version: 66.11
glider: 167
mission: 14
dive: 340
start: 1 3 113 8 23 41
data:
$ID,167
$MISSION,14
$DIVE,340
$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,370
$T_MISSION,390
$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,185
$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,-969256.19
$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,70
$R_STBD_OVSHOOT,59
$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
$GPS1,030113,081554,2129.553,12359.684,40,1.1,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-64.4
$GPS2,030113,082313,2129.545,12359.642,4,1.0,4,-3.2
$SPEED_LIMITS,0.154,0.275
$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,310.7,314688,-14.7,-8.919,-17.97
$D_GRID,4800
$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,-0.58,-180.8,0.0,0.0,0,74,0.00,0.00,-51.88,0.000,2,0.000,0.000,109,2473,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.58,-180.8,3.2,-4.1,5,120,9.57,2.00,-24.55,0.000,4,0.222,0.064,2466,3730,3708,0,0,0,0,0,0,24.92,25.94,26.67
$GC,266,-0.56,-180.8,28.1,-13.8,23,271,0.00,1.85,0.00,0.000,6,0.000,0.019,2466,2421,3708,0,0,0,0,0,0,28.83,26.44,28.83
$GC,580,-0.53,-180.8,71.0,-14.2,47,586,0.00,1.95,0.00,0.000,4,0.000,0.030,2466,1075,3710,0,0,0,0,0,0,28.83,26.27,28.83
$GC,618,-0.50,-180.8,74.5,-14.2,48,625,0.12,2.05,0.00,0.000,6,0.149,0.037,2499,2436,3710,0,0,0,0,0,0,25.94,26.20,28.83
$GC,924,-0.53,-180.8,109.1,-8.3,64,929,0.00,2.03,0.00,0.000,4,0.000,0.046,2499,3759,3711,0,0,0,0,0,0,28.83,26.08,28.83
$GC,942,-0.55,-180.8,109.1,-8.3,64,949,0.00,1.83,0.00,0.000,6,0.000,0.017,2498,2431,3711,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1248,-0.58,-180.8,134.3,-7.1,80,1253,0.00,1.92,0.00,0.000,4,0.000,0.030,2499,1097,3711,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1306,-0.62,-180.8,137.6,-7.4,82,1314,0.12,2.05,0.00,0.000,6,0.075,0.036,2422,2459,3711,0,0,0,0,0,0,26.25,26.25,28.83
$GC,1612,-0.59,-180.8,178.9,-13.7,98,1618,0.15,2.00,0.00,0.000,4,0.145,0.044,2466,3764,3712,0,0,0,0,0,0,26.25,26.10,28.83
$GC,1699,-0.59,-180.8,188.8,-11.6,102,1704,0.00,1.80,0.00,0.000,6,0.000,0.017,2466,2453,3712,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2018,-0.59,-180.8,224.1,-11.1,118,2023,0.00,2.00,0.00,0.000,4,0.000,0.031,2466,1081,3712,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2056,-0.60,-180.8,226.8,-11.1,119,2062,0.00,2.05,0.00,0.000,6,0.000,0.035,2466,2450,3712,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2362,-0.61,-180.8,257.6,-8.2,135,2367,0.00,1.98,0.00,0.000,4,0.000,0.031,2466,1096,3712,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2395,-0.62,-180.8,259.4,-8.0,136,2401,0.00,2.05,0.00,0.000,6,0.000,0.034,2466,2460,3712,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2709,-0.64,-180.8,287.0,-9.9,152,2714,0.00,2.00,0.00,0.000,4,0.000,0.048,2463,3761,3712,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2756,-0.65,-180.8,291.6,-10.4,154,2761,0.00,1.83,0.00,0.000,6,0.000,0.018,2466,2435,3712,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3075,-0.67,-180.8,326.1,-10.1,170,3080,0.00,1.92,0.00,0.000,4,0.000,0.029,2466,1100,3711,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3132,-0.69,-180.8,330.3,-9.6,172,3141,0.00,2.03,0.00,0.000,6,0.000,0.034,2466,2454,3711,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3439,-0.72,-180.8,352.1,-5.7,188,3445,0.00,2.00,0.00,0.000,4,0.000,0.049,2465,3752,3710,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3468,-0.74,-180.8,353.6,-5.8,189,3474,0.12,1.85,0.00,0.000,6,0.080,0.018,2394,2411,3710,0,0,0,0,0,0,26.41,26.55,28.83
$GC,3787,-0.70,-180.8,389.1,-11.6,205,3793,0.12,1.90,0.00,0.000,4,0.151,0.027,2433,1099,3709,0,0,0,0,0,0,26.32,26.29,28.83
$GC,3825,-0.67,-180.8,392.0,-11.7,206,3832,0.00,2.03,0.00,0.000,6,0.000,0.034,2433,2455,3709,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4132,-0.67,-180.8,421.9,-8.8,222,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2456,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4433,-0.67,-180.8,452.6,-11.9,237,4438,0.00,2.00,0.00,0.000,4,0.000,0.037,2433,1104,3707,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4531,-0.67,-180.8,464.4,-13.9,241,4538,0.00,2.03,0.00,0.000,6,0.000,0.034,2433,2456,3706,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4837,-0.67,-180.8,500.8,-10.2,257,4843,0.00,2.05,0.00,0.000,4,0.000,0.050,2433,3762,3705,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4881,-0.67,-180.8,505.1,-9.9,259,4887,0.00,1.83,0.00,0.000,6,0.000,0.019,2433,2448,3704,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5206,-0.67,-180.8,538.0,-10.5,275,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2448,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5508,-0.68,-180.8,566.4,-8.5,290,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2448,3701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5809,-0.69,-180.8,586.8,-6.2,305,5814,0.00,1.98,0.00,0.000,4,0.000,0.029,2433,1093,3699,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5853,-0.70,-180.8,589.8,-6.3,307,5858,0.00,2.08,0.00,0.000,6,0.000,0.034,2433,2457,3699,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6170,-0.72,-180.8,613.4,-8.8,320,6175,0.00,2.03,0.00,0.000,4,0.000,0.028,2433,1093,3697,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6193,-0.73,-180.8,613.4,-8.8,320,6198,0.00,2.08,0.00,0.000,6,0.000,0.036,2433,2457,3697,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6507,-0.74,-180.8,648.3,-10.2,331,6512,0.00,2.05,0.00,0.000,4,0.000,0.053,2433,3764,3695,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6575,-0.75,-180.8,654.7,-10.0,333,6580,0.00,1.85,0.00,0.000,6,0.000,0.020,2433,2463,3695,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6906,-0.77,-180.8,680.7,-7.0,344,6911,0.00,2.05,0.00,0.000,4,0.000,0.052,2433,3753,3693,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6955,-0.79,-180.8,683.1,-6.9,345,6960,0.00,1.85,0.00,0.000,6,0.000,0.021,2433,2442,3693,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7275,-0.81,-180.8,705.2,-6.3,356,7281,0.00,2.10,0.00,0.000,4,0.000,0.053,2433,3752,3691,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7330,-0.83,-180.8,707.7,-6.5,357,7335,0.10,1.88,0.00,0.000,6,0.096,0.021,2380,2441,3690,0,0,0,0,0,0,26.34,26.48,28.83
$GC,7646,-0.80,-180.8,739.7,-10.1,368,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2438,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7945,-0.77,-180.8,768.9,-9.2,378,7947,0.12,0.00,0.00,0.000,6,0.153,0.000,2413,2438,3686,0,0,0,0,0,0,26.34,28.83,28.83
$GC,8244,-0.77,-180.8,792.5,-8.2,388,8250,0.00,2.00,0.00,0.000,4,0.000,0.031,2413,1086,3687,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8287,-0.77,-180.8,795.4,-8.5,389,8293,0.00,2.10,0.00,0.000,6,0.000,0.036,2413,2458,3684,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8614,-0.78,-180.8,825.0,-8.8,400,8619,0.00,2.05,0.00,0.000,4,0.000,0.054,2414,3757,3683,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8642,-0.79,-180.8,825.0,-8.8,400,8649,0.00,1.88,0.00,0.000,6,0.000,0.021,2413,2435,3683,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8950,-0.79,-180.8,853.6,-8.3,411,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2435,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9248,-0.80,-180.8,878.6,-8.4,421,9253,0.00,2.12,0.00,0.000,4,0.000,0.054,2413,3759,3680,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9316,-0.81,-180.8,884.2,-8.5,423,9322,0.00,1.85,0.00,0.000,6,0.000,0.022,2413,2451,3680,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9647,-0.82,-180.8,914.3,-9.1,434,9652,0.00,2.10,0.00,0.000,4,0.000,0.060,2413,3752,3679,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9700,-0.82,-180.8,917.4,-9.2,435,9706,0.00,1.88,0.00,0.000,6,0.000,0.022,2413,2433,3678,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10015,-0.83,-180.8,948.1,-9.2,446,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2431,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10315,-0.84,-180.8,977.5,-9.9,456,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2430,3676,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10431,begin apogee
$GC,10438,-0.20,0.0,990.5,-10.8,460,10605,0.55,0.00,158.65,1.257,6,0.113,0.000,2593,2197,2965,0,0,0,0,0,0,25.44,28.83,22.80
$STATE,10607,end apogee,CONTROL_FINISHED_OK
$STATE,10607,begin climb
$GC,10609,0.58,180.8,998.8,0.0,465,10789,0.73,2.50,167.82,1.251,4,0.069,0.050,2847,3596,2224,0,0,0,0,0,0,24.82,23.99,22.18
$GC,10822,0.69,300.8,994.4,4.9,472,10949,0.12,2.12,115.15,1.275,6,0.086,0.027,2905,2241,1735,0,0,0,0,0,0,24.95,25.02,22.34
$GC,11249,0.66,300.8,944.3,12.3,487,11254,0.00,2.20,0.00,0.000,4,0.000,0.040,2915,798,1725,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11321,0.64,300.8,936.1,12.5,489,11327,0.15,2.15,0.00,0.000,6,0.129,0.034,2872,2218,1724,0,0,0,0,0,0,25.96,26.19,28.83
$GC,11648,0.63,300.8,897.2,12.0,500,11653,0.00,2.17,0.00,0.000,4,0.000,0.052,2872,3599,1722,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11745,0.61,300.8,883.9,13.5,503,11751,0.00,2.08,0.00,0.000,6,0.000,0.027,2879,2194,1721,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12078,0.60,300.8,839.9,13.2,514,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2194,1721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12375,0.58,300.8,803.0,11.7,524,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2194,1720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12675,0.57,300.8,770.7,10.5,534,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2194,1719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12975,0.56,300.8,738.6,10.9,544,12977,0.12,0.00,0.00,0.000,6,0.142,0.000,2845,2194,1719,0,0,0,0,0,0,26.34,28.83,28.83
$GC,13275,0.58,300.8,709.4,9.7,554,13280,0.00,2.10,0.00,0.000,4,0.000,0.038,2852,805,1718,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,20083,end climb,SURFACE_DEPTH_REACHED
$STATE,20083,begin surface coast
$FINISH,0.9,1.010591
$STATE,20114,end surface coast,CONTROL_FINISHED_OK
$STATE,20116,begin surface
$SM_CCo,20195,0.00,0.000,0,0,1260,418.97
$SM_GC,1.78,7.32,0.32,0.00,0.031,0.050,0.000,119,2451,1260,-7.89,-1.44,418.97,0,0,0,0,0,0,26.18,26.46,28.83
$IRIDIUM_FIX,2122.58,12415.47,030113,030349
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.84
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.90
$XPDR_PINGS,43
$24V_AH,22.2,72.806
$10V_AH,9.9,47.622
$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,20.200,168.000,557.575,0.000,0.000,0.000,0.000,255.450,10.750,0.000,5.469,2883.177,14223.661,696.948,2384.175,443.359,0.000,2142.079,0.000,2073.731,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,64.260,1275.255,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20132.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.766,0.000,0.000,0.000
$MEM,329552
$DATA_FILE_SIZE,33310,897
$CAP_FILE_SIZE,222351,0
$CFSIZE,260165632,215924736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,142.9,1
$GPS,030113,140136,2130.542,12357.952,36,1.0,36,-3.2