version: 66.11
glider: 167
mission: 14
dive: 119
start: 11 7 112 4 23 44
data:
$ID,167
$MISSION,14
$DIVE,119
$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,-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,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,-968656
$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,86
$R_STBD_OVSHOOT,55
$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
$GPS1,071112,040728,2335.770,12354.240,37,1.2,41,-3.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.2
$GPS2,071112,042318,2335.625,12354.164,17,1.6,17,-3.8
$SPEED_LIMITS,0.127,0.250
$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,194.0,232875,-12.5,-7.333,-16.34
$D_GRID,3000
$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,-0.38,-171.1,0.0,0.0,0,79,0.00,0.00,-58.05,0.000,2,0.000,0.000,109,2316,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.38,-171.1,3.3,-6.2,10,125,9.80,2.05,-23.12,0.000,4,0.220,0.039,2611,941,3668,0,0,0,0,0,0,25.48,26.17,26.51
$GC,236,-0.45,-171.1,18.2,-8.6,38,243,0.00,2.03,0.00,0.000,6,0.000,0.027,2610,2319,3669,0,0,0,0,0,0,28.83,26.22,28.83
$GC,548,-0.50,-171.1,45.5,-8.8,76,553,0.00,2.15,0.00,0.000,4,0.000,0.045,2610,3726,3669,0,0,0,0,0,0,28.83,26.25,28.83
$GC,637,-0.58,-171.1,51.7,-6.7,83,644,0.17,1.98,0.00,0.000,6,0.059,0.018,2508,2299,3668,0,0,0,0,0,0,26.46,26.54,28.83
$GC,957,-0.46,-171.1,110.1,-17.1,99,963,0.25,1.90,0.00,0.000,4,0.131,0.023,2589,955,3668,0,0,0,0,0,0,26.15,26.52,28.83
$GC,985,-0.37,-171.1,113.6,-15.8,100,991,0.10,2.00,0.00,0.000,6,0.138,0.028,2619,2322,3668,0,0,0,0,0,0,26.31,26.46,28.83
$GC,1305,-0.48,-171.1,140.0,-8.0,116,1310,0.00,2.12,0.00,0.000,4,0.000,0.044,2619,3726,3668,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1392,-0.61,-171.1,146.0,-7.1,120,1398,0.22,1.92,0.00,0.000,6,0.069,0.018,2532,2330,3668,0,0,0,0,0,0,26.48,26.67,28.83
$GC,1712,-0.72,-171.1,172.4,-7.0,136,1718,0.00,2.15,0.00,0.000,4,0.000,0.044,2532,3734,3668,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1832,-0.79,-171.1,179.7,-7.1,141,1840,0.15,1.98,0.00,0.000,6,0.067,0.017,2438,2307,3669,0,0,0,0,0,0,26.60,26.67,28.83
$GC,2136,-0.65,-171.1,233.3,-19.2,157,2142,0.28,1.90,0.00,0.000,4,0.133,0.024,2526,958,3668,0,0,0,0,0,0,26.18,26.60,28.83
$GC,2226,-0.62,-171.1,244.0,-12.4,161,2232,0.00,2.03,0.00,0.000,6,0.000,0.029,2526,2330,3668,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2545,-0.62,-171.1,274.6,-8.6,177,2550,0.00,2.15,0.00,0.000,4,0.000,0.046,2526,3733,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2643,-0.64,-171.1,281.1,-7.8,181,2650,0.00,1.95,0.00,0.000,6,0.000,0.018,2526,2325,3667,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2948,-0.64,-171.1,308.1,-8.5,197,2953,0.00,1.95,0.00,0.000,4,0.000,0.026,2526,942,3666,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2981,-0.66,-171.1,309.9,-8.3,198,2986,0.00,2.03,0.00,0.000,6,0.000,0.029,2526,2327,3666,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3294,-0.68,-171.1,334.4,-7.2,214,3300,0.00,2.15,0.00,0.000,4,0.000,0.046,2526,3736,3664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3328,-0.71,-171.1,336.3,-7.3,215,3333,0.00,1.98,0.00,0.000,6,0.000,0.018,2526,2309,3665,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3641,-0.74,-171.1,360.5,-7.8,231,3646,0.00,2.17,0.00,0.000,4,0.000,0.045,2526,3728,3664,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3718,-0.78,-171.1,365.3,-7.6,234,3726,0.12,1.95,0.00,0.000,6,0.077,0.018,2448,2310,3663,0,0,0,0,0,0,26.60,26.72,28.83
$GC,4025,-0.69,-171.1,406.9,-13.7,250,4030,0.20,2.17,0.00,0.000,4,0.131,0.042,2507,3726,3662,0,0,0,0,0,0,26.33,26.41,28.83
$GC,4092,-0.67,-171.1,413.1,-10.8,253,4097,0.00,1.92,0.00,0.000,6,0.000,0.018,2506,2332,3662,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4411,-0.68,-171.1,439.1,-8.0,269,4416,0.00,1.95,0.00,0.000,4,0.000,0.025,2506,949,3660,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4495,-0.70,-171.1,446.3,-8.7,273,4500,0.00,2.03,0.00,0.000,6,0.000,0.028,2506,2332,3664,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4818,-0.73,-171.1,473.1,-7.9,289,4825,0.00,2.15,0.00,0.000,4,0.000,0.046,2506,3736,3658,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4892,-0.77,-171.1,478.5,-8.2,292,4897,0.00,1.95,0.00,0.000,6,0.000,0.018,2507,2326,3658,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5206,-0.80,-171.1,503.3,-7.5,308,5211,0.00,1.95,0.00,0.000,4,0.000,0.028,2506,955,3657,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5239,-0.83,-171.1,505.1,-7.5,309,5244,0.00,2.03,0.00,0.000,6,0.000,0.030,2506,2324,3656,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5552,-0.86,-171.1,528.9,-7.4,325,5558,0.12,2.17,0.00,0.000,4,0.080,0.051,2424,3732,3654,0,0,0,0,0,0,26.76,26.34,28.83
$GC,5717,-0.79,-171.1,549.2,-12.6,333,5723,0.20,1.95,0.00,0.000,6,0.134,0.020,2483,2328,3653,0,0,0,0,0,0,26.19,26.69,28.83
$GC,6041,-0.79,-171.1,576.9,-7.8,349,6047,0.00,2.17,0.00,0.000,4,0.000,0.047,2482,3727,3651,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6105,-0.79,-171.1,582.1,-7.9,352,6111,0.00,1.98,0.00,0.000,6,0.000,0.020,2482,2317,3651,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6419,-0.79,-171.1,608.0,-8.2,366,6424,0.00,1.95,0.00,0.000,4,0.000,0.024,2482,954,3649,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6441,-0.79,-171.1,608.0,-8.2,366,6446,0.00,2.03,0.00,0.000,6,0.000,0.028,2482,2329,3649,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6754,-0.79,-171.1,632.9,-7.3,377,6759,0.00,2.15,0.00,0.000,4,0.000,0.047,2482,3732,3647,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6857,-0.82,-171.1,640.0,-7.5,380,6863,0.00,2.00,0.00,0.000,6,0.000,0.021,2482,2317,3646,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7182,-0.84,-171.1,666.0,-7.9,391,7188,0.00,2.20,0.00,0.000,4,0.000,0.046,2482,3726,3644,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7217,-0.86,-171.1,669.1,-8.1,392,7222,0.00,1.98,0.00,0.000,6,0.000,0.021,2482,2319,3644,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7552,-0.88,-171.1,694.9,-7.3,403,7558,0.00,2.20,0.00,0.000,4,0.000,0.046,2482,3733,3642,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7586,-0.91,-171.1,697.2,-7.1,404,7593,0.10,1.98,0.00,0.000,6,0.097,0.021,2426,2327,3641,0,0,0,0,0,0,26.53,26.67,28.83
$GC,7922,-0.85,-171.1,728.4,-9.1,415,7928,0.12,1.98,0.00,0.000,4,0.148,0.031,2466,960,3638,0,0,0,0,0,0,26.43,26.39,28.83
$GC,7971,-0.81,-171.1,731.1,-8.8,416,7977,0.00,2.03,0.00,0.000,6,0.000,0.030,2466,2327,3638,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8289,-0.81,-171.1,754.4,-7.9,427,8294,0.00,2.17,0.00,0.000,4,0.000,0.047,2465,3726,3636,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8401,-0.81,-171.1,762.7,-8.7,430,8407,0.00,1.98,0.00,0.000,6,0.000,0.022,2466,2318,3635,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8715,-0.81,-171.1,793.4,-9.1,441,8721,0.00,2.25,0.00,0.000,4,0.000,0.052,2466,3729,3633,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8763,-0.81,-171.1,796.3,-8.9,442,8768,0.00,2.00,0.00,0.000,6,0.000,0.023,2465,2318,3633,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9082,-0.81,-171.1,823.0,-7.5,453,9087,0.00,2.20,0.00,0.000,4,0.000,0.047,2466,3724,3630,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9260,-0.83,-171.1,834.5,-7.5,458,9266,0.00,2.00,0.00,0.000,6,0.000,0.023,2465,2315,3630,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9564,-0.83,-171.1,860.6,-8.3,469,9570,0.00,2.22,0.00,0.000,4,0.000,0.048,2465,3734,3629,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9708,-0.84,-171.1,871.5,-8.8,473,9714,0.00,2.00,0.00,0.000,6,0.000,0.024,2465,2325,3627,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10023,-0.86,-171.1,901.3,-8.9,484,10029,0.00,2.20,0.00,0.000,4,0.000,0.048,2466,3725,3625,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10182,-0.89,-171.1,914.4,-8.4,489,10187,0.00,2.00,0.00,0.000,6,0.000,0.024,2466,2318,3624,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10513,-0.91,-171.1,937.1,-6.4,500,10518,0.00,2.22,0.00,0.000,4,0.000,0.049,2466,3733,3623,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10571,-0.93,-171.1,939.5,-6.4,501,10578,0.00,2.00,0.00,0.000,6,0.000,0.024,2466,2324,3623,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10878,-0.96,-171.1,962.3,-7.3,512,10885,0.10,2.20,0.00,0.000,4,0.099,0.047,2413,3723,3621,0,0,0,0,0,0,26.72,26.08,28.83
$GC,10903,-0.98,-171.1,962.3,-7.3,512,10909,0.00,2.00,0.00,0.000,6,0.000,0.024,2413,2326,3621,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,11154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11154,begin apogee
$GC,11160,-0.20,0.0,991.1,-10.4,521,11313,0.77,0.00,144.02,1.368,6,0.114,0.000,2667,2323,2963,0,0,0,0,0,0,25.55,28.83,23.49
$STATE,11314,end apogee,CONTROL_FINISHED_OK
$STATE,11314,begin climb
$GC,11317,0.38,171.1,997.4,0.0,526,11482,0.52,2.42,157.32,1.342,4,0.037,0.046,2882,3699,2262,0,0,0,0,0,0,24.79,23.89,22.85
$GC,11711,0.24,171.1,963.3,12.8,539,11717,0.25,2.10,0.00,0.000,6,0.138,0.028,2814,2313,2249,0,0,0,0,0,0,25.43,25.75,28.83
$GC,12037,0.19,171.1,936.2,7.8,550,12043,0.00,2.12,0.00,0.000,4,0.000,0.034,2826,902,2246,0,0,0,0,0,0,28.83,26.12,28.83
$GC,12074,0.15,171.1,933.3,8.0,551,12080,0.12,2.12,0.00,0.000,6,0.132,0.031,2792,2311,2244,0,0,0,0,0,0,25.98,26.15,28.83
$GC,12404,0.15,171.1,909.1,7.5,562,12409,0.00,2.20,0.00,0.000,4,0.000,0.048,2792,3706,2244,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12441,0.15,171.1,906.4,7.6,563,12447,0.00,2.08,0.00,0.000,6,0.000,0.028,2792,2293,2244,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12772,0.15,172.0,882.8,7.3,574,12777,0.00,2.22,0.00,0.000,4,0.000,0.047,2791,3696,2242,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,22799,end climb,SURFACE_DEPTH_REACHED
$STATE,22800,begin surface coast
$FINISH,0.9,1.022398
$STATE,22815,end surface coast,CONTROL_FINISHED_OK
$STATE,22816,begin surface
$SM_CCo,22895,0.00,0.000,0,0,646,569.83
$SM_GC,1.62,7.35,0.00,0.00,0.021,0.000,0.000,108,2304,646,-8.12,-0.59,569.83,0,0,0,0,0,0,26.42,28.83,28.83
$IRIDIUM_FIX,2323.87,12354.44,071112,040413
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.76
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,27
$24V_AH,22.9,29.564
$10V_AH,9.9,18.525
$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,22.700,220.375,613.350,0.000,0.000,0.000,0.000,569.550,6.750,0.000,18.860,3565.674,15720.926,793.735,3280.099,474.204,0.000,2841.068,0.000,2617.266,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,52.020,1367.820,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22833.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.062,0.000,0.000,0.000
$MEM,329580
$DATA_FILE_SIZE,39973,1040
$CAP_FILE_SIZE,268245,0
$CFSIZE,260165632,238288896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.093,156.9,1
$GPS,071112,104636,2331.802,12353.581,34,1.1,34,-3.7