version: 66.11
glider: 167
mission: 14
dive: 77
start: 10 26 112 20 36 36
data:
$ID,167
$MISSION,14
$DIVE,77
$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,400
$T_MISSION,470
$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,425
$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,-968594.31
$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,2740
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$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,0.00039999999
$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,22
$MINV_10V,9.5
$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
$GPS1,261012,202835,2317.146,12213.418,33,1.1,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-64.7
$GPS2,261012,203610,2317.216,12213.449,5,1.1,5,-3.6
$SPEED_LIMITS,0.143,0.261
$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,101.2,182434,-14.1,-8.250,-17.53
$D_GRID,3972
$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,-0.42,-171.1,0.0,0.0,0,90,0.00,0.00,-69.32,0.000,2,0.000,0.000,109,2313,2633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.42,-171.1,3.4,-6.4,12,133,9.62,2.08,-23.62,0.000,4,0.219,0.037,2598,927,3668,0,0,0,0,0,0,25.54,26.13,26.41
$GC,158,-0.44,-171.1,11.6,-12.5,22,165,0.00,2.08,0.00,0.000,6,0.000,0.028,2597,2327,3669,0,0,0,0,0,0,28.83,26.11,28.83
$GC,469,-0.44,-171.1,50.1,-12.2,63,474,0.00,2.15,0.00,0.000,4,0.000,0.045,2597,3732,3668,0,0,0,0,0,0,28.83,26.19,28.83
$GC,547,-0.46,-171.1,57.0,-11.3,66,553,0.00,2.03,0.00,0.000,6,0.000,0.018,2598,2288,3669,0,0,0,0,0,0,28.83,26.44,28.83
$GC,855,-0.48,-171.1,96.5,-12.1,82,860,0.00,2.22,0.00,0.000,4,0.000,0.045,2591,3729,3669,0,0,0,0,0,0,28.83,26.30,28.83
$GC,879,-0.51,-171.1,99.4,-11.7,83,884,0.00,1.98,0.00,0.000,6,0.000,0.018,2591,2310,3669,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1202,-0.62,-171.1,121.2,-5.1,99,1209,0.12,2.17,0.00,0.000,4,0.077,0.044,2497,3726,3670,0,0,0,0,0,0,26.65,26.37,28.83
$GC,1237,-0.71,-171.1,123.0,-5.6,100,1242,0.00,1.95,0.00,0.000,6,0.000,0.018,2497,2312,3670,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1550,-0.67,-171.1,163.5,-12.8,116,1555,0.00,1.90,0.00,0.000,4,0.000,0.024,2497,959,3671,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1583,-0.64,-171.1,166.7,-13.1,117,1589,0.12,2.00,0.00,0.000,6,0.139,0.028,2530,2334,3671,0,0,0,0,0,0,26.31,26.52,28.83
$GC,1897,-0.67,-171.1,200.1,-9.1,133,1902,0.00,1.98,0.00,0.000,4,0.000,0.024,2530,950,3671,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1929,-0.71,-171.1,202.3,-9.0,134,1936,0.00,2.00,0.00,0.000,6,0.000,0.028,2530,2327,3671,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2244,-0.75,-171.1,229.9,-8.0,150,2250,0.00,2.12,0.00,0.000,4,0.000,0.045,2530,3730,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2312,-0.80,-171.1,234.6,-7.6,153,2317,0.15,1.95,0.00,0.000,6,0.069,0.018,2441,2317,3670,0,0,0,0,0,0,26.60,26.70,28.83
$GC,2631,-0.72,-171.1,280.7,-14.4,169,2637,0.20,2.17,0.00,0.000,4,0.135,0.044,2506,3731,3669,0,0,0,0,0,0,26.33,26.45,28.83
$GC,2675,-0.67,-171.1,285.9,-13.2,171,2682,0.00,1.95,0.00,0.000,6,0.000,0.022,2506,2362,3669,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3000,-0.69,-171.1,321.4,-11.1,187,3005,0.00,2.12,0.00,0.000,4,0.000,0.050,2506,3733,3668,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3128,-0.72,-171.1,333.3,-9.4,193,3134,0.00,2.00,0.00,0.000,6,0.000,0.019,2506,2296,3667,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3447,-0.75,-171.1,359.0,-8.6,209,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2296,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3750,-0.79,-171.1,383.8,-8.0,224,3755,0.00,2.20,0.00,0.000,4,0.000,0.047,2506,3723,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3794,-0.83,-171.1,387.5,-7.9,226,3800,0.00,1.98,0.00,0.000,6,0.000,0.020,2506,2302,3663,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4118,-0.88,-171.1,412.9,-8.3,242,4120,0.15,0.00,0.00,0.000,6,0.070,0.000,2420,2302,3662,0,0,0,0,0,0,26.77,28.83,28.83
$GC,4419,-0.80,-171.1,457.9,-15.0,257,4425,0.17,2.20,0.00,0.000,4,0.146,0.050,2468,3723,3660,0,0,0,0,0,0,26.35,26.42,28.83
$GC,4463,-0.75,-171.1,463.5,-13.6,259,4469,0.00,1.95,0.00,0.000,6,0.000,0.020,2467,2310,3660,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4786,-0.75,-171.1,494.4,-9.2,275,4791,0.00,1.90,0.00,0.000,4,0.000,0.025,2467,967,3658,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4858,-0.75,-171.1,500.0,-9.0,278,4865,0.00,2.00,0.00,0.000,6,0.000,0.029,2467,2333,3658,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5173,-0.75,-171.1,527.0,-8.4,294,5178,0.00,2.15,0.00,0.000,4,0.000,0.047,2467,3732,3655,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5260,-0.75,-171.1,534.1,-8.6,298,5265,0.00,1.95,0.00,0.000,6,0.000,0.021,2467,2318,3655,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5578,-0.75,-171.1,563.5,-9.2,314,5584,0.00,2.20,0.00,0.000,4,0.000,0.047,2467,3726,3653,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5622,-0.75,-171.1,567.4,-8.9,316,5628,0.00,1.95,0.00,0.000,6,0.000,0.021,2467,2317,3653,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5945,-0.75,-171.1,597.4,-9.8,332,5951,0.00,2.20,0.00,0.000,4,0.000,0.047,2467,3725,3650,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6050,-0.77,-171.1,606.3,-9.5,336,6055,0.00,1.95,0.00,0.000,6,0.000,0.021,2467,2325,3650,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6375,-0.79,-171.1,636.6,-8.8,347,6380,0.00,2.17,0.00,0.000,4,0.000,0.047,2467,3726,3648,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6423,-0.81,-171.1,639.8,-8.9,348,6428,0.00,1.98,0.00,0.000,6,0.000,0.022,2467,2313,3648,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6743,-0.83,-171.1,670.1,-9.2,359,6748,0.00,2.20,0.00,0.000,4,0.000,0.047,2467,3730,3645,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6840,-0.85,-171.1,678.5,-8.9,362,6845,0.00,1.98,0.00,0.000,6,0.000,0.024,2466,2324,3644,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7171,-0.87,-171.1,704.5,-7.4,373,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2322,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7469,-0.90,-171.1,726.1,-7.3,383,7474,0.00,2.17,0.00,0.000,4,0.000,0.048,2467,3720,3644,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7542,-0.92,-171.1,731.0,-7.4,385,7548,0.00,1.95,0.00,0.000,6,0.000,0.023,2467,2324,3639,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7867,-0.95,-171.1,757.8,-8.5,396,7873,0.00,2.17,0.00,0.000,4,0.000,0.049,2467,3721,3637,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7901,-0.97,-171.1,760.9,-8.5,397,7907,0.12,1.98,0.00,0.000,6,0.083,0.024,2404,2327,3637,0,0,0,0,0,0,26.54,26.68,28.83
$GC,8236,-0.92,-171.1,800.8,-11.6,408,8242,0.12,2.20,0.00,0.000,4,0.158,0.047,2441,3729,3635,0,0,0,0,0,0,26.41,26.29,28.83
$GC,8314,-0.89,-171.1,807.4,-10.9,410,8320,0.00,2.00,0.00,0.000,6,0.000,0.024,2440,2313,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8633,-0.89,-171.1,836.7,-8.4,421,8639,0.00,2.20,0.00,0.000,4,0.000,0.049,2440,3721,3634,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8670,-0.89,-171.1,839.7,-8.5,422,8676,0.00,1.98,0.00,0.000,6,0.000,0.024,2440,2324,3633,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9000,-0.89,-171.1,872.3,-10.3,433,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2321,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9299,-0.89,-171.1,903.9,-10.6,443,9305,0.00,2.20,0.00,0.000,4,0.000,0.050,2440,3725,3629,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9402,-0.89,-171.1,913.9,-10.6,446,9407,0.00,2.00,0.00,0.000,6,0.000,0.024,2440,2317,3629,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9727,-0.89,-171.1,947.5,-10.0,457,9732,0.00,2.22,0.00,0.000,4,0.000,0.054,2440,3717,3627,0,0,0,0,0,0,28.83,25.31,28.83
$GC,9804,-0.89,-171.1,953.9,-9.8,459,9809,0.00,2.00,0.00,0.000,6,0.000,0.024,2440,2314,3627,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10122,-0.89,-171.1,986.1,-9.6,470,10128,0.00,2.22,0.00,0.000,4,0.000,0.050,2440,3726,3625,0,0,0,0,0,0,28.83,25.10,28.83
$STATE,10183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10184,begin apogee
$GC,10191,-0.20,0.0,992.2,-9.6,472,10346,0.68,0.00,144.98,1.335,6,0.106,0.000,2667,2294,2965,0,0,0,0,0,0,25.86,28.83,23.64
$STATE,10347,end apogee,CONTROL_FINISHED_OK
$STATE,10347,begin climb
$GC,10350,0.42,171.1,999.1,0.0,477,10519,0.55,2.28,156.55,1.297,4,0.037,0.034,2898,931,2261,0,0,0,0,0,0,24.86,23.93,22.96
$GC,10567,0.29,171.1,989.0,8.4,484,10573,0.22,2.20,0.00,0.000,6,0.131,0.031,2836,2298,2254,0,0,0,0,0,0,24.58,24.73,28.83
$GC,10888,0.25,171.1,959.3,8.5,495,10893,0.00,2.25,0.00,0.000,4,0.000,0.048,2837,3709,2249,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10975,0.19,171.1,952.8,9.4,497,10983,0.12,2.10,0.00,0.000,6,0.164,0.029,2807,2314,2248,0,0,0,0,0,0,25.71,25.99,28.83
$GC,11283,0.20,206.5,928.3,7.1,508,11320,0.00,2.28,31.60,1.234,4,0.000,0.047,2807,3701,2123,0,0,0,0,0,0,28.83,25.36,24.46
$GC,11369,0.20,232.4,923.5,7.4,510,11403,0.00,2.15,26.50,1.229,6,0.000,0.029,2812,2305,2014,0,0,0,0,0,0,28.83,25.70,24.23
$GC,11703,0.21,254.1,895.2,7.5,522,11732,0.00,2.30,21.23,1.229,4,0.000,0.049,2812,3707,1925,0,0,0,0,0,0,28.83,25.43,24.53
$GC,11755,0.22,274.0,893.0,7.6,523,11784,0.00,2.17,20.85,1.221,6,0.000,0.028,2811,2283,1844,0,0,0,0,0,0,28.83,25.65,24.27
$GC,12098,0.25,291.9,865.2,7.7,535,12118,0.00,0.00,18.02,1.220,6,0.000,0.000,2812,2283,1777,0,0,0,0,0,0,28.83,28.83,24.62
$GC,12399,0.29,298.3,841.6,8.0,545,12410,0.00,2.12,3.05,0.925,4,0.000,0.036,2812,913,1753,0,0,0,0,0,0,28.83,26.02,24.46
$GC,12428,0.33,304.8,841.6,8.0,545,12448,0.10,2.12,12.38,1.235,6,0.093,0.031,2869,2315,1720,0,0,0,0,0,0,26.01,26.03,24.74
$GC,12767,0.31,304.8,800.7,11.4,557,12772,0.00,2.20,0.00,0.000,4,0.000,0.048,2869,3697,1714,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,21051,end climb,SURFACE_DEPTH_REACHED
$STATE,21051,begin surface coast
$FINISH,0.9,1.021868
$STATE,21068,end surface coast,CONTROL_FINISHED_OK
$STATE,21069,begin surface
$SM_CCo,21146,0.00,0.000,0,0,1042,472.45
$SM_GC,1.71,7.30,0.00,0.00,0.022,0.000,0.000,122,2314,1042,-8.10,-0.31,472.45,0,0,0,0,0,0,26.42,28.83,28.83
$IRIDIUM_FIX,2307.44,12212.26,261012,141424
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.25
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.10
$XPDR_PINGS,16
$24V_AH,23.0,21.199
$10V_AH,9.9,11.906
$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,21.250,213.150,524.375,0.000,0.000,0.000,0.000,275.550,4.000,0.000,5.902,3233.773,14492.525,720.133,2718.170,428.760,0.000,2345.504,0.000,2357.713,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,54.315,1334.925,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21087.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.467,0.000,0.000,0.000
$MEM,323828
$DATA_FILE_SIZE,36704,970
$CAP_FILE_SIZE,245880,0
$CFSIZE,260165632,243064832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,355.2,1
$GPS,271012,023023,2317.730,12216.757,38,0.9,38,-3.6