version: 66.11
glider: 167
mission: 14
dive: 411
start: 1 21 113 16 43 0
data:
$ID,167
$MISSION,14
$DIVE,411
$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,-971329.38
$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,68
$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
$GPS1,210113,163436,2233.379,12217.565,42,1.1,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-65.7
$GPS2,210113,164232,2233.498,12217.687,4,0.8,4,-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,277.2,104466,-14.7,-8.462,-18.01
$D_GRID,4757
$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,-166.2,0.0,0.0,0,75,0.00,0.00,-52.80,0.000,2,0.000,0.000,109,2468,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.69,-166.2,3.0,-3.8,5,122,9.43,2.17,-26.85,0.000,4,0.221,0.045,2434,1052,3647,0,0,0,0,0,0,25.08,26.09,26.68
$GC,248,-0.63,-166.2,26.8,-14.7,21,253,0.00,2.10,0.00,0.000,6,0.000,0.036,2433,2442,3647,0,0,0,0,0,0,28.83,26.04,28.83
$GC,563,-0.56,-166.2,76.5,-16.3,44,569,0.15,2.08,0.00,0.000,4,0.156,0.048,2478,3762,3647,0,0,0,0,0,0,26.10,25.82,28.83
$GC,588,-0.50,-166.2,80.4,-15.9,45,593,0.00,1.90,0.00,0.000,6,0.000,0.023,2478,2435,3647,0,0,0,0,0,0,28.83,26.32,28.83
$GC,911,-0.48,-166.2,122.4,-13.0,61,918,0.12,2.00,0.00,0.000,4,0.144,0.028,2519,1066,3647,0,0,0,0,0,0,26.24,26.12,28.83
$GC,936,-0.46,-166.2,125.4,-12.7,62,943,0.00,2.08,0.00,0.000,6,0.000,0.034,2519,2453,3647,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1261,-0.47,-166.2,156.1,-9.5,78,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2454,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1563,-0.52,-166.2,183.7,-8.4,93,1568,0.00,2.03,0.00,0.000,4,0.000,0.049,2519,3760,3648,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1602,-0.57,-166.2,185.9,-8.5,94,1609,0.12,1.85,0.00,0.000,6,0.077,0.019,2428,2439,3648,0,0,0,0,0,0,26.28,26.40,28.83
$GC,1907,-0.54,-166.2,221.1,-9.8,110,1913,0.17,2.00,0.00,0.000,4,0.139,0.028,2485,1079,3649,0,0,0,0,0,0,26.08,26.11,28.83
$GC,1961,-0.52,-166.2,224.8,-8.9,112,1967,0.00,2.05,0.00,0.000,6,0.000,0.034,2485,2455,3649,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2275,-0.57,-166.2,253.7,-9.9,128,2281,0.00,2.00,0.00,0.000,4,0.000,0.049,2485,3749,3649,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2305,-0.62,-166.2,256.0,-9.9,129,2310,0.00,1.83,0.00,0.000,6,0.000,0.018,2484,2428,3649,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2624,-0.68,-166.2,281.1,-6.8,145,2629,0.12,2.08,0.00,0.000,4,0.079,0.046,2398,3749,3649,0,0,0,0,0,0,26.58,25.84,28.83
$GC,2737,-0.63,-166.2,291.5,-10.5,150,2743,0.22,1.80,0.00,0.000,6,0.130,0.018,2464,2448,3649,0,0,0,0,0,0,25.79,26.43,28.83
$GC,3052,-0.65,-166.2,318.4,-8.9,166,3057,0.00,1.98,0.00,0.000,4,0.000,0.031,2464,1093,3648,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3110,-0.66,-166.2,322.9,-9.6,168,3116,0.00,2.05,0.00,0.000,6,0.000,0.034,2464,2459,3648,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3417,-0.68,-166.2,352.9,-8.9,184,3422,0.00,2.03,0.00,0.000,4,0.000,0.050,2464,3749,3647,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3451,-0.70,-166.2,355.0,-8.9,185,3456,0.00,1.80,0.00,0.000,6,0.000,0.018,2464,2443,3648,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3764,-0.75,-166.2,383.3,-8.7,201,3771,0.12,2.08,0.00,0.000,4,0.079,0.047,2382,3758,3646,0,0,0,0,0,0,26.58,25.83,28.83
$GC,3778,-0.80,-166.2,383.3,-8.7,201,3784,0.00,1.83,0.00,0.000,6,0.000,0.018,2381,2444,3646,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4092,-0.75,-166.2,421.7,-12.0,217,4098,0.12,2.08,0.00,0.000,4,0.155,0.046,2413,3758,3644,0,0,0,0,0,0,26.22,25.82,28.83
$GC,4251,-0.73,-166.2,436.5,-9.8,224,4258,0.00,1.85,0.00,0.000,6,0.000,0.019,2413,2446,3643,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4557,-0.71,-166.2,465.1,-8.8,240,4562,0.00,1.98,0.00,0.000,4,0.000,0.030,2413,1092,3641,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4604,-0.69,-166.2,469.1,-9.0,242,4610,0.12,2.05,0.00,0.000,6,0.152,0.035,2444,2456,3641,0,0,0,0,0,0,25.79,26.08,28.83
$GC,4924,-0.69,-166.2,495.7,-8.1,258,4929,0.00,2.03,0.00,0.000,4,0.000,0.050,2444,3746,3639,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4991,-0.70,-166.2,501.0,-8.3,261,4997,0.00,1.83,0.00,0.000,6,0.000,0.019,2444,2431,3639,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5310,-0.72,-166.2,526.6,-7.8,277,5316,0.00,1.95,0.00,0.000,4,0.000,0.030,2444,1102,3638,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5369,-0.74,-166.2,530.3,-8.0,279,5376,0.00,2.03,0.00,0.000,6,0.000,0.034,2444,2447,3637,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5675,-0.75,-166.2,555.4,-7.6,295,5680,0.00,2.00,0.00,0.000,4,0.000,0.030,2445,1097,3635,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5713,-0.76,-166.2,557.3,-7.7,296,5719,0.00,2.05,0.00,0.000,6,0.000,0.034,2444,2454,3635,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6019,-0.78,-166.2,582.2,-8.4,312,6024,0.00,2.05,0.00,0.000,4,0.000,0.051,2444,3758,3632,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6071,-0.79,-166.2,586.1,-8.5,314,6078,0.12,1.85,0.00,0.000,6,0.081,0.028,2380,2458,3632,0,0,0,0,0,0,26.21,26.36,28.83
$GC,6386,-0.76,-166.2,622.7,-11.3,327,6388,0.15,0.00,0.00,0.000,6,0.146,0.000,2421,2456,3630,0,0,0,0,0,0,26.18,28.83,28.83
$GC,6686,-0.76,-166.2,650.9,-9.2,337,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2456,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,-0.76,-166.2,676.9,-8.3,347,6992,0.00,2.03,0.00,0.000,4,0.000,0.031,2421,1084,3626,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7029,-0.76,-166.2,679.9,-8.4,348,7035,0.00,2.08,0.00,0.000,6,0.000,0.035,2421,2452,3627,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7355,-0.76,-166.2,706.3,-8.1,359,7361,0.00,2.05,0.00,0.000,4,0.000,0.052,2421,3751,3625,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7408,-0.76,-166.2,709.3,-8.2,360,7414,0.00,1.85,0.00,0.000,6,0.000,0.020,2421,2433,3624,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7722,-0.76,-166.2,737.7,-8.7,371,7727,0.00,2.15,0.00,0.000,4,0.000,0.057,2415,3758,3623,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7764,-0.76,-166.2,740.8,-8.9,372,7769,0.00,1.88,0.00,0.000,6,0.000,0.022,2415,2449,3622,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8089,-0.76,-166.2,773.3,-10.2,383,8095,0.00,2.10,0.00,0.000,4,0.000,0.053,2415,3749,3626,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8158,-0.76,-166.2,780.6,-10.7,385,8163,0.00,1.85,0.00,0.000,6,0.000,0.021,2415,2446,3620,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8488,-0.76,-166.2,817.1,-10.7,396,8494,0.00,2.12,0.00,0.000,4,0.000,0.053,2415,3753,3615,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8537,-0.76,-166.2,820.9,-10.7,397,8542,0.00,1.85,0.00,0.000,6,0.000,0.021,2415,2448,3618,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8855,-0.76,-166.2,853.4,-9.1,408,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2446,3616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9156,-0.76,-166.2,878.3,-8.1,418,9162,0.00,2.10,0.00,0.000,4,0.000,0.054,2414,3749,3614,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9205,-0.76,-166.2,881.3,-8.2,419,9210,0.00,1.85,0.00,0.000,6,0.000,0.022,2413,2461,3617,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9525,-0.76,-166.2,907.9,-7.9,430,9530,0.00,2.05,0.00,0.000,4,0.000,0.031,2413,1082,3612,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9568,-0.76,-166.2,910.7,-8.0,431,9574,0.00,2.10,0.00,0.000,6,0.000,0.037,2413,2446,3613,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9893,-0.76,-166.2,938.4,-8.5,442,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2446,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10192,-0.76,-166.2,965.2,-9.1,452,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2446,3609,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10459,begin apogee
$GC,10466,-0.27,0.0,990.3,-9.2,461,10619,0.50,0.00,143.57,1.278,6,0.115,0.000,2574,2184,2962,0,0,0,0,0,0,25.26,28.83,23.19
$STATE,10620,end apogee,CONTROL_FINISHED_OK
$STATE,10620,begin climb
$GC,10623,0.69,166.2,997.1,0.0,466,10782,0.90,2.28,151.05,1.242,4,0.077,0.040,2884,857,2284,0,0,0,0,0,0,24.89,24.37,22.79
$GC,10816,0.69,226.3,989.5,6.4,472,10878,0.00,2.15,55.85,1.217,6,0.000,0.034,2884,2217,2042,0,0,0,0,0,0,28.83,25.28,23.25
$GC,11188,0.66,226.3,949.2,10.6,485,11193,0.00,2.20,0.00,0.000,4,0.000,0.051,2884,3604,2026,0,0,0,0,0,0,28.83,25.93,28.83
$GC,11252,0.61,226.3,941.7,11.2,487,11258,0.00,2.05,0.00,0.000,6,0.000,0.027,2885,2231,2025,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11589,0.58,226.3,906.8,10.3,498,11595,0.12,2.17,0.00,0.000,4,0.155,0.037,2848,801,2024,0,0,0,0,0,0,26.15,26.02,28.83
$GC,11633,0.55,226.3,903.4,10.0,499,11638,0.00,2.12,0.00,0.000,6,0.000,0.034,2859,2201,2022,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11958,0.54,226.8,874.7,8.4,510,11964,0.00,2.22,0.00,0.000,4,0.000,0.050,2854,3597,2022,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12074,0.52,226.8,865.6,9.2,513,12079,0.00,2.08,0.00,0.000,6,0.000,0.027,2858,2200,2021,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12390,0.53,246.6,838.4,7.8,524,12418,0.00,2.35,17.80,1.224,4,0.000,0.050,2858,3605,1956,0,0,0,0,0,0,28.83,25.72,24.01
$GC,12441,0.54,266.4,835.9,7.8,525,12470,0.00,2.12,21.80,1.209,6,0.000,0.026,2873,2185,1877,0,0,0,0,0,0,28.83,26.06,23.78
$GC,12785,0.57,295.5,807.4,7.5,537,12823,0.00,2.33,30.20,1.187,4,0.000,0.050,2866,3597,1756,0,0,0,0,0,0,28.83,25.55,23.88
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$STATE,21155,end climb,SURFACE_DEPTH_REACHED
$STATE,21155,begin surface coast
$FINISH,0.9,1.023273
$STATE,21177,end surface coast,CONTROL_FINISHED_OK
$STATE,21177,begin surface
$SM_CCo,21197,0.10,0.868,0,0,1334,400.08
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$TT8_MAMPS,0.028462,0.028462
$HUMID,54.52
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.60
$XPDR_PINGS,68
$24V_AH,22.8,88.606
$10V_AH,9.7,57.066
$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
$DEVICE_SECS,20.950,198.825,523.425,0.100,0.000,0.000,0.000,275.150,17.000,0.000,6.321,3120.154,14754.589,683.635,2611.174,496.168,0.000,2262.663,0.000,2262.522,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.356,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,36629,937
$CAP_FILE_SIZE,238758,0
$CFSIZE,260165632,208388096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.238, 76.1,1
$GPS,210113,223736,2234.368,12218.023,32,1.0,32,-3.4