version: 66.11
glider: 167
mission: 14
dive: 317
start: 12 28 112 7 8 29
data:
$ID,167
$MISSION,14
$DIVE,317
$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,390
$T_MISSION,410
$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,1
$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,-969222.38
$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,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,79
$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
$GPS1,281212,070006,2230.110,12353.904,43,1.1,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-63.8
$GPS2,281212,070803,2229.736,12353.969,4,1.0,5,-3.5
$SPEED_LIMITS,0.147,0.264
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,192.0,111118,-14.4,-8.462,-17.80
$D_GRID,5225
$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,-0.57,-171.1,0.0,0.0,0,74,0.00,0.00,-51.72,0.000,2,0.000,0.000,108,2465,2574,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.57,-171.1,3.2,-4.6,5,120,9.50,2.08,-26.05,0.000,4,0.219,0.041,2472,1061,3668,0,0,0,0,0,0,24.89,26.16,26.67
$GC,285,-0.57,-171.1,37.1,-18.8,25,290,0.00,2.08,0.00,0.000,6,0.000,0.036,2467,2442,3669,0,0,0,0,0,0,28.83,26.22,28.83
$GC,598,-0.57,-171.1,82.4,-13.4,44,603,0.00,2.03,0.00,0.000,4,0.000,0.049,2464,3758,3669,0,0,0,0,0,0,28.83,26.10,28.83
$GC,681,-0.57,-171.1,93.9,-14.0,48,686,0.00,1.85,0.00,0.000,6,0.000,0.020,2465,2445,3669,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1004,-0.57,-171.1,133.9,-11.7,64,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2444,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-0.57,-171.1,166.6,-10.2,79,1312,0.00,2.05,0.00,0.000,4,0.000,0.050,2465,3761,3671,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1350,-0.57,-171.1,171.8,-10.9,81,1356,0.00,1.85,0.00,0.000,6,0.000,0.018,2464,2425,3671,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1673,-0.57,-171.1,206.7,-10.4,97,1679,0.00,1.92,0.00,0.000,4,0.000,0.028,2464,1095,3671,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1738,-0.57,-171.1,213.8,-10.9,100,1744,0.00,2.03,0.00,0.000,6,0.000,0.034,2464,2456,3671,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2062,-0.57,-171.1,246.9,-9.9,116,2067,0.00,1.98,0.00,0.000,4,0.000,0.047,2464,3752,3671,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2109,-0.57,-171.1,251.2,-10.0,118,2115,0.00,1.80,0.00,0.000,6,0.000,0.017,2464,2441,3671,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2427,-0.57,-171.1,280.8,-9.0,134,2433,0.00,1.95,0.00,0.000,4,0.000,0.028,2464,1094,3670,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2485,-0.57,-171.1,285.0,-9.5,136,2491,0.00,2.03,0.00,0.000,6,0.000,0.034,2464,2453,3669,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2791,-0.57,-171.1,318.7,-11.2,152,2796,0.00,2.03,0.00,0.000,4,0.000,0.047,2464,3762,3668,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2823,-0.57,-171.1,321.3,-11.2,153,2828,0.00,1.83,0.00,0.000,6,0.000,0.018,2464,2444,3669,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3136,-0.57,-171.1,353.5,-9.3,169,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2444,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,-0.57,-171.1,377.8,-8.0,184,3443,0.00,1.95,0.00,0.000,4,0.000,0.029,2464,1090,3666,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3461,-0.57,-171.1,379.8,-8.1,185,3467,0.00,2.03,0.00,0.000,6,0.000,0.034,2464,2450,3666,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3784,-0.57,-171.1,408.7,-9.6,201,3790,0.00,2.00,0.00,0.000,4,0.000,0.029,2464,1088,3665,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3837,-0.57,-171.1,413.3,-10.1,203,3843,0.00,2.03,0.00,0.000,6,0.000,0.034,2464,2450,3665,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4152,-0.57,-171.1,443.4,-8.9,219,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2450,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4455,-0.57,-171.1,468.4,-8.1,234,4461,0.00,2.00,0.00,0.000,4,0.000,0.029,2464,1085,3662,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4508,-0.57,-171.1,472.5,-8.3,236,4514,0.00,2.05,0.00,0.000,6,0.000,0.034,2464,2456,3661,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4822,-0.57,-171.1,501.4,-8.8,252,4827,0.00,2.00,0.00,0.000,4,0.000,0.047,2464,3757,3660,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4848,-0.57,-171.1,503.4,-8.8,253,4854,0.00,1.83,0.00,0.000,6,0.000,0.019,2464,2445,3660,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5167,-0.57,-171.1,528.3,-7.8,269,5172,0.00,2.05,0.00,0.000,4,0.000,0.047,2464,3758,3658,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5210,-0.57,-171.1,531.7,-7.8,271,5215,0.00,1.85,0.00,0.000,6,0.000,0.020,2464,2440,3658,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5534,-0.57,-171.1,557.8,-8.5,287,5539,0.00,2.05,0.00,0.000,4,0.000,0.048,2460,3751,3656,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5560,-0.57,-171.1,559.9,-8.6,288,5566,0.00,1.83,0.00,0.000,6,0.000,0.020,2464,2439,3656,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5879,-0.57,-171.1,586.3,-7.8,304,5885,0.00,2.08,0.00,0.000,4,0.000,0.049,2464,3749,3654,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5933,-0.57,-171.1,589.9,-7.7,306,5938,0.00,1.83,0.00,0.000,6,0.000,0.021,2464,2438,3653,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6248,-0.57,-171.1,614.6,-7.5,319,6254,0.00,2.08,0.00,0.000,4,0.000,0.050,2463,3756,3652,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6286,-0.57,-171.1,617.2,-7.4,320,6292,0.00,1.83,0.00,0.000,6,0.000,0.021,2466,2449,3652,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6616,-0.57,-171.1,639.4,-6.7,331,6621,0.00,2.05,0.00,0.000,4,0.000,0.050,2464,3753,3650,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6644,-0.57,-171.1,639.4,-6.7,331,6651,0.00,1.83,0.00,0.000,6,0.000,0.021,2464,2447,3650,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6950,-0.57,-171.1,663.8,-7.3,342,6955,0.00,1.98,0.00,0.000,4,0.000,0.033,2464,1101,3648,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6983,-0.57,-171.1,666.3,-7.4,343,6989,0.00,2.05,0.00,0.000,6,0.000,0.036,2464,2446,3648,0,0,0,0,0,0,28.83,25.10,28.83
$GC,7319,-0.57,-171.1,689.9,-7.0,354,7325,0.00,2.05,0.00,0.000,4,0.000,0.050,2464,3761,3646,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7362,-0.57,-171.1,692.5,-7.1,355,7368,0.00,1.85,0.00,0.000,6,0.000,0.022,2464,2442,3645,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7688,-0.57,-171.1,715.3,-6.6,366,7694,0.00,2.10,0.00,0.000,4,0.000,0.056,2464,3761,3643,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7722,-0.57,-171.1,717.8,-6.7,367,7728,0.00,1.85,0.00,0.000,6,0.000,0.023,2464,2454,3643,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8058,-0.57,-171.1,739.7,-6.6,378,8064,0.00,2.00,0.00,0.000,4,0.000,0.030,2465,1089,3641,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8096,-0.57,-171.1,742.5,-7.0,379,8101,0.00,2.08,0.00,0.000,6,0.000,0.039,2464,2451,3641,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8427,-0.57,-171.1,765.7,-6.9,390,8432,0.00,2.05,0.00,0.000,4,0.000,0.053,2464,3753,3638,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8474,-0.57,-171.1,768.1,-6.8,391,8479,0.00,1.85,0.00,0.000,6,0.000,0.023,2464,2448,3638,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8794,-0.57,-171.1,788.8,-6.1,402,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2446,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9093,-0.57,-171.1,808.0,-6.8,412,9098,0.00,2.08,0.00,0.000,4,0.000,0.050,2464,3754,3636,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9135,-0.57,-171.1,810.4,-6.8,413,9140,0.00,1.85,0.00,0.000,6,0.000,0.024,2464,2456,3635,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9461,-0.57,-171.1,833.0,-6.6,424,9467,0.00,2.08,0.00,0.000,4,0.000,0.051,2464,3754,3635,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9495,-0.57,-171.1,835.6,-6.7,425,9500,0.00,1.88,0.00,0.000,6,0.000,0.024,2463,2450,3634,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9831,-0.57,-171.1,858.6,-7.2,436,9836,0.00,2.08,0.00,0.000,4,0.000,0.051,2464,3754,3632,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9883,-0.57,-171.1,861.3,-7.3,437,9889,0.00,1.88,0.00,0.000,6,0.000,0.025,2464,2447,3632,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10199,-0.57,-171.1,885.7,-7.1,448,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2446,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10498,-0.57,-171.1,905.4,-6.2,458,10503,0.00,2.10,0.00,0.000,4,0.000,0.052,2464,3761,3630,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10540,-0.57,-171.1,907.4,-6.0,459,10546,0.00,1.90,0.00,0.000,6,0.000,0.025,2464,2441,3630,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10866,-0.57,-171.1,925.9,-5.5,470,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2438,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11164,-0.57,-171.1,943.5,-6.0,480,11169,0.00,2.10,0.00,0.000,4,0.000,0.053,2464,3753,3627,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11191,-0.57,-171.1,943.5,-6.0,480,11197,0.00,1.88,0.00,0.000,6,0.000,0.025,2463,2450,3627,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11498,-0.57,-171.1,965.1,-6.6,491,11503,0.00,2.10,0.00,0.000,4,0.000,0.052,2464,3763,3626,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11535,-0.57,-171.1,967.5,-6.7,492,11541,0.00,1.90,0.00,0.000,6,0.000,0.026,2464,2448,3626,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,11864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11864,begin apogee
$GC,11870,-0.20,0.0,990.5,-7.1,503,12029,0.40,0.00,151.00,1.303,6,0.099,0.000,2600,2187,2963,0,0,0,0,0,0,25.80,28.83,22.67
$STATE,12030,end apogee,CONTROL_FINISHED_OK
$STATE,12030,begin climb
$GC,12034,0.57,171.1,997.1,0.0,508,12204,0.70,2.50,161.23,1.232,4,0.062,0.048,2847,3606,2261,0,0,0,0,0,0,24.64,23.89,22.18
$GC,12293,0.58,181.6,984.4,8.1,517,12308,0.00,2.12,9.60,1.281,6,0.000,0.028,2853,2228,2224,0,0,0,0,0,0,28.83,25.55,23.33
$GC,12621,0.58,181.6,955.8,8.8,528,12626,0.00,2.20,0.00,0.000,4,0.000,0.047,2853,3609,2215,0,0,0,0,0,0,28.83,26.05,28.83
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$STATE,22937,end climb,SURFACE_DEPTH_REACHED
$STATE,22937,begin surface coast
$FINISH,1.0,1.023188
$STATE,22969,end surface coast,CONTROL_FINISHED_OK
$STATE,22970,begin surface
$SM_CCo,23051,0.00,0.000,0,0,979,487.90
$SM_GC,1.84,7.40,2.50,0.00,0.030,0.032,0.000,127,2450,979,-7.87,-1.30,487.90,0,0,0,0,0,0,26.15,26.21,28.83
$IRIDIUM_FIX,2223.01,12352.41,281212,000021
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.10
$XPDR_PINGS,35
$24V_AH,22.2,68.530
$10V_AH,10.0,44.759
$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,18.825,210.000,578.400,0.000,0.000,0.000,0.000,283.825,8.750,0.000,5.437,3220.970,16374.377,744.939,2683.493,492.421,0.000,2375.074,0.000,2319.005,0.000,0.880,0.000
$DEVICE_MAMPS,218.790,55.845,1302.795,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22984.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.923,0.000,0.000,0.000
$MEM,329552
$DATA_FILE_SIZE,36667,1001
$CAP_FILE_SIZE,242562,0
$CFSIZE,260165632,218202112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.170,176.7,1
$GPS,281212,133405,2224.857,12353.776,42,0.9,42,-3.5