version: 66.11
glider: 167
mission: 14
dive: 156
start: 11 17 112 6 28 43
data:
$ID,167
$MISSION,14
$DIVE,156
$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,-968728.31
$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,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,69
$R_STBD_OVSHOOT,67
$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
$GPS1,171112,062106,2145.204,12355.832,36,1.1,36,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-62.6
$GPS2,171112,062816,2145.233,12355.883,4,0.9,4,-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,159.5,29089,-14.1,-8.250,-17.53
$D_GRID,4974
$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,-171.1,0.0,0.0,0,96,0.00,0.00,-75.22,0.000,2,0.000,0.000,109,2484,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.42,-171.1,3.0,-3.0,13,138,9.62,2.00,-22.80,0.000,4,0.223,0.063,2523,3720,3668,0,0,0,0,0,0,25.37,26.04,26.56
$GC,177,-0.38,-171.1,15.7,-18.6,26,184,0.00,1.83,0.00,0.000,6,0.000,0.018,2523,2428,3669,0,0,0,0,0,0,28.83,26.32,28.83
$GC,502,-0.33,-171.1,75.9,-15.4,56,508,0.12,2.03,0.00,0.000,4,0.150,0.046,2561,3729,3669,0,0,0,0,0,0,26.27,26.22,28.83
$GC,576,-0.31,-171.1,82.7,-11.5,59,581,0.00,1.83,0.00,0.000,6,0.000,0.018,2561,2416,3670,0,0,0,0,0,0,28.83,26.53,28.83
$GC,889,-0.35,-171.1,118.1,-10.4,75,895,0.00,1.90,0.00,0.000,4,0.000,0.024,2562,1074,3668,0,0,0,0,0,0,28.83,26.51,28.83
$GC,962,-0.39,-171.1,124.0,-9.5,78,968,0.00,1.98,0.00,0.000,6,0.000,0.029,2561,2427,3670,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1277,-0.44,-171.1,144.2,-5.8,94,1283,0.10,2.00,0.00,0.000,4,0.093,0.043,2485,3750,3670,0,0,0,0,0,0,26.71,26.37,28.83
$GC,1316,-0.48,-171.1,146.1,-6.2,95,1324,0.00,1.80,0.00,0.000,6,0.000,0.021,2485,2495,3670,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1621,-0.46,-171.1,180.7,-11.4,111,1628,0.12,2.08,0.00,0.000,4,0.150,0.027,2525,1049,3671,0,0,0,0,0,0,26.44,26.53,28.83
$GC,1699,-0.46,-171.1,186.8,-9.9,114,1706,0.00,2.08,0.00,0.000,6,0.000,0.034,2522,2452,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2006,-0.48,-171.1,223.9,-13.6,130,2011,0.00,1.98,0.00,0.000,4,0.000,0.046,2522,3763,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2033,-0.50,-171.1,227.0,-13.6,131,2040,0.00,1.88,0.00,0.000,6,0.000,0.018,2522,2405,3670,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2353,-0.53,-171.1,264.3,-9.0,147,2358,0.00,1.88,0.00,0.000,4,0.000,0.028,2522,1078,3670,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2376,-0.56,-171.1,266.2,-8.5,148,2381,0.00,2.05,0.00,0.000,6,0.000,0.032,2521,2460,3667,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2700,-0.59,-171.1,288.5,-7.9,164,2702,0.12,0.00,0.00,0.000,6,0.080,0.000,2441,2461,3668,0,0,0,0,0,0,26.74,28.83,28.83
$GC,3001,-0.55,-171.1,334.2,-15.0,179,3008,0.15,2.03,0.00,0.000,4,0.142,0.037,2490,1077,3668,0,0,0,0,0,0,26.37,26.51,28.83
$GC,3055,-0.53,-171.1,340.4,-14.1,181,3060,0.00,2.05,0.00,0.000,6,0.000,0.034,2490,2460,3667,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3368,-0.53,-171.1,370.9,-9.1,197,3373,0.00,1.98,0.00,0.000,4,0.000,0.045,2489,3755,3671,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3406,-0.54,-171.1,373.0,-9.0,198,3413,0.00,1.83,0.00,0.000,6,0.000,0.018,2490,2435,3666,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3712,-0.55,-171.1,405.5,-10.5,214,3717,0.00,1.92,0.00,0.000,4,0.000,0.028,2489,1085,3665,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3804,-0.58,-171.1,414.5,-10.7,218,3811,0.00,2.05,0.00,0.000,6,0.000,0.036,2489,2463,3664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4120,-0.60,-171.1,445.4,-9.3,234,4125,0.00,1.95,0.00,0.000,4,0.000,0.045,2489,3753,3663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4192,-0.62,-171.1,451.4,-9.2,237,4197,0.00,1.80,0.00,0.000,6,0.000,0.019,2489,2452,3663,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4506,-0.65,-171.1,481.8,-9.2,253,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2453,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4807,-0.68,-171.1,506.1,-7.8,268,4813,0.12,1.98,0.00,0.000,4,0.083,0.025,2412,1076,3659,0,0,0,0,0,0,26.73,26.53,28.83
$GC,4851,-0.68,-171.1,511.1,-9.5,270,4857,0.15,2.05,0.00,0.000,6,0.148,0.034,2452,2448,3658,0,0,0,0,0,0,26.16,26.46,28.83
$GC,5175,-0.68,-171.1,551.1,-13.8,286,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2448,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5478,-0.68,-171.1,592.2,-12.7,301,5483,0.00,2.00,0.00,0.000,4,0.000,0.033,2452,1085,3654,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5509,-0.68,-171.1,595.3,-12.4,302,5515,0.00,2.05,0.00,0.000,6,0.000,0.034,2453,2461,3653,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5843,-0.68,-171.1,629.8,-8.8,314,5849,0.00,2.00,0.00,0.000,4,0.000,0.049,2452,3765,3649,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5881,-0.68,-171.1,632.8,-8.6,315,5886,0.00,1.83,0.00,0.000,6,0.000,0.020,2452,2431,3651,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6210,-0.68,-171.1,662.7,-10.0,326,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2431,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6509,-0.68,-171.1,696.1,-11.3,336,6515,0.00,2.08,0.00,0.000,4,0.000,0.050,2452,3759,3647,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6547,-0.68,-171.1,699.8,-11.1,337,6552,0.00,1.80,0.00,0.000,6,0.000,0.021,2453,2452,3647,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6878,-0.68,-171.1,734.2,-10.2,348,6883,0.00,1.95,0.00,0.000,4,0.000,0.028,2452,1100,3644,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6936,-0.68,-171.1,738.0,-10.1,349,6943,0.00,2.03,0.00,0.000,6,0.000,0.034,2452,2453,3643,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7242,-0.68,-171.1,767.0,-8.2,360,7248,0.00,2.00,0.00,0.000,4,0.000,0.050,2452,3752,3641,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7286,-0.68,-171.1,769.7,-8.0,361,7292,0.00,1.80,0.00,0.000,6,0.000,0.022,2452,2454,3641,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7612,-0.69,-171.1,792.9,-6.6,372,7617,0.00,1.98,0.00,0.000,4,0.000,0.028,2452,1087,3638,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7695,-0.70,-171.1,797.3,-6.7,374,7700,0.00,2.05,0.00,0.000,6,0.000,0.041,2452,2449,3638,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8010,-0.72,-171.1,817.6,-6.0,385,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2449,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,-0.73,-171.1,837.1,-6.9,395,8315,0.00,1.98,0.00,0.000,4,0.000,0.028,2453,1099,3634,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8358,-0.74,-171.1,839.7,-6.9,396,8363,0.00,2.03,0.00,0.000,6,0.000,0.035,2452,2450,3634,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8679,-0.75,-171.1,862.3,-6.7,407,8684,0.00,2.00,0.00,0.000,4,0.000,0.030,2452,1093,3632,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8751,-0.77,-171.1,867.0,-6.9,409,8758,0.00,2.05,0.00,0.000,6,0.000,0.035,2453,2454,3632,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9078,-0.79,-171.1,889.3,-6.1,420,9084,0.12,2.03,0.00,0.000,4,0.088,0.049,2383,3757,3629,0,0,0,0,0,0,26.67,26.11,28.83
$GC,9166,-0.79,-171.1,895.4,-7.5,422,9173,0.12,1.83,0.00,0.000,6,0.153,0.023,2415,2460,3629,0,0,0,0,0,0,26.20,26.60,28.83
$GC,9474,-0.77,-171.1,925.4,-9.2,433,9479,0.00,2.00,0.00,0.000,4,0.000,0.029,2416,1086,3627,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9497,-0.76,-171.1,925.4,-9.2,433,9502,0.00,2.08,0.00,0.000,6,0.000,0.035,2414,2460,3627,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9810,-0.74,-171.1,955.4,-8.8,444,9815,0.00,2.03,0.00,0.000,4,0.000,0.051,2414,3761,3626,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9844,-0.73,-171.1,958.2,-8.7,445,9850,0.00,1.90,0.00,0.000,6,0.000,0.023,2414,2433,3626,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10180,-0.71,-171.1,987.9,-9.3,456,10186,0.00,1.95,0.00,0.000,4,0.000,0.029,2414,1093,3624,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,10211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10211,begin apogee
$GC,10220,-0.20,0.0,991.6,-9.6,457,10373,0.57,0.00,145.07,1.264,6,0.114,0.000,2602,2314,2964,0,0,0,0,0,0,25.71,28.83,23.42
$STATE,10375,end apogee,CONTROL_FINISHED_OK
$STATE,10375,begin climb
$GC,10378,0.42,171.1,998.1,0.0,462,10546,0.57,2.47,157.60,1.193,4,0.072,0.047,2803,3699,2262,0,0,0,0,0,0,24.70,23.90,22.74
$GC,10574,0.48,307.8,994.7,3.8,468,10711,0.00,2.15,128.00,1.179,6,0.000,0.025,2801,2339,1713,0,0,0,0,0,0,28.83,24.60,22.70
$GC,11031,0.55,402.8,968.7,5.2,484,11129,0.12,2.38,90.65,1.153,4,0.082,0.037,2876,910,1317,0,0,0,0,0,0,26.07,24.79,23.69
$GC,11215,0.55,402.8,953.0,8.4,490,11220,0.00,2.17,0.00,0.000,6,0.000,0.031,2876,2304,1311,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11551,0.55,402.8,920.6,10.3,501,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2304,1308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11848,0.55,402.8,887.4,11.1,511,11853,0.00,2.15,0.00,0.000,4,0.000,0.036,2876,902,1306,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11926,0.57,402.8,880.6,10.8,513,11931,0.00,2.12,0.00,0.000,6,0.000,0.031,2876,2316,1306,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12246,0.58,402.8,843.1,11.5,524,12251,0.00,2.12,0.00,0.000,4,0.000,0.036,2876,914,1306,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12310,0.59,402.8,835.9,11.4,526,12315,0.00,2.10,0.00,0.000,6,0.000,0.031,2876,2308,1306,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12645,0.60,402.8,797.5,11.3,537,12650,0.00,2.12,0.00,0.000,4,0.000,0.036,2876,909,1305,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12709,0.62,402.8,790.3,11.3,539,12714,0.00,2.10,0.00,0.000,6,0.000,0.031,2876,2306,1305,0,0,0,0,0,0,28.83,26.39,28.83
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$STATE,20097,end climb,SURFACE_DEPTH_REACHED
$STATE,20097,begin surface coast
$FINISH,0.8,0.998210
$STATE,20120,end surface coast,CONTROL_FINISHED_OK
$STATE,20120,begin surface
$SM_CCo,20198,0.00,0.000,0,0,516,601.48
$SM_GC,1.60,7.40,0.20,0.00,0.028,0.060,0.000,118,2459,516,-7.90,-1.64,601.48,0,0,0,0,0,0,26.22,26.43,28.83
$IRIDIUM_FIX,2141.13,12354.28,171112,000050
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.96
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.80
$XPDR_PINGS,15
$24V_AH,22.7,36.835
$10V_AH,9.7,24.468
$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,20.075,187.150,637.150,0.000,0.000,0.000,0.000,244.075,3.750,0.000,5.879,2967.812,13938.149,783.931,2510.815,419.776,0.000,2301.050,0.000,2189.721,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,63.495,1263.780,0.000,0.000,0.000,0.000,129.285,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20140.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.738,0.000,0.000,0.000
$MEM,329564
$DATA_FILE_SIZE,33348,915
$CAP_FILE_SIZE,227501,0
$CFSIZE,260165632,234123264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.082,136.0,1
$GPS,171112,120635,2141.734,12357.398,31,0.8,31,-3.3