version: 66.11
glider: 167
mission: 14
dive: 397
start: 1 18 113 2 10 22
data:
$ID,167
$MISSION,14
$DIVE,397
$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,-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,-971311.88
$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,0.0049999999
$PITCH_ADJ_DBAND,2
$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,72
$R_STBD_OVSHOOT,44
$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
$GPS1,180113,015306,2222.399,12222.841,32,1.2,32,-3.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-55.0
$GPS2,180113,020954,2222.402,12223.073,70,2.6,89,-3.3
$SPEED_LIMITS,0.154,0.265
$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,288.8,123826,-15.4,-8.919,-18.60
$D_GRID,4855
$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,-0.71,-166.2,0.0,0.0,0,94,0.00,0.00,-71.30,0.000,2,0.000,0.000,105,2447,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.71,-166.2,3.5,-3.9,7,133,9.40,2.05,-21.20,0.000,4,0.218,0.062,2422,3746,3647,0,0,0,0,0,0,24.86,25.93,26.74
$GC,344,-0.68,-166.2,47.8,-18.8,31,349,0.00,1.88,0.00,0.000,6,0.000,0.024,2422,2458,3647,0,0,0,0,0,0,28.83,26.27,28.83
$GC,668,-0.64,-166.2,103.6,-16.3,48,674,0.12,2.08,0.00,0.000,4,0.165,0.028,2459,1037,3647,0,0,0,0,0,0,26.20,26.22,28.83
$GC,707,-0.61,-166.2,106.8,-15.2,49,714,0.00,2.10,0.00,0.000,6,0.000,0.034,2453,2441,3647,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1011,-0.61,-166.2,149.3,-11.7,65,1016,0.00,2.05,0.00,0.000,4,0.000,0.031,2453,1046,3647,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1054,-0.61,-166.2,154.3,-11.4,67,1059,0.00,2.12,0.00,0.000,6,0.000,0.035,2452,2450,3648,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1379,-0.61,-166.2,187.8,-10.2,83,1384,0.00,2.03,0.00,0.000,4,0.000,0.050,2452,3761,3647,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1411,-0.61,-166.2,190.5,-10.6,84,1416,0.00,1.90,0.00,0.000,6,0.000,0.020,2452,2420,3648,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1724,-0.61,-166.2,224.1,-10.5,100,1730,0.00,2.10,0.00,0.000,4,0.000,0.048,2452,3763,3647,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1782,-0.61,-166.2,228.9,-10.8,102,1789,0.00,1.88,0.00,0.000,6,0.000,0.019,2452,2444,3648,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2087,-0.61,-166.2,265.1,-10.5,118,2093,0.00,2.00,0.00,0.000,4,0.000,0.028,2452,1065,3647,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2171,-0.61,-166.2,273.9,-10.7,122,2176,0.00,2.08,0.00,0.000,6,0.000,0.034,2452,2456,3647,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2495,-0.61,-166.2,304.0,-8.9,138,2500,0.00,2.05,0.00,0.000,4,0.000,0.030,2452,1065,3647,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2523,-0.61,-166.2,306.1,-8.8,139,2528,0.00,2.08,0.00,0.000,6,0.000,0.034,2453,2451,3646,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2841,-0.61,-166.2,334.8,-9.0,155,2846,0.00,2.00,0.00,0.000,4,0.000,0.049,2452,3751,3646,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2894,-0.61,-166.2,338.8,-9.0,157,2899,0.00,1.85,0.00,0.000,6,0.000,0.018,2452,2426,3646,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3207,-0.61,-166.2,366.7,-8.6,173,3213,0.00,1.95,0.00,0.000,4,0.000,0.029,2452,1081,3644,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3272,-0.61,-166.2,372.3,-8.7,176,3278,0.00,2.08,0.00,0.000,6,0.000,0.034,2451,2458,3644,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3596,-0.61,-166.2,398.4,-8.4,192,3601,0.00,2.03,0.00,0.000,4,0.000,0.050,2452,3751,3642,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3624,-0.61,-166.2,400.4,-8.5,193,3630,0.00,1.83,0.00,0.000,6,0.000,0.018,2452,2429,3645,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3942,-0.61,-166.2,430.9,-9.3,209,3948,0.00,2.10,0.00,0.000,4,0.000,0.049,2452,3755,3641,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4001,-0.62,-166.2,435.1,-9.5,211,4008,0.00,1.80,0.00,0.000,6,0.000,0.018,2452,2464,3640,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4307,-0.64,-166.2,464.2,-9.2,227,4312,0.00,2.00,0.00,0.000,4,0.000,0.029,2452,1087,3639,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4374,-0.65,-166.2,470.1,-9.2,230,4379,0.00,2.05,0.00,0.000,6,0.000,0.034,2452,2453,3639,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4693,-0.66,-166.2,498.2,-8.3,246,4700,0.00,2.10,-0.08,0.000,4,0.000,0.063,2451,3761,3667,0,0,0,0,0,0,28.83,25.84,25.39
$GC,4744,-0.67,-166.2,502.1,-8.3,248,4749,0.00,1.85,0.00,0.000,6,0.000,0.019,2452,2433,3667,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5063,-0.70,-166.2,529.3,-8.5,264,5068,0.00,2.15,0.00,0.000,4,0.000,0.058,2452,3761,3665,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5127,-0.72,-166.2,535.3,-9.1,267,5132,0.00,1.83,0.00,0.000,6,0.000,0.020,2452,2457,3665,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5452,-0.75,-166.2,563.0,-8.1,283,5457,0.00,2.00,0.00,0.000,4,0.000,0.029,2452,1084,3663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5485,-0.78,-166.2,564.9,-8.1,284,5492,0.12,2.05,0.00,0.000,6,0.080,0.034,2380,2450,3662,0,0,0,0,0,0,26.11,26.13,28.83
$GC,5801,-0.77,-166.2,601.7,-11.3,300,5803,0.15,0.00,0.00,0.000,6,0.149,0.000,2420,2450,3661,0,0,0,0,0,0,26.17,28.83,28.83
$GC,6100,-0.77,-166.2,628.2,-8.7,310,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2450,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6400,-0.77,-166.2,656.5,-9.6,320,6405,0.00,2.05,0.00,0.000,4,0.000,0.051,2414,3755,3656,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6508,-0.77,-166.2,665.8,-9.7,323,6513,0.00,1.85,0.00,0.000,6,0.000,0.020,2414,2447,3655,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6826,-0.77,-166.2,697.1,-9.1,334,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2450,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7127,-0.77,-166.2,723.9,-8.8,344,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2449,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7426,-0.77,-166.2,751.9,-9.7,354,7431,0.00,2.03,0.00,0.000,4,0.000,0.031,2414,1081,3650,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7460,-0.77,-166.2,755.3,-10.0,355,7465,0.00,2.10,0.00,0.000,6,0.000,0.035,2413,2454,3649,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7795,-0.77,-166.2,788.3,-9.6,366,7800,0.00,2.05,0.00,0.000,4,0.000,0.053,2414,3752,3648,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7832,-0.77,-166.2,791.7,-9.4,367,7838,0.00,1.85,0.00,0.000,6,0.000,0.021,2414,2442,3647,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8165,-0.77,-166.2,819.4,-8.0,378,8170,0.00,2.00,0.00,0.000,4,0.000,0.030,2414,1084,3645,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8212,-0.77,-166.2,822.5,-8.1,379,8218,0.00,2.10,0.00,0.000,6,0.000,0.037,2414,2458,3645,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8534,-0.77,-166.2,850.2,-8.3,390,8539,0.00,2.05,0.00,0.000,4,0.000,0.054,2414,3752,3643,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8591,-0.77,-166.2,853.1,-8.3,391,8599,0.00,1.88,0.00,0.000,6,0.000,0.021,2414,2443,3642,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8898,-0.77,-166.2,880.2,-8.3,402,8903,0.00,2.12,0.00,0.000,4,0.000,0.054,2414,3751,3641,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8925,-0.77,-166.2,880.2,-8.3,402,8933,0.00,1.85,0.00,0.000,6,0.000,0.022,2414,2453,3641,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9232,-0.77,-166.2,908.8,-8.5,413,9237,0.00,2.05,0.00,0.000,4,0.000,0.031,2414,1079,3639,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9280,-0.77,-166.2,911.6,-8.6,414,9286,0.00,2.12,0.00,0.000,6,0.000,0.037,2414,2453,3639,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9601,-0.77,-166.2,938.6,-8.3,425,9606,0.00,2.08,0.00,0.000,4,0.000,0.054,2414,3757,3638,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9659,-0.77,-166.2,941.6,-8.2,426,9668,0.00,1.90,0.00,0.000,6,0.000,0.023,2414,2437,3637,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9964,-0.77,-166.2,969.0,-8.2,437,9970,0.00,2.03,0.00,0.000,4,0.000,0.031,2414,1084,3636,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10018,-0.77,-166.2,971.9,-8.3,438,10023,0.00,2.10,0.00,0.000,6,0.000,0.037,2414,2450,3636,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,10209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10209,begin apogee
$GC,10216,-0.27,0.0,990.2,-8.6,445,10382,0.50,0.00,157.45,1.253,6,0.112,0.000,2576,2192,2963,0,0,0,0,0,0,25.36,28.83,23.11
$STATE,10384,end apogee,CONTROL_FINISHED_OK
$STATE,10384,begin climb
$GC,10386,0.71,166.2,996.2,0.0,450,10556,0.93,2.22,161.02,1.213,4,0.076,0.038,2892,847,2280,0,0,0,0,0,0,24.89,24.39,22.65
$GC,10637,0.69,166.2,980.0,9.8,459,10642,0.00,2.15,0.00,0.000,6,0.000,0.035,2894,2214,2259,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10972,0.66,166.2,942.6,11.4,470,10978,0.00,2.22,0.00,0.000,4,0.000,0.054,2894,3605,2258,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11030,0.64,166.2,938.2,11.7,471,11038,0.12,2.03,0.00,0.000,6,0.166,0.026,2870,2234,2253,0,0,0,0,0,0,25.89,26.27,28.83
$GC,11338,0.62,166.2,904.1,9.6,482,11343,0.00,2.15,0.00,0.000,4,0.000,0.039,2880,814,2252,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11366,0.61,166.2,904.1,9.6,482,11373,0.00,2.12,0.00,0.000,6,0.000,0.035,2874,2212,2252,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11674,0.59,166.2,872.3,9.4,493,11679,0.00,2.20,0.00,0.000,4,0.000,0.051,2880,3600,2251,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11732,0.57,166.2,868.7,9.6,494,11740,0.15,2.08,0.00,0.000,6,0.155,0.027,2848,2202,2251,0,0,0,0,0,0,25.79,26.25,28.83
$GC,12039,0.59,181.0,841.3,8.4,505,12043,0.00,0.00,2.85,0.635,6,0.000,0.000,2848,2202,2228,0,0,0,0,0,0,28.83,28.83,24.10
$GC,12338,0.59,181.0,813.2,9.4,515,12343,0.00,2.22,0.00,0.000,4,0.000,0.049,2848,3598,2238,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12410,0.59,181.0,806.6,9.7,517,12415,0.00,2.10,0.00,0.000,6,0.000,0.027,2854,2197,2238,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,21019,end climb,SURFACE_DEPTH_REACHED
$STATE,21019,begin surface coast
$FINISH,0.9,1.001911
$STATE,21037,end surface coast,CONTROL_FINISHED_OK
$STATE,21037,begin surface
$SM_CCo,21116,0.00,0.000,0,0,885,510.96
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$IRIDIUM_FIX,2213.68,12225.77,180113,010121
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.97
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.70
$XPDR_PINGS,83
$24V_AH,22.6,85.731
$10V_AH,9.9,55.214
$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,19.675,195.075,640.300,0.000,0.000,0.000,0.000,485.800,20.750,0.000,92.601,3085.091,14830.666,789.600,2921.644,489.710,0.000,2601.032,0.000,2265.742,0.000,0.542,0.000
$DEVICE_MAMPS,218.025,62.730,1253.070,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21057.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.353,0.000,0.000,0.000
$MEM,323788
$DATA_FILE_SIZE,36636,928
$CAP_FILE_SIZE,236507,0
$CFSIZE,260165632,209817600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.176, 95.2,1
$GPS,180113,080336,2222.996,12222.575,35,1.9,35,-3.3