version: 66.11
glider: 167
mission: 14
dive: 276
start: 12 17 112 5 9 46
data:
$ID,167
$MISSION,14
$DIVE,276
$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,-969171
$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,72
$R_STBD_OVSHOOT,46
$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
$GPS1,171212,050130,2348.475,12349.259,40,0.8,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-61.4
$GPS2,171212,050919,2348.427,12349.136,4,0.8,4,-3.8
$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,76.1,10352,-13.8,-8.049,-17.28
$D_GRID,3195
$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,-171.1,0.0,0.0,0,84,0.00,0.00,-62.30,0.000,2,0.000,0.000,110,2458,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.66,-171.1,3.2,-3.7,6,130,9.52,2.08,-23.65,0.000,4,0.220,0.043,2476,1064,3668,0,0,0,0,0,0,24.96,26.16,26.65
$GC,216,-0.63,-171.1,19.6,-14.5,18,221,0.00,2.08,0.00,0.000,6,0.000,0.034,2476,2449,3669,0,0,0,0,0,0,28.83,26.20,28.83
$GC,540,-0.58,-171.1,68.8,-15.0,44,541,0.12,0.00,0.00,0.000,6,0.155,0.000,2509,2449,3673,0,0,0,0,0,0,26.34,28.83,28.83
$GC,840,-0.58,-171.1,105.3,-10.8,59,845,0.00,2.03,0.00,0.000,4,0.000,0.030,2510,1062,3669,0,0,0,0,0,0,28.83,26.39,28.83
$GC,873,-0.59,-171.1,107.8,-10.4,60,878,0.00,2.08,0.00,0.000,6,0.000,0.032,2507,2462,3669,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1186,-0.60,-171.1,139.3,-10.2,76,1191,0.00,2.05,0.00,0.000,4,0.000,0.029,2508,1060,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1249,-0.61,-171.1,146.4,-11.1,79,1255,0.00,2.08,0.00,0.000,6,0.000,0.033,2507,2459,3670,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1573,-0.63,-171.1,181.6,-10.3,95,1578,0.00,1.98,0.00,0.000,4,0.000,0.047,2507,3755,3670,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1610,-0.65,-171.1,184.0,-10.2,96,1618,0.00,1.85,0.00,0.000,6,0.000,0.018,2507,2414,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1916,-0.67,-171.1,213.2,-8.4,112,1922,0.00,1.90,0.00,0.000,4,0.000,0.028,2507,1086,3670,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1964,-0.70,-171.1,217.0,-8.5,114,1970,0.00,2.03,0.00,0.000,6,0.000,0.031,2507,2457,3668,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2283,-0.72,-171.1,241.8,-7.3,130,2289,0.12,2.00,0.00,0.000,4,0.078,0.026,2420,1083,3670,0,0,0,0,0,0,26.69,26.44,28.83
$GC,2312,-0.73,-171.1,244.3,-7.9,131,2319,0.17,2.03,0.00,0.000,6,0.140,0.032,2465,2454,3670,0,0,0,0,0,0,26.04,26.39,28.83
$GC,2632,-0.72,-171.1,275.9,-9.2,147,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2453,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2935,-0.72,-171.1,304.1,-9.8,162,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2453,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,-0.72,-171.1,335.4,-10.2,177,3239,0.00,2.00,0.00,0.000,4,0.000,0.028,2465,1080,3669,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3266,-0.72,-171.1,337.9,-10.1,178,3271,0.00,2.03,0.00,0.000,6,0.000,0.032,2465,2447,3669,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3579,-0.72,-171.1,368.6,-9.7,194,3584,0.00,1.98,0.00,0.000,4,0.000,0.028,2465,1086,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3612,-0.72,-171.1,371.0,-9.8,195,3617,0.00,2.05,0.00,0.000,6,0.000,0.032,2465,2455,3667,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3925,-0.72,-171.1,404.8,-10.9,211,3930,0.00,2.00,0.00,0.000,4,0.000,0.048,2465,3762,3667,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3972,-0.72,-171.1,409.6,-11.1,213,3977,0.00,1.83,0.00,0.000,6,0.000,0.019,2465,2453,3666,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4291,-0.73,-171.1,442.2,-9.3,229,4296,0.00,1.98,0.00,0.000,4,0.000,0.028,2465,1077,3665,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4375,-0.74,-171.1,450.0,-9.2,233,4380,0.00,2.05,0.00,0.000,6,0.000,0.033,2465,2450,3667,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4699,-0.75,-171.1,475.6,-8.0,249,4705,0.00,1.98,0.00,0.000,4,0.000,0.028,2465,1082,3663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4732,-0.76,-171.1,477.7,-8.2,250,4737,0.00,2.05,0.00,0.000,6,0.000,0.032,2465,2450,3663,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5046,-0.78,-171.1,503.3,-7.9,266,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2450,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5349,-0.80,-171.1,526.0,-7.5,281,5354,0.00,2.03,0.00,0.000,4,0.000,0.050,2465,3765,3661,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5433,-0.81,-171.1,532.9,-7.9,285,5439,0.00,1.88,0.00,0.000,6,0.000,0.021,2465,2435,3660,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5757,-0.84,-171.1,560.8,-8.9,301,5763,0.12,1.98,0.00,0.000,4,0.080,0.027,2389,1078,3658,0,0,0,0,0,0,26.65,26.41,28.83
$GC,5804,-0.84,-171.1,565.6,-9.7,303,5810,0.17,2.05,0.00,0.000,6,0.147,0.040,2431,2446,3658,0,0,0,0,0,0,25.47,24.75,28.83
$GC,6123,-0.83,-171.1,597.6,-9.2,319,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2446,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6433,-0.82,-171.1,623.5,-8.3,330,6439,0.00,2.00,0.00,0.000,4,0.000,0.028,2431,1078,3654,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6471,-0.81,-171.1,626.4,-8.6,331,6476,0.00,2.08,0.00,0.000,6,0.000,0.034,2440,2458,3654,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6801,-0.81,-171.1,654.0,-8.0,342,6806,0.00,2.03,0.00,0.000,4,0.000,0.028,2431,1080,3652,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6828,-0.81,-171.1,654.0,-8.0,342,6835,0.00,2.08,0.00,0.000,6,0.000,0.034,2434,2452,3651,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7136,-0.81,-171.1,683.1,-9.0,353,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2452,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7434,-0.81,-171.1,713.3,-10.5,363,7439,0.00,2.03,0.00,0.000,4,0.000,0.050,2431,3761,3649,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7512,-0.81,-171.1,720.2,-10.8,365,7517,0.00,1.88,0.00,0.000,6,0.000,0.021,2431,2445,3648,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7830,-0.81,-171.1,754.0,-9.9,376,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2446,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8131,-0.81,-171.1,782.5,-9.6,386,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2445,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8430,-0.81,-171.1,811.9,-9.7,396,8435,0.00,2.00,0.00,0.000,4,0.000,0.030,2432,1074,3644,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8493,-0.81,-171.1,818.1,-9.8,398,8498,0.00,2.12,0.00,0.000,6,0.000,0.035,2431,2460,3642,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8828,-0.81,-171.1,847.6,-8.5,409,8833,0.00,2.03,0.00,0.000,4,0.000,0.052,2432,3759,3640,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8891,-0.81,-171.1,853.2,-8.7,411,8896,0.00,1.90,0.00,0.000,6,0.000,0.023,2432,2445,3640,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9227,-0.81,-171.1,878.7,-7.0,422,9232,0.00,2.00,0.00,0.000,4,0.000,0.029,2431,1076,3638,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9263,-0.81,-171.1,881.4,-7.2,423,9269,0.00,2.10,0.00,0.000,6,0.000,0.036,2432,2460,3638,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9592,-0.81,-171.1,907.7,-8.4,434,9598,0.00,2.05,0.00,0.000,4,0.000,0.053,2431,3768,3636,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9625,-0.81,-171.1,910.7,-8.5,435,9631,0.00,1.90,0.00,0.000,6,0.000,0.023,2432,2443,3636,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9962,-0.82,-171.1,938.9,-8.5,446,9967,0.00,2.10,0.00,0.000,4,0.000,0.051,2431,3767,3634,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10015,-0.83,-171.1,942.1,-8.5,447,10020,0.00,1.90,0.00,0.000,6,0.000,0.023,2431,2437,3634,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10330,-0.84,-171.1,972.2,-9.2,458,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2437,3633,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10536,begin apogee
$GC,10543,-0.27,0.0,991.1,-9.2,465,10699,0.52,0.00,149.60,1.286,6,0.110,0.000,2606,2192,2968,0,0,0,0,0,0,25.67,28.83,22.74
$STATE,10700,end apogee,CONTROL_FINISHED_OK
$STATE,10700,begin climb
$GC,10703,0.66,171.1,998.5,0.0,470,10872,0.88,0.00,161.45,1.336,6,0.065,0.000,2913,2191,2269,0,0,0,0,0,0,24.67,28.83,22.20
$GC,11169,0.59,171.1,961.2,10.9,486,11174,0.00,2.28,0.00,0.000,4,0.000,0.050,2913,3609,2250,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11207,0.51,171.1,956.8,11.4,487,11213,0.20,2.08,0.00,0.000,6,0.151,0.028,2866,2223,2249,0,0,0,0,0,0,25.79,26.21,28.83
$GC,11536,0.46,171.1,926.3,9.1,498,11542,0.00,2.22,0.00,0.000,4,0.000,0.050,2865,3615,2247,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11590,0.41,171.1,922.9,9.3,499,11596,0.12,2.12,0.00,0.000,6,0.158,0.029,2836,2189,2247,0,0,0,0,0,0,26.06,26.34,28.83
$GC,11906,0.41,181.0,896.2,7.7,510,11910,0.00,0.00,1.52,0.236,6,0.000,0.000,2836,2188,2229,0,0,0,0,0,0,28.83,28.83,24.75
$GC,12207,0.39,187.1,872.4,7.9,520,12222,0.00,0.00,13.12,1.273,6,0.000,0.000,2835,2189,2204,0,0,0,0,0,0,28.83,28.83,24.09
$GC,12506,0.41,210.1,849.7,7.3,530,12538,0.00,2.33,25.35,1.251,4,0.000,0.050,2836,3612,2105,0,0,0,0,0,0,28.83,25.63,23.89
$GC,12561,0.42,232.0,847.4,7.4,531,12590,0.00,2.15,22.45,1.254,6,0.000,0.027,2841,2190,2021,0,0,0,0,0,0,28.83,25.89,23.70
$GC,12900,0.42,241.5,818.3,7.7,543,12918,0.00,2.33,10.12,1.213,4,0.000,0.050,2841,3602,1976,0,0,0,0,0,0,28.83,25.92,24.18
$GC,12951,0.42,245.6,815.6,7.9,544,12956,0.00,2.12,0.00,0.000,6,0.000,0.028,2845,2190,1975,0,0,0,0,0,0,28.83,26.09,28.83
$GC,13266,0.41,245.6,787.4,8.6,555,13271,0.00,2.08,0.00,0.000,4,0.000,0.037,2854,808,1973,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,21658,end climb,SURFACE_DEPTH_REACHED
$STATE,21659,begin surface coast
$FINISH,1.1,1.023598
$STATE,21679,end surface coast,CONTROL_FINISHED_OK
$STATE,21679,begin surface
$SM_CCo,21758,0.00,0.000,0,0,1063,467.30
$SM_GC,1.78,7.22,0.35,0.00,0.025,0.050,0.000,113,2458,1063,-7.97,-1.16,467.30,0,0,0,0,0,0,26.39,26.46,28.83
$IRIDIUM_FIX,2337.99,12308.74,161212,222215
$TT8_MAMPS,0.029211,0.029211
$HUMID,53.26
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,19
$24V_AH,22.2,61.261
$10V_AH,10.2,39.537
$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,20.525,190.625,592.875,0.000,0.000,0.000,0.000,281.675,4.750,0.000,5.508,3059.435,15405.086,758.926,2531.431,463.892,0.000,2301.481,0.000,2185.230,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,52.785,1336.455,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21690.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.892,0.000,0.000,0.000
$MEM,329584
$DATA_FILE_SIZE,36663,954
$CAP_FILE_SIZE,238554,0
$CFSIZE,260165632,222359552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.049, 86.2,1
$GPS,171212,111335,2349.333,12353.188,28,0.9,28,-3.8