version: 66.11
glider: 167
mission: 14
dive: 219
start: 12 2 112 22 58 26
data:
$ID,167
$MISSION,14
$DIVE,219
$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,-969011.81
$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,65
$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
$GPS1,021212,225005,2303.116,12128.876,27,0.9,27,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-63.8
$GPS2,021212,225758,2303.333,12128.956,8,0.9,8,-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,274.3,5333,-13.8,-8.049,-17.28
$D_GRID,645
$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,-0.53,-171.1,0.0,0.0,0,73,0.00,0.00,-51.17,0.000,2,0.000,0.000,109,2455,2299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.53,-171.1,3.0,-3.5,5,130,9.60,2.08,-35.65,0.000,4,0.218,0.065,2519,3765,3666,0,0,0,0,0,0,25.03,25.99,26.61
$GC,297,-0.48,-171.1,36.8,-16.6,26,302,0.00,1.88,0.00,0.000,6,0.000,0.019,2519,2438,3667,0,0,0,0,0,0,28.83,26.39,28.83
$GC,620,-0.45,-171.1,88.5,-14.0,46,626,0.12,1.98,0.00,0.000,4,0.139,0.026,2561,1063,3668,0,0,0,0,0,0,26.36,26.40,28.83
$GC,688,-0.47,-171.1,93.9,-8.9,49,693,0.00,2.08,0.00,0.000,6,0.000,0.031,2561,2458,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1007,-0.58,-171.1,119.1,-7.6,65,1013,0.12,1.98,0.00,0.000,4,0.078,0.045,2488,3762,3670,0,0,0,0,0,0,26.66,26.29,28.83
$GC,1241,-0.59,-171.1,139.8,-8.7,76,1247,0.00,1.85,0.00,0.000,6,0.000,0.019,2488,2435,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1555,-0.61,-171.1,168.4,-8.9,92,1561,0.00,1.95,0.00,0.000,4,0.000,0.028,2488,1066,3671,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1614,-0.62,-171.1,172.8,-9.4,94,1620,0.00,2.05,0.00,0.000,6,0.000,0.034,2485,2456,3671,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1919,-0.63,-171.1,202.8,-9.0,110,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2456,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2222,-0.65,-171.1,230.3,-8.7,125,2227,0.00,2.00,0.00,0.000,4,0.000,0.027,2485,1074,3668,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2260,-0.66,-171.1,232.6,-8.7,126,2266,0.00,2.05,0.00,0.000,6,0.000,0.034,2485,2449,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2565,-0.68,-171.1,260.5,-9.1,142,2571,0.00,2.00,0.00,0.000,4,0.000,0.028,2481,1072,3666,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2603,-0.70,-171.1,262.6,-9.1,143,2610,0.00,2.03,0.00,0.000,6,0.000,0.033,2484,2448,3667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2909,-0.72,-171.1,292.5,-8.8,159,2915,0.00,2.00,0.00,0.000,4,0.000,0.047,2488,3760,3664,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2947,-0.74,-171.1,294.7,-8.7,160,2953,0.00,1.83,0.00,0.000,6,0.000,0.018,2483,2430,3664,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3253,-0.76,-171.1,321.2,-8.6,176,3258,0.00,2.05,0.00,0.000,4,0.000,0.047,2482,3755,3662,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3290,-0.79,-171.1,323.2,-8.5,177,3297,0.10,1.83,0.00,0.000,6,0.096,0.019,2423,2437,3662,0,0,0,0,0,0,26.51,26.64,28.83
$GC,3596,-0.75,-171.1,359.0,-11.3,193,3598,0.12,0.00,0.00,0.000,6,0.148,0.000,2457,2435,3660,0,0,0,0,0,0,26.46,28.83,28.83
$GC,3898,-0.75,-171.1,390.7,-10.3,208,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2434,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4198,-0.75,-171.1,417.4,-9.1,223,4205,0.00,2.10,-0.08,0.000,4,0.000,0.062,2457,3757,3683,0,0,0,0,0,0,28.83,26.21,25.60
$GC,4232,-0.76,-171.1,420.0,-9.3,224,4237,0.00,1.80,0.00,0.000,6,0.000,0.019,2457,2454,3683,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4545,-0.77,-171.1,448.0,-8.7,240,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2454,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4848,-0.78,-171.1,475.7,-9.0,255,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2454,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5148,-0.79,-171.1,505.2,-9.9,270,5153,0.00,1.98,0.00,0.000,4,0.000,0.035,2457,1094,3677,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5174,-0.80,-171.1,507.8,-10.0,271,5180,0.00,2.03,0.00,0.000,6,0.000,0.034,2456,2451,3678,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5493,-0.81,-171.1,540.7,-9.6,287,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2451,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5795,-0.82,-171.1,568.7,-8.9,302,5800,0.00,2.03,0.00,0.000,4,0.000,0.050,2454,3752,3674,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5848,-0.83,-171.1,572.7,-8.8,304,5853,0.00,1.85,0.00,0.000,6,0.000,0.021,2454,2426,3670,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6162,-0.84,-171.1,598.5,-7.5,320,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2424,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6482,-0.85,-171.1,621.4,-7.0,331,6487,0.00,2.08,0.00,0.000,4,0.000,0.050,2449,3752,3670,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6525,-0.87,-171.1,623.5,-6.9,332,6531,0.00,1.80,0.00,0.000,6,0.000,0.021,2454,2449,3670,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6851,-0.88,-171.1,644.9,-6.1,343,6853,0.12,0.00,0.00,0.000,6,0.088,0.000,2390,2447,3668,0,0,0,0,0,0,26.67,28.83,28.83
$STATE,6876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6876,begin apogee
$GC,6883,-0.27,0.0,647.2,-6.3,344,7035,0.68,0.00,143.57,1.032,6,0.119,0.000,2606,2314,2964,0,0,0,0,0,0,25.67,28.83,23.62
$STATE,7036,end apogee,CONTROL_FINISHED_OK
$STATE,7036,begin climb
$GC,7039,0.53,171.1,649.2,0.0,349,7199,0.75,2.30,146.73,1.053,4,0.070,0.034,2875,945,2261,0,0,0,0,0,0,25.15,24.42,23.03
$GC,7292,0.49,171.1,631.8,10.0,357,7298,0.00,2.10,0.00,0.000,6,0.000,0.031,2875,2309,2253,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7608,0.44,171.1,597.1,10.1,368,7610,0.12,0.00,0.00,0.000,6,0.133,0.000,2841,2310,2250,0,0,0,0,0,0,26.22,28.83,28.83
$GC,7908,0.46,252.9,577.6,5.5,383,7985,0.00,0.00,71.07,0.962,6,0.000,0.000,2841,2311,1929,0,0,0,0,0,0,28.83,28.83,24.07
$GC,8286,0.49,288.9,554.0,6.9,402,8325,0.00,2.12,31.67,1.011,4,0.000,0.032,2841,942,1784,0,0,0,0,0,0,28.83,25.64,24.29
$GC,8349,0.52,333.5,550.0,6.6,405,8398,0.00,2.08,41.67,1.056,6,0.000,0.031,2841,2307,1602,0,0,0,0,0,0,28.83,25.83,23.92
$GC,8711,0.57,372.4,526.0,6.8,423,8751,0.12,0.00,36.42,1.052,6,0.079,0.000,2910,2306,1446,0,0,0,0,0,0,26.39,28.83,24.16
$GC,9052,0.56,372.4,492.0,9.8,440,9057,0.00,2.08,0.00,0.000,4,0.000,0.034,2910,937,1434,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9090,0.55,372.4,489.5,9.9,441,9097,0.12,2.05,0.00,0.000,6,0.123,0.031,2873,2311,1434,0,0,0,0,0,0,26.11,26.27,28.83
$GC,9396,0.59,404.7,464.7,7.0,457,9430,0.00,2.17,29.38,1.032,4,0.000,0.034,2873,946,1312,0,0,0,0,0,0,28.83,25.77,24.34
$GC,9462,0.63,440.9,460.4,6.9,460,9506,0.00,2.05,35.03,1.029,6,0.000,0.029,2874,2310,1164,0,0,0,0,0,0,28.83,25.94,24.05
$GC,9820,0.68,483.1,435.9,6.7,478,9869,0.12,2.17,39.70,1.004,4,0.080,0.034,2956,946,991,0,0,0,0,0,0,26.40,25.53,24.19
$GC,9894,0.69,483.1,429.0,10.0,481,9900,0.12,2.05,0.00,0.000,6,0.124,0.029,2922,2295,988,0,0,0,0,0,0,25.63,25.79,28.83
$GC,10209,0.70,483.1,397.2,9.3,497,10215,0.00,2.05,0.00,0.000,4,0.000,0.034,2921,938,985,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10253,0.72,483.1,392.7,9.7,499,10259,0.00,2.05,0.00,0.000,6,0.000,0.029,2922,2312,988,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10577,0.73,483.1,355.3,11.7,515,10583,0.00,2.05,0.00,0.000,4,0.000,0.034,2921,942,984,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10601,0.75,483.1,352.4,11.8,516,10606,0.00,2.05,0.00,0.000,6,0.000,0.029,2922,2311,984,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10925,0.76,483.1,317.7,10.1,532,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2311,983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11226,0.78,483.1,288.1,10.2,547,11232,0.00,2.05,0.00,0.000,4,0.000,0.033,2922,938,983,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11300,0.80,483.1,282.0,9.5,550,11305,0.12,2.00,0.00,0.000,6,0.079,0.028,2993,2300,983,0,0,0,0,0,0,26.43,26.46,28.83
$GC,11613,0.76,483.1,232.3,15.7,566,11620,0.15,2.05,0.00,0.000,4,0.146,0.031,2953,936,983,0,0,0,0,0,0,26.30,26.41,28.83
$GC,11683,0.74,483.1,224.6,12.5,569,11688,0.00,2.03,0.00,0.000,6,0.000,0.028,2953,2299,983,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12001,0.74,483.1,188.9,11.1,585,12006,0.00,2.03,0.00,0.000,4,0.000,0.033,2953,941,983,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12044,0.74,483.1,184.4,10.6,587,12050,0.00,2.03,0.00,0.000,6,0.000,0.028,2953,2308,983,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12368,0.74,483.1,141.0,14.1,603,12373,0.00,2.12,0.00,0.000,4,0.000,0.046,2953,3690,983,0,0,0,0,0,0,28.83,26.30,28.83
$GC,12392,0.73,483.1,137.7,13.7,604,12397,0.00,1.98,0.00,0.000,6,0.000,0.022,2953,2317,983,0,0,0,0,0,0,28.83,26.56,28.83
$GC,12716,0.75,483.1,108.2,8.5,620,12721,0.00,2.05,0.00,0.000,4,0.000,0.033,2953,922,983,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12842,0.79,483.1,95.0,11.1,626,12848,0.00,2.03,0.00,0.000,6,0.000,0.028,2957,2309,982,0,0,0,0,0,0,28.83,26.48,28.83
$GC,13166,0.84,483.1,62.9,9.3,642,13172,0.00,2.08,0.00,0.000,4,0.000,0.031,2953,910,982,0,0,0,0,0,0,28.83,26.44,28.83
$GC,13402,1.01,483.1,43.4,8.4,657,13408,0.20,2.03,0.00,0.000,6,0.090,0.027,3026,2302,982,0,0,0,0,0,0,26.32,26.48,28.83
$GC,13718,1.04,483.1,8.9,10.5,688,13723,0.00,2.08,0.00,0.000,4,0.000,0.032,3028,916,982,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,13779,end climb,SURFACE_DEPTH_REACHED
$STATE,13779,begin surface coast
$FINISH,1.0,1.018058
$STATE,13802,end surface coast,CONTROL_FINISHED_OK
$STATE,13802,begin surface
$SM_CCo,13883,0.00,0.000,0,0,982,487.17
$SM_GC,1.74,7.38,2.35,0.00,0.028,0.032,0.000,113,2448,982,-7.99,-1.27,487.17,0,0,0,0,0,0,26.47,26.42,28.83
$IRIDIUM_FIX,2253.38,12134.76,021212,161609
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.14
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.70
$XPDR_PINGS,5
$24V_AH,23.0,49.975
$10V_AH,10.1,32.566
$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,20.100,105.600,575.250,0.000,0.000,0.000,0.000,288.050,1.250,0.000,8.920,2194.239,9222.675,645.416,1957.291,329.996,0.000,1864.635,0.000,1615.825,0.000,0.542,0.000
$DEVICE_MAMPS,218.025,75.735,1056.465,0.000,0.000,0.000,0.000,122.400,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13808.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.480,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,26724,696
$CAP_FILE_SIZE,163526,0
$CFSIZE,260165632,228003840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,115.7,1
$GPS,031212,025106,2303.391,12127.357,34,1.2,34,-3.4