version: 66.11
glider: 167
mission: 14
dive: 254
start: 12 11 112 13 11 29
data:
$ID,167
$MISSION,14
$DIVE,254
$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,-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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,-969143.5
$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,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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,47
$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,0.0012000001
$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
$GPS1,111212,130328,2330.555,12302.789,39,1.3,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.4
$GPS2,111212,131102,2330.565,12302.713,4,1.3,5,-3.7
$SPEED_LIMITS,0.139,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,74.4,95612,-13.8,-8.049,-17.28
$D_GRID,3399
$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,-0.66,-171.1,0.0,0.0,0,73,0.00,0.00,-51.83,0.000,2,0.000,0.000,108,2460,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.66,-171.1,3.1,-4.4,5,119,9.38,2.15,-26.80,0.000,4,0.215,0.045,2479,1070,3667,0,0,0,0,0,0,24.99,26.15,26.64
$GC,188,-0.63,-171.1,15.9,-13.9,15,195,0.00,2.08,0.00,0.000,6,0.000,0.038,2479,2440,3669,0,0,0,0,0,0,28.83,26.15,28.83
$GC,495,-0.57,-171.1,67.2,-16.4,41,497,0.12,0.00,0.00,0.000,6,0.157,0.000,2513,2444,3669,0,0,0,0,0,0,26.33,28.83,28.83
$GC,796,-0.57,-171.1,100.6,-9.8,56,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2441,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1097,-0.58,-171.1,129.5,-9.0,71,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2442,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1398,-0.60,-171.1,156.6,-9.0,86,1403,0.00,2.00,0.00,0.000,4,0.000,0.046,2513,3758,3670,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1430,-0.62,-171.1,158.9,-8.9,87,1436,0.00,1.85,0.00,0.000,6,0.000,0.019,2513,2432,3670,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1744,-0.65,-171.1,185.2,-7.7,103,1750,0.00,1.92,0.00,0.000,4,0.000,0.028,2512,1078,3670,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1778,-0.68,-171.1,187.2,-7.8,104,1783,0.00,2.03,0.00,0.000,6,0.000,0.032,2512,2454,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2092,-0.71,-171.1,211.8,-7.9,120,2098,0.12,1.98,0.00,0.000,4,0.079,0.044,2425,3755,3670,0,0,0,0,0,0,26.70,26.30,28.83
$GC,2178,-0.67,-171.1,222.3,-12.7,124,2184,0.20,1.85,0.00,0.000,6,0.135,0.018,2483,2427,3671,0,0,0,0,0,0,26.09,26.62,28.83
$GC,2502,-0.67,-171.1,254.4,-9.3,140,2507,0.00,1.92,0.00,0.000,4,0.000,0.028,2483,1075,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2575,-0.67,-171.1,260.4,-9.5,143,2581,0.00,2.05,0.00,0.000,6,0.000,0.033,2483,2458,3670,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2889,-0.68,-171.1,289.8,-8.7,159,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2458,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3192,-0.69,-171.1,311.4,-6.1,174,3198,0.00,2.00,0.00,0.000,4,0.000,0.030,2483,1081,3668,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3246,-0.70,-171.1,314.4,-6.2,176,3251,0.00,2.03,0.00,0.000,6,0.000,0.032,2483,2447,3668,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3560,-0.71,-171.1,336.2,-7.3,192,3565,0.00,2.00,0.00,0.000,4,0.000,0.046,2483,3764,3666,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3665,-0.73,-171.1,344.5,-8.1,197,3670,0.00,1.88,0.00,0.000,6,0.000,0.020,2483,2443,3667,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3988,-0.75,-171.1,371.3,-8.3,213,3994,0.00,1.98,0.00,0.000,4,0.000,0.028,2482,1072,3665,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4097,-0.77,-171.1,380.4,-8.9,218,4103,0.00,2.05,0.00,0.000,6,0.000,0.033,2483,2450,3665,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4416,-0.79,-171.1,407.8,-8.7,234,4418,0.12,0.00,0.00,0.000,6,0.079,0.000,2413,2450,3664,0,0,0,0,0,0,26.70,28.83,28.83
$GC,4718,-0.75,-171.1,445.7,-13.0,249,4724,0.12,2.03,0.00,0.000,4,0.151,0.028,2453,1071,3663,0,0,0,0,0,0,26.38,26.44,28.83
$GC,4797,-0.73,-171.1,453.2,-11.6,252,4803,0.00,2.08,0.00,0.000,6,0.000,0.034,2453,2458,3663,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5103,-0.73,-171.1,481.1,-7.8,268,5108,0.00,2.00,0.00,0.000,4,0.000,0.028,2453,1080,3662,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5166,-0.73,-171.1,486.2,-7.9,271,5171,0.00,2.05,0.00,0.000,6,0.000,0.033,2453,2452,3661,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5489,-0.73,-171.1,513.0,-8.6,287,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2452,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5792,-0.73,-171.1,539.7,-8.9,302,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2452,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6091,-0.73,-171.1,566.9,-9.1,317,6097,0.00,2.00,0.00,0.000,4,0.000,0.047,2453,3759,3657,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6164,-0.73,-171.1,573.0,-9.2,320,6169,0.00,1.85,0.00,0.000,6,0.000,0.021,2453,2440,3656,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6487,-0.74,-171.1,603.8,-9.1,336,6493,0.00,1.98,0.00,0.000,4,0.000,0.029,2453,1083,3655,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6530,-0.75,-171.1,606.8,-9.1,337,6535,0.00,2.08,0.00,0.000,6,0.000,0.034,2453,2457,3657,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6857,-0.76,-171.1,633.7,-7.8,348,6862,0.00,2.00,0.00,0.000,4,0.000,0.047,2453,3756,3652,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6894,-0.77,-171.1,636.6,-7.8,349,6900,0.00,1.85,0.00,0.000,6,0.000,0.021,2453,2435,3652,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7226,-0.78,-171.1,662.6,-8.0,360,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2435,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7524,-0.79,-171.1,687.4,-8.3,370,7529,0.00,1.95,0.00,0.000,4,0.000,0.029,2452,1089,3649,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7573,-0.80,-171.1,690.6,-8.4,371,7578,0.00,2.05,0.00,0.000,6,0.000,0.034,2453,2452,3648,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7893,-0.82,-171.1,718.2,-8.0,382,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2452,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8192,-0.83,-171.1,742.8,-8.5,392,8197,0.00,2.03,0.00,0.000,4,0.000,0.047,2452,3763,3644,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8229,-0.85,-171.1,745.8,-8.6,393,8235,0.00,1.85,0.00,0.000,6,0.000,0.024,2452,2456,3645,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8562,-0.86,-171.1,773.4,-8.1,404,8567,0.00,2.05,0.00,0.000,4,0.000,0.048,2448,3765,3642,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8596,-0.88,-171.1,776.4,-8.1,405,8602,0.12,1.90,0.00,0.000,6,0.083,0.024,2389,2439,3642,0,0,0,0,0,0,26.41,26.56,28.83
$GC,8931,-0.84,-171.1,818.2,-12.8,416,8937,0.12,1.98,0.00,0.000,4,0.156,0.028,2427,1087,3640,0,0,0,0,0,0,26.33,26.34,28.83
$GC,8984,-0.81,-171.1,822.3,-12.4,417,8990,0.00,2.08,0.00,0.000,6,0.000,0.041,2427,2449,3640,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9297,-0.81,-171.1,856.3,-10.0,428,9302,0.00,2.03,0.00,0.000,4,0.000,0.049,2427,3757,3637,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9331,-0.81,-171.1,859.4,-9.9,429,9336,0.00,1.88,0.00,0.000,6,0.000,0.024,2427,2442,3637,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9666,-0.81,-171.1,890.2,-8.8,440,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2443,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9965,-0.81,-171.1,914.7,-7.9,450,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2443,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10265,-0.81,-171.1,937.8,-7.5,460,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2443,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10565,-0.81,-171.1,961.0,-8.0,470,10570,0.00,2.08,0.00,0.000,4,0.000,0.049,2427,3761,3633,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10613,-0.81,-171.1,963.7,-7.9,471,10619,0.00,1.88,0.00,0.000,6,0.000,0.025,2427,2450,3635,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10934,-0.81,-171.1,988.9,-7.7,482,10939,0.00,2.08,0.00,0.000,4,0.000,0.055,2427,3756,3628,0,0,0,0,0,0,28.83,25.80,28.83
$STATE,10964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10965,begin apogee
$GC,10974,-0.27,0.0,991.6,-7.7,483,11132,0.55,0.00,150.15,1.340,6,0.109,0.000,2607,2210,2963,0,0,0,0,0,0,25.67,28.83,22.64
$STATE,11134,end apogee,CONTROL_FINISHED_OK
$STATE,11134,begin climb
$GC,11137,0.66,171.1,995.9,0.0,488,11305,0.88,0.00,160.77,1.318,6,0.063,0.000,2913,2208,2264,0,0,0,0,0,0,24.53,28.83,22.24
$GC,11599,0.59,171.1,947.0,13.2,504,11605,0.00,2.22,0.00,0.000,4,0.000,0.047,2913,3602,2251,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11672,0.50,171.1,937.6,13.7,506,11678,0.22,2.10,0.00,0.000,6,0.152,0.029,2859,2208,2250,0,0,0,0,0,0,25.79,26.22,28.83
$GC,11999,0.46,171.1,900.8,10.6,517,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2208,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12297,0.42,171.1,872.9,8.4,527,12302,0.00,2.12,0.00,0.000,4,0.000,0.038,2868,798,2247,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12349,0.38,171.1,869.8,8.4,528,12355,0.15,2.12,0.00,0.000,6,0.125,0.033,2826,2211,2244,0,0,0,0,0,0,26.09,26.32,28.83
$GC,12666,0.43,219.9,847.2,6.5,539,12722,0.00,2.33,46.08,1.245,4,0.000,0.047,2826,3604,2062,0,0,0,0,0,0,28.83,25.37,23.72
$GC,12817,0.43,228.3,835.8,7.8,544,12828,0.00,2.15,4.47,1.154,6,0.000,0.028,2826,2186,2038,0,0,0,0,0,0,28.83,26.00,23.81
$GC,13151,0.47,258.0,812.1,7.1,555,13189,0.00,0.00,35.72,1.214,6,0.000,0.000,2826,2185,1915,0,0,0,0,0,0,28.83,28.83,23.87
$GC,13483,0.50,274.9,788.3,7.5,566,13506,0.10,0.00,17.80,1.213,6,0.096,0.000,2881,2185,1845,0,0,0,0,0,0,26.39,28.83,24.11
$GC,13814,0.48,274.9,752.9,10.7,577,13820,0.00,2.25,0.00,0.000,4,0.000,0.046,2881,3610,1834,0,0,0,0,0,0,28.83,26.12,28.83
$GC,13873,0.45,274.9,748.8,11.0,578,13881,0.12,2.12,0.00,0.000,6,0.148,0.028,2848,2195,1833,0,0,0,0,0,0,26.03,26.30,28.83
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$STATE,22018,end climb,SURFACE_DEPTH_REACHED
$STATE,22018,begin surface coast
$FINISH,0.9,1.001673
$STATE,22037,end surface coast,CONTROL_FINISHED_OK
$STATE,22037,begin surface
$SM_CCo,22115,0.00,0.000,0,0,969,490.60
$SM_GC,1.77,7.28,0.32,0.00,0.031,0.048,0.000,119,2455,969,-7.98,-1.55,490.60,0,0,0,0,0,0,26.36,26.50,28.83
$IRIDIUM_FIX,2319.18,12302.32,111212,060609
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.99
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.30
$XPDR_PINGS,13
$24V_AH,22.2,56.871
$10V_AH,10.2,36.875
$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,20.575,160.900,569.250,0.000,0.000,0.000,0.000,266.475,3.250,0.000,5.428,3062.007,15818.021,696.092,2527.627,455.322,0.000,2215.240,0.000,2183.894,0.000,0.541,0.000
$DEVICE_MAMPS,214.965,55.080,1340.280,0.000,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.921,0.000,0.000,0.000
$MEM,329584
$DATA_FILE_SIZE,36691,969
$CAP_FILE_SIZE,232538,0
$CFSIZE,260165632,224563200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,264.2,1
$GPS,111212,192129,2331.422,12304.455,42,1.2,42,-3.7