version: 66.11
glider: 167
mission: 14
dive: 261
start: 12 13 112 8 17 30
data:
$ID,167
$MISSION,14
$DIVE,261
$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,-9
$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,3
$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,-969152.25
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,65
$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
$GPS1,131212,080636,2335.032,12315.296,42,1.1,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-56.4
$GPS2,131212,081703,2335.094,12315.138,8,1.0,8,-3.7
$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,68.8,72954,-13.8,-8.049,-17.28
$D_GRID,3137
$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,-0.66,-171.1,0.0,0.0,0,103,0.00,0.00,-80.60,0.000,2,0.000,0.000,108,2478,2636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.66,-171.1,3.3,-3.5,8,149,9.50,1.98,-24.95,0.000,4,0.220,0.060,2470,3734,3665,0,0,0,0,0,0,25.00,26.04,26.65
$GC,175,-0.59,-171.1,12.3,-14.6,14,181,0.15,1.85,0.00,0.000,6,0.145,0.019,2510,2408,3667,0,0,0,0,0,0,25.93,26.35,28.83
$GC,500,-0.57,-171.1,53.3,-12.7,45,505,0.00,1.90,0.00,0.000,4,0.000,0.031,2510,1087,3667,0,0,0,0,0,0,28.83,26.35,28.83
$GC,537,-0.55,-171.1,56.6,-13.0,46,544,0.00,2.00,0.00,0.000,6,0.000,0.032,2506,2435,3668,0,0,0,0,0,0,28.83,26.31,28.83
$GC,845,-0.53,-171.1,103.3,-14.2,62,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2435,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1144,-0.53,-171.1,138.0,-10.4,77,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2435,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1445,-0.54,-171.1,164.8,-8.5,92,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2435,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1747,-0.55,-171.1,190.2,-8.8,107,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2435,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2044,-0.57,-171.1,219.1,-10.0,122,2050,0.00,1.98,0.00,0.000,4,0.000,0.032,2506,1084,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2083,-0.59,-171.1,221.7,-9.9,123,2089,0.00,2.03,0.00,0.000,6,0.000,0.032,2506,2456,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2389,-0.61,-171.1,252.1,-9.4,139,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2463,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-0.64,-171.1,281.0,-9.5,154,2696,0.00,1.98,0.00,0.000,4,0.000,0.047,2506,3752,3668,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2723,-0.66,-171.1,283.4,-9.5,155,2729,0.00,1.80,0.00,0.000,6,0.000,0.018,2506,2435,3667,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3038,-0.69,-171.1,312.6,-8.5,171,3044,0.00,1.92,0.00,0.000,4,0.000,0.028,2506,1102,3666,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3096,-0.72,-171.1,316.6,-8.7,173,3104,0.12,2.00,0.00,0.000,6,0.080,0.033,2426,2456,3665,0,0,0,0,0,0,26.40,26.43,28.83
$GC,3402,-0.68,-171.1,357.5,-13.1,189,3409,0.15,1.98,0.00,0.000,4,0.142,0.046,2474,3749,3664,0,0,0,0,0,0,26.33,26.25,28.83
$GC,3481,-0.67,-171.1,364.7,-11.7,192,3488,0.00,1.77,0.00,0.000,6,0.000,0.018,2474,2449,3664,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3787,-0.68,-171.1,396.7,-9.6,208,3793,0.00,1.95,0.00,0.000,4,0.000,0.028,2474,1099,3663,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3840,-0.69,-171.1,400.8,-9.5,210,3846,0.00,2.00,0.00,0.000,6,0.000,0.033,2473,2447,3663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4154,-0.70,-171.1,426.5,-7.7,226,4159,0.00,1.98,0.00,0.000,4,0.000,0.028,2473,1087,3662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4218,-0.71,-171.1,431.6,-8.0,229,4223,0.00,2.03,0.00,0.000,6,0.000,0.032,2473,2453,3662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4542,-0.72,-171.1,458.4,-8.5,245,4547,0.00,2.00,0.00,0.000,4,0.000,0.048,2473,3761,3661,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4599,-0.73,-171.1,462.3,-8.7,247,4607,0.00,1.80,0.00,0.000,6,0.000,0.019,2473,2452,3660,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4906,-0.75,-171.1,489.0,-7.8,263,4912,0.00,1.95,0.00,0.000,4,0.000,0.027,2473,1097,3658,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4959,-0.77,-171.1,492.8,-8.1,265,4964,0.00,2.03,0.00,0.000,6,0.000,0.033,2472,2458,3658,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5273,-0.79,-171.1,518.6,-7.9,281,5278,0.00,2.00,0.00,0.000,4,0.000,0.049,2473,3760,3657,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5311,-0.80,-171.1,520.5,-8.0,282,5317,0.00,1.83,0.00,0.000,6,0.000,0.019,2473,2435,3657,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5616,-0.83,-171.1,548.7,-9.3,298,5618,0.12,0.00,0.00,0.000,6,0.083,0.000,2402,2435,3655,0,0,0,0,0,0,26.67,28.83,28.83
$GC,5918,-0.79,-171.1,588.0,-13.1,313,5924,0.12,1.95,0.00,0.000,4,0.155,0.026,2442,1098,3655,0,0,0,0,0,0,26.36,26.41,28.83
$GC,5987,-0.78,-171.1,595.4,-11.6,316,5992,0.00,2.03,0.00,0.000,6,0.000,0.034,2442,2454,3653,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6316,-0.78,-171.1,624.9,-8.0,328,6322,0.00,1.98,0.00,0.000,4,0.000,0.028,2442,1100,3651,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6355,-0.78,-171.1,627.8,-8.0,329,6360,0.00,2.03,0.00,0.000,6,0.000,0.034,2442,2456,3651,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6685,-0.78,-171.1,655.1,-8.0,340,6690,0.00,2.03,0.00,0.000,4,0.000,0.050,2440,3756,3649,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6749,-0.78,-171.1,660.6,-7.9,342,6754,0.00,1.83,0.00,0.000,6,0.000,0.021,2440,2456,3650,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7084,-0.78,-171.1,690.9,-9.4,353,7089,0.00,1.98,0.00,0.000,4,0.000,0.028,2440,1090,3648,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7197,-0.78,-171.1,700.3,-9.8,356,7203,0.00,2.05,0.00,0.000,6,0.000,0.034,2440,2457,3646,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7511,-0.78,-171.1,730.8,-9.0,367,7517,0.00,2.00,0.00,0.000,4,0.000,0.028,2440,1091,3644,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7539,-0.78,-171.1,730.8,-9.0,367,7546,0.00,2.08,0.00,0.000,6,0.000,0.034,2439,2460,3643,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7845,-0.78,-171.1,760.4,-9.0,378,7851,0.00,2.03,0.00,0.000,4,0.000,0.028,2440,1088,3642,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7879,-0.78,-171.1,763.7,-9.2,379,7885,0.00,2.08,0.00,0.000,6,0.000,0.034,2440,2460,3643,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8215,-0.78,-171.1,793.9,-9.2,390,8220,0.00,2.03,0.00,0.000,4,0.000,0.052,2440,3760,3640,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8272,-0.79,-171.1,797.1,-9.1,391,8279,0.00,1.85,0.00,0.000,6,0.000,0.021,2440,2433,3639,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8579,-0.79,-171.1,827.0,-9.3,402,8585,0.00,2.10,0.00,0.000,4,0.000,0.052,2440,3760,3637,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8637,-0.80,-171.1,830.3,-9.3,403,8644,0.00,1.85,0.00,0.000,6,0.000,0.022,2440,2454,3637,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8943,-0.81,-171.1,860.2,-8.9,414,8948,0.00,2.00,0.00,0.000,4,0.000,0.029,2440,1094,3635,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8977,-0.82,-171.1,863.0,-8.7,415,8983,0.00,2.05,0.00,0.000,6,0.000,0.035,2440,2451,3635,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9313,-0.83,-171.1,891.2,-8.6,426,9319,0.00,2.05,0.00,0.000,4,0.000,0.052,2441,3762,3633,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9381,-0.84,-171.1,897.0,-8.7,428,9387,0.00,1.85,0.00,0.000,6,0.000,0.023,2440,2459,3633,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9711,-0.85,-171.1,924.7,-8.2,439,9718,0.00,2.08,0.00,0.000,4,0.000,0.053,2440,3759,3631,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9761,-0.86,-171.1,927.6,-8.2,440,9767,0.00,1.88,0.00,0.000,6,0.000,0.023,2440,2431,3631,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10082,-0.87,-171.1,953.2,-7.7,451,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2430,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10381,-0.89,-171.1,974.7,-6.9,461,10387,0.00,2.10,0.00,0.000,4,0.000,0.052,2440,3753,3628,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10420,-0.90,-171.1,977.1,-6.9,462,10425,0.00,1.85,0.00,0.000,6,0.000,0.023,2440,2448,3627,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,10625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10625,begin apogee
$GC,10632,-0.27,0.0,991.3,-6.7,469,10797,0.50,0.00,150.18,1.766,6,0.108,0.000,2605,2199,2969,0,0,0,0,1,0,25.73,28.83,21.64
$STATE,10799,end apogee,CONTROL_FINISHED_OK
$STATE,10799,begin climb
$GC,10801,0.66,171.1,995.3,0.0,474,10979,0.88,2.53,168.75,1.221,4,0.051,0.047,2915,3600,2262,0,0,0,0,0,0,24.07,23.90,22.31
$GC,11016,0.56,171.1,985.4,8.4,481,11024,0.17,2.15,0.00,0.000,6,0.159,0.026,2879,2236,2252,0,0,0,0,0,0,24.52,24.84,28.83
$GC,11324,0.50,171.1,950.5,9.8,492,11330,0.00,2.17,0.00,0.000,4,0.000,0.038,2889,804,2247,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11367,0.45,171.1,946.8,9.8,493,11373,0.15,2.12,0.00,0.000,6,0.140,0.033,2848,2212,2245,0,0,0,0,0,0,25.94,26.20,28.83
$GC,11694,0.44,195.8,921.1,7.3,504,11722,0.00,2.28,22.45,1.208,4,0.000,0.049,2848,3596,2162,0,0,0,0,0,0,28.83,25.74,24.08
$GC,11815,0.40,195.8,911.1,8.1,508,11821,0.00,2.10,0.00,0.000,6,0.000,0.027,2848,2197,2156,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12152,0.42,230.3,887.3,7.0,519,12192,0.00,2.28,34.30,1.181,4,0.000,0.047,2846,3597,2021,0,0,0,0,0,0,28.83,25.52,23.94
$GC,12257,0.40,238.6,880.0,7.8,522,12267,0.00,2.10,1.75,0.209,6,0.000,0.027,2848,2199,1996,0,0,0,0,0,0,28.83,25.98,25.08
$GC,12577,0.39,238.6,852.8,8.5,533,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2200,2002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12876,0.37,238.6,825.5,9.3,543,12881,0.00,2.20,0.00,0.000,4,0.000,0.048,2847,3600,2003,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,22066,end climb,SURFACE_DEPTH_REACHED
$STATE,22066,begin surface coast
$FINISH,1.1,1.023541
$STATE,22087,end surface coast,CONTROL_FINISHED_OK
$STATE,22087,begin surface
$SM_CCo,22169,0.00,0.000,0,0,1226,427.31
$SM_GC,1.76,7.12,1.67,0.00,0.026,0.019,0.000,113,2455,1226,-7.99,2.06,427.31,0,0,0,0,0,0,26.44,26.58,28.83
$IRIDIUM_FIX,2326.22,12313.36,131212,020210
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.22
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.20
$XPDR_PINGS,17
$24V_AH,21.6,58.278
$10V_AH,10.1,37.724
$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,20.300,209.350,573.200,0.000,0.000,0.000,0.000,427.400,4.250,0.000,8.702,3196.012,15485.062,769.133,2831.552,507.404,0.000,2570.868,0.000,2335.443,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,60.435,1765.620,0.000,0.000,0.000,0.000,130.050,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22106.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.914,0.000,0.000,0.000
$MEM,329528
$DATA_FILE_SIZE,36723,978
$CAP_FILE_SIZE,252090,0
$CFSIZE,260165632,223846400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.137,255.1,1
$GPS,131212,142824,2336.203,12316.607,42,1.2,42,-3.7