version: 66.11
glider: 167
mission: 14
dive: 255
start: 12 11 112 19 29 37
data:
$ID,167
$MISSION,14
$DIVE,255
$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,3
$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,-969144.75
$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,63
$R_STBD_OVSHOOT,54
$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
$GPS1,111212,192129,2331.422,12304.455,42,1.2,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-59.3
$GPS2,111212,192910,2331.401,12304.332,4,1.0,5,-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,79.4,92489,-13.8,-8.049,-17.28
$D_GRID,3655
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.66,-171.1,0.0,0.0,0,85,0.00,0.00,-62.78,0.000,2,0.000,0.000,108,2468,2621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.66,-171.1,3.1,-3.3,6,132,9.43,2.17,-26.70,0.000,4,0.217,0.045,2477,1053,3668,0,0,0,0,0,0,25.08,26.17,26.65
$GC,211,-0.63,-171.1,18.7,-16.0,17,218,0.00,2.10,0.00,0.000,6,0.000,0.038,2477,2442,3669,0,0,0,0,0,0,28.83,26.19,28.83
$GC,518,-0.57,-171.1,70.1,-14.6,42,524,0.12,2.00,0.00,0.000,4,0.158,0.042,2510,3756,3670,0,0,0,0,0,0,26.27,26.22,28.83
$GC,553,-0.53,-171.1,73.9,-14.6,43,558,0.00,1.85,0.00,0.000,6,0.000,0.018,2510,2411,3669,0,0,0,0,0,0,28.83,26.55,28.83
$GC,865,-0.53,-171.1,114.6,-10.8,59,872,0.00,1.90,0.00,0.000,4,0.000,0.029,2510,1084,3669,0,0,0,0,0,0,28.83,26.43,28.83
$GC,939,-0.53,-171.1,121.1,-10.3,62,945,0.00,2.03,0.00,0.000,6,0.000,0.034,2510,2452,3670,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1253,-0.54,-171.1,151.8,-9.4,78,1258,0.00,1.98,0.00,0.000,4,0.000,0.044,2507,3752,3670,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1331,-0.55,-171.1,157.9,-9.6,81,1337,0.00,1.80,0.00,0.000,6,0.000,0.017,2507,2434,3670,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1637,-0.57,-171.1,186.2,-9.0,97,1643,0.00,1.92,0.00,0.000,4,0.000,0.029,2507,1091,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1721,-0.59,-171.1,193.8,-9.0,101,1726,0.00,2.03,0.00,0.000,6,0.000,0.034,2507,2449,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2045,-0.61,-171.1,222.3,-9.2,117,2050,0.00,1.98,0.00,0.000,4,0.000,0.044,2507,3757,3670,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2137,-0.63,-171.1,230.1,-9.3,121,2142,0.00,1.80,0.00,0.000,6,0.000,0.018,2507,2445,3670,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2450,-0.65,-171.1,259.0,-8.7,137,2456,0.00,1.95,0.00,0.000,4,0.000,0.029,2507,1085,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2543,-0.68,-171.1,266.3,-8.7,141,2549,0.00,2.03,0.00,0.000,6,0.000,0.034,2507,2452,3668,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2857,-0.70,-171.1,291.4,-7.5,157,2862,0.00,2.00,0.00,0.000,4,0.000,0.031,2507,1083,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2904,-0.73,-171.1,295.0,-7.7,159,2911,0.12,2.03,0.00,0.000,6,0.079,0.032,2426,2457,3669,0,0,0,0,0,0,26.41,26.44,28.83
$GC,3225,-0.69,-171.1,334.0,-11.6,175,3230,0.15,2.00,0.00,0.000,4,0.142,0.026,2473,1083,3668,0,0,0,0,0,0,26.33,26.46,28.83
$GC,3278,-0.66,-171.1,338.4,-10.8,177,3284,0.00,2.03,0.00,0.000,6,0.000,0.034,2473,2449,3668,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3594,-0.66,-171.1,367.9,-9.4,193,3599,0.00,1.98,0.00,0.000,4,0.000,0.046,2473,3751,3667,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3666,-0.67,-171.1,374.1,-9.6,196,3671,0.00,1.80,0.00,0.000,6,0.000,0.017,2473,2440,3667,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3979,-0.67,-171.1,403.2,-9.0,212,3985,0.00,1.95,0.00,0.000,4,0.000,0.028,2472,1083,3666,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4078,-0.68,-171.1,411.0,-9.2,216,4084,0.00,2.03,0.00,0.000,6,0.000,0.034,2473,2450,3665,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4383,-0.69,-171.1,438.1,-8.2,232,4388,0.00,2.00,0.00,0.000,4,0.000,0.028,2470,1087,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4417,-0.71,-171.1,440.0,-8.1,233,4422,0.00,2.03,0.00,0.000,6,0.000,0.033,2473,2455,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4730,-0.72,-171.1,464.8,-7.9,249,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2455,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5032,-0.74,-171.1,489.1,-8.4,264,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2456,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5333,-0.75,-171.1,513.5,-7.9,279,5339,0.00,2.00,0.00,0.000,4,0.000,0.048,2473,3759,3662,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5387,-0.77,-171.1,517.2,-7.9,281,5393,0.00,1.83,0.00,0.000,6,0.000,0.019,2473,2434,3661,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5701,-0.80,-171.1,544.5,-9.3,297,5706,0.00,1.95,0.00,0.000,4,0.000,0.028,2473,1087,3658,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5785,-0.82,-171.1,553.3,-10.5,301,5791,0.12,2.03,0.00,0.000,6,0.082,0.034,2403,2450,3657,0,0,0,0,0,0,26.36,26.39,28.83
$GC,6110,-0.79,-171.1,598.2,-14.3,317,6115,0.12,2.00,0.00,0.000,4,0.155,0.046,2440,3751,3656,0,0,0,0,0,0,26.37,26.20,28.83
$GC,6137,-0.76,-171.1,601.5,-13.9,318,6144,0.00,1.80,0.00,0.000,6,0.000,0.020,2440,2447,3656,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6443,-0.76,-171.1,639.0,-11.8,329,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2447,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6744,-0.76,-171.1,670.5,-10.0,339,6750,0.00,2.05,0.00,0.000,4,0.000,0.049,2440,3758,3652,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6802,-0.76,-171.1,673.8,-9.9,340,6809,0.00,1.83,0.00,0.000,6,0.000,0.021,2440,2450,3652,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7109,-0.76,-171.1,705.0,-9.4,351,7114,0.00,1.98,0.00,0.000,4,0.000,0.030,2440,1092,3650,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7146,-0.76,-171.1,708.2,-9.4,352,7151,0.00,2.05,0.00,0.000,6,0.000,0.034,2440,2458,3654,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7474,-0.76,-171.1,737.6,-8.6,363,7480,0.00,2.00,0.00,0.000,4,0.000,0.050,2440,3751,3648,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7523,-0.76,-171.1,740.5,-8.6,364,7528,0.00,1.83,0.00,0.000,6,0.000,0.021,2440,2441,3647,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7843,-0.76,-171.1,767.9,-8.3,375,7848,0.00,2.08,0.00,0.000,4,0.000,0.050,2440,3760,3646,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7896,-0.77,-171.1,770.9,-8.4,376,7902,0.00,1.85,0.00,0.000,6,0.000,0.022,2440,2444,3645,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8212,-0.78,-171.1,800.0,-9.1,387,8218,0.00,1.98,0.00,0.000,4,0.000,0.030,2440,1099,3643,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8280,-0.79,-171.1,806.0,-9.2,389,8286,0.00,2.05,0.00,0.000,6,0.000,0.041,2440,2451,3642,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8611,-0.79,-171.1,835.5,-8.8,400,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2451,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8909,-0.80,-171.1,862.4,-9.2,410,8914,0.00,2.05,0.00,0.000,4,0.000,0.052,2439,3762,3639,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8967,-0.81,-171.1,865.6,-9.4,411,8974,0.00,1.85,0.00,0.000,6,0.000,0.024,2440,2461,3638,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9272,-0.82,-171.1,896.2,-9.2,422,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2460,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9573,-0.83,-171.1,922.5,-8.6,432,9578,0.00,2.05,0.00,0.000,4,0.000,0.055,2440,3750,3636,0,0,0,0,0,0,28.83,24.94,28.83
$GC,9615,-0.84,-171.1,925.5,-8.7,433,9620,0.00,1.85,0.00,0.000,6,0.000,0.024,2440,2446,3633,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9940,-0.85,-171.1,953.9,-8.6,444,9946,0.00,2.10,0.00,0.000,4,0.000,0.057,2441,3759,3634,0,0,0,0,0,0,28.83,25.11,28.83
$GC,9989,-0.87,-171.1,957.1,-8.6,445,9994,0.00,1.88,0.00,0.000,6,0.000,0.024,2440,2438,3634,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10310,-0.88,-171.1,985.0,-8.2,456,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2437,3632,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10395,begin apogee
$GC,10402,-0.27,0.0,992.3,-8.2,459,10561,0.50,0.00,149.77,1.353,6,0.106,0.000,2606,2188,2963,0,0,0,0,0,0,25.81,28.83,22.69
$STATE,10563,end apogee,CONTROL_FINISHED_OK
$STATE,10563,begin climb
$GC,10566,0.66,171.1,998.3,0.0,464,10732,0.88,0.00,161.43,1.322,6,0.063,0.000,2913,2187,2269,0,0,0,0,0,0,24.61,28.83,22.27
$GC,11028,0.58,171.1,955.7,11.4,480,11034,0.00,2.25,0.00,0.000,4,0.000,0.049,2913,3603,2250,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11062,0.50,171.1,951.3,11.7,481,11068,0.22,2.05,0.00,0.000,6,0.151,0.028,2858,2229,2250,0,0,0,0,0,0,25.78,26.18,28.83
$GC,11397,0.46,171.1,919.9,9.3,492,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2229,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11697,0.42,171.1,890.9,9.8,502,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2229,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11997,0.38,171.1,863.0,9.2,512,12002,0.12,2.17,0.00,0.000,4,0.155,0.047,2818,3615,2245,0,0,0,0,0,0,26.27,26.20,28.83
$GC,12093,0.35,171.1,855.0,8.6,515,12099,0.00,2.10,0.00,0.000,6,0.000,0.027,2818,2193,2244,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12429,0.42,228.6,832.7,6.2,526,12487,0.00,0.00,54.22,1.236,6,0.000,0.000,2818,2193,2034,0,0,0,0,0,0,28.83,28.83,23.64
$GC,12790,0.50,285.0,810.3,6.3,538,12849,0.12,0.00,56.40,1.207,6,0.082,0.000,2889,2192,1806,0,0,0,0,0,0,26.37,28.83,23.65
$GC,13148,0.47,285.0,773.2,10.5,550,13154,0.12,2.10,0.00,0.000,4,0.133,0.036,2854,804,1789,0,0,0,0,0,0,26.14,26.13,28.83
$GC,13172,0.45,285.0,773.2,10.5,550,13177,0.00,2.12,0.00,0.000,6,0.000,0.031,2854,2213,1789,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,21553,end climb,SURFACE_DEPTH_REACHED
$STATE,21553,begin surface coast
$FINISH,0.9,1.023564
$STATE,21585,end surface coast,CONTROL_FINISHED_OK
$STATE,21586,begin surface
$SM_CCo,21604,2.72,0.153,0,0,1336,400.08
$SM_GC,2.65,7.30,0.35,2.72,0.034,0.042,0.153,114,2453,1336,-8.00,-1.61,400.08,0,0,0,0,0,0,26.34,26.57,25.51
$IRIDIUM_FIX,2321.52,12300.35,111212,131338
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.18
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.30
$XPDR_PINGS,11
$24V_AH,22.3,57.061
$10V_AH,10.1,36.997
$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,20.275,187.325,521.650,2.725,0.000,0.000,0.000,275.350,2.750,0.000,5.459,3147.811,15130.530,743.724,2592.014,448.470,0.000,2282.465,0.000,2235.302,0.000,0.542,0.000
$DEVICE_MAMPS,217.260,57.375,1353.285,153.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21599.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.915,0.000,0.000,0.000
$MEM,329548
$DATA_FILE_SIZE,36661,959
$CAP_FILE_SIZE,236247,0
$CFSIZE,260165632,224460800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.112,283.9,1
$GPS,121212,013105,2332.566,12306.279,35,0.9,35,-3.7