version: 66.11
glider: 167
mission: 14
dive: 231
start: 12 5 112 14 11 54
data:
$ID,167
$MISSION,14
$DIVE,231
$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,-969026.94
$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,77
$R_STBD_OVSHOOT,92
$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
$GPS1,051212,140359,2313.896,12200.771,40,1.2,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-49.0
$GPS2,051212,141127,2313.937,12200.692,4,1.1,4,-3.5
$SPEED_LIMITS,0.139,0.259
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,93.8,204839,-13.8,-8.049,-17.28
$D_GRID,4198
$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,-171.1,0.0,0.0,0,104,0.00,0.00,-82.30,0.000,2,0.000,0.000,108,2511,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.53,-171.1,3.5,-3.6,8,140,9.70,2.20,-16.20,0.000,4,0.220,0.041,2528,1065,3668,0,0,0,0,0,0,25.00,26.16,26.62
$GC,236,-0.49,-171.1,25.6,-12.9,20,241,0.00,2.00,0.00,0.000,6,0.000,0.032,2519,2404,3670,0,0,0,0,0,0,28.83,26.23,28.83
$GC,560,-0.46,-171.1,72.8,-14.9,44,566,0.12,2.05,0.00,0.000,4,0.148,0.044,2560,3744,3670,0,0,0,0,0,0,26.32,26.20,28.83
$GC,598,-0.45,-171.1,75.6,-14.2,45,605,0.00,1.85,0.00,0.000,6,0.000,0.023,2558,2441,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,907,-0.49,-171.1,102.9,-7.6,61,912,0.00,2.00,0.00,0.000,4,0.000,0.030,2560,1063,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,945,-0.54,-171.1,104.9,-7.3,62,952,0.00,2.05,0.00,0.000,6,0.000,0.033,2560,2448,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1252,-0.59,-171.1,126.6,-7.2,78,1254,0.15,0.00,0.00,0.000,6,0.067,0.000,2464,2449,3670,0,0,0,0,0,0,26.70,28.83,28.83
$GC,1552,-0.56,-171.1,161.4,-11.9,93,1554,0.17,0.00,0.00,0.000,6,0.132,0.000,2516,2449,3670,0,0,0,0,0,0,26.34,28.83,28.83
$GC,1853,-0.58,-171.1,186.1,-9.0,108,1858,0.00,2.03,0.00,0.000,4,0.000,0.031,2516,1066,3671,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1891,-0.61,-171.1,188.4,-8.9,109,1897,0.00,2.05,0.00,0.000,6,0.000,0.032,2517,2452,3670,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2197,-0.64,-171.1,213.9,-7.4,125,2202,0.00,1.98,0.00,0.000,4,0.000,0.047,2517,3758,3671,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2230,-0.68,-171.1,215.5,-7.0,126,2236,0.12,1.85,0.00,0.000,6,0.076,0.019,2436,2425,3671,0,0,0,0,0,0,26.52,26.63,28.83
$GC,2544,-0.64,-171.1,253.2,-12.6,142,2550,0.17,1.95,0.00,0.000,4,0.135,0.027,2493,1071,3670,0,0,0,0,0,0,26.31,26.49,28.83
$GC,2578,-0.61,-171.1,256.3,-12.5,143,2583,0.00,2.05,0.00,0.000,6,0.000,0.033,2493,2458,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2891,-0.63,-171.1,285.8,-9.0,159,2896,0.00,1.98,0.00,0.000,4,0.000,0.047,2493,3760,3669,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2928,-0.65,-171.1,287.8,-8.9,160,2935,0.00,1.83,0.00,0.000,6,0.000,0.018,2493,2444,3669,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3234,-0.67,-171.1,314.9,-8.1,176,3239,0.00,1.95,0.00,0.000,4,0.000,0.028,2493,1080,3667,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3267,-0.70,-171.1,316.7,-8.0,177,3273,0.00,2.03,0.00,0.000,6,0.000,0.032,2493,2454,3667,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3583,-0.73,-171.1,340.5,-7.7,193,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2453,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3883,-0.76,-171.1,365.0,-8.4,208,3889,0.12,2.00,0.00,0.000,4,0.080,0.027,2415,1080,3664,0,0,0,0,0,0,26.71,26.48,28.83
$GC,3928,-0.76,-171.1,370.7,-10.4,210,3934,0.15,2.05,0.00,0.000,6,0.146,0.033,2453,2458,3665,0,0,0,0,0,0,26.11,26.43,28.83
$GC,4252,-0.76,-171.1,405.8,-10.2,226,4257,0.00,1.98,0.00,0.000,4,0.000,0.048,2453,3752,3662,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4316,-0.76,-171.1,411.9,-9.7,229,4321,0.00,1.85,0.00,0.000,6,0.000,0.019,2453,2419,3662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4639,-0.76,-171.1,439.8,-8.4,245,4644,0.00,1.92,0.00,0.000,4,0.000,0.035,2453,1086,3661,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4682,-0.76,-171.1,443.8,-8.8,247,4687,0.00,2.03,0.00,0.000,6,0.000,0.032,2453,2455,3660,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5005,-0.76,-171.1,474.6,-9.8,263,5010,0.00,2.00,0.00,0.000,4,0.000,0.048,2453,3762,3658,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5037,-0.76,-171.1,476.9,-9.7,264,5042,0.00,1.83,0.00,0.000,6,0.000,0.020,2452,2451,3655,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5350,-0.76,-171.1,508.8,-10.0,280,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2450,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5653,-0.76,-171.1,536.8,-9.2,295,5658,0.00,1.98,0.00,0.000,4,0.000,0.028,2453,1082,3654,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5691,-0.77,-171.1,539.1,-9.0,296,5697,0.00,2.03,0.00,0.000,6,0.000,0.033,2460,2446,3654,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5997,-0.77,-171.1,567.5,-8.7,312,6002,0.00,2.03,0.00,0.000,4,0.000,0.050,2453,3762,3651,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6040,-0.78,-171.1,571.6,-9.2,314,6045,0.00,1.85,0.00,0.000,6,0.000,0.021,2453,2433,3650,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6365,-0.79,-171.1,600.8,-8.9,330,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2433,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6664,-0.80,-171.1,627.1,-8.6,340,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2434,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6964,-0.81,-171.1,651.1,-7.9,350,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2433,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7264,-0.82,-171.1,676.6,-9.1,360,7269,0.00,2.08,0.00,0.000,4,0.000,0.051,2452,3756,3643,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7328,-0.84,-171.1,682.8,-9.5,362,7333,0.00,1.85,0.00,0.000,6,0.000,0.021,2452,2432,3647,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7663,-0.85,-171.1,712.6,-8.4,373,7668,0.00,2.08,0.00,0.000,4,0.000,0.050,2452,3755,3638,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7700,-0.87,-171.1,715.5,-8.3,374,7705,0.00,1.83,0.00,0.000,6,0.000,0.022,2452,2449,3640,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8033,-0.88,-171.1,741.4,-7.7,385,8039,0.12,1.98,0.00,0.000,4,0.086,0.027,2388,1093,3638,0,0,0,0,0,0,26.65,26.37,28.83
$GC,8066,-0.88,-171.1,745.3,-8.4,386,8072,0.12,2.08,0.00,0.000,6,0.164,0.035,2412,2459,3637,0,0,0,0,0,0,26.01,26.32,28.83
$GC,8403,-0.86,-171.1,782.4,-11.2,397,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2458,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8701,-0.85,-171.1,814.2,-10.2,407,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2459,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9001,-0.83,-171.1,843.8,-9.5,417,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2459,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9301,-0.82,-171.1,871.7,-9.6,427,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2459,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9601,-0.80,-171.1,900.3,-9.5,437,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2459,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9902,-0.79,-171.1,928.7,-9.5,447,9907,0.12,2.03,0.00,0.000,4,0.156,0.028,2455,1096,3628,0,0,0,0,0,0,26.33,26.31,28.83
$GC,9935,-0.79,-171.1,931.7,-9.3,448,9941,0.00,2.05,0.00,0.000,6,0.000,0.036,2454,2450,3627,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10271,-0.82,-171.1,957.5,-8.0,459,10276,0.00,2.05,0.00,0.000,4,0.000,0.052,2454,3761,3626,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10349,-0.84,-171.1,962.9,-8.1,461,10354,0.00,1.85,0.00,0.000,6,0.000,0.024,2453,2467,3626,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10670,-0.87,-171.1,988.4,-7.5,472,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2466,3625,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10694,begin apogee
$GC,10701,-0.27,0.0,990.7,-7.5,473,10858,0.45,0.00,148.73,1.259,6,0.106,0.000,2606,2294,2963,0,0,0,0,0,0,25.83,28.83,22.85
$STATE,10859,end apogee,CONTROL_FINISHED_OK
$STATE,10860,begin climb
$GC,10862,0.53,171.1,996.2,0.0,478,11034,0.75,2.40,161.00,1.262,4,0.063,0.049,2870,3689,2262,0,0,0,0,0,0,24.62,23.83,22.21
$GC,11087,0.46,171.1,984.6,8.7,485,11095,0.00,2.15,0.00,0.000,6,0.000,0.025,2880,2325,2256,0,0,0,0,0,0,28.83,24.98,28.83
$GC,11394,0.41,171.1,946.8,11.3,496,11400,0.15,2.17,0.00,0.000,4,0.146,0.035,2839,901,2250,0,0,0,0,0,0,25.98,26.08,28.83
$GC,11413,0.35,171.1,946.8,11.3,496,11418,0.00,2.12,0.00,0.000,6,0.000,0.034,2839,2304,2250,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11733,0.33,171.1,914.9,9.2,507,11739,0.12,2.17,0.00,0.000,4,0.143,0.048,2799,3695,2249,0,0,0,0,0,0,26.22,26.15,28.83
$GC,11787,0.31,171.1,911.7,9.1,508,11793,0.00,2.08,0.00,0.000,6,0.000,0.027,2802,2295,2249,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12103,0.32,194.9,886.6,7.3,519,12130,0.00,2.12,21.42,1.230,4,0.000,0.036,2802,908,2167,0,0,0,0,0,0,28.83,25.83,24.17
$GC,12178,0.33,224.1,882.1,7.1,521,12217,0.00,2.15,30.23,1.279,6,0.000,0.033,2809,2308,2048,0,0,0,0,0,0,28.83,25.98,23.72
$GC,12525,0.37,291.5,859.3,5.9,533,12599,0.00,2.30,66.88,1.184,4,0.000,0.049,2802,3702,1772,0,0,0,0,0,0,28.83,25.06,23.63
$GC,12622,0.41,346.2,853.5,6.3,536,12682,0.00,2.15,54.10,1.245,6,0.000,0.025,2802,2293,1558,0,0,0,0,0,0,28.83,25.52,23.24
$GC,13011,0.51,346.2,824.6,8.4,549,13018,0.15,2.25,0.00,0.000,4,0.073,0.047,2880,3706,1541,0,0,0,0,0,0,26.27,26.04,28.83
$GC,13127,0.53,346.2,814.1,10.3,552,13132,0.00,2.10,0.00,0.000,6,0.000,0.027,2881,2295,1540,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,21633,end climb,SURFACE_DEPTH_REACHED
$STATE,21633,begin surface coast
$FINISH,1.0,1.022925
$STATE,21654,end surface coast,CONTROL_FINISHED_OK
$STATE,21654,begin surface
$SM_CCo,21733,0.00,0.000,0,0,847,520.28
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$IRIDIUM_FIX,2302.75,12155.35,051212,070718
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.04
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.40
$XPDR_PINGS,10
$24V_AH,22.2,52.185
$10V_AH,10.1,33.960
$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,20.450,172.425,577.000,0.000,0.000,0.000,0.000,264.800,2.500,0.000,4.678,3029.923,15471.880,719.342,2510.909,440.680,0.000,2243.897,0.000,2167.233,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,63.495,1279.080,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.380,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,36671,962
$CAP_FILE_SIZE,232317,0
$CFSIZE,260165632,226840576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,326.5,1
$GPS,051212,201529,2314.681,12203.557,39,0.9,39,-3.5