version: 66.11
glider: 167
mission: 14
dive: 407
start: 1 20 113 16 1 6
data:
$ID,167
$MISSION,14
$DIVE,407
$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,-971324.38
$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,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,63
$R_STBD_OVSHOOT,50
$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
$GPS1,200113,155236,2230.068,12218.778,33,1.5,33,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-59.3
$GPS2,200113,160039,2230.184,12218.912,9,1.6,9,-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,279.3,109584,-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,21,-0.69,-166.2,0.0,0.0,0,85,0.00,0.00,-62.00,0.000,2,0.000,0.000,107,2465,2635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.69,-166.2,3.0,-3.1,6,131,9.27,2.20,-26.25,0.000,4,0.214,0.049,2435,1069,3649,0,0,0,0,0,0,24.96,25.99,26.70
$GC,320,-0.63,-166.2,33.6,-9.8,28,325,0.00,2.12,0.00,0.000,6,0.000,0.043,2435,2435,3651,0,0,0,0,0,0,28.83,25.94,28.83
$GC,643,-0.57,-166.2,79.6,-14.1,50,645,0.15,0.00,0.00,0.000,6,0.156,0.000,2476,2435,3650,0,0,0,0,0,0,26.15,28.83,28.83
$GC,945,-0.55,-166.2,113.2,-12.0,65,950,0.00,2.08,0.00,0.000,4,0.000,0.038,2476,1062,3651,0,0,0,0,0,0,28.83,25.98,28.83
$GC,973,-0.52,-166.2,116.3,-12.1,66,979,0.00,2.15,0.00,0.000,6,0.000,0.044,2477,2449,3651,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1293,-0.50,-166.2,154.6,-11.4,82,1298,0.00,2.03,0.00,0.000,4,0.000,0.047,2476,3766,3651,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1341,-0.49,-166.2,159.1,-10.7,84,1347,0.12,1.90,0.00,0.000,6,0.137,0.019,2511,2426,3651,0,0,0,0,0,0,26.04,26.38,28.83
$GC,1662,-0.54,-166.2,184.7,-6.5,100,1667,0.00,2.10,0.00,0.000,4,0.000,0.046,2510,3773,3652,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1726,-0.60,-166.2,189.3,-6.9,103,1733,0.12,1.90,0.00,0.000,6,0.074,0.019,2426,2436,3652,0,0,0,0,0,0,26.29,26.39,28.83
$GC,2052,-0.57,-166.2,223.9,-12.0,119,2058,0.15,2.00,0.00,0.000,4,0.145,0.028,2474,1064,3652,0,0,0,0,0,0,26.16,26.16,28.83
$GC,2116,-0.57,-166.2,230.8,-10.9,122,2123,0.00,2.10,0.00,0.000,6,0.000,0.034,2473,2463,3653,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2441,-0.58,-166.2,261.1,-8.3,138,2447,0.00,2.05,0.00,0.000,4,0.000,0.031,2473,1074,3652,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2485,-0.59,-166.2,265.2,-8.7,140,2490,0.00,2.10,0.00,0.000,6,0.000,0.041,2472,2450,3652,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2809,-0.61,-166.2,293.0,-8.4,156,2814,0.00,2.03,0.00,0.000,4,0.000,0.047,2473,3768,3652,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2848,-0.63,-166.2,295.0,-8.2,157,2854,0.00,1.88,0.00,0.000,6,0.000,0.019,2473,2437,3652,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3153,-0.65,-166.2,320.8,-7.6,173,3158,0.00,1.98,0.00,0.000,4,0.000,0.030,2473,1072,3652,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3191,-0.67,-166.2,322.7,-7.7,174,3198,0.00,2.10,0.00,0.000,6,0.000,0.034,2473,2455,3651,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3497,-0.68,-166.2,349.5,-8.6,190,3502,0.00,2.03,0.00,0.000,4,0.000,0.048,2473,3766,3650,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3570,-0.71,-166.2,355.0,-8.6,193,3576,0.12,1.88,0.00,0.000,6,0.076,0.019,2397,2446,3649,0,0,0,0,0,0,26.30,26.43,28.83
$GC,3884,-0.67,-166.2,387.1,-9.2,209,3890,0.15,2.00,0.00,0.000,4,0.145,0.027,2445,1071,3649,0,0,0,0,0,0,26.17,26.18,28.83
$GC,3912,-0.65,-166.2,389.1,-9.0,210,3918,0.00,2.10,0.00,0.000,6,0.000,0.034,2445,2452,3648,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4231,-0.65,-166.2,414.9,-8.8,226,4236,0.00,2.03,0.00,0.000,4,0.000,0.048,2445,3761,3647,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4275,-0.65,-166.2,418.9,-9.1,228,4280,0.00,1.88,0.00,0.000,6,0.000,0.020,2445,2440,3646,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4598,-0.65,-166.2,449.9,-9.2,244,4603,0.00,2.00,0.00,0.000,4,0.000,0.029,2445,1067,3645,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4630,-0.65,-166.2,452.1,-9.1,245,4635,0.00,2.08,0.00,0.000,6,0.000,0.034,2445,2448,3645,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4944,-0.66,-166.2,476.8,-7.0,261,4950,0.00,2.05,0.00,0.000,4,0.000,0.048,2445,3769,3643,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4993,-0.67,-166.2,479.7,-6.7,263,4998,0.00,1.90,0.00,0.000,6,0.000,0.020,2445,2432,3642,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5312,-0.69,-166.2,500.7,-6.7,279,5317,0.00,1.95,0.00,0.000,4,0.000,0.028,2445,1079,3641,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5355,-0.70,-166.2,504.1,-7.2,281,5361,0.00,2.10,0.00,0.000,6,0.000,0.033,2445,2465,3641,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5679,-0.71,-166.2,528.8,-7.9,297,5684,0.00,2.03,0.00,0.000,4,0.000,0.028,2445,1080,3640,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5706,-0.72,-166.2,530.7,-7.9,298,5712,0.00,2.10,0.00,0.000,6,0.000,0.034,2445,2461,3639,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6026,-0.74,-166.2,557.1,-8.3,314,6031,0.00,2.03,0.00,0.000,4,0.000,0.049,2445,3761,3636,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6059,-0.75,-166.2,559.0,-8.4,315,6064,0.00,1.85,0.00,0.000,6,0.000,0.020,2445,2461,3636,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6372,-0.77,-166.2,585.2,-7.6,331,6378,0.00,2.03,0.00,0.000,4,0.000,0.028,2445,1065,3634,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6401,-0.79,-166.2,587.0,-7.4,332,6406,0.00,2.10,0.00,0.000,6,0.000,0.034,2445,2449,3634,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6733,-0.80,-166.2,614.2,-8.8,346,6739,0.12,2.05,0.00,0.000,4,0.080,0.047,2369,3759,3632,0,0,0,0,0,0,26.55,25.78,28.83
$GC,6877,-0.77,-166.2,629.7,-12.3,350,6883,0.15,1.88,0.00,0.000,6,0.148,0.021,2413,2443,3631,0,0,0,0,0,0,25.81,26.36,28.83
$GC,7194,-0.77,-166.2,661.7,-9.0,361,7199,0.00,2.00,0.00,0.000,4,0.000,0.028,2413,1070,3629,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7257,-0.77,-166.2,667.5,-8.9,363,7262,0.00,2.12,0.00,0.000,6,0.000,0.040,2413,2449,3628,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7593,-0.77,-166.2,694.8,-7.9,374,7599,0.00,2.03,0.00,0.000,4,0.000,0.028,2413,1074,3627,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7616,-0.77,-166.2,694.8,-7.9,374,7621,0.00,2.10,0.00,0.000,6,0.000,0.034,2413,2456,3627,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7930,-0.77,-166.2,724.6,-9.4,385,7936,0.00,2.05,0.00,0.000,4,0.000,0.050,2413,3764,3625,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8033,-0.77,-166.2,734.2,-10.1,388,8038,0.00,1.90,0.00,0.000,6,0.000,0.027,2413,2454,3624,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8359,-0.77,-166.2,770.2,-11.1,399,8364,0.00,2.12,0.00,0.000,4,0.000,0.050,2414,3766,3622,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8412,-0.77,-166.2,774.1,-11.0,400,8417,0.00,1.92,0.00,0.000,6,0.000,0.029,2413,2447,3621,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8725,-0.77,-166.2,810.2,-10.7,411,8730,0.00,2.12,0.00,0.000,4,0.000,0.050,2413,3764,3621,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8763,-0.77,-166.2,813.9,-10.7,412,8769,0.00,1.92,0.00,0.000,6,0.000,0.023,2413,2443,3620,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9093,-0.77,-166.2,849.0,-10.7,423,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2443,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9393,-0.77,-166.2,880.1,-10.2,433,9398,0.00,2.10,0.00,0.000,4,0.000,0.050,2417,3755,3617,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9445,-0.77,-166.2,883.6,-10.2,434,9450,0.00,1.90,0.00,0.000,6,0.000,0.023,2413,2437,3617,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9758,-0.77,-166.2,914.8,-8.9,445,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2437,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10060,-0.77,-166.2,938.4,-7.7,455,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2437,3613,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10358,-0.77,-166.2,961.2,-7.5,465,10364,0.00,2.12,0.00,0.000,4,0.000,0.051,2413,3755,3613,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10407,-0.77,-166.2,963.6,-7.5,466,10413,0.00,1.90,0.00,0.000,6,0.000,0.024,2413,2444,3612,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10728,-0.77,-166.2,986.8,-6.8,477,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2443,3610,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10783,begin apogee
$GC,10791,-0.27,0.0,990.7,-6.7,479,10945,0.50,0.00,145.48,1.327,6,0.116,0.000,2574,2175,2962,0,0,0,0,0,0,25.27,28.83,23.03
$STATE,10947,end apogee,CONTROL_FINISHED_OK
$STATE,10947,begin climb
$GC,10950,0.69,166.2,994.0,0.0,484,11112,0.90,2.22,153.82,1.322,4,0.076,0.035,2884,849,2283,0,0,0,0,0,0,24.76,24.02,22.36
$GC,11160,0.63,166.2,979.6,9.2,491,11166,0.00,2.15,0.00,0.000,6,0.000,0.031,2884,2209,2274,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11487,0.58,166.2,944.1,10.3,502,11493,0.12,2.20,0.00,0.000,4,0.138,0.047,2845,3602,2268,0,0,0,0,0,0,26.14,25.93,28.83
$GC,11583,0.54,166.2,935.2,9.4,505,11589,0.00,2.05,0.00,0.000,6,0.000,0.028,2851,2227,2267,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11920,0.57,214.0,910.9,6.8,516,11970,0.00,2.28,44.08,1.252,4,0.000,0.047,2851,3602,2090,0,0,0,0,0,0,28.83,25.37,23.64
$GC,12014,0.59,249.8,904.1,7.2,519,12057,0.00,2.12,36.00,1.284,6,0.000,0.028,2858,2198,1946,0,0,0,0,0,0,28.83,25.93,23.56
$GC,12371,0.65,305.8,879.4,6.5,531,12430,0.00,0.00,56.33,1.247,6,0.000,0.000,2858,2198,1719,0,0,0,0,0,0,28.83,28.83,23.59
$GC,12734,0.71,342.8,854.1,7.2,543,12779,0.10,2.35,36.72,1.231,4,0.098,0.047,2913,3600,1563,0,0,0,0,0,0,26.42,25.46,23.75
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$STATE,21213,end climb,SURFACE_DEPTH_REACHED
$STATE,21213,begin surface coast
$FINISH,0.8,1.023329
$STATE,21245,end surface coast,CONTROL_FINISHED_OK
$STATE,21245,begin surface
$SM_CCo,21325,0.00,0.000,0,0,1099,458.47
$SM_GC,1.64,7.45,2.53,0.00,0.031,0.031,0.000,125,2435,1099,-7.86,-1.47,458.47,0,0,0,0,0,0,25.97,25.98,28.83
$IRIDIUM_FIX,2223.01,12219.86,200113,090952
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.09
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.60
$XPDR_PINGS,74
$24V_AH,22.4,87.816
$10V_AH,9.9,56.538
$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,20.700,208.075,578.300,0.000,0.000,0.000,0.000,280.525,18.500,0.000,10.062,3165.921,14729.730,742.583,2666.749,493.940,0.000,2357.181,0.000,2298.736,0.000,0.542,0.000
$DEVICE_MAMPS,214.200,51.255,1326.510,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21256.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.386,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,36697,945
$CAP_FILE_SIZE,241843,0
$CFSIZE,260165632,208793600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.234, 81.5,1
$GPS,200113,215759,2231.059,12218.954,43,1.2,43,-3.4