version: 66.11
glider: 167
mission: 14
dive: 209
start: 11 30 112 9 33 46
data:
$ID,167
$MISSION,14
$DIVE,209
$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,4
$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,-968999.31
$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,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,53
$R_STBD_OVSHOOT,48
$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,48
$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
$GPS1,301112,092536,2248.915,12157.821,36,1.1,36,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-62.9
$GPS2,301112,093319,2248.927,12157.923,20,1.1,20,-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,306.5,61051,-13.8,-8.049,-17.28
$D_GRID,4348
$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,-171.1,0.0,0.0,0,73,0.00,0.00,-51.65,0.000,2,0.000,0.000,110,2477,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.53,-171.1,3.8,-5.8,5,114,9.70,2.03,-20.40,0.000,4,0.222,0.062,2518,3753,3667,0,0,0,0,0,0,25.13,26.02,26.62
$GC,214,-0.48,-171.1,28.9,-16.2,18,219,0.00,1.90,0.00,0.000,6,0.000,0.018,2517,2390,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,527,-0.44,-171.1,77.9,-14.6,40,529,0.15,0.00,0.00,0.000,6,0.141,0.000,2561,2388,3670,0,0,0,0,0,0,26.28,28.83,28.83
$GC,830,-0.48,-171.1,105.5,-7.9,55,835,0.00,2.10,0.00,0.000,4,0.000,0.045,2561,3750,3670,0,0,0,0,0,0,28.83,26.24,28.83
$GC,888,-0.53,-171.1,108.9,-7.5,57,894,0.00,1.88,0.00,0.000,6,0.000,0.019,2561,2388,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1196,-0.59,-171.1,134.1,-8.0,73,1202,0.12,1.92,0.00,0.000,4,0.078,0.026,2472,1043,3671,0,0,0,0,0,0,26.70,26.46,28.83
$GC,1244,-0.61,-171.1,139.2,-9.4,75,1250,0.12,2.10,0.00,0.000,6,0.146,0.038,2500,2439,3671,0,0,0,0,0,0,26.14,26.33,28.83
$GC,1564,-0.62,-171.1,174.1,-9.8,91,1569,0.00,2.00,0.00,0.000,4,0.000,0.044,2499,3763,3672,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1613,-0.63,-171.1,178.4,-9.7,93,1618,0.00,1.88,0.00,0.000,6,0.000,0.018,2499,2398,3672,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1931,-0.64,-171.1,210.4,-9.7,109,1937,0.00,1.95,0.00,0.000,4,0.000,0.036,2504,1047,3671,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1985,-0.65,-171.1,214.6,-9.5,111,1990,0.00,2.12,0.00,0.000,6,0.000,0.035,2499,2460,3671,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2298,-0.66,-171.1,245.0,-9.5,127,2303,0.00,2.08,0.00,0.000,4,0.000,0.032,2498,1043,3671,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2342,-0.68,-171.1,249.1,-9.4,129,2347,0.00,2.08,0.00,0.000,6,0.000,0.032,2495,2453,3671,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2665,-0.70,-171.1,276.3,-8.5,145,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2452,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2968,-0.72,-171.1,302.4,-8.7,160,2973,0.00,2.08,0.00,0.000,4,0.000,0.031,2496,1033,3669,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3035,-0.74,-171.1,308.4,-8.9,163,3040,0.00,2.12,0.00,0.000,6,0.000,0.034,2495,2451,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3354,-0.76,-171.1,334.6,-7.9,179,3356,0.12,0.00,0.00,0.000,6,0.081,0.000,2421,2451,3667,0,0,0,0,0,0,26.72,28.83,28.83
$GC,3655,-0.72,-171.1,371.8,-13.3,194,3661,0.12,2.05,0.00,0.000,4,0.157,0.025,2461,1044,3666,0,0,0,0,0,0,26.39,26.48,28.83
$GC,3729,-0.71,-171.1,379.4,-12.0,197,3734,0.00,2.10,0.00,0.000,6,0.000,0.034,2461,2456,3665,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4043,-0.71,-171.1,409.4,-8.4,213,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2456,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4346,-0.71,-171.1,436.0,-9.2,228,4351,0.00,1.98,0.00,0.000,4,0.000,0.046,2460,3753,3663,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4384,-0.71,-171.1,438.4,-9.0,229,4392,0.00,1.88,0.00,0.000,6,0.000,0.018,2461,2400,3663,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4689,-0.72,-171.1,466.7,-9.2,245,4695,0.00,2.10,0.00,0.000,4,0.000,0.047,2461,3754,3661,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4747,-0.73,-171.1,471.0,-9.6,247,4754,0.00,1.85,0.00,0.000,6,0.000,0.018,2461,2427,3661,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5053,-0.75,-171.1,500.1,-8.7,263,5058,0.00,1.92,0.00,0.000,4,0.000,0.028,2461,1087,3658,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5091,-0.76,-171.1,502.2,-8.7,264,5097,0.00,2.03,0.00,0.000,6,0.000,0.035,2461,2449,3659,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5398,-0.77,-171.1,529.7,-8.9,280,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2449,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5699,-0.78,-171.1,555.1,-8.2,295,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2450,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5998,-0.80,-171.1,581.5,-9.4,310,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2449,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6319,-0.81,-171.1,610.3,-8.4,324,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2450,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6617,-0.83,-171.1,632.4,-7.5,334,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2450,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6918,-0.85,-171.1,656.5,-7.9,344,6923,0.00,2.03,0.00,0.000,4,0.000,0.050,2460,3759,3647,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6956,-0.87,-171.1,659.0,-7.9,345,6962,0.12,1.83,0.00,0.000,6,0.080,0.021,2395,2446,3646,0,0,0,0,0,0,26.48,26.63,28.83
$GC,7287,-0.83,-171.1,698.2,-12.2,356,7294,0.12,1.98,0.00,0.000,4,0.154,0.027,2433,1093,3644,0,0,0,0,0,0,26.36,26.40,28.83
$GC,7346,-0.79,-171.1,702.2,-11.9,357,7353,0.00,2.05,0.00,0.000,6,0.000,0.034,2433,2459,3644,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7652,-0.79,-171.1,736.0,-10.7,368,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2459,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7953,-0.79,-171.1,769.7,-11.3,378,7958,0.00,2.03,0.00,0.000,4,0.000,0.031,2432,1086,3640,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8020,-0.79,-171.1,776.7,-10.8,380,8025,0.00,2.05,0.00,0.000,6,0.000,0.034,2433,2450,3640,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8351,-0.79,-171.1,808.4,-9.4,391,8357,0.00,2.03,0.00,0.000,4,0.000,0.050,2433,3755,3637,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8385,-0.79,-171.1,811.9,-9.5,392,8390,0.00,1.85,0.00,0.000,6,0.000,0.023,2434,2445,3638,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8720,-0.79,-171.1,844.7,-10.1,403,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2444,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9018,-0.79,-171.1,874.0,-9.3,413,9024,0.00,2.08,0.00,0.000,4,0.000,0.050,2434,3760,3634,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9055,-0.79,-171.1,877.2,-9.2,414,9060,0.00,1.85,0.00,0.000,6,0.000,0.026,2434,2460,3634,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9385,-0.79,-171.1,905.9,-8.6,425,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2460,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9683,-0.79,-171.1,932.4,-9.0,435,9689,0.00,2.03,0.00,0.000,4,0.000,0.030,2433,1074,3631,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9711,-0.79,-171.1,932.4,-9.0,435,9718,0.00,2.08,0.00,0.000,6,0.000,0.037,2433,2446,3630,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10019,-0.80,-171.1,963.1,-9.2,446,10025,0.00,2.05,0.00,0.000,4,0.000,0.051,2433,3759,3629,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10057,-0.81,-171.1,966.6,-9.3,447,10063,0.00,1.88,0.00,0.000,6,0.000,0.024,2433,2435,3629,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,10323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10323,begin apogee
$GC,10330,-0.27,0.0,991.4,-8.9,456,10486,0.52,0.00,148.35,1.236,6,0.110,0.000,2606,2305,2966,0,0,0,0,0,0,25.71,28.83,23.04
$STATE,10487,end apogee,CONTROL_FINISHED_OK
$STATE,10487,begin climb
$GC,10490,0.53,171.1,997.9,0.0,461,10657,0.75,0.00,159.38,1.193,6,0.065,0.000,2869,2305,2265,0,0,0,0,0,0,24.65,28.83,22.50
$GC,10957,0.48,171.1,964.7,9.3,477,10958,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2304,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11256,0.43,171.1,938.2,8.8,487,11261,0.00,2.22,0.00,0.000,4,0.000,0.049,2870,3704,2246,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11293,0.38,171.1,935.1,8.9,488,11299,0.20,2.05,0.00,0.000,6,0.151,0.028,2820,2315,2245,0,0,0,0,0,0,24.70,26.34,28.83
$GC,11622,0.38,220.6,913.1,6.5,499,11675,0.00,2.17,46.22,1.180,4,0.000,0.036,2820,922,2061,0,0,0,0,0,0,28.83,25.39,23.94
$GC,11715,0.39,250.4,906.4,7.1,502,11752,0.00,2.17,29.38,1.196,6,0.000,0.033,2820,2306,1942,0,0,0,0,0,0,28.83,25.72,23.81
$GC,12076,0.40,250.4,876.2,8.6,514,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2307,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12376,0.41,250.4,851.6,8.2,524,12381,0.00,2.20,0.00,0.000,4,0.000,0.049,2820,3704,1931,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12410,0.42,250.4,848.5,8.4,525,12415,0.00,2.08,0.00,0.000,6,0.000,0.027,2820,2302,1930,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12747,0.45,275.8,823.1,7.2,536,12778,0.00,2.12,25.80,1.225,4,0.000,0.035,2820,919,1836,0,0,0,0,0,0,28.83,25.74,24.22
$GC,12821,0.47,300.9,818.6,7.3,538,12855,0.00,2.12,26.20,1.198,6,0.000,0.032,2820,2304,1736,0,0,0,0,0,0,28.83,25.90,23.95
$GC,13168,0.51,324.4,792.1,7.3,550,13198,0.12,0.00,24.85,1.197,6,0.080,0.000,2885,2304,1639,0,0,0,0,0,0,26.34,28.83,24.13
$GC,13499,0.49,324.4,757.2,10.7,561,13505,0.00,2.12,0.00,0.000,4,0.000,0.038,2891,914,1631,0,0,0,0,0,0,28.83,26.04,28.83
$GC,13552,0.48,324.4,753.3,10.8,562,13559,0.12,2.12,0.00,0.000,6,0.129,0.032,2857,2312,1631,0,0,0,0,0,0,26.03,26.20,28.83
$GC,13869,0.48,324.4,720.3,9.7,573,13875,0.00,2.12,0.00,0.000,4,0.000,0.036,2857,905,1630,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,21895,end climb,SURFACE_DEPTH_REACHED
$STATE,21895,begin surface coast
$FINISH,0.8,1.013770
$STATE,21926,end surface coast,CONTROL_FINISHED_OK
$STATE,21926,begin surface
$SM_CCo,22005,0.00,0.000,0,0,1116,454.30
$SM_GC,1.64,7.22,0.17,0.00,0.028,0.070,0.000,121,2456,1116,-7.97,-1.55,454.30,0,0,0,0,0,0,26.44,26.59,28.83
$IRIDIUM_FIX,2237.01,12158.34,301112,030341
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.65
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.80
$XPDR_PINGS,11
$24V_AH,22.5,47.962
$10V_AH,10.2,31.317
$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,20.300,160.300,545.050,0.000,0.000,0.000,0.000,264.350,2.750,0.000,21.957,3037.394,15827.668,687.249,2471.394,436.052,0.000,2155.338,0.000,2116.283,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,78.795,1236.240,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21935.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.348,0.000,0.000,0.000
$MEM,323808
$DATA_FILE_SIZE,36649,975
$CAP_FILE_SIZE,230515,0
$CFSIZE,260165632,228917248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,344.5,1
$GPS,301112,154153,2252.247,12154.405,39,1.0,39,-3.4