version: 66.11
glider: 167
mission: 14
dive: 233
start: 12 6 112 3 18 54
data:
$ID,167
$MISSION,14
$DIVE,233
$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,-969117.25
$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,51
$R_STBD_OVSHOOT,65
$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
$GPS1,061212,031314,2316.224,12207.177,1,1.6,1,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-53.4
$GPS2,061212,031827,2316.277,12207.189,5,1.3,5,-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,98.2,193021,-13.8,-8.049,-17.28
$D_GRID,4166
$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,-171.1,0.0,0.0,0,113,0.00,0.00,-91.12,0.000,2,0.000,0.000,119,2482,2981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.53,-171.1,3.6,-4.4,9,150,9.57,2.15,-13.88,0.000,4,0.220,0.044,2521,1024,3668,0,0,0,0,0,0,25.03,26.31,26.75
$GC,269,-0.50,-171.1,35.5,-18.8,23,277,0.00,2.10,0.00,0.000,6,0.000,0.036,2521,2433,3668,0,0,0,0,0,0,28.83,26.35,28.83
$GC,575,-0.48,-171.1,81.5,-13.3,43,581,0.00,2.00,0.00,0.000,4,0.000,0.047,2519,3749,3668,0,0,0,0,0,0,28.83,26.29,28.83
$GC,640,-0.46,-171.1,89.2,-12.6,46,647,0.12,1.90,0.00,0.000,6,0.133,0.024,2563,2409,3668,0,0,0,0,0,0,26.29,26.57,28.83
$GC,965,-0.50,-171.1,116.4,-7.9,62,970,0.00,1.92,0.00,0.000,4,0.000,0.031,2556,1064,3668,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1023,-0.55,-171.1,119.7,-7.7,64,1031,0.12,2.05,0.00,0.000,6,0.076,0.033,2475,2446,3668,0,0,0,0,0,0,26.46,26.46,28.83
$GC,1328,-0.53,-171.1,157.6,-13.0,80,1334,0.15,2.00,0.00,0.000,4,0.138,0.047,2519,3762,3667,0,0,0,0,0,0,26.39,26.36,28.83
$GC,1418,-0.55,-171.1,166.1,-9.9,84,1423,0.00,1.83,0.00,0.000,6,0.000,0.018,2519,2444,3667,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1738,-0.58,-171.1,193.1,-7.4,100,1743,0.00,1.98,0.00,0.000,4,0.000,0.029,2519,1064,3667,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1791,-0.62,-171.1,196.7,-7.6,102,1796,0.00,2.05,0.00,0.000,6,0.000,0.033,2519,2458,3667,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2105,-0.65,-171.1,221.6,-8.2,118,2111,0.00,2.03,0.00,0.000,4,0.000,0.031,2519,1064,3667,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2138,-0.68,-171.1,223.6,-8.2,119,2144,0.12,2.05,0.00,0.000,6,0.078,0.032,2436,2455,3665,0,0,0,0,0,0,26.46,26.47,28.83
$GC,2453,-0.64,-171.1,264.4,-12.8,135,2458,0.15,2.03,0.00,0.000,4,0.141,0.028,2485,1059,3664,0,0,0,0,0,0,26.37,26.52,28.83
$GC,2477,-0.61,-171.1,267.3,-12.4,136,2482,0.00,2.08,0.00,0.000,6,0.000,0.033,2483,2455,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2801,-0.62,-171.1,297.4,-9.1,152,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2455,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3104,-0.63,-171.1,324.5,-9.7,167,3109,0.00,1.98,0.00,0.000,4,0.000,0.047,2480,3758,3662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3131,-0.64,-171.1,327.0,-9.5,168,3136,0.00,1.83,0.00,0.000,6,0.000,0.019,2480,2443,3662,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3449,-0.65,-171.1,355.0,-8.7,184,3455,0.00,1.95,0.00,0.000,4,0.000,0.028,2477,1079,3660,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3498,-0.67,-171.1,358.9,-8.8,186,3503,0.00,2.03,0.00,0.000,6,0.000,0.033,2480,2453,3659,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3816,-0.68,-171.1,385.9,-8.4,202,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2453,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4119,-0.70,-171.1,408.8,-6.7,217,4121,0.00,0.00,-0.08,0.000,6,0.000,0.000,2480,2453,3678,0,0,0,0,0,0,28.83,28.83,25.53
$GC,4417,-0.72,-171.1,431.3,-7.9,232,4422,0.00,2.03,0.00,0.000,4,0.000,0.028,2479,1069,3676,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4482,-0.74,-171.1,436.8,-8.4,235,4487,0.00,2.05,0.00,0.000,6,0.000,0.033,2480,2455,3676,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4805,-0.77,-171.1,464.4,-8.7,251,4811,0.00,2.00,0.00,0.000,4,0.000,0.028,2480,1083,3674,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4830,-0.79,-171.1,466.5,-8.8,252,4837,0.10,2.03,0.00,0.000,6,0.096,0.034,2421,2453,3674,0,0,0,0,0,0,26.41,26.46,28.83
$GC,5155,-0.77,-171.1,502.5,-10.9,268,5161,0.12,1.98,0.00,0.000,4,0.148,0.045,2458,3749,3672,0,0,0,0,0,0,26.43,26.29,28.83
$GC,5209,-0.76,-171.1,506.7,-10.0,270,5215,0.00,1.83,0.00,0.000,6,0.000,0.018,2458,2429,3672,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5523,-0.77,-171.1,532.4,-8.2,286,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2429,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5826,-0.78,-171.1,559.4,-9.0,301,5831,0.00,2.05,0.00,0.000,4,0.000,0.047,2453,3749,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5873,-0.79,-171.1,563.7,-9.3,303,5878,0.00,1.80,0.00,0.000,6,0.000,0.020,2453,2446,3668,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6191,-0.80,-171.1,591.0,-8.2,319,6197,0.00,1.95,0.00,0.000,4,0.000,0.028,2453,1093,3665,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6229,-0.81,-171.1,593.1,-8.5,320,6236,0.00,2.03,0.00,0.000,6,0.000,0.034,2453,2453,3665,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6538,-0.82,-171.1,622.4,-9.2,332,6543,0.00,2.00,0.00,0.000,4,0.000,0.048,2453,3756,3663,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6585,-0.83,-171.1,625.7,-9.3,333,6591,0.00,1.83,0.00,0.000,6,0.000,0.021,2453,2439,3662,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6907,-0.84,-171.1,655.7,-8.7,344,6912,0.00,1.95,0.00,0.000,4,0.000,0.032,2453,1095,3661,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6955,-0.85,-171.1,658.7,-8.5,345,6960,0.00,2.03,0.00,0.000,6,0.000,0.034,2453,2452,3661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7275,-0.86,-171.1,686.0,-8.3,356,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2452,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7574,-0.87,-171.1,710.0,-8.0,366,7579,0.00,2.00,0.00,0.000,4,0.000,0.028,2453,1086,3656,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7626,-0.89,-171.1,712.9,-8.2,367,7632,0.12,2.05,0.00,0.000,6,0.084,0.034,2385,2458,3655,0,0,0,0,0,0,26.34,26.37,28.83
$GC,7943,-0.85,-171.1,751.7,-11.7,378,7945,0.15,0.00,0.00,0.000,6,0.148,0.000,2425,2459,3654,0,0,0,0,0,0,26.33,28.83,28.83
$GC,8243,-0.84,-171.1,776.1,-7.7,388,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2459,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8540,-0.83,-171.1,799.7,-8.4,398,8546,0.00,2.00,0.00,0.000,4,0.000,0.050,2425,3752,3651,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8582,-0.83,-171.1,802.8,-8.7,399,8588,0.00,1.83,0.00,0.000,6,0.000,0.022,2426,2447,3650,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8908,-0.83,-171.1,832.4,-8.9,410,8913,0.00,2.05,0.00,0.000,4,0.000,0.050,2425,3753,3648,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8955,-0.83,-171.1,835.6,-9.0,411,8960,0.00,1.85,0.00,0.000,6,0.000,0.031,2424,2452,3648,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9273,-0.83,-171.1,866.0,-9.2,422,9278,0.00,2.03,0.00,0.000,4,0.000,0.030,2425,1079,3647,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9330,-0.83,-171.1,869.2,-9.3,423,9337,0.00,2.08,0.00,0.000,6,0.000,0.035,2426,2449,3646,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9637,-0.83,-171.1,898.5,-8.5,434,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2449,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9936,-0.83,-171.1,923.6,-8.5,444,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2449,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10237,-0.83,-171.1,948.8,-8.6,454,10242,0.00,2.03,0.00,0.000,4,0.000,0.051,2425,3750,3642,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10274,-0.83,-171.1,951.7,-8.7,455,10280,0.00,1.85,0.00,0.000,6,0.000,0.024,2425,2444,3642,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10605,-0.83,-171.1,982.1,-9.4,466,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2444,3640,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10690,begin apogee
$GC,10697,-0.27,0.0,990.5,-9.3,469,10920,0.55,0.00,214.48,1.037,6,0.109,0.000,2608,2298,2963,0,0,0,0,0,0,25.72,28.83,23.28
$STATE,10922,end apogee,CONTROL_FINISHED_OK
$STATE,10922,begin climb
$GC,10924,0.53,171.1,1000.9,0.0,476,11096,0.73,2.53,161.85,1.212,4,0.050,0.048,2877,3710,2259,0,0,0,0,0,0,24.88,24.00,22.50
$GC,11136,0.46,194.8,992.7,7.3,483,11166,0.12,2.17,22.73,1.238,6,0.156,0.027,2850,2331,2168,0,0,0,0,0,0,24.72,24.96,23.00
$GC,11479,0.43,194.8,958.0,9.5,495,11484,0.00,2.17,0.00,0.000,4,0.000,0.037,2859,899,2152,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11551,0.40,194.8,951.8,9.7,497,11557,0.00,2.12,0.00,0.000,6,0.000,0.034,2859,2302,2150,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11878,0.36,194.8,918.9,9.7,508,11884,0.12,2.17,0.00,0.000,4,0.141,0.047,2819,3698,2147,0,0,0,0,0,0,26.25,26.19,28.83
$GC,11973,0.34,194.8,909.6,9.6,511,11980,0.00,2.10,0.00,0.000,6,0.000,0.027,2825,2280,2148,0,0,0,0,0,0,28.83,26.42,28.83
$GC,12311,0.33,196.6,882.0,8.0,522,12317,0.00,2.05,0.00,0.000,4,0.000,0.037,2828,911,2146,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12369,0.32,197.7,878.9,8.0,523,12376,0.00,2.10,0.00,0.000,6,0.000,0.033,2829,2312,2145,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12677,0.31,197.7,852.0,8.2,534,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2312,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12975,0.30,197.7,826.7,8.5,544,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2311,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13275,0.29,197.7,801.3,8.4,554,13281,0.12,2.12,0.00,0.000,4,0.138,0.034,2788,905,2143,0,0,0,0,0,0,26.37,26.30,28.83
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$STATE,21703,end climb,SURFACE_DEPTH_REACHED
$STATE,21704,begin surface coast
$FINISH,0.9,1.010674
$STATE,21725,end surface coast,CONTROL_FINISHED_OK
$STATE,21725,begin surface
$SM_CCo,21804,0.00,0.000,0,0,469,613.00
$SM_GC,1.54,7.30,0.20,0.00,0.026,0.060,0.000,109,2468,469,-8.00,-1.33,613.00,0,0,0,0,0,0,26.39,26.55,28.83
$IRIDIUM_FIX,2307.44,12209.02,061212,030317
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.60
$XPDR_PINGS,8
$24V_AH,22.5,52.640
$10V_AH,10.0,34.245
$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,21.400,189.425,706.450,0.000,0.000,0.000,0.000,0.000,2.000,0.000,6.954,3051.896,15296.763,859.691,2294.618,372.460,0.000,2163.827,0.000,2234.718,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,65.790,1237.770,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21700.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.267,0.000,0.000,0.000
$MEM,323828
$DATA_FILE_SIZE,36734,949
$CAP_FILE_SIZE,264746,0
$CFSIZE,260165632,226611200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,316.9,1
$GPS,061212,092335,2316.102,12210.334,34,1.1,34,-3.5