,-166.2,738.1,-7.5,374,7785,0.00,2.05,0.00,0.000,4,0.000,0.031,2427,1066,3622,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7847,-0.73,-166.2,743.5,-7.8,376,7853,0.00,2.12,0.00,0.000,6,0.000,0.036,2427,2455,3622,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8178,-0.73,-166.2,767.2,-7.0,387,8184,0.00,2.05,0.00,0.000,4,0.000,0.049,2426,3765,3621,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8221,-0.73,-166.2,769.9,-7.1,388,8226,0.00,1.92,0.00,0.000,6,0.000,0.023,2426,2436,3620,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8545,-0.73,-166.2,796.3,-8.6,399,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2435,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8844,-0.74,-166.2,824.1,-9.3,409,8849,0.00,2.12,0.00,0.000,4,0.000,0.050,2426,3766,3617,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8908,-0.74,-166.2,830.2,-9.5,411,8914,0.00,1.92,0.00,0.000,6,0.000,0.024,2426,2448,3616,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9244,-0.76,-166.2,860.1,-8.5,422,9249,0.00,2.05,0.00,0.000,4,0.000,0.031,2426,1068,3614,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9291,-0.77,-166.2,863.0,-8.4,423,9296,0.00,2.12,0.00,0.000,6,0.000,0.037,2426,2451,3613,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9613,-0.78,-166.2,888.3,-7.4,434,9619,0.00,2.08,0.00,0.000,4,0.000,0.050,2426,3765,3612,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9662,-0.79,-166.2,891.1,-7.5,435,9667,0.00,1.92,0.00,0.000,6,0.000,0.024,2426,2440,3612,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9984,-0.81,-166.2,916.1,-7.5,446,9989,0.00,2.03,0.00,0.000,4,0.000,0.031,2426,1072,3610,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10026,-0.82,-166.2,919.0,-7.7,447,10032,0.00,2.15,0.00,0.000,6,0.000,0.037,2426,2455,3609,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10353,-0.83,-166.2,945.8,-8.1,458,10359,0.00,2.10,0.00,0.000,4,0.000,0.056,2426,3765,3609,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10412,-0.85,-166.2,949.0,-8.1,459,10418,0.00,1.92,0.00,0.000,6,0.000,0.024,2426,2437,3608,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10720,-0.86,-166.2,974.5,-7.7,470,10726,0.12,2.03,0.00,0.000,4,0.085,0.030,2364,1076,3607,0,0,0,0,0,0,26.51,25.93,28.83
$GC,10763,-0.86,-166.2,978.1,-8.2,471,10768,0.00,2.12,0.00,0.000,6,0.000,0.037,2358,2452,3607,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,10874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10875,begin apogee
$GC,10882,-0.27,0.0,991.7,-11.2,475,11037,0.70,0.00,145.12,1.369,6,0.128,0.000,2573,2178,2961,0,0,0,0,0,0,24.84,28.83,22.93
$STATE,11038,end apogee,CONTROL_FINISHED_OK
$STATE,11038,begin climb
$GC,11041,0.69,166.2,996.9,0.0,480,11203,0.90,2.22,153.98,1.301,4,0.076,0.037,2881,852,2285,0,0,0,0,0,0,24.65,23.98,22.33
$GC,11245,0.64,168.0,984.6,8.4,487,11252,0.00,2.15,0.00,0.000,6,0.000,0.033,2881,2205,2276,0,0,0,0,0,0,28.83,25.13,28.83
$GC,11579,0.59,168.0,950.1,10.4,498,11584,0.00,2.20,0.00,0.000,4,0.000,0.048,2881,3603,2271,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11632,0.54,168.0,945.9,10.6,499,11638,0.17,2.03,0.00,0.000,6,0.151,0.028,2841,2240,2272,0,0,0,0,0,0,25.73,26.21,28.83
$GC,11949,0.52,168.0,915.4,8.5,510,11954,0.00,2.17,0.00,0.000,4,0.000,0.048,2841,3605,2268,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11986,0.50,168.0,911.9,8.8,511,11992,0.00,2.10,0.00,0.000,6,0.000,0.029,2845,2198,2268,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12318,0.48,168.0,883.6,8.5,522,12323,0.00,2.12,0.00,0.000,4,0.000,0.040,2848,804,2267,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12360,0.46,168.0,880.5,8.5,523,12366,0.12,2.12,0.00,0.000,6,0.132,0.032,2815,2209,2267,0,0,0,0,0,0,25.82,26.06,28.83
$GC,12689,0.55,241.4,858.9,5.9,534,12768,0.00,2.28,72.82,1.234,4,0.000,0.046,2815,3602,1976,0,0,0,0,0,0,28.83,25.14,23.50
$GC,12840,0.62,303.7,849.4,6.3,539,12910,0.15,2.12,62.38,1.199,6,0.070,0.028,2888,2189,1726,0,0,0,0,0,0,25.90,25.96,23.46
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$STATE,21588,end climb,SURFACE_DEPTH_REACHED
$STATE,21588,begin surface coast
$FINISH,0.9,1.011056
$STATE,21607,end surface coast,CONTROL_FINISHED_OK
$STATE,21607,begin surface
$SM_CCo,21685,0.00,0.000,0,0,981,487.41
$SM_GC,1.69,7.43,0.35,0.00,0.027,0.049,0.000,108,2460,981,-7.89,-1.27,487.41,0,0,0,0,0,0,26.15,26.35,28.83
$IRIDIUM_FIX,2218.34,12218.61,200113,030352
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.21
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.60
$XPDR_PINGS,65
$24V_AH,22.3,87.601
$10V_AH,9.9,56.407
$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,21.375,201.075,557.700,0.000,0.000,0.000,0.000,280.300,16.250,0.000,6.226,3170.750,15112.368,707.879,2653.514,508.680,0.000,2316.226,0.000,2311.408,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,55.845,1368.585,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21618.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.383,0.000,0.000,0.000
$MEM,323776
$DATA_FILE_SIZE,36700,947
$CAP_FILE_SIZE,242093,0
$CFSIZE,260165632,208896000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.183, 81.8,1
$GPS,200113,155236,2230.068,12218.778,33,1.5,33,-3.4