version: 66.11
glider: 167
mission: 14
dive: 154
start: 11 16 112 18 50 6
data:
$ID,167
$MISSION,14
$DIVE,154
$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,400
$T_MISSION,425
$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,8
$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,-968725.81
$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,2670
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$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,54
$R_STBD_OVSHOOT,53
$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,22
$MINV_10V,9.5
$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,49
$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
$GPS1,161112,184035,2149.625,12353.167,24,1.2,24,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-62.8
$GPS2,161112,184940,2149.604,12353.038,7,1.3,7,-3.3
$SPEED_LIMITS,0.143,0.261
$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,120.0,38236,-14.1,-8.250,-17.53
$D_GRID,4391
$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,-0.42,-171.1,0.0,0.0,0,80,0.00,0.00,-59.10,0.000,2,0.000,0.000,99,2464,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.42,-171.1,3.3,-5.0,10,121,9.60,0.00,-23.27,0.000,6,0.223,0.000,2533,2464,3667,0,0,0,0,0,0,25.35,28.83,26.50
$GC,435,-0.37,-171.1,64.1,-16.5,52,440,0.00,2.10,0.00,0.000,4,0.000,0.035,2527,1058,3668,0,0,0,0,0,0,28.83,26.22,28.83
$GC,554,-0.34,-171.1,80.0,-15.5,57,562,0.12,2.10,0.00,0.000,6,0.140,0.042,2564,2423,3668,0,0,0,0,0,0,26.06,26.21,28.83
$GC,859,-0.38,-171.1,113.6,-8.8,73,864,0.00,2.05,0.00,0.000,4,0.000,0.038,2564,1058,3669,0,0,0,0,0,0,28.83,26.32,28.83
$GC,902,-0.43,-171.1,117.3,-8.6,75,907,0.00,2.15,0.00,0.000,6,0.000,0.044,2564,2459,3669,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1226,-0.48,-171.1,136.4,-5.6,91,1228,0.15,0.00,0.00,0.000,6,0.067,0.000,2470,2458,3670,0,0,0,0,0,0,26.69,28.83,28.83
$GC,1526,-0.44,-171.1,177.4,-14.5,106,1528,0.20,0.00,0.00,0.000,6,0.130,0.000,2529,2460,3670,0,0,0,0,0,0,26.28,28.83,28.83
$GC,1827,-0.47,-171.1,206.1,-8.4,121,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2460,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2127,-0.51,-171.1,227.7,-7.0,136,2132,0.00,2.10,0.00,0.000,4,0.000,0.037,2529,1053,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2180,-0.54,-171.1,231.2,-7.4,138,2187,0.12,2.15,0.00,0.000,6,0.076,0.043,2448,2449,3670,0,0,0,0,0,0,26.41,26.34,28.83
$GC,2495,-0.51,-171.1,274.4,-14.2,154,2501,0.17,2.00,0.00,0.000,4,0.138,0.044,2500,3770,3669,0,0,0,0,0,0,26.31,26.39,28.83
$GC,2514,-0.47,-171.1,274.4,-14.2,154,2522,0.00,1.90,0.00,0.000,6,0.000,0.020,2500,2423,3669,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2819,-0.48,-171.1,301.4,-6.9,170,2825,0.00,1.95,0.00,0.000,4,0.000,0.030,2500,1063,3669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2920,-0.50,-171.1,307.3,-7.0,174,2927,0.00,2.10,0.00,0.000,6,0.000,0.035,2496,2470,3668,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3225,-0.52,-171.1,329.9,-7.4,190,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2470,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3525,-0.54,-171.1,353.1,-8.1,205,3531,0.00,2.05,0.00,0.000,4,0.000,0.031,2496,1067,3665,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3579,-0.56,-171.1,356.9,-8.2,207,3585,0.00,2.08,0.00,0.000,6,0.000,0.034,2496,2460,3664,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3893,-0.58,-171.1,383.1,-8.3,223,3898,0.00,2.03,0.00,0.000,4,0.000,0.028,2496,1066,3663,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3957,-0.61,-171.1,388.3,-8.3,226,3962,0.00,2.08,0.00,0.000,6,0.000,0.034,2496,2459,3663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4281,-0.63,-171.1,413.6,-7.9,242,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2459,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4583,-0.66,-171.1,436.5,-7.7,257,4589,0.12,2.05,0.00,0.000,4,0.083,0.028,2419,1057,3656,0,0,0,0,0,0,26.72,26.51,28.83
$GC,4611,-0.68,-171.1,439.1,-8.3,258,4618,0.12,2.10,0.00,0.000,6,0.155,0.034,2447,2450,3659,0,0,0,0,0,0,26.16,26.42,28.83
$GC,4931,-0.67,-171.1,473.1,-10.4,274,4937,0.00,2.05,-0.08,0.000,4,0.000,0.042,2447,1063,3685,0,0,0,0,0,0,28.83,26.48,25.62
$GC,4995,-0.67,-171.1,479.8,-10.3,277,5000,0.00,2.10,0.00,0.000,6,0.000,0.035,2448,2458,3685,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5319,-0.57,-171.1,514.4,-10.1,293,5325,0.12,2.05,0.00,0.000,4,0.148,0.030,2490,1066,3684,0,0,0,0,0,0,26.44,26.47,28.83
$GC,5372,-0.48,-171.1,518.8,-9.8,295,5377,0.00,2.08,0.00,0.000,6,0.000,0.035,2490,2453,3684,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5685,-0.52,-171.1,547.0,-8.3,311,5691,0.00,2.00,0.00,0.000,4,0.000,0.046,2490,3763,3681,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5744,-0.56,-171.1,550.5,-8.1,313,5750,0.00,1.88,0.00,0.000,6,0.000,0.021,2490,2435,3681,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6050,-0.59,-171.1,572.8,-6.8,329,6055,0.00,2.05,0.00,0.000,4,0.000,0.046,2490,3760,3679,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6077,-0.63,-171.1,574.3,-6.6,330,6083,0.00,1.88,0.00,0.000,6,0.000,0.021,2490,2441,3679,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6396,-0.67,-171.1,594.7,-6.3,346,6402,0.12,1.98,0.00,0.000,4,0.081,0.028,2417,1080,3674,0,0,0,0,0,0,26.72,26.44,28.83
$GC,6430,-0.70,-171.1,596.9,-6.9,347,6436,0.00,2.08,0.00,0.000,6,0.000,0.036,2414,2459,3676,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6767,-0.67,-171.1,639.1,-12.7,359,6769,0.12,0.00,0.00,0.000,6,0.156,0.000,2448,2460,3674,0,0,0,0,0,0,26.44,28.83,28.83
$GC,7064,-0.67,-171.1,669.2,-9.4,369,7069,0.00,2.00,0.00,0.000,4,0.000,0.054,2448,3756,3673,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7091,-0.67,-171.1,669.2,-9.4,369,7098,0.00,1.85,0.00,0.000,6,0.000,0.022,2448,2447,3673,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7396,-0.67,-171.1,698.0,-8.8,380,7402,0.00,2.05,0.00,0.000,4,0.000,0.047,2448,3767,3671,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7449,-0.67,-171.1,700.8,-8.8,381,7454,0.00,1.90,0.00,0.000,6,0.000,0.023,2448,2449,3670,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7763,-0.67,-171.1,728.8,-8.4,392,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2449,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8062,-0.67,-171.1,755.7,-9.3,402,8067,0.00,2.03,0.00,0.000,4,0.000,0.032,2448,1072,3667,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8119,-0.67,-171.1,758.8,-9.4,403,8126,0.00,2.10,0.00,0.000,6,0.000,0.037,2448,2451,3666,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8426,-0.68,-171.1,789.9,-9.3,414,8431,0.00,2.03,0.00,0.000,4,0.000,0.047,2448,3765,3664,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8503,-0.70,-171.1,795.7,-9.1,416,8509,0.00,1.88,0.00,0.000,6,0.000,0.024,2448,2449,3663,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8824,-0.71,-171.1,826.2,-9.5,427,8830,0.00,2.03,0.00,0.000,4,0.000,0.031,2448,1067,3662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8897,-0.72,-171.1,832.6,-9.7,429,8903,0.00,2.10,0.00,0.000,6,0.000,0.037,2448,2454,3660,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9223,-0.74,-171.1,862.8,-8.8,440,9228,0.00,2.03,0.00,0.000,4,0.000,0.054,2448,3758,3660,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9275,-0.75,-171.1,865.7,-8.5,441,9281,0.00,1.90,0.00,0.000,6,0.000,0.032,2448,2444,3659,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9591,-0.77,-171.1,891.4,-7.8,452,9596,0.00,2.03,0.00,0.000,4,0.000,0.031,2448,1063,3657,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9639,-0.78,-171.1,894.4,-8.0,453,9645,0.00,2.10,0.00,0.000,6,0.000,0.036,2448,2450,3660,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9960,-0.80,-171.1,922.4,-8.6,464,9966,0.12,2.03,0.00,0.000,4,0.087,0.047,2378,3757,3656,0,0,0,0,0,0,26.68,26.07,28.83
$GC,10003,-0.80,-171.1,926.5,-9.3,465,10009,0.12,1.88,0.00,0.000,6,0.155,0.024,2410,2442,3655,0,0,0,0,0,0,26.13,26.55,28.83
$GC,10330,-0.78,-171.1,963.2,-11.2,476,10335,0.00,2.10,0.00,0.000,4,0.000,0.050,2410,3763,3654,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10352,-0.77,-171.1,963.2,-11.2,476,10358,0.00,1.88,0.00,0.000,6,0.000,0.024,2410,2454,3655,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,10603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10603,begin apogee
$GC,10610,-0.20,0.0,992.7,-10.5,485,10771,0.57,0.00,153.25,1.287,6,0.115,0.000,2599,2291,2966,0,0,0,0,0,0,25.60,28.83,23.11
$STATE,10772,end apogee,CONTROL_FINISHED_OK
$STATE,10772,begin climb
$GC,10774,0.42,171.1,999.3,0.0,490,10944,0.57,2.50,161.88,1.344,4,0.071,0.047,2805,3712,2262,0,0,0,0,0,0,24.51,23.81,22.52
$GC,10984,0.46,263.4,993.0,5.3,497,11078,0.00,2.20,88.12,1.316,6,0.000,0.026,2800,2333,1892,0,0,0,0,0,0,28.83,24.65,22.49
$GC,11392,0.51,331.7,967.3,6.0,511,11466,0.10,2.33,65.03,1.160,4,0.098,0.040,2855,911,1607,0,0,0,0,0,0,26.05,24.97,23.80
$GC,11534,0.51,331.7,956.0,9.1,515,11540,0.00,2.17,0.00,0.000,6,0.000,0.033,2855,2308,1602,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11847,0.51,331.7,922.8,10.1,526,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2308,1597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12148,0.51,331.7,889.7,11.6,536,12154,0.00,2.15,0.00,0.000,4,0.000,0.037,2855,901,1597,0,0,0,0,0,0,28.83,26.26,28.83
$GC,12226,0.53,331.7,881.9,12.0,538,12231,0.00,2.15,0.00,0.000,6,0.000,0.034,2854,2310,1596,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12547,0.54,331.7,841.1,12.2,549,12553,0.00,2.15,0.00,0.000,4,0.000,0.037,2855,897,1595,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12585,0.55,331.7,836.8,12.1,550,12590,0.00,2.12,0.00,0.000,6,0.000,0.034,2854,2304,1595,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12915,0.56,331.7,798.4,11.3,561,12920,0.00,2.12,0.00,0.000,4,0.000,0.037,2855,902,1594,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12948,0.57,331.7,794.6,11.2,562,12955,0.00,2.12,0.00,0.000,6,0.000,0.033,2855,2308,1594,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,19773,end climb,SURFACE_DEPTH_REACHED
$STATE,19773,begin surface coast
$FINISH,0.9,1.022623
$STATE,19805,end surface coast,CONTROL_FINISHED_OK
$STATE,19805,begin surface
$SM_CCo,19883,0.00,0.000,0,0,762,541.13
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$IRIDIUM_FIX,2141.13,12351.06,161112,181831
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.50
$XPDR_PINGS,24
$24V_AH,22.5,36.437
$10V_AH,10.1,24.164
$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,20.275,175.350,678.725,0.000,0.000,0.000,0.000,306.200,6.000,0.000,8.625,2977.190,13672.064,802.120,2576.700,394.366,0.000,2361.562,0.000,2191.005,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,71.910,1344.105,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19822.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.539,0.000,0.000,0.000
$MEM,329608
$DATA_FILE_SIZE,33363,913
$CAP_FILE_SIZE,224269,0
$CFSIZE,260165632,234340352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.077,289.1,1
$GPS,171112,002254,2147.936,12354.822,42,0.9,42,-3.3