version: 66.11
glider: 167
mission: 14
dive: 236
start: 12 6 112 21 50 35
data:
$ID,167
$MISSION,14
$DIVE,236
$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,-969121
$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,59
$R_STBD_OVSHOOT,37
$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
$GPS1,061212,214236,2317.462,12216.919,37,1.2,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-62.5
$GPS2,061212,215008,2317.487,12216.911,4,1.0,4,-3.6
$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,76.0,176742,-13.8,-8.049,-17.28
$D_GRID,5011
$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,-171.1,0.0,0.0,0,73,0.00,0.00,-51.67,0.000,2,0.000,0.000,111,2456,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.53,-171.1,3.1,-4.1,5,124,9.68,2.10,-29.65,0.000,4,0.219,0.069,2520,3763,3667,0,0,0,0,0,0,25.05,25.96,26.67
$GC,149,-0.51,-171.1,10.4,-11.5,12,154,0.00,1.90,0.00,0.000,6,0.000,0.018,2520,2408,3668,0,0,0,0,0,0,28.83,26.34,28.83
$GC,462,-0.49,-171.1,53.1,-12.4,42,468,0.00,1.90,0.00,0.000,4,0.000,0.026,2520,1079,3668,0,0,0,0,0,0,28.83,26.36,28.83
$GC,495,-0.46,-171.1,56.0,-12.8,43,502,0.12,2.05,0.00,0.000,6,0.144,0.034,2555,2456,3669,0,0,0,0,0,0,26.07,26.32,28.83
$GC,811,-0.48,-171.1,88.9,-9.7,59,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2456,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1112,-0.52,-171.1,114.8,-8.6,74,1118,0.00,1.98,0.00,0.000,4,0.000,0.047,2554,3755,3669,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1166,-0.58,-171.1,118.6,-8.6,76,1172,0.12,1.83,0.00,0.000,6,0.075,0.018,2473,2424,3668,0,0,0,0,0,0,26.51,26.62,28.83
$GC,1480,-0.55,-171.1,158.8,-12.1,92,1485,0.12,1.90,0.00,0.000,4,0.145,0.025,2513,1095,3670,0,0,0,0,0,0,26.43,26.46,28.83
$GC,1569,-0.57,-171.1,166.6,-9.2,96,1575,0.00,2.00,0.00,0.000,6,0.000,0.033,2513,2454,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1889,-0.59,-171.1,188.7,-6.9,112,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2459,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,-0.62,-171.1,213.5,-8.9,127,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2454,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2490,-0.65,-171.1,240.9,-9.1,142,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2454,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2792,-0.69,-171.1,264.3,-7.2,157,2798,0.12,1.98,0.00,0.000,4,0.080,0.046,2427,3750,3670,0,0,0,0,0,0,26.72,26.27,28.83
$GC,2850,-0.69,-171.1,269.4,-8.9,159,2857,0.17,1.80,0.00,0.000,6,0.132,0.018,2478,2434,3669,0,0,0,0,0,0,26.18,26.64,28.83
$GC,3156,-0.69,-171.1,300.7,-9.3,175,3161,0.00,1.90,0.00,0.000,4,0.000,0.027,2478,1097,3669,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3270,-0.70,-171.1,310.7,-9.7,180,3276,0.00,2.00,0.00,0.000,6,0.000,0.033,2477,2450,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3585,-0.71,-171.1,339.9,-8.7,196,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2450,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3887,-0.72,-171.1,366.5,-8.7,211,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2450,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-0.73,-171.1,393.6,-9.2,226,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2450,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4487,-0.75,-171.1,422.9,-9.6,241,4492,0.00,1.98,0.00,0.000,4,0.000,0.028,2477,1092,3665,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4534,-0.77,-171.1,427.2,-9.3,243,4539,0.00,2.03,0.00,0.000,6,0.000,0.033,2477,2457,3664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4853,-0.79,-171.1,454.2,-8.5,259,4858,0.00,2.00,0.00,0.000,4,0.000,0.048,2477,3764,3663,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4897,-0.82,-171.1,458.2,-8.8,261,4903,0.12,1.83,0.00,0.000,6,0.080,0.018,2407,2442,3663,0,0,0,0,0,0,26.51,26.65,28.83
$GC,5221,-0.78,-171.1,499.5,-12.7,277,5228,0.12,1.95,0.00,0.000,4,0.148,0.026,2447,1100,3661,0,0,0,0,0,0,26.40,26.44,28.83
$GC,5380,-0.78,-171.1,513.6,-9.5,284,5386,0.00,2.03,0.00,0.000,6,0.000,0.034,2446,2458,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5686,-0.78,-171.1,543.9,-9.6,300,5691,0.00,2.00,0.00,0.000,4,0.000,0.048,2446,3762,3658,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5779,-0.78,-171.1,552.1,-9.8,304,5784,0.00,1.80,0.00,0.000,6,0.000,0.019,2446,2455,3657,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6091,-0.78,-171.1,583.0,-9.3,320,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2452,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6412,-0.78,-171.1,611.8,-8.9,334,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2452,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6712,-0.79,-171.1,639.6,-9.4,344,6717,0.00,1.98,0.00,0.000,4,0.000,0.028,2446,1089,3652,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6749,-0.79,-171.1,642.8,-9.4,345,6754,0.00,2.05,0.00,0.000,6,0.000,0.035,2446,2457,3651,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7079,-0.80,-171.1,672.9,-8.8,356,7085,0.00,2.00,0.00,0.000,4,0.000,0.050,2446,3749,3650,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7128,-0.80,-171.1,676.0,-8.6,357,7133,0.00,1.83,0.00,0.000,6,0.000,0.021,2445,2436,3649,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7449,-0.81,-171.1,703.8,-8.5,368,7454,0.00,1.92,0.00,0.000,4,0.000,0.028,2445,1102,3647,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7536,-0.82,-171.1,709.6,-8.8,370,7542,0.00,2.03,0.00,0.000,6,0.000,0.034,2445,2452,3646,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7843,-0.83,-171.1,738.5,-8.8,381,7848,0.00,1.98,0.00,0.000,4,0.000,0.028,2445,1102,3644,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7885,-0.84,-171.1,741.6,-8.9,382,7890,0.00,2.03,0.00,0.000,6,0.000,0.035,2445,2449,3644,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8210,-0.85,-171.1,772.3,-9.3,393,8216,0.00,2.03,0.00,0.000,4,0.000,0.051,2446,3751,3642,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8253,-0.86,-171.1,775.7,-9.2,394,8259,0.00,1.83,0.00,0.000,6,0.000,0.022,2445,2447,3642,0,0,0,0,0,0,28.83,26.59,28.83
$GC,8579,-0.87,-171.1,805.0,-8.7,405,8585,0.00,2.08,0.00,0.000,4,0.000,0.054,2445,3751,3640,0,0,0,0,0,0,28.83,25.12,28.83
$GC,8647,-0.88,-171.1,810.9,-9.0,407,8652,0.00,1.83,0.00,0.000,6,0.000,0.022,2446,2451,3639,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8977,-0.90,-171.1,841.6,-9.4,418,8979,0.10,0.00,0.00,0.000,6,0.100,0.000,2392,2449,3637,0,0,0,0,0,0,26.68,28.83,28.83
$GC,9276,-0.87,-171.1,878.9,-12.6,428,9282,0.00,2.05,0.00,0.000,4,0.000,0.051,2392,3753,3636,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9304,-0.84,-171.1,878.9,-12.6,428,9312,0.15,1.85,0.00,0.000,6,0.148,0.024,2431,2454,3636,0,0,0,0,0,0,26.07,26.54,28.83
$GC,9612,-0.84,-171.1,914.1,-10.4,439,9618,0.00,2.03,0.00,0.000,4,0.000,0.030,2432,1071,3634,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9649,-0.85,-171.1,918.0,-10.5,440,9654,0.00,2.10,0.00,0.000,6,0.000,0.036,2432,2458,3634,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9979,-0.85,-171.1,950.8,-9.6,451,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2458,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10278,-0.85,-171.1,978.0,-8.7,461,10283,0.00,2.05,0.00,0.000,4,0.000,0.029,2432,1074,3631,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10326,-0.86,-171.1,981.2,-8.8,462,10331,0.00,2.10,0.00,0.000,6,0.000,0.043,2432,2450,3631,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,10432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10432,begin apogee
$GC,10438,-0.27,0.0,991.5,-8.4,466,10599,0.52,0.00,150.30,1.248,6,0.111,0.000,2607,2300,2961,0,0,0,0,0,0,25.70,28.83,22.90
$STATE,10600,end apogee,CONTROL_FINISHED_OK
$STATE,10600,begin climb
$GC,10603,0.53,171.1,996.3,0.0,471,10774,0.75,2.50,160.35,1.252,4,0.063,0.049,2872,3693,2261,0,0,0,0,0,0,24.72,23.89,22.28
$GC,10808,0.46,171.1,985.5,8.3,478,10814,0.12,2.15,0.00,0.000,6,0.149,0.026,2850,2333,2255,0,0,0,0,0,0,24.56,24.81,28.83
$GC,11135,0.42,171.1,953.1,9.5,489,11140,0.00,2.17,0.00,0.000,4,0.000,0.037,2858,900,2249,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11212,0.39,171.1,946.8,9.4,491,11218,0.12,2.15,0.00,0.000,6,0.134,0.037,2826,2316,2247,0,0,0,0,0,0,25.88,25.73,28.83
$GC,11534,0.38,195.2,921.5,7.3,502,11560,0.00,0.00,21.58,1.214,6,0.000,0.000,2826,2316,2166,0,0,0,0,0,0,28.83,28.83,24.15
$GC,11863,0.39,226.9,898.4,7.0,513,11897,0.00,0.00,32.28,1.263,6,0.000,0.000,2825,2314,2041,0,0,0,0,0,0,28.83,28.83,23.84
$GC,12194,0.39,227.8,872.5,8.0,524,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2316,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12491,0.39,237.3,848.7,7.7,534,12503,0.00,0.00,9.75,1.258,6,0.000,0.000,2826,2317,1999,0,0,0,0,0,0,28.83,28.83,24.27
$GC,12792,0.41,289.4,827.7,6.4,544,12855,0.00,2.30,54.85,1.233,4,0.000,0.050,2825,3687,1780,0,0,0,0,0,0,28.83,25.20,23.68
$GC,12872,0.44,353.2,824.2,6.0,546,12944,0.00,2.12,65.07,1.216,6,0.000,0.026,2826,2295,1522,0,0,0,0,0,0,28.83,25.58,23.25
$GC,13244,0.49,397.2,800.1,6.7,559,13293,0.10,2.25,43.53,1.198,4,0.096,0.037,2884,911,1342,0,0,0,0,0,0,26.30,25.29,23.78
$GC,13342,0.51,397.2,791.0,9.2,562,13348,0.00,2.17,0.00,0.000,6,0.000,0.032,2884,2312,1337,0,0,0,0,0,0,28.83,25.73,28.83
$GC,13673,0.52,397.2,754.7,10.7,573,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2312,1333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13971,0.52,397.2,724.3,9.9,583,13976,0.00,2.12,0.00,0.000,4,0.000,0.037,2883,908,1332,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,21559,end climb,SURFACE_DEPTH_REACHED
$STATE,21559,begin surface coast
$FINISH,2.6,1.023064
$STATE,21563,end surface coast,CONTROL_FINISHED_OK
$STATE,21563,begin surface
$SM_CCo,21644,0.00,0.000,0,0,1236,424.61
$SM_GC,1.75,7.20,2.33,0.00,0.025,0.028,0.000,114,2451,1236,-8.00,-1.33,424.61,0,0,0,0,0,0,26.40,26.37,28.83
$IRIDIUM_FIX,2305.10,12212.26,061212,151529
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.73
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.60
$XPDR_PINGS,19
$24V_AH,22.3,53.244
$10V_AH,10.1,34.628
$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,20.500,163.725,550.650,0.000,0.000,0.000,0.000,270.150,4.750,0.000,4.675,3023.153,15447.717,738.481,2438.165,442.050,0.000,2184.516,0.000,2088.939,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,68.850,1263.015,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21577.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.376,0.000,0.000,0.000
$MEM,323788
$DATA_FILE_SIZE,33389,958
$CAP_FILE_SIZE,226694,0
$CFSIZE,260165632,226344960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.009,229.3,1
$GPS,071212,035235,2318.359,12220.380,32,2.0,32,-3.6