version: 66.11
glider: 167
mission: 14
dive: 207
start: 11 29 112 20 59 9
data:
$ID,167
$MISSION,14
$DIVE,207
$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,-8
$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,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,-968996.81
$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,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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,36
$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,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
$GPS1,291112,205500,2247.075,12204.659,11,1.4,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-62.8
$GPS2,291112,205842,2247.115,12204.650,16,1.1,16,-3.4
$SPEED_LIMITS,0.139,0.259
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,279.9,72840,-13.8,-8.049,-17.28
$D_GRID,4727
$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,-0.53,-171.1,0.0,0.0,0,105,0.00,0.00,-83.10,0.000,2,0.000,0.000,122,2515,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.53,-171.1,3.1,-3.4,8,150,9.57,2.03,-21.98,0.000,4,0.222,0.069,2518,3755,3668,0,0,0,0,0,0,25.23,26.10,26.77
$GC,381,-0.49,-171.1,45.8,-14.6,34,387,0.00,1.90,0.00,0.000,6,0.000,0.027,2518,2458,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,686,-0.46,-171.1,96.4,-14.3,51,692,0.12,2.08,0.00,0.000,4,0.149,0.035,2559,1043,3669,0,0,0,0,0,0,26.39,26.44,28.83
$GC,734,-0.45,-171.1,101.9,-13.7,53,740,0.00,2.12,0.00,0.000,6,0.000,0.043,2558,2448,3668,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1054,-0.48,-171.1,126.5,-6.3,69,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2448,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1356,-0.53,-171.1,148.8,-7.0,84,1361,0.00,2.00,0.00,0.000,4,0.000,0.047,2559,3770,3668,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1381,-0.58,-171.1,150.6,-6.9,85,1387,0.15,1.90,0.00,0.000,6,0.066,0.018,2465,2408,3668,0,0,0,0,0,0,26.55,26.65,28.83
$GC,1705,-0.55,-171.1,192.2,-13.4,101,1707,0.20,0.00,0.00,0.000,6,0.125,0.000,2525,2407,3668,0,0,0,0,0,0,26.34,28.83,28.83
$GC,2007,-0.59,-171.1,220.6,-8.6,116,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2407,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2307,-0.63,-171.1,246.8,-8.6,131,2312,0.00,1.92,0.00,0.000,4,0.000,0.031,2525,1064,3666,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2375,-0.67,-171.1,251.9,-8.0,134,2381,0.12,2.08,0.00,0.000,6,0.077,0.034,2446,2457,3665,0,0,0,0,0,0,26.47,26.47,28.83
$GC,2695,-0.63,-171.1,292.3,-13.1,150,2700,0.12,1.98,0.00,0.000,4,0.149,0.044,2480,3759,3665,0,0,0,0,0,0,26.44,26.38,28.83
$GC,2748,-0.61,-171.1,297.5,-12.6,152,2754,0.00,1.88,0.00,0.000,6,0.000,0.019,2480,2429,3665,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3061,-0.61,-171.1,328.6,-9.2,168,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2428,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3364,-0.62,-171.1,355.1,-9.3,183,3369,0.00,1.95,0.00,0.000,4,0.000,0.029,2480,1065,3661,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3431,-0.63,-171.1,362.3,-10.6,186,3437,0.00,2.05,0.00,0.000,6,0.000,0.033,2479,2449,3661,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3751,-0.64,-171.1,394.8,-9.1,202,3756,0.00,2.00,0.00,0.000,4,0.000,0.048,2480,3763,3659,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3823,-0.66,-171.1,400.8,-9.2,205,3830,0.00,1.85,0.00,0.000,6,0.000,0.019,2480,2428,3659,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4138,-0.67,-171.1,428.2,-8.4,221,4144,0.00,1.95,-0.08,0.000,4,0.000,0.041,2481,1079,3684,0,0,0,0,0,0,28.83,26.51,25.68
$GC,4206,-0.69,-171.1,433.7,-8.6,224,4211,0.00,2.05,0.00,0.000,6,0.000,0.034,2480,2461,3685,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4524,-0.71,-171.1,458.0,-7.5,240,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2467,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4826,-0.74,-171.1,481.0,-7.6,255,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2462,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5127,-0.76,-171.1,504.6,-8.0,270,5133,0.00,2.00,0.00,0.000,4,0.000,0.026,2480,1084,3678,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5166,-0.79,-171.1,506.8,-8.0,271,5173,0.00,2.05,0.00,0.000,6,0.000,0.036,2480,2449,3678,0,0,0,0,0,0,28.83,25.38,28.83
$GC,5471,-0.81,-171.1,531.4,-7.2,287,5473,0.12,0.00,0.00,0.000,6,0.082,0.000,2410,2449,3676,0,0,0,0,0,0,26.72,28.83,28.83
$GC,5773,-0.78,-171.1,563.8,-11.9,302,5780,0.12,2.03,0.00,0.000,4,0.152,0.045,2449,3765,3677,0,0,0,0,0,0,26.41,26.28,28.83
$GC,5852,-0.77,-171.1,570.9,-10.9,305,5859,0.00,1.85,0.00,0.000,6,0.000,0.021,2449,2433,3674,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6168,-0.77,-171.1,603.3,-9.6,321,6173,0.00,1.92,0.00,0.000,4,0.000,0.028,2449,1091,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6282,-0.78,-171.1,612.6,-9.9,324,6287,0.00,2.03,0.00,0.000,6,0.000,0.034,2449,2451,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6596,-0.79,-171.1,643.9,-9.1,335,6601,0.00,2.00,0.00,0.000,4,0.000,0.047,2449,3754,3668,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6624,-0.79,-171.1,643.9,-9.1,335,6630,0.00,1.83,0.00,0.000,6,0.000,0.021,2449,2439,3668,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6932,-0.80,-171.1,675.0,-9.4,346,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2436,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7230,-0.81,-171.1,703.5,-9.4,356,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2438,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7531,-0.82,-171.1,729.6,-8.5,366,7536,0.00,2.08,0.00,0.000,4,0.000,0.048,2449,3756,3661,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7584,-0.83,-171.1,732.6,-8.6,367,7589,0.00,1.83,0.00,0.000,6,0.000,0.023,2449,2449,3660,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7900,-0.84,-171.1,760.6,-8.6,378,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2446,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8198,-0.85,-171.1,787.5,-8.9,388,8204,0.00,1.98,0.00,0.000,4,0.000,0.029,2449,1088,3656,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8245,-0.86,-171.1,790.4,-8.8,389,8250,0.00,2.08,0.00,0.000,6,0.000,0.035,2449,2453,3656,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8566,-0.87,-171.1,817.0,-7.7,400,8571,0.00,2.03,0.00,0.000,4,0.000,0.049,2448,3762,3654,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8600,-0.89,-171.1,819.8,-7.7,401,8606,0.10,1.85,0.00,0.000,6,0.095,0.024,2395,2460,3654,0,0,0,0,0,0,26.45,26.59,28.83
$GC,8934,-0.86,-171.1,853.2,-9.7,412,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2458,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9234,-0.82,-171.1,883.6,-10.5,422,9240,0.12,2.05,0.00,0.000,4,0.154,0.047,2434,3759,3651,0,0,0,0,0,0,26.36,26.10,28.83
$GC,9263,-0.79,-171.1,883.6,-10.5,422,9270,0.00,1.88,0.00,0.000,6,0.000,0.024,2434,2442,3651,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9568,-0.79,-171.1,914.5,-9.5,433,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2442,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9869,-0.79,-171.1,941.8,-8.9,443,9874,0.00,2.08,0.00,0.000,4,0.000,0.050,2433,3759,3648,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9911,-0.79,-171.1,945.0,-8.9,444,9917,0.00,1.85,0.00,0.000,6,0.000,0.024,2433,2454,3648,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10237,-0.80,-171.1,971.6,-7.9,455,10242,0.00,2.00,0.00,0.000,4,0.000,0.029,2433,1083,3646,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10285,-0.80,-171.1,974.5,-7.9,456,10291,0.00,2.08,0.00,0.000,6,0.000,0.036,2433,2454,3646,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,10482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10482,begin apogee
$GC,10488,-0.27,0.0,991.8,-8.2,463,10659,0.52,0.00,155.57,1.812,6,0.111,0.000,2606,2305,2975,0,0,0,0,1,0,25.78,28.83,21.80
$STATE,10661,end apogee,CONTROL_FINISHED_OK
$STATE,10661,begin climb
$GC,10663,0.53,171.1,998.0,0.0,468,10846,0.75,2.50,169.18,1.229,4,0.054,0.051,2870,3700,2258,0,0,0,0,0,0,24.05,23.89,22.48
$GC,10880,0.46,180.8,989.3,7.7,476,10890,0.00,2.20,3.17,0.838,6,0.000,0.028,2870,2324,2229,0,0,0,0,0,0,28.83,24.77,22.51
$GC,11213,0.41,180.8,954.6,10.7,487,11219,0.12,2.17,0.00,0.000,4,0.152,0.035,2840,893,2235,0,0,0,0,0,0,26.03,26.11,28.83
$GC,11267,0.37,180.8,951.1,10.6,488,11273,0.00,2.15,0.00,0.000,6,0.000,0.033,2840,2311,2235,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11582,0.34,180.8,918.8,9.5,499,11588,0.00,2.17,0.00,0.000,4,0.000,0.048,2840,3708,2233,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11656,0.31,180.8,911.7,10.0,501,11662,0.15,2.10,0.00,0.000,6,0.158,0.028,2801,2291,2233,0,0,0,0,0,0,26.03,26.40,28.83
$GC,11981,0.32,217.3,886.8,6.9,512,12026,0.00,0.00,42.80,1.187,6,0.000,0.000,2802,2290,2080,0,0,0,0,0,0,28.83,28.83,23.96
$GC,12313,0.34,225.1,862.7,7.8,523,12323,0.00,2.30,1.85,0.284,4,0.000,0.047,2801,3700,2055,0,0,0,0,0,0,28.83,26.06,24.53
$GC,12376,0.35,225.1,856.8,8.4,525,12382,0.00,2.12,0.00,0.000,6,0.000,0.028,2801,2290,2058,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12712,0.37,225.1,829.9,8.1,536,12718,0.00,2.08,0.00,0.000,4,0.000,0.037,2801,901,2058,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12740,0.39,225.1,829.9,8.1,536,12747,0.00,2.10,0.00,0.000,6,0.000,0.032,2801,2302,2058,0,0,0,0,0,0,28.83,26.32,28.83
$GC,13048,0.42,260.1,806.0,6.9,547,13100,0.12,2.30,42.95,1.161,4,0.083,0.048,2874,3692,1899,0,0,0,0,0,0,26.58,25.43,23.99
$GC,13134,0.42,260.1,800.0,8.2,549,13142,0.17,2.12,0.00,0.000,6,0.136,0.028,2832,2294,1895,0,0,0,0,0,0,25.51,25.79,28.83
$GC,13440,0.43,275.1,772.7,7.6,560,13463,0.00,2.17,15.55,1.161,4,0.000,0.038,2832,913,1837,0,0,0,0,0,0,28.83,25.85,24.37
$GC,13537,0.46,301.4,766.1,7.2,563,13570,0.00,2.12,27.45,1.118,6,0.000,0.031,2833,2309,1736,0,0,0,0,0,0,28.83,26.02,24.10
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$STATE,22030,end climb,SURFACE_DEPTH_REACHED
$STATE,22030,begin surface coast
$FINISH,0.8,1.008967
$STATE,22062,end surface coast,CONTROL_FINISHED_OK
$STATE,22062,begin surface
$SM_CCo,22140,0.00,0.000,0,0,1122,452.82
$SM_GC,1.73,7.25,0.22,0.00,0.029,0.055,0.000,116,2459,1122,-7.98,-1.39,452.82,0,0,0,0,0,0,26.45,26.60,28.83
$IRIDIUM_FIX,2237.01,12206.76,291112,202033
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.00
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,25.90
$XPDR_PINGS,11
$24V_AH,21.8,47.596
$10V_AH,10.1,31.058
$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,20.950,177.025,567.850,0.000,0.000,0.000,0.000,0.000,2.750,0.000,17.312,3178.166,15562.424,782.590,2333.569,365.488,0.000,2055.408,0.000,2251.917,0.000,0.542,0.000
$DEVICE_MAMPS,221.850,68.850,1811.520,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22041.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.357,0.000,0.000,0.000
$MEM,323868
$DATA_FILE_SIZE,36704,980
$CAP_FILE_SIZE,252672,0
$CFSIZE,260165632,229097472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.071, 18.5,1
$GPS,301112,030934,2248.568,12201.453,37,1.1,42,-3.4