version: 66.11
glider: 167
mission: 14
dive: 87
start: 10 29 112 12 32 43
data:
$ID,167
$MISSION,14
$DIVE,87
$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,450
$T_MISSION,520
$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,-968608.31
$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,84
$R_STBD_OVSHOOT,50
$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
$GPS1,291012,122506,2323.065,12239.290,30,1.1,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-67.0
$GPS2,291012,123216,2323.149,12239.185,5,1.0,5,-3.6
$SPEED_LIMITS,0.127,0.250
$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,103.0,137727,-12.5,-7.333,-16.34
$D_GRID,4204
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.38,-171.1,0.0,0.0,0,79,0.00,0.00,-58.97,0.000,2,0.000,0.000,110,2307,2630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.38,-171.1,3.3,-6.1,10,125,9.80,2.08,-22.90,0.000,4,0.223,0.043,2611,941,3668,0,0,0,0,0,0,25.55,26.15,26.43
$GC,185,-0.43,-171.1,15.5,-8.4,28,192,0.00,2.05,0.00,0.000,6,0.000,0.028,2611,2318,3669,0,0,0,0,0,0,28.83,26.13,28.83
$GC,512,-0.43,-171.1,55.3,-11.9,66,517,0.00,2.17,0.00,0.000,4,0.000,0.047,2611,3735,3669,0,0,0,0,0,0,28.83,26.17,28.83
$GC,564,-0.43,-171.1,60.2,-11.4,68,569,0.00,2.00,0.00,0.000,6,0.000,0.021,2611,2354,3669,0,0,0,0,0,0,28.83,26.39,28.83
$GC,878,-0.51,-171.1,88.2,-7.0,84,880,0.12,0.00,0.00,0.000,6,0.077,0.000,2520,2355,3669,0,0,0,0,0,0,26.60,28.83,28.83
$GC,1179,-0.46,-171.1,130.7,-13.7,99,1185,0.20,2.08,0.00,0.000,4,0.122,0.029,2588,921,3671,0,0,0,0,0,0,26.27,26.46,28.83
$GC,1232,-0.46,-171.1,134.5,-10.8,101,1238,0.00,2.10,0.00,0.000,6,0.000,0.034,2588,2337,3671,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1546,-0.61,-171.1,152.4,-6.6,117,1552,0.12,2.10,0.00,0.000,4,0.081,0.041,2527,3732,3671,0,0,0,0,0,0,26.67,26.39,28.83
$GC,1619,-0.74,-171.1,158.0,-8.4,120,1625,0.00,2.03,0.00,0.000,6,0.000,0.018,2526,2279,3671,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1933,-0.74,-171.1,190.7,-10.2,136,1939,0.00,1.88,0.00,0.000,4,0.000,0.030,2526,960,3671,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1970,-0.74,-171.1,193.2,-10.1,137,1977,0.00,2.03,0.00,0.000,6,0.000,0.033,2526,2334,3671,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2276,-0.74,-171.1,223.5,-9.0,153,2282,0.00,2.12,0.00,0.000,4,0.000,0.046,2522,3728,3671,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2382,-0.76,-171.1,232.8,-9.1,158,2387,0.00,1.95,0.00,0.000,6,0.000,0.019,2522,2320,3671,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2705,-0.78,-171.1,264.3,-9.4,174,2711,0.00,2.17,0.00,0.000,4,0.000,0.046,2521,3725,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2738,-0.80,-171.1,266.5,-9.4,175,2745,0.12,1.95,0.00,0.000,6,0.078,0.019,2442,2306,3670,0,0,0,0,0,0,26.59,26.70,28.83
$GC,3054,-0.70,-171.1,314.6,-15.6,191,3060,0.22,2.17,0.00,0.000,4,0.128,0.042,2507,3724,3668,0,0,0,0,0,0,26.29,26.41,28.83
$GC,3098,-0.64,-171.1,319.9,-13.5,193,3104,0.00,1.92,0.00,0.000,6,0.000,0.018,2507,2340,3668,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3422,-0.64,-171.1,349.7,-8.5,209,3428,0.00,2.15,0.00,0.000,4,0.000,0.047,2507,3737,3667,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3454,-0.64,-171.1,351.8,-8.4,210,3460,0.00,2.00,0.00,0.000,6,0.000,0.020,2507,2314,3667,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3767,-0.64,-171.1,379.1,-8.5,226,3773,0.00,1.92,0.00,0.000,4,0.000,0.025,2507,954,3665,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3844,-0.66,-171.1,384.5,-8.6,229,3851,0.00,2.00,0.00,0.000,6,0.000,0.028,2507,2327,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4151,-0.68,-171.1,409.9,-7.9,245,4156,0.00,2.12,0.00,0.000,4,0.000,0.045,2507,3724,3663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4276,-0.71,-171.1,419.4,-7.5,251,4281,0.00,1.95,0.00,0.000,6,0.000,0.020,2507,2313,3663,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4599,-0.74,-171.1,443.2,-7.4,267,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2313,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4901,-0.77,-171.1,464.7,-7.2,282,4907,0.00,2.17,0.00,0.000,4,0.000,0.045,2506,3726,3659,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5007,-0.81,-171.1,472.5,-7.4,287,5013,0.00,1.98,0.00,0.000,6,0.000,0.021,2507,2312,3659,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5332,-0.85,-171.1,495.7,-6.9,303,5338,0.12,1.92,0.00,0.000,4,0.081,0.024,2428,958,3657,0,0,0,0,0,0,26.76,26.57,28.83
$GC,5410,-0.82,-171.1,502.8,-10.0,306,5417,0.17,2.00,0.00,0.000,6,0.135,0.029,2478,2324,3656,0,0,0,0,0,0,26.18,26.51,28.83
$GC,5716,-0.82,-171.1,531.8,-9.0,322,5721,0.00,1.98,0.00,0.000,4,0.000,0.025,2478,962,3654,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5793,-0.82,-171.1,537.5,-8.9,325,5800,0.00,2.00,0.00,0.000,6,0.000,0.029,2478,2324,3652,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6099,-0.82,-171.1,565.5,-8.3,341,6104,0.00,2.15,0.00,0.000,4,0.000,0.054,2478,3723,3652,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6171,-0.82,-171.1,570.9,-8.6,344,6176,0.00,1.95,0.00,0.000,6,0.000,0.021,2478,2316,3657,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6484,-0.82,-171.1,598.7,-8.6,360,6490,0.00,2.20,0.00,0.000,4,0.000,0.046,2478,3733,3651,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6556,-0.82,-171.1,604.4,-8.7,363,6562,0.00,1.98,0.00,0.000,6,0.000,0.021,2479,2315,3650,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6880,-0.82,-171.1,633.0,-8.4,374,6886,0.00,2.20,0.00,0.000,4,0.000,0.047,2478,3725,3648,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6944,-0.84,-171.1,638.3,-8.3,376,6950,0.00,1.98,0.00,0.000,6,0.000,0.022,2478,2315,3647,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7280,-0.84,-171.1,662.2,-6.9,387,7286,0.00,2.20,0.00,0.000,4,0.000,0.051,2478,3723,3645,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7354,-0.86,-171.1,666.9,-7.1,389,7359,0.00,1.98,0.00,0.000,6,0.000,0.023,2479,2322,3644,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7679,-0.87,-171.1,690.7,-7.2,400,7685,0.00,2.20,0.00,0.000,4,0.000,0.047,2479,3733,3642,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7790,-0.90,-171.1,698.2,-7.8,403,7795,0.00,2.00,0.00,0.000,6,0.000,0.023,2478,2330,3642,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8111,-0.92,-171.1,725.1,-8.0,414,8116,0.12,2.20,0.00,0.000,4,0.084,0.046,2410,3729,3640,0,0,0,0,0,0,26.73,26.24,28.83
$GC,8198,-0.92,-171.1,732.4,-9.4,416,8205,0.12,1.98,0.00,0.000,6,0.151,0.023,2442,2319,3637,0,0,0,0,0,0,26.25,26.65,28.83
$GC,8506,-0.89,-171.1,764.5,-9.3,427,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2318,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8805,-0.87,-171.1,792.7,-9.3,437,8811,0.00,2.20,0.00,0.000,4,0.000,0.048,2442,3722,3633,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8858,-0.85,-171.1,796.0,-9.4,438,8863,0.00,1.98,0.00,0.000,6,0.000,0.024,2442,2327,3636,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9173,-0.83,-171.1,826.3,-9.0,449,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2325,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9471,-0.82,-171.1,853.5,-9.1,459,9478,0.12,2.22,0.00,0.000,4,0.147,0.048,2484,3732,3633,0,0,0,0,0,0,26.46,26.16,28.83
$GC,9530,-0.82,-171.1,856.3,-8.9,460,9537,0.00,2.00,0.00,0.000,6,0.000,0.024,2484,2319,3632,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9838,-0.86,-171.1,879.3,-7.0,471,9843,0.00,2.20,0.00,0.000,4,0.000,0.049,2484,3722,3630,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9902,-0.90,-171.1,884.0,-7.2,473,9908,0.12,2.00,0.00,0.000,6,0.083,0.024,2424,2326,3629,0,0,0,0,0,0,26.47,26.60,28.83
$GC,10237,-0.87,-171.1,918.2,-10.2,484,10242,0.12,2.20,0.00,0.000,4,0.149,0.047,2464,3721,3628,0,0,0,0,0,0,26.41,26.14,28.83
$GC,10310,-0.87,-171.1,923.6,-9.3,486,10316,0.00,2.00,0.00,0.000,6,0.000,0.024,2464,2316,3628,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10636,-0.88,-171.1,949.0,-7.6,497,10641,0.00,2.22,0.00,0.000,4,0.000,0.050,2464,3732,3626,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10669,-0.90,-171.1,951.7,-7.5,498,10675,0.00,2.03,0.00,0.000,6,0.000,0.026,2464,2327,3626,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11006,-0.92,-171.1,976.6,-7.3,509,11012,0.00,2.22,0.00,0.000,4,0.000,0.050,2464,3727,3624,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11045,-0.94,-171.1,979.3,-7.3,510,11050,0.00,2.03,0.00,0.000,6,0.000,0.026,2464,2321,3624,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,11190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11191,begin apogee
$GC,11196,-0.20,0.0,990.1,-7.1,515,11349,0.60,0.00,145.95,1.324,6,0.099,0.000,2670,2320,2967,0,0,0,0,0,0,25.88,28.83,23.66
$STATE,11351,end apogee,CONTROL_FINISHED_OK
$STATE,11351,begin climb
$GC,11353,0.38,171.1,995.4,0.0,520,11518,0.52,2.40,155.68,1.232,4,0.038,0.050,2885,3693,2262,0,0,0,0,0,0,24.81,23.92,23.02
$GC,11570,0.23,171.1,983.6,9.2,527,11577,0.28,2.17,0.00,0.000,6,0.147,0.028,2820,2334,2254,0,0,0,0,0,0,24.53,24.79,28.83
$GC,11892,0.18,171.1,956.2,7.5,538,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2334,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12191,0.13,171.1,933.6,7.4,548,12192,0.12,0.00,0.00,0.000,6,0.144,0.000,2785,2333,2247,0,0,0,0,0,0,26.05,28.83,28.83
$GC,12490,0.14,196.4,914.6,6.6,558,12520,0.00,2.20,22.67,1.234,4,0.000,0.048,2784,3696,2159,0,0,0,0,0,0,28.83,25.65,24.71
$GC,12548,0.15,213.4,912.5,6.8,559,12572,0.00,2.12,17.00,1.235,6,0.000,0.029,2787,2295,2094,0,0,0,0,0,0,28.83,25.82,24.44
$GC,12885,0.16,232.5,886.7,6.8,571,12915,0.00,2.35,19.48,1.226,4,0.000,0.047,2787,3696,2012,0,0,0,0,0,0,28.83,25.53,24.60
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$STATE,23018,end climb,SURFACE_DEPTH_REACHED
$STATE,23018,begin surface coast
$FINISH,0.7,1.018960
$STATE,23045,end surface coast,CONTROL_FINISHED_OK
$STATE,23045,begin surface
$SM_CCo,23122,0.00,0.000,0,0,957,493.30
$SM_GC,1.64,7.32,0.00,0.00,0.023,0.000,0.000,103,2299,957,-8.11,-0.74,493.30,0,0,0,0,0,0,26.51,28.83,28.83
$IRIDIUM_FIX,2316.83,12236.92,291012,050551
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.84
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.10
$XPDR_PINGS,22
$24V_AH,23.0,23.121
$10V_AH,10.1,13.478
$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,21.900,216.875,564.650,0.000,0.000,0.000,0.000,243.150,5.500,0.000,5.840,3496.026,15977.612,754.782,2864.082,449.855,0.000,2438.092,0.000,2512.735,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,53.550,1324.215,0.000,0.000,0.000,0.000,132.345,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23062.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.373,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,39942,1068
$CAP_FILE_SIZE,262947,0
$CFSIZE,260165632,241913856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.156,326.7,1
$GPS,291012,185931,2323.866,12241.654,43,1.1,43,-3.6