version: 66.11
glider: 167
mission: 14
dive: 293
start: 12 21 112 16 41 56
data:
$ID,167
$MISSION,14
$DIVE,293
$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,390
$T_MISSION,410
$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,1
$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,-969192.38
$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,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,71
$R_STBD_OVSHOOT,51
$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
$GPS1,211212,162723,2322.726,12350.324,40,0.8,40,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.7
$GPS2,211212,164129,2322.840,12350.035,41,1.0,41,-3.7
$SPEED_LIMITS,0.147,0.264
$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,138.2,209684,-14.4,-8.462,-17.80
$D_GRID,4081
$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,-0.57,-171.1,0.0,0.0,0,84,0.00,0.00,-62.50,0.000,2,0.000,0.000,110,2463,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.57,-171.1,3.0,-2.8,6,131,9.52,2.03,-26.88,0.000,4,0.220,0.064,2465,3739,3667,0,0,0,0,0,0,24.94,25.95,26.69
$GC,153,-0.57,-171.1,10.1,-11.5,12,160,0.00,1.85,0.00,0.000,6,0.000,0.018,2465,2383,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,469,-0.57,-171.1,60.4,-15.7,41,474,0.00,2.10,0.00,0.000,4,0.000,0.044,2465,3741,3668,0,0,0,0,0,0,28.83,26.15,28.83
$GC,496,-0.57,-171.1,64.2,-15.8,42,501,0.00,1.85,0.00,0.000,6,0.000,0.018,2465,2399,3668,0,0,0,0,0,0,28.83,26.57,28.83
$GC,814,-0.57,-171.1,108.2,-12.8,58,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2394,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1116,-0.57,-171.1,147.4,-13.7,73,1123,0.00,2.10,0.00,0.000,4,0.000,0.044,2462,3750,3668,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1154,-0.57,-171.1,151.2,-13.9,74,1161,0.00,1.85,0.00,0.000,6,0.000,0.018,2462,2412,3668,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1460,-0.57,-171.1,187.0,-8.8,90,1465,0.00,1.88,0.00,0.000,4,0.000,0.023,2462,1076,3669,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1493,-0.57,-171.1,189.0,-8.6,91,1499,0.00,2.03,0.00,0.000,6,0.000,0.029,2462,2440,3669,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1806,-0.57,-171.1,217.0,-9.5,107,1812,0.00,2.03,0.00,0.000,4,0.000,0.047,2463,3759,3668,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1839,-0.57,-171.1,219.3,-9.7,108,1845,0.00,1.80,0.00,0.000,6,0.000,0.018,2463,2449,3669,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2153,-0.57,-171.1,252.9,-10.5,124,2158,0.00,1.95,0.00,0.000,4,0.000,0.026,2462,1075,3673,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2220,-0.57,-171.1,260.0,-10.9,127,2225,0.00,2.03,0.00,0.000,6,0.000,0.031,2462,2446,3668,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2538,-0.57,-171.1,296.8,-11.2,143,2544,0.00,2.00,0.00,0.000,4,0.000,0.047,2462,3751,3667,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2602,-0.57,-171.1,303.2,-10.4,146,2609,0.00,1.85,0.00,0.000,6,0.000,0.018,2462,2420,3667,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2927,-0.57,-171.1,330.6,-8.0,162,2932,0.00,1.90,0.00,0.000,4,0.000,0.024,2462,1071,3666,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3011,-0.57,-171.1,337.5,-8.3,166,3016,0.00,2.05,0.00,0.000,6,0.000,0.031,2462,2457,3666,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3333,-0.57,-171.1,367.6,-9.9,182,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2453,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3636,-0.57,-171.1,398.1,-9.9,197,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2457,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3935,-0.57,-171.1,425.1,-8.8,212,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2457,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4236,-0.57,-171.1,451.2,-8.9,227,4241,0.00,2.00,0.00,0.000,4,0.000,0.049,2462,3755,3661,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4273,-0.57,-171.1,453.5,-9.0,228,4280,0.00,1.80,0.00,0.000,6,0.000,0.019,2462,2455,3661,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4579,-0.57,-171.1,483.8,-9.8,244,4584,0.00,1.95,0.00,0.000,4,0.000,0.024,2462,1080,3659,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4646,-0.57,-171.1,490.3,-10.1,247,4651,0.00,2.05,0.00,0.000,6,0.000,0.031,2462,2450,3659,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4965,-0.57,-171.1,521.1,-9.1,263,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2450,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5266,-0.57,-171.1,543.8,-6.9,278,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2450,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5567,-0.57,-171.1,563.4,-6.6,293,5572,0.00,2.00,0.00,0.000,4,0.000,0.029,2462,1076,3654,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5604,-0.57,-171.1,565.2,-6.8,294,5611,0.00,2.05,0.00,0.000,6,0.000,0.031,2462,2455,3654,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5910,-0.57,-171.1,591.1,-8.8,310,5915,0.00,2.03,0.00,0.000,4,0.000,0.048,2462,3766,3651,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5962,-0.57,-171.1,595.1,-9.2,312,5968,0.00,1.85,0.00,0.000,6,0.000,0.021,2462,2447,3651,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6289,-0.57,-171.1,620.7,-6.7,324,6294,0.00,2.05,0.00,0.000,4,0.000,0.048,2462,3758,3650,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6322,-0.57,-171.1,623.0,-6.5,325,6327,0.00,1.85,0.00,0.000,6,0.000,0.021,2462,2443,3650,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6657,-0.57,-171.1,642.2,-5.9,336,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2447,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6956,-0.57,-171.1,663.4,-7.5,346,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2442,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7255,-0.57,-171.1,688.4,-8.5,356,7260,0.00,2.08,0.00,0.000,4,0.000,0.050,2461,3762,3644,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7308,-0.57,-171.1,691.4,-8.7,357,7314,0.00,1.85,0.00,0.000,6,0.000,0.023,2462,2453,3643,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7622,-0.57,-171.1,722.5,-9.6,368,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2451,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7922,-0.57,-171.1,749.0,-8.5,378,7927,0.00,2.00,0.00,0.000,4,0.000,0.028,2462,1073,3636,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7949,-0.57,-171.1,749.0,-8.5,378,7956,0.00,2.08,0.00,0.000,6,0.000,0.033,2462,2453,3639,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8255,-0.57,-171.1,775.4,-7.5,389,8260,0.00,2.03,0.00,0.000,4,0.000,0.050,2461,3753,3638,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8370,-0.57,-171.1,782.0,-7.1,392,8375,0.00,1.85,0.00,0.000,6,0.000,0.024,2462,2448,3637,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8684,-0.57,-171.1,804.2,-6.3,403,8689,0.00,1.98,0.00,0.000,4,0.000,0.028,2462,1084,3635,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8722,-0.57,-171.1,806.4,-6.4,404,8728,0.00,2.08,0.00,0.000,6,0.000,0.034,2462,2460,3635,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9052,-0.57,-171.1,828.4,-6.8,415,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2460,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9352,-0.57,-171.1,850.6,-7.7,425,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2460,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9651,-0.57,-171.1,874.3,-8.2,435,9656,0.00,2.03,0.00,0.000,4,0.000,0.051,2462,3755,3631,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9673,-0.57,-171.1,874.3,-8.2,435,9679,0.00,1.88,0.00,0.000,6,0.000,0.025,2462,2462,3630,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9987,-0.57,-171.1,903.9,-9.0,446,9992,0.00,2.03,0.00,0.000,4,0.000,0.028,2462,1074,3629,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10054,-0.57,-171.1,909.9,-9.2,448,10060,0.00,2.10,0.00,0.000,6,0.000,0.035,2462,2448,3628,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10385,-0.57,-171.1,939.0,-8.5,459,10391,0.00,2.08,0.00,0.000,4,0.000,0.051,2462,3762,3628,0,0,0,0,0,0,28.83,25.88,28.83
$GC,10452,-0.57,-171.1,944.3,-8.3,461,10458,0.00,1.90,0.00,0.000,6,0.000,0.025,2462,2449,3627,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10783,-0.57,-171.1,969.9,-7.6,472,10789,0.00,2.10,0.00,0.000,4,0.000,0.050,2462,3765,3626,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10831,-0.57,-171.1,972.7,-7.6,473,10837,0.00,1.92,0.00,0.000,6,0.000,0.026,2462,2429,3626,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,11057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11057,begin apogee
$GC,11064,-0.20,0.0,990.0,-6.9,481,11224,0.40,0.00,150.60,1.334,6,0.100,0.000,2598,2192,2962,0,0,0,0,0,0,25.84,28.83,22.64
$STATE,11226,end apogee,CONTROL_FINISHED_OK
$STATE,11226,begin climb
$GC,11228,0.57,171.1,996.0,0.0,486,11402,0.70,2.47,162.60,1.288,4,0.067,0.046,2843,3603,2263,0,0,0,0,0,0,24.58,23.86,22.16
$GC,11479,0.57,177.2,983.8,8.3,494,11488,0.00,2.12,1.05,0.226,6,0.000,0.027,2846,2228,2243,0,0,0,0,0,0,28.83,25.41,24.84
$GC,11787,0.57,177.2,953.0,9.1,505,11792,0.00,2.17,0.00,0.000,4,0.000,0.047,2846,3606,2247,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11829,0.57,177.2,949.4,9.5,506,11834,0.00,2.10,0.00,0.000,6,0.000,0.028,2846,2197,2247,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12155,0.57,177.2,919.8,8.6,517,12160,0.00,2.22,0.00,0.000,4,0.000,0.047,2846,3606,2245,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12182,0.57,177.2,919.8,8.6,517,12189,0.00,2.10,0.00,0.000,6,0.000,0.029,2846,2191,2246,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12489,0.58,180.8,891.3,8.3,528,12495,0.00,2.10,1.23,0.230,4,0.000,0.035,2846,801,2231,0,0,0,0,0,0,28.83,26.22,25.15
$GC,12557,0.58,184.3,885.9,8.3,530,12572,0.00,2.12,9.82,1.261,6,0.000,0.032,2846,2217,2215,0,0,0,0,0,0,28.83,26.28,24.09
$GC,12886,0.58,184.3,856.8,9.1,541,12891,0.00,2.17,0.00,0.000,4,0.000,0.048,2847,3606,2207,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12963,0.58,184.3,850.2,9.9,543,12969,0.00,2.10,0.00,0.000,6,0.000,0.028,2846,2189,2207,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,22020,end climb,SURFACE_DEPTH_REACHED
$STATE,22020,begin surface coast
$FINISH,0.9,0.999204
$STATE,22051,end surface coast,CONTROL_FINISHED_OK
$STATE,22051,begin surface
$SM_CCo,22129,0.00,0.000,0,0,903,506.54
$SM_GC,1.61,7.22,0.32,0.00,0.031,0.050,0.000,114,2444,903,-7.88,-1.75,506.54,0,0,0,0,0,0,26.34,26.48,28.83
$IRIDIUM_FIX,2316.83,12412.01,211212,161646
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.87
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.10
$XPDR_PINGS,29
$24V_AH,22.2,64.065
$10V_AH,10.0,41.669
$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,18.400,189.225,585.675,0.000,0.000,0.000,0.000,498.350,7.250,0.000,43.119,3075.558,15844.129,768.973,2813.649,465.438,0.000,2536.567,0.000,2199.105,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,64.260,1334.160,0.000,0.000,0.000,0.000,122.400,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22066.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.944,0.000,0.000,0.000
$MEM,329500
$DATA_FILE_SIZE,36749,976
$CAP_FILE_SIZE,233239,0
$CFSIZE,260165632,220659712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.224,271.8,1
$GPS,211212,225206,2320.763,12349.790,38,0.9,38,-3.7