version: 66.11
glider: 167
mission: 14
dive: 288
start: 12 20 112 9 29 34
data:
$ID,167
$MISSION,14
$DIVE,288
$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,390
$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,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,-969186
$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,2675
$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
$PITCH_ADJ_DBAND,0
$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,70
$R_STBD_OVSHOOT,47
$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
$GPS1,201212,092154,2330.017,12351.263,43,1.0,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-63.9
$GPS2,201212,092907,2330.063,12351.172,4,1.0,4,-3.7
$SPEED_LIMITS,0.139,0.259
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,134.8,222877,-13.8,-8.049,-17.28
$D_GRID,3380
$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,-0.66,-171.1,0.0,0.0,0,68,0.00,0.00,-47.33,0.000,2,0.000,0.000,110,2456,2565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.66,-171.1,3.0,-3.6,5,119,9.38,2.12,-28.95,0.000,4,0.216,0.044,2454,1066,3668,0,0,0,0,0,0,24.98,26.12,26.66
$GC,168,-0.66,-171.1,14.3,-14.4,14,174,0.00,2.10,0.00,0.000,6,0.000,0.037,2452,2448,3668,0,0,0,0,0,0,28.83,26.10,28.83
$GC,492,-0.66,-171.1,66.4,-15.0,41,498,0.00,2.00,0.00,0.000,4,0.000,0.045,2452,3759,3669,0,0,0,0,0,0,28.83,26.10,28.83
$GC,545,-0.66,-171.1,73.0,-15.2,43,550,0.00,1.85,0.00,0.000,6,0.000,0.018,2452,2415,3669,0,0,0,0,0,0,28.83,26.53,28.83
$GC,858,-0.66,-171.1,120.5,-14.1,59,864,0.00,1.92,0.00,0.000,4,0.000,0.038,2452,1087,3670,0,0,0,0,0,0,28.83,26.32,28.83
$GC,902,-0.66,-171.1,126.7,-14.1,61,908,0.00,2.05,0.00,0.000,6,0.000,0.034,2452,2457,3670,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1226,-0.66,-171.1,169.5,-12.9,77,1231,0.00,2.00,0.00,0.000,4,0.000,0.031,2452,1092,3670,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1279,-0.66,-171.1,174.9,-12.7,79,1284,0.00,2.03,0.00,0.000,6,0.000,0.034,2452,2457,3670,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1592,-0.66,-171.1,211.6,-11.3,95,1597,0.00,1.98,0.00,0.000,4,0.000,0.047,2452,3750,3670,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1639,-0.66,-171.1,216.7,-11.6,97,1644,0.00,1.83,0.00,0.000,6,0.000,0.018,2452,2437,3670,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1958,-0.66,-171.1,253.7,-11.7,113,1963,0.00,1.92,0.00,0.000,4,0.000,0.028,2451,1095,3670,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2051,-0.66,-171.1,263.2,-11.4,117,2056,0.00,2.03,0.00,0.000,6,0.000,0.033,2452,2459,3670,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2363,-0.66,-171.1,295.6,-9.6,133,2369,0.00,1.98,0.00,0.000,4,0.000,0.047,2452,3750,3670,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2387,-0.66,-171.1,297.8,-9.6,134,2393,0.00,1.80,0.00,0.000,6,0.000,0.018,2452,2440,3669,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2710,-0.66,-171.1,329.2,-10.7,150,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2440,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3013,-0.66,-171.1,364.9,-12.3,165,3018,0.00,1.92,0.00,0.000,4,0.000,0.027,2452,1096,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3110,-0.66,-171.1,375.6,-12.7,169,3117,0.00,2.03,0.00,0.000,6,0.000,0.033,2452,2458,3668,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3416,-0.66,-171.1,414.2,-10.9,185,3421,0.00,2.00,0.00,0.000,4,0.000,0.048,2451,3759,3667,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3442,-0.66,-171.1,416.9,-11.1,186,3448,0.00,1.83,0.00,0.000,6,0.000,0.019,2452,2449,3667,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3761,-0.66,-171.1,448.2,-9.0,202,3767,0.00,1.95,0.00,0.000,4,0.000,0.028,2452,1093,3666,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3794,-0.66,-171.1,450.5,-8.9,203,3799,0.00,2.03,0.00,0.000,6,0.000,0.032,2452,2455,3665,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4107,-0.66,-171.1,475.4,-6.9,219,4112,0.00,2.03,0.00,0.000,4,0.000,0.049,2452,3758,3665,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4180,-0.66,-171.1,480.0,-7.3,222,4186,0.00,1.83,0.00,0.000,6,0.000,0.019,2452,2434,3664,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4493,-0.66,-171.1,507.0,-9.5,238,4499,0.00,1.92,0.00,0.000,4,0.000,0.028,2452,1103,3662,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4526,-0.66,-171.1,509.5,-9.9,239,4532,0.00,2.03,0.00,0.000,6,0.000,0.033,2452,2454,3663,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4840,-0.66,-171.1,542.7,-9.7,255,4845,0.00,1.98,0.00,0.000,4,0.000,0.028,2452,1101,3662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4873,-0.66,-171.1,545.0,-9.6,256,4878,0.00,2.03,0.00,0.000,6,0.000,0.033,2452,2457,3662,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5186,-0.66,-171.1,571.2,-6.9,272,5192,0.00,2.03,0.00,0.000,4,0.000,0.050,2452,3753,3659,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5245,-0.66,-171.1,574.2,-6.7,274,5252,0.00,1.83,0.00,0.000,6,0.000,0.020,2452,2450,3659,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5550,-0.66,-171.1,595.9,-7.3,290,5555,0.00,1.95,0.00,0.000,4,0.000,0.028,2452,1100,3658,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5598,-0.66,-171.1,599.4,-7.7,292,5604,0.00,2.03,0.00,0.000,6,0.000,0.039,2452,2449,3657,0,0,0,0,0,0,28.83,24.71,28.83
$GC,5917,-0.66,-171.1,627.7,-9.1,303,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2448,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6216,-0.66,-171.1,654.6,-8.9,313,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2449,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6518,-0.66,-171.1,680.5,-8.9,323,6523,0.00,2.05,0.00,0.000,4,0.000,0.052,2452,3761,3652,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6554,-0.66,-171.1,683.4,-8.8,324,6561,0.00,1.83,0.00,0.000,6,0.000,0.021,2452,2462,3652,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6886,-0.66,-171.1,712.9,-8.7,335,6891,0.00,2.00,0.00,0.000,4,0.000,0.028,2452,1089,3650,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6913,-0.66,-171.1,712.9,-8.7,335,6921,0.00,2.05,0.00,0.000,6,0.000,0.034,2452,2452,3649,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7219,-0.66,-171.1,741.7,-8.4,346,7224,0.00,2.05,0.00,0.000,4,0.000,0.052,2451,3762,3647,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7256,-0.66,-171.1,744.5,-8.4,347,7261,0.00,1.85,0.00,0.000,6,0.000,0.021,2452,2448,3647,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7586,-0.66,-171.1,768.9,-6.7,358,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2447,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7885,-0.66,-171.1,788.3,-6.5,368,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2447,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8185,-0.66,-171.1,809.6,-7.7,378,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2447,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8485,-0.66,-171.1,835.4,-8.9,388,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2447,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8785,-0.66,-171.1,864.1,-9.4,398,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2447,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9084,-0.66,-171.1,890.2,-8.4,408,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2447,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9386,-0.66,-171.1,911.6,-6.6,418,9391,0.00,2.10,0.00,0.000,4,0.000,0.054,2452,3761,3637,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9438,-0.66,-171.1,913.8,-6.5,419,9443,0.00,1.90,0.00,0.000,6,0.000,0.024,2452,2444,3636,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9753,-0.66,-171.1,933.3,-5.9,430,9759,0.00,2.00,0.00,0.000,4,0.000,0.030,2451,1084,3634,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9787,-0.66,-171.1,935.7,-6.1,431,9792,0.00,2.10,0.00,0.000,6,0.000,0.036,2452,2457,3634,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10123,-0.66,-171.1,960.7,-7.9,442,10129,0.00,2.08,0.00,0.000,4,0.000,0.054,2452,3759,3632,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10172,-0.66,-171.1,963.6,-8.0,443,10178,0.00,1.88,0.00,0.000,6,0.000,0.024,2451,2448,3633,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,10490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10490,begin apogee
$GC,10497,-0.27,0.0,990.2,-7.9,454,10656,0.40,0.00,151.18,1.245,6,0.106,0.000,2585,2196,2964,0,0,0,0,0,0,25.79,28.83,22.74
$STATE,10657,end apogee,CONTROL_FINISHED_OK
$STATE,10657,begin climb
$GC,10660,0.66,171.1,997.1,0.0,459,10828,0.88,2.28,159.62,1.199,4,0.074,0.037,2889,836,2262,0,0,0,0,0,0,24.66,24.00,22.32
$GC,10920,0.66,171.1,982.9,8.8,468,10927,0.00,2.15,0.00,0.000,6,0.000,0.033,2889,2216,2251,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11253,0.66,171.1,948.2,10.5,479,11258,0.00,2.20,0.00,0.000,4,0.000,0.050,2889,3604,2247,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11372,0.66,171.1,936.6,11.6,482,11378,0.00,2.08,0.00,0.000,6,0.000,0.028,2899,2219,2246,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11677,0.66,171.1,898.7,11.3,493,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2219,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11976,0.66,171.1,866.0,10.9,503,11981,0.00,2.20,0.00,0.000,4,0.000,0.050,2899,3600,2244,0,0,0,0,0,0,28.83,26.09,28.83
$GC,12059,0.66,171.1,858.4,11.5,505,12064,0.00,2.08,0.00,0.000,6,0.000,0.027,2907,2196,2244,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12372,0.66,171.1,823.2,10.0,516,12377,0.00,2.22,0.00,0.000,4,0.000,0.050,2907,3598,2243,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12409,0.66,171.1,819.7,10.1,517,12414,0.00,2.08,0.00,0.000,6,0.000,0.028,2916,2191,2242,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12739,0.66,171.1,784.9,10.2,528,12745,0.00,2.22,0.00,0.000,4,0.000,0.050,2915,3598,2242,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12782,0.66,171.1,781.1,10.3,529,12788,0.12,2.08,0.00,0.000,6,0.179,0.028,2894,2197,2242,0,0,0,0,0,0,25.92,26.36,28.83
$GC,13108,0.66,171.1,750.4,8.9,540,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2196,2241,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20806,end climb,SURFACE_DEPTH_REACHED
$STATE,20806,begin surface coast
$FINISH,0.8,1.023604
$STATE,20828,end surface coast,CONTROL_FINISHED_OK
$STATE,20828,begin surface
$SM_CCo,20847,13.35,0.129,0,0,1334,400.08
$SM_GC,1.88,7.32,0.38,13.35,0.034,0.043,0.129,120,2452,1334,-7.90,-1.41,400.08,0,0,0,0,0,0,26.29,26.45,25.34
$IRIDIUM_FIX,2323.87,12349.23,201212,030318
$TT8_MAMPS,0.027713,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.10
$XPDR_PINGS,10
$24V_AH,22.3,63.141
$10V_AH,10.1,41.046
$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,18.725,181.075,442.925,13.350,0.000,0.000,0.000,249.375,2.500,0.000,5.453,3029.401,14670.817,622.118,2530.858,438.262,0.000,2126.851,0.000,2211.324,0.000,0.541,0.000
$DEVICE_MAMPS,215.730,54.315,1244.655,129.285,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20841.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.874,0.000,0.000,0.000
$MEM,329548
$DATA_FILE_SIZE,33413,918
$CAP_FILE_SIZE,219400,0
$CFSIZE,260165632,221163520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181,281.5,1
$GPS,201212,151835,2328.771,12351.288,33,0.9,33,-3.7