version: 66.11
glider: 167
mission: 14
dive: 203
start: 11 28 112 19 50 20
data:
$ID,167
$MISSION,14
$DIVE,203
$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,410
$T_MISSION,430
$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,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,-968941.44
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,0.5
$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,82
$R_STBD_OVSHOOT,58
$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,21
$MINV_10V,9
$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
$GPS1,281112,194305,2238.689,12218.645,41,0.9,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-66.8
$GPS2,281112,194951,2238.683,12218.594,6,1.0,6,-3.4
$SPEED_LIMITS,0.139,0.259
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,304.6,101046,-13.8,-8.049,-17.28
$D_GRID,4991
$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,-0.53,-171.1,0.0,0.0,0,93,0.00,0.00,-72.10,0.000,2,0.000,0.000,120,2477,2693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.53,-171.1,3.4,-4.2,7,135,9.77,2.08,-22.15,0.000,4,0.228,0.037,2522,1063,3666,0,0,0,0,0,0,25.17,26.22,26.63
$GC,247,-0.50,-171.1,24.9,-14.5,21,255,0.00,2.05,0.00,0.000,6,0.000,0.034,2520,2435,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,564,-0.47,-171.1,73.6,-14.4,45,570,0.00,2.00,0.00,0.000,4,0.000,0.043,2520,3760,3668,0,0,0,0,0,0,28.83,26.30,28.83
$GC,608,-0.44,-171.1,79.8,-14.4,47,615,0.12,1.85,0.00,0.000,6,0.140,0.019,2554,2414,3668,0,0,0,0,0,0,26.24,26.58,28.83
$GC,933,-0.47,-171.1,110.5,-8.9,63,938,0.00,1.88,0.00,0.000,4,0.000,0.026,2555,1092,3668,0,0,0,0,0,0,28.83,26.48,28.83
$GC,961,-0.51,-171.1,112.4,-8.8,64,968,0.00,2.00,0.00,0.000,6,0.000,0.034,2555,2452,3668,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1281,-0.56,-171.1,135.9,-5.3,80,1283,0.10,0.00,0.00,0.000,6,0.092,0.000,2481,2452,3669,0,0,0,0,0,0,26.72,28.83,28.83
$GC,1584,-0.54,-171.1,171.3,-11.8,95,1589,0.12,1.95,0.00,0.000,4,0.143,0.041,2520,3750,3669,0,0,0,0,0,0,26.46,26.39,28.83
$GC,1630,-0.54,-171.1,175.9,-10.8,97,1636,0.00,1.77,0.00,0.000,6,0.000,0.020,2519,2462,3669,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1949,-0.57,-171.1,201.6,-7.6,113,1955,0.00,1.95,0.00,0.000,4,0.000,0.025,2520,1085,3669,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2043,-0.60,-171.1,208.5,-8.1,117,2048,0.00,2.00,0.00,0.000,6,0.000,0.032,2519,2449,3669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2356,-0.63,-171.1,234.4,-7.7,133,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2450,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2660,-0.66,-171.1,256.8,-7.5,148,2665,0.10,1.98,0.00,0.000,4,0.093,0.026,2450,1083,3667,0,0,0,0,0,0,26.74,26.55,28.83
$GC,2713,-0.67,-171.1,261.8,-9.0,150,2720,0.15,2.00,0.00,0.000,6,0.138,0.031,2484,2447,3667,0,0,0,0,0,0,26.23,26.50,28.83
$GC,3028,-0.68,-171.1,292.8,-8.9,166,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2449,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3330,-0.69,-171.1,319.4,-9.0,181,3336,0.00,1.98,0.00,0.000,4,0.000,0.043,2480,3763,3666,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3375,-0.69,-171.1,323.4,-8.8,183,3381,0.00,1.83,0.00,0.000,6,0.000,0.019,2482,2448,3665,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3699,-0.70,-171.1,353.3,-9.4,199,3704,0.00,1.95,0.00,0.000,4,0.000,0.026,2480,1083,3664,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3767,-0.71,-171.1,359.9,-10.2,202,3773,0.00,2.03,0.00,0.000,6,0.000,0.031,2480,2458,3664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4086,-0.72,-171.1,391.8,-9.3,218,4091,0.00,1.95,0.00,0.000,4,0.000,0.043,2480,3756,3662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4126,-0.73,-171.1,393.9,-9.2,219,4132,0.00,1.83,0.00,0.000,6,0.000,0.020,2480,2441,3662,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4430,-0.75,-171.1,421.0,-8.5,235,4435,0.00,1.95,0.00,0.000,4,0.000,0.026,2482,1070,3661,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4458,-0.76,-171.1,423.1,-8.6,236,4463,0.00,2.05,0.00,0.000,6,0.000,0.031,2480,2460,3661,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4776,-0.78,-171.1,451.7,-8.4,252,4782,0.00,1.98,0.00,0.000,4,0.000,0.044,2480,3759,3660,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4810,-0.80,-171.1,453.8,-8.3,253,4816,0.12,1.83,0.00,0.000,6,0.080,0.020,2411,2430,3660,0,0,0,0,0,0,26.56,26.70,28.83
$GC,5124,-0.76,-171.1,493.3,-12.5,269,5130,0.12,1.90,0.00,0.000,4,0.151,0.024,2450,1096,3658,0,0,0,0,0,0,26.41,26.53,28.83
$GC,5178,-0.73,-171.1,498.2,-11.8,271,5184,0.00,2.03,-0.08,0.000,6,0.000,0.033,2450,2457,3682,0,0,0,0,0,0,28.83,26.17,25.16
$GC,5492,-0.73,-171.1,531.3,-10.1,287,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2456,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5794,-0.73,-171.1,559.6,-9.4,302,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2456,3679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6093,-0.73,-171.1,586.3,-8.5,317,6099,0.00,1.98,0.00,0.000,4,0.000,0.045,2450,3755,3676,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6158,-0.74,-171.1,591.7,-8.3,320,6164,0.00,1.80,0.00,0.000,6,0.000,0.022,2450,2452,3676,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6495,-0.75,-171.1,616.6,-7.3,333,6501,0.00,1.95,0.00,0.000,4,0.000,0.027,2449,1090,3674,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6548,-0.76,-171.1,619.5,-7.5,334,6554,0.00,2.03,0.00,0.000,6,0.000,0.033,2449,2450,3674,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6863,-0.77,-171.1,647.6,-9.0,345,6868,0.00,2.00,0.00,0.000,4,0.000,0.046,2450,3762,3672,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6951,-0.78,-171.1,653.8,-9.5,347,6958,0.00,1.85,0.00,0.000,6,0.000,0.023,2450,2449,3672,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7258,-0.79,-171.1,684.6,-9.4,358,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2448,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7557,-0.80,-171.1,710.9,-8.3,368,7563,0.00,2.03,0.00,0.000,4,0.000,0.047,2450,3756,3667,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7606,-0.82,-171.1,713.9,-8.5,369,7611,0.00,1.85,0.00,0.000,6,0.000,0.024,2450,2452,3667,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7926,-0.83,-171.1,742.7,-8.8,380,7932,0.00,2.05,0.00,0.000,4,0.000,0.053,2450,3765,3665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7979,-0.84,-171.1,746.0,-8.8,381,7985,0.00,1.88,0.00,0.000,6,0.000,0.024,2450,2448,3664,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8295,-0.86,-171.1,773.0,-7.6,392,8301,0.00,1.98,0.00,0.000,4,0.000,0.028,2450,1082,3663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8334,-0.87,-171.1,775.7,-7.5,393,8339,0.00,2.05,0.00,0.000,6,0.000,0.034,2450,2451,3662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8665,-0.88,-171.1,797.4,-6.5,404,8671,0.12,2.03,0.00,0.000,4,0.086,0.046,2380,3755,3660,0,0,0,0,0,0,26.67,26.21,28.83
$GC,8747,-0.87,-171.1,804.2,-8.4,406,8753,0.15,1.85,0.00,0.000,6,0.147,0.024,2421,2439,3659,0,0,0,0,0,0,26.14,26.60,28.83
$GC,9063,-0.86,-171.1,834.8,-9.3,417,9069,0.00,1.95,0.00,0.000,4,0.000,0.028,2421,1088,3657,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9121,-0.85,-171.1,838.2,-9.5,418,9128,0.00,2.08,0.00,0.000,6,0.000,0.034,2420,2458,3657,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9427,-0.84,-171.1,870.3,-9.9,429,9433,0.00,2.03,0.00,0.000,4,0.000,0.048,2420,3762,3655,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9451,-0.82,-171.1,870.3,-9.9,429,9457,0.00,1.88,0.00,0.000,6,0.000,0.025,2421,2448,3656,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9766,-0.81,-171.1,903.2,-9.6,440,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2447,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10065,-0.81,-171.1,931.6,-9.4,450,10070,0.00,2.05,0.00,0.000,4,0.000,0.048,2420,3759,3653,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10099,-0.80,-171.1,934.7,-9.4,451,10105,0.00,1.88,0.00,0.000,6,0.000,0.026,2420,2452,3653,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10435,-0.79,-171.1,964.2,-8.7,462,10441,0.00,2.03,0.00,0.000,4,0.000,0.029,2420,1073,3652,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10464,-0.78,-171.1,964.2,-8.7,462,10470,0.00,2.08,0.00,0.000,6,0.000,0.035,2420,2449,3651,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,10737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10737,begin apogee
$GC,10743,-0.27,0.0,992.1,-9.2,472,10905,0.57,0.00,152.05,1.299,6,0.114,0.000,2607,2297,2963,0,0,0,0,0,0,25.70,28.83,23.01
$STATE,10906,end apogee,CONTROL_FINISHED_OK
$STATE,10906,begin climb
$GC,10909,0.53,171.1,998.0,0.0,477,11074,0.75,0.00,158.02,1.201,6,0.063,0.000,2870,2297,2269,0,0,0,0,0,0,24.60,28.83,22.54
$GC,11369,0.48,171.1,962.7,10.2,493,11375,0.00,2.25,0.00,0.000,4,0.000,0.047,2870,3707,2251,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11452,0.42,171.1,955.4,10.9,495,11458,0.15,2.05,0.00,0.000,6,0.151,0.028,2839,2329,2250,0,0,0,0,0,0,25.87,26.20,28.83
$GC,11768,0.39,171.1,924.6,8.7,506,11773,0.00,2.15,0.00,0.000,4,0.000,0.036,2846,899,2249,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11841,0.37,171.1,919.0,8.6,508,11847,0.00,2.12,0.00,0.000,6,0.000,0.032,2846,2311,2246,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12167,0.34,171.1,889.7,8.8,519,12173,0.12,2.15,0.00,0.000,4,0.142,0.046,2800,3699,2246,0,0,0,0,0,0,26.29,26.25,28.83
$GC,12195,0.31,171.1,889.7,8.8,519,12202,0.00,2.08,0.00,0.000,6,0.000,0.028,2805,2288,2245,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12501,0.32,206.3,865.3,6.9,530,12539,0.00,2.12,32.22,1.235,4,0.000,0.039,2805,907,2121,0,0,0,0,0,0,28.83,25.63,24.09
$GC,12614,0.34,235.3,858.8,7.1,533,12652,0.00,2.15,29.67,1.244,6,0.000,0.031,2806,2313,2001,0,0,0,0,0,0,28.83,25.81,23.87
$GC,12953,0.37,261.8,833.0,7.2,545,12987,0.00,2.28,25.90,1.234,4,0.000,0.047,2805,3695,1894,0,0,0,0,0,0,28.83,25.53,24.06
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$STATE,21812,end climb,SURFACE_DEPTH_REACHED
$STATE,21812,begin surface coast
$FINISH,0.9,1.010373
$STATE,21844,end surface coast,CONTROL_FINISHED_OK
$STATE,21844,begin surface
$SM_CCo,21923,0.00,0.000,0,0,1089,460.92
$SM_GC,1.75,7.22,0.17,0.00,0.031,0.072,0.000,118,2454,1089,-7.97,-1.58,460.92,0,0,0,0,0,0,26.50,26.61,28.83
$IRIDIUM_FIX,2227.67,12221.11,281112,131359
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.45
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.70
$XPDR_PINGS,16
$24V_AH,22.5,46.815
$10V_AH,10.1,30.531
$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,20.950,187.225,585.700,0.000,0.000,0.000,0.000,228.175,4.000,0.000,6.728,3139.505,15418.515,751.736,2576.734,435.434,0.000,2295.013,0.000,2255.441,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,71.910,1298.970,0.000,0.000,0.000,0.000,129.285,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21858.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.355,0.000,0.000,0.000
$MEM,323824
$DATA_FILE_SIZE,36703,969
$CAP_FILE_SIZE,242890,0
$CFSIZE,260165632,229502976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064, 58.4,1
$GPS,291112,015705,2241.021,12216.295,39,1.0,39,-3.4