version: 66.11
glider: 167
mission: 14
dive: 162
start: 11 18 112 16 46 0
data:
$ID,167
$MISSION,14
$DIVE,162
$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,-968735.81
$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,63
$R_STBD_OVSHOOT,60
$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
$GPS1,181112,163805,2128.854,12358.321,28,1.6,28,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.4
$GPS2,181112,164534,2128.751,12358.323,5,1.5,5,-3.2
$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,28.7,3701,-14.1,-8.250,-17.53
$D_GRID,4800
$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,-171.1,0.0,0.0,0,68,0.00,0.00,-46.92,0.000,2,0.000,0.000,108,2488,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.42,-171.1,3.2,-4.5,8,115,9.62,1.98,-25.65,0.000,4,0.223,0.069,2518,3733,3666,0,0,0,0,0,0,25.34,25.19,26.55
$GC,228,-0.37,-171.1,26.4,-17.1,36,235,0.12,1.85,0.00,0.000,6,0.148,0.019,2551,2430,3664,0,0,0,0,0,0,26.00,26.33,28.83
$GC,534,-0.34,-171.1,69.5,-13.5,60,539,0.00,1.98,0.00,0.000,4,0.000,0.031,2551,1063,3668,0,0,0,0,0,0,28.83,26.37,28.83
$GC,611,-0.33,-171.1,77.3,-12.6,63,618,0.00,2.03,0.00,0.000,6,0.000,0.034,2552,2429,3668,0,0,0,0,0,0,28.83,26.34,28.83
$GC,919,-0.35,-171.1,110.5,-9.6,79,925,0.00,2.03,0.00,0.000,4,0.000,0.047,2550,3763,3669,0,0,0,0,0,0,28.83,26.31,28.83
$GC,959,-0.38,-171.1,112.9,-9.5,80,965,0.00,1.85,0.00,0.000,6,0.000,0.019,2550,2429,3669,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1263,-0.42,-171.1,139.3,-8.3,96,1268,0.00,1.92,0.00,0.000,4,0.000,0.029,2550,1080,3670,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1341,-0.47,-171.1,144.6,-8.2,99,1348,0.00,2.03,0.00,0.000,6,0.000,0.032,2551,2453,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1647,-0.52,-171.1,170.0,-8.0,115,1649,0.15,0.00,0.00,0.000,6,0.070,0.000,2459,2454,3670,0,0,0,0,0,0,26.72,28.83,28.83
$GC,1948,-0.48,-171.1,214.1,-15.6,130,1954,0.15,2.03,0.00,0.000,4,0.143,0.030,2508,1069,3670,0,0,0,0,0,0,26.38,26.51,28.83
$GC,2002,-0.46,-171.1,220.3,-14.6,132,2008,0.00,2.05,0.00,0.000,6,0.000,0.033,2508,2457,3670,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2316,-0.47,-171.1,256.8,-10.8,148,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2457,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2618,-0.49,-171.1,284.9,-8.6,163,2624,0.00,2.00,0.00,0.000,4,0.000,0.031,2508,1082,3670,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2656,-0.51,-171.1,287.0,-8.4,164,2663,0.00,2.05,0.00,0.000,6,0.000,0.036,2507,2463,3669,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2962,-0.53,-171.1,312.6,-8.5,180,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2463,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3265,-0.56,-171.1,343.2,-10.9,195,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2464,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3564,-0.59,-171.1,373.0,-8.9,210,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2464,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3865,-0.62,-171.1,394.4,-6.4,225,3871,0.12,2.03,0.00,0.000,4,0.082,0.026,2426,1073,3665,0,0,0,0,0,0,26.74,26.52,28.83
$GC,3943,-0.62,-171.1,401.1,-9.3,228,3951,0.15,2.05,0.00,0.000,6,0.142,0.035,2467,2450,3664,0,0,0,0,0,0,26.17,26.46,28.83
$GC,4249,-0.62,-171.1,432.0,-9.7,244,4255,0.00,1.98,0.00,0.000,4,0.000,0.045,2467,3754,3663,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4313,-0.62,-171.1,438.7,-10.3,247,4319,0.00,1.80,0.00,0.000,6,0.000,0.018,2467,2443,3663,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4636,-0.62,-171.1,475.5,-12.1,263,4641,0.00,1.95,0.00,0.000,4,0.000,0.028,2466,1085,3662,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4750,-0.62,-171.1,487.3,-11.4,268,4755,0.00,2.05,0.00,0.000,6,0.000,0.036,2466,2458,3662,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5063,-0.62,-171.1,514.2,-6.4,284,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2458,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5366,-0.63,-171.1,532.3,-6.4,299,5371,0.00,1.98,0.00,0.000,4,0.000,0.046,2467,3754,3658,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5410,-0.65,-171.1,535.4,-6.7,301,5416,0.00,1.83,0.00,0.000,6,0.000,0.019,2467,2440,3658,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5734,-0.66,-171.1,562.9,-9.5,317,5739,0.00,1.95,0.00,0.000,4,0.000,0.028,2467,1083,3656,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5767,-0.68,-171.1,565.4,-9.6,318,5772,0.00,2.05,0.00,0.000,6,0.000,0.034,2467,2458,3655,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6080,-0.69,-171.1,598.1,-9.8,334,6085,0.00,2.00,0.00,0.000,4,0.000,0.047,2467,3765,3653,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6133,-0.71,-171.1,601.4,-9.9,336,6139,0.00,1.85,0.00,0.000,6,0.000,0.020,2467,2439,3653,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6447,-0.73,-171.1,630.7,-8.5,347,6453,0.00,2.08,0.00,0.000,4,0.000,0.047,2467,3763,3651,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6485,-0.75,-171.1,633.6,-8.4,348,6492,0.12,1.83,0.00,0.000,6,0.083,0.022,2401,2445,3651,0,0,0,0,0,0,26.51,26.65,28.83
$GC,6817,-0.72,-171.1,671.6,-11.1,359,6823,0.12,1.98,0.00,0.000,4,0.155,0.028,2440,1100,3648,0,0,0,0,0,0,26.39,25.97,28.83
$GC,6896,-0.70,-171.1,677.6,-10.0,361,6901,0.00,2.03,0.00,0.000,6,0.000,0.035,2440,2450,3648,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7214,-0.70,-171.1,706.0,-8.7,372,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2450,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7514,-0.70,-171.1,733.3,-9.3,382,7520,0.00,1.98,0.00,0.000,4,0.000,0.028,2440,1098,3643,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7557,-0.70,-171.1,736.4,-9.2,383,7562,0.00,2.03,0.00,0.000,6,0.000,0.035,2440,2450,3643,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7880,-0.70,-171.1,766.1,-8.6,394,7885,0.00,2.03,0.00,0.000,4,0.000,0.048,2440,3763,3640,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7932,-0.70,-171.1,768.9,-8.5,395,7938,0.00,1.85,0.00,0.000,6,0.000,0.023,2441,2451,3638,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8248,-0.70,-171.1,793.7,-7.3,406,8253,0.00,2.05,0.00,0.000,4,0.000,0.048,2440,3753,3639,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8285,-0.70,-171.1,796.4,-7.3,407,8291,0.00,1.85,0.00,0.000,6,0.000,0.024,2440,2446,3638,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8616,-0.70,-171.1,822.5,-8.0,418,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2444,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8914,-0.70,-171.1,849.3,-9.4,428,8919,0.00,2.05,0.00,0.000,4,0.000,0.049,2440,3755,3634,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8951,-0.70,-171.1,852.6,-9.5,429,8958,0.00,1.85,0.00,0.000,6,0.000,0.024,2440,2446,3634,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9282,-0.70,-171.1,886.6,-10.5,440,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2445,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9581,-0.70,-171.1,919.5,-10.8,450,9586,0.00,2.08,0.00,0.000,4,0.000,0.051,2440,3757,3631,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9633,-0.70,-171.1,923.1,-10.6,451,9638,0.00,1.85,0.00,0.000,6,0.000,0.024,2440,2454,3631,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9948,-0.71,-171.1,956.3,-9.8,462,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2453,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10247,-0.72,-171.1,984.3,-9.3,472,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2452,3628,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10334,begin apogee
$GC,10340,-0.20,0.0,992.4,-9.1,475,10497,0.47,0.00,147.12,1.358,6,0.107,0.000,2598,2290,2964,0,0,0,0,0,0,25.79,28.83,23.06
$STATE,10498,end apogee,CONTROL_FINISHED_OK
$STATE,10498,begin climb
$GC,10501,0.42,171.1,999.1,0.0,480,10670,0.60,0.00,160.60,1.340,6,0.070,0.000,2807,2290,2266,0,0,0,0,0,0,24.53,28.83,22.53
$GC,10968,0.46,202.9,973.2,7.2,496,11005,0.00,2.38,29.52,1.307,4,0.000,0.047,2803,3713,2133,0,0,0,0,0,0,28.83,25.25,23.91
$GC,11203,0.44,202.9,955.4,8.8,503,11210,0.00,2.10,0.00,0.000,6,0.000,0.028,2813,2319,2127,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11510,0.45,227.6,929.8,7.4,514,11539,0.00,2.25,24.25,1.300,4,0.000,0.037,2813,912,2033,0,0,0,0,0,0,28.83,25.62,24.26
$GC,11566,0.47,257.4,927.8,7.3,515,11602,0.00,2.15,29.80,1.284,6,0.000,0.032,2813,2306,1915,0,0,0,0,0,0,28.83,25.46,23.96
$GC,11904,0.51,329.5,904.7,5.9,527,11981,0.00,2.30,71.03,1.218,4,0.000,0.047,2813,3697,1618,0,0,0,0,0,0,28.83,24.97,23.84
$GC,11998,0.56,402.6,899.5,5.9,530,12078,0.12,2.15,72.47,1.190,6,0.081,0.027,2875,2299,1323,0,0,0,0,0,0,25.30,25.34,23.37
$GC,12386,0.57,402.6,865.7,8.5,543,12391,0.00,2.10,0.00,0.000,4,0.000,0.037,2876,912,1309,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12502,0.59,408.0,858.1,8.1,546,12507,0.00,2.10,0.00,0.000,6,0.000,0.031,2875,2301,1309,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12818,0.60,408.0,829.2,9.0,557,12824,0.00,2.10,0.00,0.000,4,0.000,0.037,2875,911,1307,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12866,0.62,408.0,825.8,9.1,558,12871,0.00,2.10,0.00,0.000,6,0.000,0.031,2875,2308,1307,0,0,0,0,0,0,28.83,26.31,28.83
$GC,13187,0.63,408.0,792.4,10.3,569,13192,0.00,2.12,0.00,0.000,4,0.000,0.036,2875,901,1306,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13220,0.64,408.0,788.7,10.3,570,13226,0.00,2.10,0.00,0.000,6,0.000,0.030,2875,2302,1306,0,0,0,0,0,0,28.83,26.37,28.83
$GC,13556,0.66,408.0,755.0,10.1,581,13563,0.00,2.12,0.00,0.000,4,0.000,0.037,2880,902,1305,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,20565,end climb,SURFACE_DEPTH_REACHED
$STATE,20565,begin surface coast
$FINISH,1.0,1.022209
$STATE,20587,end surface coast,CONTROL_FINISHED_OK
$STATE,20587,begin surface
$SM_CCo,20665,0.00,0.000,0,0,843,521.26
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$IRIDIUM_FIX,2120.26,12402.60,181112,111106
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.85
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.70
$XPDR_PINGS,13
$24V_AH,22.5,38.008
$10V_AH,9.8,25.350
$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,20.100,175.975,583.025,0.000,0.000,0.000,0.000,271.100,3.250,0.000,5.859,3036.228,14382.143,720.003,2558.663,412.777,0.000,2254.871,0.000,2201.821,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,68.850,1357.875,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20602.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.622,0.000,0.000,0.000
$MEM,329588
$DATA_FILE_SIZE,36661,955
$CAP_FILE_SIZE,228344,0
$CFSIZE,260165632,233504768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110,225.4,1
$GPS,181112,223137,2130.809,12359.148,28,0.8,28,-3.2