version: 66.11
glider: 167
mission: 14
dive: 121
start: 11 7 112 17 11 43
data:
$ID,167
$MISSION,14
$DIVE,121
$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,-968658.5
$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,77
$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
$GPS1,071112,170335,2327.502,12353.026,34,0.9,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-61.8
$GPS2,071112,171116,2327.499,12352.990,5,0.9,5,-3.7
$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,184.4,217942,-12.5,-7.333,-16.34
$D_GRID,3533
$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,-171.1,0.0,0.0,0,96,0.00,0.00,-75.43,0.000,2,0.000,0.000,112,2311,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.38,-171.1,3.2,-4.6,13,138,9.82,2.08,-21.98,0.000,4,0.223,0.039,2606,933,3669,0,0,0,0,0,0,25.52,26.20,26.55
$GC,252,-0.45,-171.1,17.6,-7.0,41,260,0.00,2.08,0.00,0.000,6,0.000,0.028,2607,2324,3670,0,0,0,0,0,0,28.83,26.25,28.83
$GC,564,-0.48,-171.1,42.1,-10.5,81,571,0.00,2.15,0.00,0.000,4,0.000,0.046,2606,3729,3669,0,0,0,0,0,0,28.83,26.25,28.83
$GC,649,-0.55,-171.1,52.7,-13.0,88,656,0.15,2.00,0.00,0.000,6,0.067,0.017,2515,2272,3669,0,0,0,0,0,0,26.45,26.55,28.83
$GC,974,-0.43,-171.1,113.0,-19.0,104,980,0.25,1.90,0.00,0.000,4,0.129,0.022,2597,929,3668,0,0,0,0,0,0,26.15,26.51,28.83
$GC,1048,-0.41,-171.1,120.5,-13.1,107,1053,0.00,2.05,0.00,0.000,6,0.000,0.027,2597,2332,3669,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1361,-0.47,-171.1,144.3,-7.6,123,1366,0.00,2.12,0.00,0.000,4,0.000,0.044,2597,3736,3669,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1434,-0.55,-171.1,148.6,-7.1,126,1441,0.10,1.98,0.00,0.000,6,0.089,0.017,2523,2301,3669,0,0,0,0,0,0,26.54,26.66,28.83
$GC,1751,-0.53,-171.1,183.2,-11.7,142,1757,0.12,1.90,0.00,0.000,4,0.137,0.024,2566,954,3669,0,0,0,0,0,0,26.49,26.58,28.83
$GC,1804,-0.53,-171.1,187.8,-11.0,144,1809,0.00,2.00,0.00,0.000,6,0.000,0.028,2566,2328,3670,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2117,-0.59,-171.1,213.6,-6.3,160,2123,0.00,2.12,0.00,0.000,4,0.000,0.045,2566,3725,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2202,-0.67,-171.1,217.6,-4.8,164,2209,0.12,1.92,0.00,0.000,6,0.076,0.018,2483,2319,3669,0,0,0,0,0,0,26.59,26.70,28.83
$GC,2527,-0.60,-171.1,255.0,-13.4,180,2529,0.20,0.00,0.00,0.000,6,0.129,0.000,2543,2318,3669,0,0,0,0,0,0,26.36,28.83,28.83
$GC,2828,-0.63,-171.1,279.9,-7.8,195,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2318,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3131,-0.67,-171.1,302.8,-7.9,210,3136,0.00,2.17,0.00,0.000,4,0.000,0.046,2544,3734,3667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3188,-0.72,-171.1,306.8,-8.1,212,3197,0.12,1.95,0.00,0.000,6,0.077,0.018,2462,2309,3665,0,0,0,0,0,0,26.60,26.72,28.83
$GC,3496,-0.64,-171.1,349.7,-13.5,228,3502,0.20,2.17,0.00,0.000,4,0.130,0.041,2521,3729,3666,0,0,0,0,0,0,26.34,26.41,28.83
$GC,3550,-0.61,-171.1,354.2,-11.2,230,3555,0.00,1.92,0.00,0.000,6,0.000,0.018,2520,2340,3666,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3863,-0.63,-171.1,377.9,-7.6,246,3869,0.00,1.98,0.00,0.000,4,0.000,0.026,2520,944,3665,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3969,-0.67,-171.1,385.8,-7.5,251,3974,0.00,2.03,0.00,0.000,6,0.000,0.029,2521,2330,3665,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4295,-0.70,-171.1,410.8,-8.2,267,4300,0.00,2.12,0.00,0.000,4,0.000,0.046,2518,3721,3663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4367,-0.74,-171.1,416.4,-8.5,270,4374,0.00,1.95,0.00,0.000,6,0.000,0.019,2520,2308,3663,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4682,-0.79,-171.1,438.4,-5.6,286,4688,0.10,2.20,0.00,0.000,4,0.093,0.044,2451,3729,3661,0,0,0,0,0,0,26.78,26.39,28.83
$GC,4756,-0.79,-171.1,444.0,-7.9,289,4762,0.12,1.95,0.00,0.000,6,0.137,0.018,2486,2315,3661,0,0,0,0,0,0,26.37,26.70,28.83
$GC,5070,-0.79,-171.1,473.5,-9.6,305,5076,0.00,2.15,0.00,0.000,4,0.000,0.045,2484,3720,3660,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5154,-0.79,-171.1,481.3,-9.2,309,5160,0.00,1.95,0.00,0.000,6,0.000,0.020,2484,2318,3659,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5478,-0.79,-171.1,514.6,-10.8,325,5483,0.00,2.15,0.00,0.000,4,0.000,0.044,2480,3719,3657,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5534,-0.79,-171.1,519.7,-11.3,327,5541,0.00,1.95,0.00,0.000,6,0.000,0.020,2480,2315,3657,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5841,-0.79,-171.1,551.9,-8.8,343,5846,0.00,1.92,0.00,0.000,4,0.000,0.025,2480,957,3655,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5899,-0.79,-171.1,555.6,-8.7,345,5905,0.00,2.00,0.00,0.000,6,0.000,0.028,2480,2324,3659,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6205,-0.79,-171.1,580.2,-7.1,361,6210,0.00,2.15,0.00,0.000,4,0.000,0.046,2480,3721,3653,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6238,-0.79,-171.1,582.0,-7.2,362,6243,0.00,1.95,0.00,0.000,6,0.000,0.020,2480,2325,3653,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6561,-0.79,-171.1,607.4,-8.1,377,6566,0.00,2.17,0.00,0.000,4,0.000,0.048,2480,3722,3648,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6588,-0.79,-171.1,607.4,-8.1,377,6596,0.00,1.95,0.00,0.000,6,0.000,0.020,2480,2316,3651,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6896,-0.80,-171.1,634.9,-8.0,388,6901,0.00,2.20,0.00,0.000,4,0.000,0.046,2480,3725,3649,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6991,-0.82,-171.1,642.5,-8.0,391,6996,0.00,1.98,0.00,0.000,6,0.000,0.021,2480,2315,3648,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7327,-0.84,-171.1,665.6,-6.7,402,7332,0.00,2.20,0.00,0.000,4,0.000,0.053,2480,3722,3645,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7415,-0.86,-171.1,670.1,-6.6,404,7422,0.00,1.95,0.00,0.000,6,0.000,0.021,2480,2329,3644,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7723,-0.88,-171.1,693.1,-7.0,415,7728,0.00,2.17,0.00,0.000,4,0.000,0.047,2480,3726,3643,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7842,-0.90,-171.1,700.0,-7.2,418,7850,0.00,1.98,0.00,0.000,6,0.000,0.022,2480,2315,3642,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8148,-0.92,-171.1,724.8,-7.5,429,8153,0.12,2.22,0.00,0.000,4,0.083,0.051,2406,3731,3639,0,0,0,0,0,0,26.72,26.21,28.83
$GC,8244,-0.89,-171.1,735.7,-10.5,432,8250,0.17,1.98,0.00,0.000,6,0.142,0.021,2455,2334,3638,0,0,0,0,0,0,26.13,26.65,28.83
$GC,8578,-0.89,-171.1,767.8,-9.5,443,8584,0.00,2.00,0.00,0.000,4,0.000,0.027,2456,955,3636,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8626,-0.89,-171.1,771.1,-9.6,444,8632,0.00,2.05,0.00,0.000,6,0.000,0.032,2456,2328,3636,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8944,-0.89,-171.1,802.5,-9.2,455,8950,0.00,2.00,0.00,0.000,4,0.000,0.027,2455,955,3634,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9002,-0.89,-171.1,805.6,-9.2,456,9008,0.00,2.05,0.00,0.000,6,0.000,0.031,2456,2333,3634,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9308,-0.89,-171.1,833.0,-8.1,467,9313,0.00,2.17,0.00,0.000,4,0.000,0.048,2456,3736,3632,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9341,-0.89,-171.1,835.6,-7.9,468,9346,0.00,2.03,0.00,0.000,6,0.000,0.023,2456,2314,3632,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9675,-0.89,-171.1,860.9,-7.5,479,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2312,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9974,-0.89,-171.1,882.7,-7.3,489,9979,0.00,2.25,0.00,0.000,4,0.000,0.054,2456,3737,3628,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10039,-0.89,-171.1,887.4,-7.3,491,10044,0.00,2.03,0.00,0.000,6,0.000,0.029,2456,2334,3625,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10374,-0.89,-171.1,911.6,-7.4,502,10379,0.00,2.20,0.00,0.000,4,0.000,0.049,2455,3725,3626,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10411,-0.89,-171.1,914.3,-7.5,503,10417,0.00,2.03,0.00,0.000,6,0.000,0.025,2456,2319,3626,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10741,-0.89,-171.1,941.0,-8.3,514,10747,0.00,2.22,0.00,0.000,4,0.000,0.049,2456,3733,3623,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10794,-0.89,-171.1,944.1,-8.4,515,10800,0.00,2.03,0.00,0.000,6,0.000,0.024,2456,2312,3624,0,0,0,0,0,0,28.83,26.57,28.83
$GC,11109,-0.89,-171.1,973.8,-9.2,526,11114,0.00,2.25,0.00,0.000,4,0.000,0.048,2456,3729,3623,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11215,-0.89,-171.1,982.7,-9.4,529,11221,0.00,2.00,0.00,0.000,6,0.000,0.024,2456,2327,3622,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,11291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11291,begin apogee
$GC,11297,-0.20,0.0,991.2,-9.4,532,11450,0.62,0.00,144.82,1.336,6,0.102,0.000,2668,2326,2964,0,0,0,0,0,0,25.75,28.83,23.56
$STATE,11451,end apogee,CONTROL_FINISHED_OK
$STATE,11451,begin climb
$GC,11454,0.38,171.1,999.5,0.0,537,11620,0.52,2.40,155.75,1.258,4,0.039,0.047,2883,3700,2262,0,0,0,0,0,0,24.80,23.91,22.92
$GC,11822,0.23,171.1,973.7,11.8,548,11829,0.22,2.10,0.00,0.000,6,0.141,0.028,2821,2325,2253,0,0,0,0,0,0,25.36,25.68,28.83
$GC,12138,0.19,171.1,947.8,7.3,559,12143,0.00,2.20,0.00,0.000,4,0.000,0.048,2821,3703,2249,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12221,0.13,171.1,942.2,8.0,561,12227,0.15,2.10,0.00,0.000,6,0.147,0.028,2787,2290,2249,0,0,0,0,0,0,25.91,26.22,28.83
$GC,12537,0.13,184.1,919.0,7.0,572,12548,0.00,0.00,9.98,1.281,6,0.000,0.000,2787,2290,2217,0,0,0,0,0,0,28.83,28.83,24.82
$GC,12836,0.13,185.5,897.7,7.3,582,12841,0.00,2.25,0.00,0.000,4,0.000,0.052,2786,3713,2207,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,22870,end climb,SURFACE_DEPTH_REACHED
$STATE,22870,begin surface coast
$FINISH,0.8,1.010162
$STATE,22902,end surface coast,CONTROL_FINISHED_OK
$STATE,22902,begin surface
$SM_CCo,22979,0.00,0.000,0,0,808,529.85
$SM_GC,1.63,7.22,0.00,0.00,0.029,0.000,0.000,115,2301,808,-8.10,-0.68,529.85,0,0,0,0,0,0,26.45,28.83,28.83
$IRIDIUM_FIX,2323.87,12354.44,071112,101048
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.25
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.00
$XPDR_PINGS,26
$24V_AH,22.9,29.991
$10V_AH,9.8,18.843
$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,21.725,224.800,593.675,0.000,0.000,0.000,0.000,272.775,6.500,0.000,5.900,3615.251,15513.365,802.341,3033.706,465.099,0.000,2579.395,0.000,2664.041,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,53.550,1335.690,0.000,0.000,0.000,0.000,116.280,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22920.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.303,0.000,0.000,0.000
$MEM,329604
$DATA_FILE_SIZE,39978,1080
$CAP_FILE_SIZE,265803,0
$CFSIZE,260165632,238059520
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067,149.5,1
$GPS,071112,233605,2323.762,12352.648,40,0.8,40,-3.7