version: 66.11
glider: 167
mission: 14
dive: 199
start: 11 27 112 18 23 48
data:
$ID,167
$MISSION,14
$DIVE,199
$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,-968936.44
$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,70
$R_STBD_OVSHOOT,42
$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
$GPS1,271112,181635,2229.964,12231.571,25,1.0,25,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.4
$GPS2,271112,182319,2229.957,12231.560,5,1.0,5,-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,324.8,128153,-13.8,-8.049,-17.28
$D_GRID,4999
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.53,-171.1,0.0,0.0,0,83,0.00,0.00,-61.78,0.000,2,0.000,0.000,108,2462,2583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.53,-171.1,3.1,-3.6,6,130,9.65,2.10,-27.88,0.000,4,0.223,0.062,2519,3760,3667,0,0,0,0,0,0,25.22,26.08,26.63
$GC,249,-0.51,-171.1,22.8,-14.6,21,256,0.00,1.88,0.00,0.000,6,0.000,0.020,2519,2442,3669,0,0,0,0,0,0,28.83,26.39,28.83
$GC,555,-0.49,-171.1,68.5,-14.1,46,560,0.00,2.00,0.00,0.000,4,0.000,0.029,2520,1048,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,613,-0.47,-171.1,74.5,-13.9,48,620,0.00,2.10,0.00,0.000,6,0.000,0.034,2519,2449,3668,0,0,0,0,0,0,28.83,26.35,28.83
$GC,920,-0.46,-171.1,116.8,-11.6,64,926,0.12,2.00,0.00,0.000,4,0.143,0.044,2561,3766,3669,0,0,0,0,0,0,26.42,26.32,28.83
$GC,959,-0.46,-171.1,119.3,-10.8,65,965,0.00,1.88,0.00,0.000,6,0.000,0.019,2561,2438,3668,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1265,-0.50,-171.1,139.3,-6.9,81,1270,0.00,1.98,0.00,0.000,4,0.000,0.028,2561,1060,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1343,-0.54,-171.1,144.0,-7.3,84,1351,0.10,2.05,0.00,0.000,6,0.093,0.032,2488,2454,3668,0,0,0,0,0,0,26.41,26.44,28.83
$GC,1648,-0.54,-171.1,177.0,-10.3,100,1650,0.12,0.00,0.00,0.000,6,0.139,0.000,2523,2453,3670,0,0,0,0,0,0,26.51,28.83,28.83
$GC,1951,-0.56,-171.1,203.3,-9.1,115,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2453,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2251,-0.58,-171.1,229.3,-8.1,130,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2454,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2552,-0.60,-171.1,250.1,-7.2,145,2557,0.00,2.00,0.00,0.000,4,0.000,0.030,2523,1070,3669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2592,-0.63,-171.1,252.1,-7.3,146,2598,0.00,2.05,0.00,0.000,6,0.000,0.033,2522,2457,3669,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2895,-0.65,-171.1,277.4,-8.1,162,2900,0.00,1.98,0.00,0.000,4,0.000,0.046,2522,3763,3668,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2922,-0.68,-171.1,279.4,-8.2,163,2928,0.12,1.85,0.00,0.000,6,0.079,0.019,2442,2438,3668,0,0,0,0,0,0,26.54,26.65,28.83
$GC,3242,-0.65,-171.1,322.2,-12.4,179,3248,0.15,1.95,0.00,0.000,4,0.138,0.026,2491,1073,3667,0,0,0,0,0,0,26.39,26.53,28.83
$GC,3270,-0.63,-171.1,324.8,-11.9,180,3275,0.00,2.05,0.00,0.000,6,0.000,0.033,2491,2449,3667,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3588,-0.65,-171.1,354.7,-9.9,196,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2449,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3892,-0.66,-171.1,382.4,-8.2,211,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2449,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4190,-0.68,-171.1,405.4,-8.0,226,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2448,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4491,-0.69,-171.1,428.4,-7.2,241,4496,0.00,2.03,0.00,0.000,4,0.000,0.031,2491,1064,3663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4529,-0.71,-171.1,430.4,-7.3,242,4536,0.00,2.10,0.00,0.000,6,0.000,0.034,2491,2459,3662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4835,-0.73,-171.1,454.7,-7.8,258,4841,0.00,1.98,0.00,0.000,4,0.000,0.046,2491,3762,3661,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4913,-0.76,-171.1,459.7,-7.8,261,4921,0.12,1.85,0.00,0.000,6,0.080,0.020,2422,2448,3662,0,0,0,0,0,0,26.53,26.65,28.83
$GC,5219,-0.74,-171.1,496.2,-11.0,277,5225,0.12,2.00,0.00,0.000,4,0.145,0.034,2463,1068,3659,0,0,0,0,0,0,26.44,26.38,28.83
$GC,5292,-0.74,-171.1,502.0,-9.4,280,5297,0.00,2.08,0.00,0.000,6,0.000,0.034,2462,2455,3659,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5605,-0.74,-171.1,528.6,-8.2,296,5610,0.00,2.03,0.00,0.000,4,0.000,0.029,2463,1074,3657,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5711,-0.75,-171.1,538.1,-9.3,301,5716,0.00,2.10,0.00,0.000,6,0.000,0.035,2463,2456,3656,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6035,-0.76,-171.1,567.3,-8.5,317,6040,0.00,2.00,0.00,0.000,4,0.000,0.047,2463,3761,3654,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6108,-0.76,-171.1,572.6,-8.4,320,6113,0.00,1.85,0.00,0.000,6,0.000,0.021,2463,2444,3654,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6422,-0.77,-171.1,596.8,-7.4,336,6428,0.00,1.98,0.00,0.000,4,0.000,0.029,2463,1074,3652,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6462,-0.78,-171.1,598.9,-7.9,337,6469,0.00,2.08,0.00,0.000,6,0.000,0.035,2462,2459,3652,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6766,-0.79,-171.1,624.8,-8.2,348,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2460,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7066,-0.80,-171.1,649.9,-8.3,358,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2460,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7366,-0.82,-171.1,674.5,-8.0,368,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2460,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7667,-0.83,-171.1,698.2,-8.0,378,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2460,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7966,-0.84,-171.1,722.5,-8.0,388,7972,0.00,2.00,0.00,0.000,4,0.000,0.048,2463,3762,3642,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8004,-0.86,-171.1,725.3,-8.0,389,8010,0.10,1.85,0.00,0.000,6,0.096,0.023,2406,2456,3642,0,0,0,0,0,0,26.48,26.62,28.83
$GC,8335,-0.84,-171.1,759.2,-10.4,400,8341,0.00,2.03,0.00,0.000,4,0.000,0.030,2406,1063,3639,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8450,-0.82,-171.1,769.5,-10.6,403,8456,0.12,2.10,0.00,0.000,6,0.154,0.035,2436,2453,3638,0,0,0,0,0,0,26.06,26.32,28.83
$GC,8766,-0.82,-171.1,799.2,-8.4,414,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2453,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9064,-0.82,-171.1,824.2,-8.3,424,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2453,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9364,-0.82,-171.1,849.0,-8.4,434,9369,0.00,2.05,0.00,0.000,4,0.000,0.036,2435,1071,3634,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9416,-0.82,-171.1,851.8,-8.4,435,9422,0.00,2.10,0.00,0.000,6,0.000,0.036,2436,2458,3634,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9730,-0.82,-171.1,880.8,-8.9,446,9736,0.00,2.03,0.00,0.000,4,0.000,0.048,2436,3769,3632,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9773,-0.82,-171.1,883.7,-8.8,447,9779,0.00,1.90,0.00,0.000,6,0.000,0.024,2436,2446,3632,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10098,-0.82,-171.1,912.6,-8.9,458,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2446,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10397,-0.82,-171.1,940.0,-9.1,468,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2446,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10696,-0.82,-171.1,966.7,-8.7,478,10702,0.00,2.03,0.00,0.000,4,0.000,0.031,2437,1066,3628,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10754,-0.82,-171.1,969.7,-8.8,479,10761,0.00,2.10,0.00,0.000,6,0.000,0.037,2436,2450,3628,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,10968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10968,begin apogee
$GC,10974,-0.27,0.0,990.2,-8.5,487,11131,0.50,0.00,147.85,1.268,6,0.109,0.000,2604,2280,2963,0,0,0,0,0,0,25.78,28.83,23.09
$STATE,11132,end apogee,CONTROL_FINISHED_OK
$STATE,11132,begin climb
$GC,11135,0.53,171.1,995.4,0.0,492,11306,0.75,2.55,159.38,1.212,4,0.066,0.047,2867,3705,2260,0,0,0,0,0,0,24.63,23.91,22.53
$GC,11359,0.48,171.1,984.2,8.3,499,11366,0.00,2.17,0.00,0.000,6,0.000,0.028,2867,2340,2254,0,0,0,0,0,0,28.83,24.96,28.83
$GC,11666,0.45,171.1,948.4,10.6,510,11672,0.00,2.22,0.00,0.000,4,0.000,0.040,2866,894,2250,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11755,0.42,171.1,941.8,10.3,512,11762,0.12,2.15,0.00,0.000,6,0.135,0.034,2834,2308,2247,0,0,0,0,0,0,25.98,26.16,28.83
$GC,12062,0.40,176.5,914.6,7.9,523,12068,0.00,2.17,0.00,0.000,4,0.000,0.048,2834,3707,2246,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12106,0.39,178.7,911.7,8.0,524,12111,0.00,2.12,0.00,0.000,6,0.000,0.028,2839,2292,2246,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12431,0.37,186.0,885.2,7.8,535,12450,0.00,2.15,11.73,1.259,4,0.000,0.039,2839,908,2203,0,0,0,0,0,0,28.83,26.10,24.44
$GC,12467,0.36,197.4,882.6,7.7,536,12486,0.00,2.12,13.00,1.248,6,0.000,0.034,2839,2302,2160,0,0,0,0,0,0,28.83,26.10,24.25
$GC,12797,0.36,225.9,858.3,7.1,547,12834,0.00,2.28,29.17,1.202,4,0.000,0.049,2838,3705,2040,0,0,0,0,0,0,28.83,25.53,24.16
$GC,12858,0.36,252.1,853.6,7.2,549,12891,0.00,2.15,26.85,1.196,6,0.000,0.028,2839,2304,1938,0,0,0,0,0,0,28.83,25.80,23.91
$GC,13219,0.36,254.5,825.7,8.0,561,13224,0.00,2.12,0.00,0.000,4,0.000,0.038,2838,894,1926,0,0,0,0,0,0,28.83,26.16,28.83
$GC,13332,0.36,254.5,818.2,8.1,564,13337,0.00,2.15,0.00,0.000,6,0.000,0.034,2839,2310,1925,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13645,0.36,254.5,789.7,8.7,575,13647,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2310,1924,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21985,end climb,SURFACE_DEPTH_REACHED
$STATE,21985,begin surface coast
$FINISH,1.2,1.023039
$STATE,22017,end surface coast,CONTROL_FINISHED_OK
$STATE,22017,begin surface
$SM_CCo,22095,0.00,0.000,0,0,832,523.96
$SM_GC,1.66,7.32,0.20,0.00,0.034,0.063,0.000,121,2468,832,-7.98,-1.27,523.96,0,0,0,0,0,0,26.34,26.57,28.83
$IRIDIUM_FIX,2218.34,12235.43,271112,121201
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.36
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.60
$XPDR_PINGS,10
$24V_AH,22.5,45.989
$10V_AH,10.2,30.002
$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,20.050,166.750,596.500,0.000,0.000,0.000,0.000,227.275,2.500,0.000,6.647,3072.944,15773.389,753.050,2477.594,416.023,0.000,2219.217,0.000,2173.267,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,63.495,1267.605,0.000,0.000,0.000,0.000,129.285,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22026.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.358,0.000,0.000,0.000
$MEM,323832
$DATA_FILE_SIZE,36740,976
$CAP_FILE_SIZE,232215,0
$CFSIZE,260165632,229912576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021,194.5,1
$GPS,281112,003330,2232.504,12229.229,43,1.1,43,-3.4