version: 66.11
glider: 167
mission: 14
dive: 247
start: 12 9 112 17 43 45
data:
$ID,167
$MISSION,14
$DIVE,247
$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,4
$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,-969134.75
$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,0.0099999998
$PITCH_ADJ_DBAND,0.5
$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,79
$R_STBD_OVSHOOT,53
$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,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
$GPS1,091212,173523,2326.322,12247.707,40,1.7,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-58.2
$GPS2,091212,174318,2326.342,12247.639,16,1.7,16,-3.6
$SPEED_LIMITS,0.139,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,77.3,122237,-13.8,-8.049,-17.28
$D_GRID,3910
$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,-171.1,0.0,0.0,0,93,0.00,0.00,-71.50,0.000,2,0.000,0.000,108,2475,2739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.53,-171.1,3.1,-3.5,7,134,9.70,2.08,-21.62,0.000,4,0.220,0.040,2520,1063,3666,0,0,0,0,0,0,24.94,26.17,26.65
$GC,188,-0.52,-171.1,14.4,-11.3,15,195,0.00,2.08,0.00,0.000,6,0.000,0.034,2520,2443,3667,0,0,0,0,0,0,28.83,26.17,28.83
$GC,495,-0.50,-171.1,52.2,-10.1,45,500,0.00,2.00,0.00,0.000,4,0.000,0.044,2519,3759,3667,0,0,0,0,0,0,28.83,26.20,28.83
$GC,542,-0.49,-171.1,57.5,-11.4,47,547,0.00,1.85,0.00,0.000,6,0.000,0.018,2520,2416,3668,0,0,0,0,0,0,28.83,26.54,28.83
$GC,861,-0.49,-171.1,95.9,-10.7,63,867,0.00,2.10,0.00,0.000,4,0.000,0.047,2520,3766,3667,0,0,0,0,0,0,28.83,26.25,28.83
$GC,945,-0.50,-171.1,104.4,-10.2,67,951,0.00,1.80,0.00,0.000,6,0.000,0.018,2520,2455,3668,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1270,-0.52,-171.1,130.1,-7.8,83,1276,0.00,1.95,0.00,0.000,4,0.000,0.028,2520,1097,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1334,-0.55,-171.1,135.8,-8.6,86,1340,0.00,2.03,0.00,0.000,6,0.000,0.037,2520,2455,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1658,-0.58,-171.1,162.6,-8.2,102,1663,0.00,1.98,0.00,0.000,4,0.000,0.044,2519,3765,3668,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1705,-0.61,-171.1,166.3,-8.2,104,1711,0.00,1.83,0.00,0.000,6,0.000,0.018,2520,2449,3669,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2025,-0.64,-171.1,192.4,-7.7,120,2030,0.00,1.98,0.00,0.000,4,0.000,0.031,2520,1081,3669,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2057,-0.68,-171.1,194.2,-7.8,121,2064,0.12,2.05,0.00,0.000,6,0.079,0.037,2437,2455,3669,0,0,0,0,0,0,26.39,26.39,28.83
$GC,2373,-0.64,-171.1,234.1,-12.1,137,2375,0.20,0.00,0.00,0.000,6,0.131,0.000,2497,2455,3668,0,0,0,0,0,0,26.26,28.83,28.83
$GC,2674,-0.66,-171.1,261.1,-9.5,152,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2455,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2974,-0.68,-171.1,290.8,-10.4,167,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2455,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,-0.70,-171.1,320.7,-9.7,182,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2455,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3576,-0.73,-171.1,347.1,-8.2,197,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2456,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3875,-0.76,-171.1,371.6,-7.8,212,3881,0.12,2.03,0.00,0.000,4,0.080,0.030,2415,1077,3663,0,0,0,0,0,0,26.70,26.44,28.83
$GC,3913,-0.77,-171.1,374.3,-8.4,213,3921,0.15,2.05,0.00,0.000,6,0.148,0.036,2455,2448,3664,0,0,0,0,0,0,26.07,26.39,28.83
$GC,4220,-0.76,-171.1,404.8,-8.6,229,4225,0.00,2.03,0.00,0.000,4,0.000,0.030,2456,1073,3662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4263,-0.76,-171.1,408.7,-8.6,231,4268,0.00,2.08,0.00,0.000,6,0.000,0.036,2455,2449,3663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4587,-0.76,-171.1,440.5,-10.8,247,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2450,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4890,-0.76,-171.1,472.1,-10.1,262,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2450,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5188,-0.76,-171.1,500.7,-9.1,277,5194,0.00,2.03,0.00,0.000,4,0.000,0.037,2455,1077,3659,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5246,-0.76,-171.1,504.6,-8.6,279,5253,0.00,2.08,0.00,0.000,6,0.000,0.036,2454,2459,3658,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5553,-0.76,-171.1,531.4,-8.3,295,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2458,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5854,-0.76,-171.1,557.2,-8.6,310,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2458,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6155,-0.76,-171.1,583.6,-9.3,325,6160,0.00,2.03,0.00,0.000,4,0.000,0.030,2454,1083,3654,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6283,-0.78,-171.1,596.8,-10.6,331,6288,0.00,2.05,0.00,0.000,6,0.000,0.036,2454,2447,3653,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6594,-0.78,-171.1,629.8,-10.6,342,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2447,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6892,-0.80,-171.1,658.2,-8.9,352,6897,0.00,2.03,0.00,0.000,4,0.000,0.047,2453,3766,3650,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6929,-0.81,-171.1,661.4,-8.9,353,6935,0.00,1.85,0.00,0.000,6,0.000,0.022,2453,2454,3650,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7261,-0.82,-171.1,689.6,-8.4,364,7266,0.00,2.00,0.00,0.000,4,0.000,0.030,2453,1074,3648,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7313,-0.83,-171.1,692.7,-8.6,365,7319,0.00,2.08,0.00,0.000,6,0.000,0.036,2453,2449,3648,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7628,-0.85,-171.1,722.0,-8.7,376,7633,0.00,2.03,0.00,0.000,4,0.000,0.048,2453,3766,3646,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7671,-0.86,-171.1,725.1,-8.7,377,7676,0.00,1.88,0.00,0.000,6,0.000,0.023,2453,2445,3645,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7997,-0.88,-171.1,754.0,-8.6,388,8003,0.10,2.03,0.00,0.000,4,0.099,0.032,2398,1077,3643,0,0,0,0,0,0,26.68,25.58,28.83
$GC,8093,-0.87,-171.1,765.0,-10.9,391,8099,0.00,2.10,0.00,0.000,6,0.000,0.037,2399,2447,3643,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8430,-0.84,-171.1,802.1,-10.8,402,8435,0.12,2.05,0.00,0.000,4,0.161,0.047,2437,3767,3636,0,0,0,0,0,0,26.32,26.13,28.83
$GC,8467,-0.81,-171.1,805.8,-10.5,403,8473,0.00,1.90,0.00,0.000,6,0.000,0.024,2437,2445,3640,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8798,-0.81,-171.1,832.6,-8.1,414,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2445,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9097,-0.82,-171.1,857.3,-8.0,424,9102,0.00,2.03,0.00,0.000,4,0.000,0.038,2437,1071,3637,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9156,-0.83,-171.1,860.1,-7.9,425,9163,0.00,2.12,0.00,0.000,6,0.000,0.037,2436,2456,3636,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9463,-0.83,-171.1,884.1,-7.0,436,9468,0.00,2.05,0.00,0.000,4,0.000,0.048,2437,3770,3634,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9516,-0.84,-171.1,886.6,-7.1,437,9521,0.00,1.90,0.00,0.000,6,0.000,0.024,2436,2451,3634,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9833,-0.85,-171.1,911.6,-7.9,448,9838,0.00,2.03,0.00,0.000,4,0.000,0.031,2437,1070,3633,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9959,-0.86,-171.1,922.6,-8.7,452,9964,0.00,2.12,0.00,0.000,6,0.000,0.037,2437,2457,3632,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10295,-0.86,-171.1,950.9,-8.4,463,10300,0.00,2.03,0.00,0.000,4,0.000,0.049,2437,3762,3630,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10367,-0.87,-171.1,956.5,-8.5,465,10373,0.00,1.90,0.00,0.000,6,0.000,0.025,2436,2455,3630,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10694,-0.88,-171.1,984.5,-8.2,476,10695,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2456,3629,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10778,begin apogee
$GC,10785,-0.27,0.0,991.6,-7.8,479,10942,0.52,0.00,148.25,1.260,6,0.108,0.000,2610,2269,2964,0,0,0,0,0,0,25.72,28.83,22.82
$STATE,10943,end apogee,CONTROL_FINISHED_OK
$STATE,10943,begin climb
$GC,10946,0.53,171.1,996.2,0.0,484,11116,0.73,2.53,162.85,1.332,4,0.060,0.046,2868,3706,2262,0,0,0,0,0,0,24.69,23.84,22.20
$GC,11180,0.47,171.1,981.7,9.3,492,11185,0.00,2.15,0.00,0.000,6,0.000,0.028,2869,2341,2255,0,0,0,0,0,0,28.83,25.13,28.83
$GC,11511,0.42,171.1,949.0,9.5,503,11516,0.12,2.20,0.00,0.000,4,0.151,0.038,2829,892,2251,0,0,0,0,0,0,26.08,26.14,28.83
$GC,11569,0.38,171.1,946.1,9.1,504,11576,0.00,2.17,0.00,0.000,6,0.000,0.034,2830,2313,2248,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11876,0.37,198.6,922.5,7.2,515,11905,0.00,0.00,25.02,1.291,6,0.000,0.000,2829,2313,2155,0,0,0,0,0,0,28.83,28.83,23.93
$GC,12207,0.38,234.9,899.1,6.9,526,12253,0.00,2.30,36.22,1.282,4,0.000,0.037,2830,899,2002,0,0,0,0,0,0,28.83,25.42,23.81
$GC,12317,0.39,262.8,892.6,7.2,529,12356,0.00,2.17,28.05,1.271,6,0.000,0.034,2829,2307,1890,0,0,0,0,0,0,28.83,25.58,23.68
$GC,12656,0.40,268.2,865.1,7.9,541,12662,0.00,2.20,1.02,0.248,4,0.000,0.046,2829,3711,1875,0,0,0,0,0,0,28.83,26.08,25.30
$GC,12691,0.41,268.2,862.0,8.2,542,12697,0.00,2.12,0.00,0.000,6,0.000,0.028,2829,2293,1877,0,0,0,0,0,0,28.83,26.27,28.83
$GC,13027,0.42,268.2,833.6,8.4,553,13032,0.00,2.10,0.00,0.000,4,0.000,0.038,2829,895,1877,0,0,0,0,0,0,28.83,26.28,28.83
$GC,13134,0.43,268.2,825.7,8.2,556,13139,0.00,2.12,0.00,0.000,6,0.000,0.034,2829,2306,1877,0,0,0,0,0,0,28.83,26.30,28.83
$GC,13458,0.44,268.2,798.6,8.1,567,13464,0.00,2.20,0.00,0.000,4,0.000,0.052,2829,3709,1876,0,0,0,0,0,0,28.83,26.01,28.83
$GC,13493,0.45,268.2,795.5,8.2,568,13498,0.00,2.10,0.00,0.000,6,0.000,0.028,2829,2298,1876,0,0,0,0,0,0,28.83,26.42,28.83
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$STATE,21898,end climb,SURFACE_DEPTH_REACHED
$STATE,21898,begin surface coast
$FINISH,0.9,1.024118
$STATE,21931,end surface coast,CONTROL_FINISHED_OK
$STATE,21931,begin surface
$SM_CCo,22010,0.00,0.000,0,0,978,487.90
$SM_GC,1.75,7.22,0.20,0.00,0.028,0.063,0.000,113,2450,978,-7.97,-1.30,487.90,0,0,0,0,0,0,26.47,26.58,28.83
$IRIDIUM_FIX,2314.48,12218.73,091212,111111
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.36
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.30
$XPDR_PINGS,13
$24V_AH,22.2,55.460
$10V_AH,10.1,36.026
$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,20.075,183.200,588.175,0.000,0.000,0.000,0.000,278.125,3.250,0.000,17.515,3174.446,15410.557,764.009,2659.886,469.080,0.000,2343.805,0.000,2296.334,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,62.730,1331.865,0.000,0.000,0.000,0.000,122.400,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21941.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.014,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,36621,972
$CAP_FILE_SIZE,237998,0
$CFSIZE,260165632,225255424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,242.7,1
$GPS,091212,235159,2326.453,12250.041,40,0.9,40,-3.6