version: 66.11
glider: 167
mission: 14
dive: 198
start: 11 27 112 12 6 38
data:
$ID,167
$MISSION,14
$DIVE,198
$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,410
$T_MISSION,430
$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,175
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-968935.19
$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,2700
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,33
$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,0.00039999999
$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,49
$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
$GPS1,271112,115905,2228.124,12234.621,37,0.8,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-62.5
$GPS2,271112,120609,2228.072,12234.524,6,0.8,6,-3.4
$SPEED_LIMITS,0.139,0.259
$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,325.6,134267,-13.8,-8.049,-17.28
$D_GRID,5036
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.53,-171.1,0.0,0.0,0,72,0.00,0.00,-51.17,0.000,2,0.000,0.000,109,2453,2530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.53,-171.1,3.1,-4.2,5,123,9.65,2.10,-29.25,0.000,4,0.223,0.061,2519,3763,3668,0,0,0,0,0,0,25.14,26.07,26.61
$GC,246,-0.51,-171.1,22.4,-13.3,21,253,0.00,1.88,0.00,0.000,6,0.000,0.020,2519,2444,3669,0,0,0,0,0,0,28.83,26.37,28.83
$GC,552,-0.48,-171.1,65.9,-14.5,47,557,0.00,2.00,0.00,0.000,4,0.000,0.030,2521,1057,3669,0,0,0,0,0,0,28.83,26.39,28.83
$GC,616,-0.46,-171.1,74.9,-14.1,50,622,0.12,2.08,0.00,0.000,6,0.147,0.034,2554,2451,3669,0,0,0,0,0,0,26.10,26.34,28.83
$GC,940,-0.49,-171.1,105.8,-8.6,66,945,0.00,2.00,0.00,0.000,4,0.000,0.046,2554,3774,3669,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1040,-0.52,-171.1,112.4,-7.8,70,1048,0.00,1.88,0.00,0.000,6,0.000,0.018,2553,2431,3669,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1345,-0.56,-171.1,137.0,-7.3,86,1351,0.00,1.95,0.00,0.000,4,0.000,0.029,2554,1064,3670,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1398,-0.60,-171.1,140.2,-7.2,88,1404,0.15,2.05,0.00,0.000,6,0.068,0.032,2461,2455,3670,0,0,0,0,0,0,26.45,26.44,28.83
$GC,1712,-0.57,-171.1,180.5,-11.9,104,1714,0.17,0.00,0.00,0.000,6,0.136,0.000,2511,2455,3670,0,0,0,0,0,0,26.34,28.83,28.83
$GC,2014,-0.58,-171.1,208.7,-10.2,119,2019,0.00,2.00,0.00,0.000,4,0.000,0.030,2511,1072,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2047,-0.60,-171.1,211.4,-10.4,120,2053,0.00,2.05,0.00,0.000,6,0.000,0.034,2511,2449,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2362,-0.61,-171.1,241.8,-9.0,136,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2449,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,-0.63,-171.1,266.5,-8.1,151,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2449,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2963,-0.65,-171.1,292.8,-8.9,166,2969,0.00,2.00,0.00,0.000,4,0.000,0.028,2511,1068,3666,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3021,-0.67,-171.1,296.9,-8.8,168,3028,0.00,2.05,0.00,0.000,6,0.000,0.034,2511,2450,3669,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3327,-0.69,-171.1,324.6,-8.8,184,3333,0.12,2.03,0.00,0.000,4,0.080,0.027,2426,1070,3668,0,0,0,0,0,0,26.73,26.51,28.83
$GC,3376,-0.69,-171.1,329.9,-10.3,186,3382,0.17,2.05,0.00,0.000,6,0.138,0.034,2475,2450,3668,0,0,0,0,0,0,26.13,26.42,28.83
$GC,3696,-0.69,-171.1,361.7,-9.1,202,3701,0.00,2.00,0.00,0.000,4,0.000,0.046,2475,3769,3667,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3748,-0.69,-171.1,365.7,-9.3,204,3753,0.00,1.88,0.00,0.000,6,0.000,0.020,2475,2437,3666,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4061,-0.69,-171.1,395.8,-9.6,220,4067,0.00,1.95,0.00,0.000,4,0.000,0.029,2475,1071,3666,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4119,-0.70,-171.1,400.1,-9.8,222,4126,0.00,2.08,0.00,0.000,6,0.000,0.042,2475,2457,3665,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4426,-0.71,-171.1,426.3,-7.2,238,4431,0.00,1.98,0.00,0.000,4,0.000,0.046,2475,3757,3663,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4510,-0.73,-171.1,432.0,-6.8,242,4515,0.00,1.88,0.00,0.000,6,0.000,0.021,2475,2437,3664,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4834,-0.74,-171.1,452.8,-6.8,258,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2436,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5137,-0.75,-171.1,481.5,-10.4,273,5142,0.00,1.98,0.00,0.000,4,0.000,0.029,2475,1062,3660,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5210,-0.77,-171.1,487.9,-9.7,276,5215,0.00,2.08,0.00,0.000,6,0.000,0.034,2475,2450,3660,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5523,-0.78,-171.1,516.2,-8.4,292,5529,0.00,2.00,0.00,0.000,4,0.000,0.029,2475,1065,3658,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5577,-0.80,-171.1,520.2,-8.7,294,5582,0.00,2.08,0.00,0.000,6,0.000,0.041,2475,2452,3658,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5891,-0.82,-171.1,546.6,-7.8,310,5897,0.12,2.00,0.00,0.000,4,0.081,0.044,2398,3763,3656,0,0,0,0,0,0,26.74,26.30,28.83
$GC,5981,-0.79,-171.1,556.8,-12.3,314,5988,0.15,1.88,0.00,0.000,6,0.145,0.021,2440,2434,3655,0,0,0,0,0,0,26.18,26.62,28.83
$GC,6301,-0.79,-171.1,594.2,-11.5,330,6307,0.00,2.00,0.00,0.000,4,0.000,0.030,2440,1068,3653,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6374,-0.79,-171.1,601.6,-11.8,333,6380,0.00,2.08,0.00,0.000,6,0.000,0.036,2440,2448,3653,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6699,-0.79,-171.1,635.8,-9.5,344,6704,0.00,2.03,0.00,0.000,4,0.000,0.035,2439,1068,3651,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6737,-0.79,-171.1,639.0,-9.5,345,6742,0.00,2.12,0.00,0.000,6,0.000,0.037,2440,2458,3650,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7066,-0.79,-171.1,670.5,-9.7,356,7073,0.00,2.03,0.00,0.000,4,0.000,0.047,2440,3770,3648,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7131,-0.79,-171.1,677.3,-10.0,358,7137,0.00,1.90,0.00,0.000,6,0.000,0.022,2439,2434,3648,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7467,-0.79,-171.1,712.5,-10.3,369,7473,0.00,2.08,0.00,0.000,4,0.000,0.047,2439,3767,3649,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7504,-0.79,-171.1,716.2,-10.2,370,7509,0.00,1.88,0.00,0.000,6,0.000,0.023,2440,2445,3644,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7834,-0.79,-171.1,748.0,-9.2,381,7839,0.00,2.00,0.00,0.000,4,0.000,0.030,2439,1076,3643,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7891,-0.79,-171.1,751.3,-9.1,382,7898,0.00,2.08,0.00,0.000,6,0.000,0.035,2440,2451,3643,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8197,-0.79,-171.1,781.3,-9.3,393,8203,0.00,2.03,0.00,0.000,4,0.000,0.048,2439,3765,3641,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8235,-0.79,-171.1,784.5,-9.2,394,8240,0.00,1.88,0.00,0.000,6,0.000,0.024,2440,2452,3641,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8564,-0.79,-171.1,816.5,-10.1,405,8569,0.00,2.03,0.00,0.000,4,0.000,0.030,2439,1061,3638,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8611,-0.79,-171.1,820.0,-10.1,406,8617,0.00,2.12,0.00,0.000,6,0.000,0.036,2439,2452,3638,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8929,-0.79,-171.1,854.0,-10.3,417,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2453,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9230,-0.79,-171.1,882.5,-9.4,427,9235,0.00,2.08,0.00,0.000,4,0.000,0.030,2440,1063,3635,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9277,-0.79,-171.1,885.6,-9.4,428,9282,0.00,2.10,0.00,0.000,6,0.000,0.036,2440,2450,3635,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9594,-0.79,-171.1,915.8,-9.1,439,9600,0.00,2.03,0.00,0.000,4,0.000,0.050,2439,3759,3634,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9648,-0.79,-171.1,918.9,-9.0,440,9653,0.00,1.90,0.00,0.000,6,0.000,0.024,2439,2451,3634,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9961,-0.79,-171.1,948.0,-8.6,451,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2451,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10262,-0.79,-171.1,973.2,-8.4,461,10267,0.00,2.03,0.00,0.000,4,0.000,0.031,2439,1067,3630,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10330,-0.80,-171.1,978.8,-8.7,463,10335,0.00,2.12,0.00,0.000,6,0.000,0.041,2439,2457,3630,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,10475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10476,begin apogee
$GC,10482,-0.27,0.0,992.0,-8.6,468,10638,0.50,0.00,148.35,1.249,6,0.109,0.000,2605,2270,2967,0,0,0,0,0,0,25.78,28.83,23.08
$STATE,10640,end apogee,CONTROL_FINISHED_OK
$STATE,10640,begin climb
$GC,10642,0.53,171.1,998.7,0.0,473,10810,0.75,2.58,159.98,1.206,4,0.064,0.047,2870,3705,2260,0,0,0,0,0,0,24.63,23.91,22.54
$GC,10854,0.49,203.0,990.5,7.0,480,10893,0.00,2.17,30.55,1.198,6,0.000,0.028,2877,2337,2131,0,0,0,0,0,0,28.83,24.82,22.92
$GC,11207,0.46,203.0,954.9,10.0,492,11213,0.00,2.20,0.00,0.000,4,0.000,0.039,2885,895,2118,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11285,0.43,203.0,948.4,10.1,494,11292,0.17,2.17,0.00,0.000,6,0.132,0.034,2835,2308,2116,0,0,0,0,0,0,25.87,26.12,28.83
$GC,11608,0.42,203.0,919.4,8.8,505,11613,0.00,2.17,0.00,0.000,4,0.000,0.048,2836,3701,2114,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11655,0.40,203.0,915.8,9.1,506,11660,0.00,2.10,0.00,0.000,6,0.000,0.028,2835,2291,2113,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11975,0.39,203.0,885.2,9.2,517,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2291,2113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12274,0.38,203.0,859.9,8.1,527,12279,0.00,2.10,0.00,0.000,4,0.000,0.038,2835,893,2112,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12327,0.37,205.5,857.3,8.0,528,12332,0.00,2.12,0.00,0.000,6,0.000,0.034,2836,2304,2115,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12643,0.37,227.4,832.2,7.4,539,12669,0.00,0.00,21.90,1.202,6,0.000,0.000,2836,2304,2034,0,0,0,0,0,0,28.83,28.83,24.33
$GC,12970,0.37,228.6,806.1,8.0,550,12975,0.00,2.15,0.00,0.000,4,0.000,0.036,2835,894,2026,0,0,0,0,0,0,28.83,26.18,28.83
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$STATE,22016,end climb,SURFACE_DEPTH_REACHED
$STATE,22016,begin surface coast
$FINISH,0.9,1.023111
$STATE,22050,end surface coast,CONTROL_FINISHED_OK
$STATE,22050,begin surface
$SM_CCo,22129,0.00,0.000,0,0,951,494.77
$SM_GC,1.79,7.18,0.20,0.00,0.028,0.070,0.000,113,2450,951,-7.98,-1.33,494.77,0,0,0,0,0,0,26.49,26.55,28.83
$IRIDIUM_FIX,2218.34,12240.61,271112,050502
$TT8_MAMPS,0.029211,0.029211
$HUMID,50.82
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.70
$XPDR_PINGS,23
$24V_AH,22.5,45.792
$10V_AH,10.1,29.872
$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,20.225,190.950,582.100,0.000,0.000,0.000,0.000,247.900,5.750,0.000,6.718,3221.687,15479.682,798.650,2610.464,436.006,0.000,2324.923,0.000,2262.690,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,70.380,1249.245,0.000,0.000,0.000,0.000,130.050,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22060.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.349,0.000,0.000,0.000
$MEM,323824
$DATA_FILE_SIZE,36723,984
$CAP_FILE_SIZE,239683,0
$CFSIZE,260165632,230006784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,217.7,1
$GPS,271112,181635,2229.964,12231.571,25,1.0,25,-3.4