version: 66.11
glider: 167
mission: 14
dive: 155
start: 11 17 112 0 30 42
data:
$ID,167
$MISSION,14
$DIVE,155
$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,425
$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,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,-968727.06
$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,2670
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,44
$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
$GPS1,171112,002254,2147.936,12354.822,42,0.9,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-62.5
$GPS2,171112,003015,2147.973,12354.764,5,0.8,5,-3.3
$SPEED_LIMITS,0.143,0.261
$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,154.0,34487,-14.1,-8.250,-17.53
$D_GRID,4797
$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,-0.42,-171.1,0.0,0.0,0,92,0.00,0.00,-70.85,0.000,2,0.000,0.000,109,2470,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.42,-171.1,3.3,-4.7,12,132,9.62,0.00,-23.12,0.000,6,0.223,0.000,2525,2470,3669,0,0,0,0,0,0,25.32,28.83,26.53
$GC,446,-0.37,-171.1,64.4,-15.7,54,452,0.00,1.98,0.00,0.000,4,0.000,0.046,2520,3756,3670,0,0,0,0,0,0,28.83,26.20,28.83
$GC,475,-0.33,-171.1,68.2,-15.5,55,481,0.15,1.92,0.00,0.000,6,0.138,0.020,2561,2412,3670,0,0,0,0,0,0,26.06,26.42,28.83
$GC,794,-0.36,-171.1,94.3,-6.6,71,800,0.00,1.92,0.00,0.000,4,0.000,0.031,2561,1072,3671,0,0,0,0,0,0,28.83,26.41,28.83
$GC,882,-0.40,-171.1,101.1,-8.0,75,888,0.00,2.05,0.00,0.000,6,0.000,0.036,2561,2444,3671,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1201,-0.45,-171.1,130.0,-8.4,91,1207,0.10,2.00,0.00,0.000,4,0.093,0.029,2489,1070,3672,0,0,0,0,0,0,26.70,26.48,28.83
$GC,1226,-0.48,-171.1,132.4,-8.7,92,1232,0.12,2.05,0.00,0.000,6,0.144,0.035,2516,2453,3672,0,0,0,0,0,0,26.19,26.42,28.83
$GC,1550,-0.49,-171.1,165.5,-10.7,108,1556,0.00,2.00,0.00,0.000,4,0.000,0.047,2515,3765,3672,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1588,-0.51,-171.1,168.1,-10.8,109,1596,0.00,1.85,0.00,0.000,6,0.000,0.018,2516,2443,3672,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1894,-0.53,-171.1,203.5,-10.1,125,1900,0.00,1.95,0.00,0.000,4,0.000,0.028,2515,1073,3672,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1972,-0.55,-171.1,209.7,-9.7,128,1979,0.00,2.05,0.00,0.000,6,0.000,0.033,2516,2456,3672,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2278,-0.57,-171.1,237.0,-8.8,144,2283,0.00,1.98,0.00,0.000,4,0.000,0.047,2515,3762,3671,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2306,-0.59,-171.1,239.1,-9.0,145,2313,0.12,1.83,0.00,0.000,6,0.076,0.019,2438,2446,3671,0,0,0,0,0,0,26.55,26.65,28.83
$GC,2626,-0.55,-171.1,293.4,-17.1,161,2632,0.15,1.98,0.00,0.000,4,0.140,0.026,2488,1069,3670,0,0,0,0,0,0,26.37,26.54,28.83
$GC,2766,-0.55,-171.1,310.4,-13.1,167,2772,0.00,2.05,0.00,0.000,6,0.000,0.034,2488,2453,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3070,-0.55,-171.1,348.9,-11.0,183,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2453,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3371,-0.55,-171.1,379.2,-9.8,198,3377,0.00,2.00,0.00,0.000,4,0.000,0.047,2488,3765,3667,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3416,-0.56,-171.1,383.5,-9.5,200,3422,0.00,1.83,0.00,0.000,6,0.000,0.019,2488,2439,3667,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3740,-0.57,-171.1,415.5,-10.3,216,3745,0.00,1.92,0.00,0.000,4,0.000,0.026,2488,1086,3665,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3833,-0.59,-171.1,424.1,-10.3,220,3838,0.00,2.03,0.00,0.000,6,0.000,0.031,2488,2454,3665,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4146,-0.60,-171.1,456.9,-9.8,236,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2454,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,-0.62,-171.1,482.8,-7.9,251,4455,0.00,2.00,0.00,0.000,4,0.000,0.049,2488,3754,3662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4502,-0.65,-171.1,486.4,-7.5,253,4508,0.00,1.80,0.00,0.000,6,0.000,0.019,2488,2443,3662,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4816,-0.67,-171.1,512.1,-8.2,269,4818,0.12,0.00,0.00,0.000,6,0.081,0.000,2420,2444,3660,0,0,0,0,0,0,26.73,28.83,28.83
$GC,5118,-0.64,-171.1,548.0,-11.3,284,5124,0.12,1.95,0.00,0.000,4,0.155,0.024,2460,1086,3659,0,0,0,0,0,0,26.41,26.51,28.83
$GC,5156,-0.61,-171.1,550.6,-11.0,285,5162,0.00,2.05,0.00,0.000,6,0.000,0.036,2461,2459,3659,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5462,-0.61,-171.1,579.4,-9.4,301,5467,0.00,1.98,0.00,0.000,4,0.000,0.026,2460,1094,3657,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5559,-0.61,-171.1,587.4,-9.7,305,5566,0.00,2.03,0.00,0.000,6,0.000,0.033,2460,2456,3656,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5867,-0.61,-171.1,615.6,-8.0,318,5872,0.00,1.98,0.00,0.000,4,0.000,0.026,2460,1092,3651,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5910,-0.61,-171.1,618.3,-7.8,319,5915,0.00,2.03,0.00,0.000,6,0.000,0.033,2460,2452,3654,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6234,-0.61,-171.1,638.3,-5.5,330,6240,0.00,1.98,0.00,0.000,4,0.000,0.027,2460,1093,3652,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6263,-0.61,-171.1,638.3,-5.5,330,6270,0.00,2.03,0.00,0.000,6,0.000,0.033,2460,2451,3651,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6568,-0.61,-171.1,659.6,-7.2,341,6574,0.00,2.00,0.00,0.000,4,0.000,0.048,2460,3753,3650,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6618,-0.62,-171.1,662.3,-7.6,342,6623,0.00,1.83,0.00,0.000,6,0.000,0.021,2460,2431,3649,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6939,-0.63,-171.1,691.8,-9.5,353,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2429,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7237,-0.65,-171.1,722.4,-10.3,363,7243,0.00,2.08,0.00,0.000,4,0.000,0.048,2459,3755,3644,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7274,-0.66,-171.1,725.8,-10.0,364,7280,0.00,1.83,0.00,0.000,6,0.000,0.022,2460,2443,3644,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7605,-0.68,-171.1,752.3,-7.1,375,7610,0.00,1.98,0.00,0.000,4,0.000,0.035,2461,1097,3641,0,0,0,0,0,0,28.83,24.87,28.83
$GC,7688,-0.70,-171.1,757.3,-7.3,377,7693,0.00,2.03,0.00,0.000,6,0.000,0.034,2460,2448,3640,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8003,-0.72,-171.1,781.7,-7.5,388,8009,0.00,2.03,0.00,0.000,4,0.000,0.050,2460,3756,3639,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8057,-0.73,-171.1,784.6,-7.7,389,8063,0.00,1.85,0.00,0.000,6,0.000,0.023,2460,2448,3639,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8373,-0.75,-171.1,812.7,-8.6,400,8379,0.00,2.00,0.00,0.000,4,0.000,0.029,2460,1084,3636,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8467,-0.78,-171.1,821.5,-9.1,403,8473,0.12,2.10,0.00,0.000,6,0.086,0.035,2397,2460,3635,0,0,0,0,0,0,26.29,26.32,28.83
$GC,8803,-0.74,-171.1,861.1,-11.5,414,8809,0.12,2.03,0.00,0.000,4,0.157,0.027,2436,1088,3634,0,0,0,0,0,0,26.35,26.39,28.83
$GC,8857,-0.72,-171.1,864.6,-11.1,415,8862,0.00,2.05,0.00,0.000,6,0.000,0.035,2435,2449,3634,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9170,-0.72,-171.1,891.1,-7.6,426,9176,0.00,2.00,0.00,0.000,4,0.000,0.028,2436,1089,3632,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9219,-0.72,-171.1,893.7,-7.5,427,9225,0.00,2.05,0.00,0.000,6,0.000,0.035,2436,2448,3632,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9539,-0.72,-171.1,916.4,-6.7,438,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2448,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9838,-0.72,-171.1,937.0,-6.9,448,9844,0.00,2.03,0.00,0.000,4,0.000,0.034,2436,1083,3629,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9896,-0.72,-171.1,939.7,-7.1,449,9903,0.00,2.10,0.00,0.000,6,0.000,0.038,2436,2453,3626,0,0,0,0,0,0,28.83,25.10,28.83
$GC,10202,-0.72,-171.1,967.5,-9.2,460,10207,0.00,2.05,0.00,0.000,4,0.000,0.050,2436,3759,3627,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10285,-0.72,-171.1,973.8,-9.7,462,10290,0.00,1.85,0.00,0.000,6,0.000,0.024,2436,2456,3627,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,10415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10415,begin apogee
$GC,10421,-0.20,0.0,990.4,-11.0,467,10575,0.50,0.00,146.15,1.219,6,0.110,0.000,2602,2289,2967,0,0,0,0,0,0,25.75,28.83,23.39
$STATE,10576,end apogee,CONTROL_FINISHED_OK
$STATE,10576,begin climb
$GC,10579,0.42,171.1,999.8,0.0,472,10743,0.57,0.00,157.57,1.216,6,0.071,0.000,2804,2289,2269,0,0,0,0,0,0,24.68,28.83,22.64
$GC,11022,0.47,239.0,983.0,6.0,487,11090,0.00,2.15,62.00,1.179,4,0.000,0.033,2804,938,1988,0,0,0,0,0,0,28.83,24.96,23.75
$GC,11174,0.52,275.1,972.2,7.1,492,11218,0.10,2.15,35.17,1.186,6,0.093,0.032,2858,2316,1839,0,0,0,0,0,0,25.60,25.63,23.82
$GC,11536,0.52,275.1,935.7,10.2,504,11542,0.00,2.20,0.00,0.000,4,0.000,0.049,2858,3701,1829,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11564,0.52,275.1,935.7,10.2,504,11570,0.00,2.05,0.00,0.000,6,0.000,0.028,2860,2328,1828,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11872,0.51,275.1,902.9,9.5,515,11877,0.00,2.15,0.00,0.000,4,0.000,0.037,2860,905,1827,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11924,0.51,275.1,899.6,9.4,516,11930,0.00,2.12,0.00,0.000,6,0.000,0.031,2860,2315,1826,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12237,0.51,275.1,870.2,8.9,527,12243,0.00,2.15,0.00,0.000,4,0.000,0.048,2860,3695,1825,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12271,0.50,275.1,866.8,9.3,528,12277,0.12,2.08,0.00,0.000,6,0.156,0.028,2833,2294,1824,0,0,0,0,0,0,26.10,26.42,28.83
$GC,12606,0.51,275.1,838.1,9.2,539,12611,0.00,2.08,0.00,0.000,4,0.000,0.037,2833,917,1824,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12655,0.52,275.1,834.7,9.5,540,12660,0.00,2.08,0.00,0.000,6,0.000,0.032,2833,2301,1824,0,0,0,0,0,0,28.83,26.37,28.83
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$STATE,20833,end climb,SURFACE_DEPTH_REACHED
$STATE,20834,begin surface coast
$FINISH,0.8,1.022604
$STATE,20866,end surface coast,CONTROL_FINISHED_OK
$STATE,20866,begin surface
$SM_CCo,20944,0.00,0.000,0,0,676,562.23
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$IRIDIUM_FIX,2141.13,12354.28,161112,181841
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.37
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.90
$XPDR_PINGS,19
$24V_AH,22.6,36.640
$10V_AH,9.8,24.319
$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,20.200,184.300,635.100,0.000,0.000,0.000,0.000,259.825,4.750,0.000,5.907,3086.248,14497.885,788.207,2589.259,418.343,0.000,2344.583,0.000,2242.791,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,58.905,1219.410,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20878.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.836,0.000,0.000,0.000
$MEM,329612
$DATA_FILE_SIZE,33368,953
$CAP_FILE_SIZE,236079,0
$CFSIZE,260165632,234225664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,265.9,1
$GPS,171112,062106,2145.204,12355.832,36,1.1,36,-3.3