version: 66.11
glider: 167
mission: 14
dive: 240
start: 12 7 112 22 43 7
data:
$ID,167
$MISSION,14
$DIVE,240
$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,-969126
$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,49
$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
$GPS1,071212,223505,2320.588,12230.017,27,1.1,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-62.5
$GPS2,071212,224240,2320.507,12229.907,6,1.1,6,-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,69.5,154154,-13.8,-8.049,-17.28
$D_GRID,4734
$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,-51.78,0.000,2,0.000,0.000,110,2468,2548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.53,-171.1,3.1,-4.4,5,122,9.70,0.00,-28.25,0.000,6,0.222,0.000,2522,2469,3668,0,0,0,0,0,0,25.13,28.83,26.63
$GC,424,-0.51,-171.1,49.1,-13.1,40,430,0.00,2.03,0.00,0.000,4,0.000,0.026,2523,1060,3668,0,0,0,0,0,0,28.83,26.36,28.83
$GC,463,-0.50,-171.1,52.6,-13.3,42,469,0.00,2.05,0.00,0.000,6,0.000,0.033,2520,2442,3669,0,0,0,0,0,0,28.83,26.31,28.83
$GC,770,-0.50,-171.1,92.6,-10.7,58,776,0.00,2.03,0.00,0.000,4,0.000,0.031,2519,1058,3669,0,0,0,0,0,0,28.83,26.36,28.83
$GC,823,-0.51,-171.1,97.4,-10.6,60,828,0.00,2.08,0.00,0.000,6,0.000,0.037,2519,2449,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1138,-0.53,-171.1,125.6,-8.1,76,1143,0.00,2.03,0.00,0.000,4,0.000,0.031,2524,1063,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1176,-0.55,-171.1,127.6,-8.1,77,1183,0.00,2.08,0.00,0.000,6,0.000,0.033,2519,2455,3671,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1482,-0.58,-171.1,156.4,-9.1,93,1487,0.00,1.95,0.00,0.000,4,0.000,0.042,2519,3755,3670,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1534,-0.61,-171.1,160.5,-9.3,95,1539,0.00,1.83,0.00,0.000,6,0.000,0.018,2519,2407,3671,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1847,-0.64,-171.1,190.2,-8.9,111,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2406,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2149,-0.67,-171.1,216.6,-8.5,126,2155,0.10,1.85,0.00,0.000,4,0.094,0.024,2448,1103,3671,0,0,0,0,0,0,26.72,26.48,28.83
$GC,2194,-0.68,-171.1,221.8,-9.9,128,2200,0.12,2.00,0.00,0.000,6,0.149,0.033,2480,2457,3670,0,0,0,0,0,0,26.17,26.43,28.83
$GC,2518,-0.68,-171.1,254.0,-9.4,144,2523,0.00,1.95,0.00,0.000,4,0.000,0.043,2480,3755,3669,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2555,-0.68,-171.1,256.3,-9.3,145,2562,0.00,1.77,0.00,0.000,6,0.000,0.019,2480,2457,3669,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2862,-0.69,-171.1,289.2,-10.1,161,2867,0.00,1.95,0.00,0.000,4,0.000,0.025,2480,1085,3669,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2926,-0.70,-171.1,295.6,-10.1,164,2931,0.00,2.03,0.00,0.000,6,0.000,0.031,2479,2454,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3250,-0.70,-171.1,327.0,-9.6,180,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2454,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,-0.71,-171.1,351.4,-7.6,195,3557,0.00,1.98,0.00,0.000,4,0.000,0.044,2480,3765,3667,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3620,-0.73,-171.1,356.4,-7.5,198,3627,0.00,1.85,0.00,0.000,6,0.000,0.020,2480,2439,3666,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3940,-0.74,-171.1,381.1,-8.0,214,3945,0.00,1.92,0.00,0.000,4,0.000,0.026,2480,1086,3665,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4013,-0.76,-171.1,386.6,-8.4,217,4019,0.00,2.03,0.00,0.000,6,0.000,0.031,2480,2461,3665,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4328,-0.77,-171.1,414.7,-8.4,233,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2456,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4630,-0.79,-171.1,438.4,-7.9,248,4632,0.10,0.00,0.00,0.000,6,0.096,0.000,2417,2455,3662,0,0,0,0,0,0,26.72,28.83,28.83
$GC,4929,-0.76,-171.1,473.2,-11.3,263,4935,0.12,2.00,0.00,0.000,4,0.152,0.028,2457,1086,3662,0,0,0,0,0,0,26.39,26.46,28.83
$GC,4987,-0.75,-171.1,477.8,-10.7,265,4995,0.00,2.05,0.00,0.000,6,0.000,0.033,2453,2457,3661,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5292,-0.75,-171.1,507.6,-9.7,281,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2457,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5595,-0.75,-171.1,534.4,-8.8,296,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2457,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5896,-0.75,-171.1,560.8,-8.5,311,5902,0.00,1.98,0.00,0.000,4,0.000,0.046,2453,3754,3656,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5949,-0.76,-171.1,565.2,-8.7,313,5955,0.00,1.83,0.00,0.000,6,0.000,0.021,2453,2433,3656,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6263,-0.77,-171.1,592.4,-8.6,329,6269,0.00,1.92,0.00,0.000,4,0.000,0.028,2453,1100,3654,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6296,-0.78,-171.1,594.6,-8.8,330,6302,0.00,2.03,0.00,0.000,6,0.000,0.034,2452,2455,3654,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6622,-0.79,-171.1,622.1,-8.0,342,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2455,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6920,-0.80,-171.1,648.6,-9.1,352,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2455,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7220,-0.81,-171.1,676.0,-9.3,362,7225,0.00,2.00,0.00,0.000,4,0.000,0.047,2453,3759,3648,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7268,-0.82,-171.1,679.4,-9.4,363,7273,0.00,1.83,0.00,0.000,6,0.000,0.022,2453,2445,3648,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7588,-0.84,-171.1,713.6,-10.8,374,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2444,3647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7887,-0.85,-171.1,746.0,-10.8,384,7892,0.00,1.95,0.00,0.000,4,0.000,0.029,2453,1101,3644,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7934,-0.87,-171.1,749.7,-10.8,385,7940,0.00,2.03,0.00,0.000,6,0.000,0.034,2453,2449,3647,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8254,-0.88,-171.1,781.4,-8.9,396,8256,0.12,0.00,0.00,0.000,6,0.086,0.000,2388,2449,3642,0,0,0,0,0,0,26.67,28.83,28.83
$GC,8553,-0.85,-171.1,815.5,-11.1,406,8555,0.15,0.00,0.00,0.000,6,0.148,0.000,2429,2449,3640,0,0,0,0,0,0,26.31,28.83,28.83
$GC,8852,-0.85,-171.1,841.9,-8.8,416,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2449,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9153,-0.85,-171.1,868.2,-8.8,426,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2449,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9452,-0.85,-171.1,892.9,-8.2,436,9458,0.00,2.05,0.00,0.000,4,0.000,0.049,2427,3761,3636,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9526,-0.85,-171.1,898.3,-8.2,438,9531,0.00,1.85,0.00,0.000,6,0.000,0.024,2427,2459,3635,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9849,-0.85,-171.1,927.1,-8.9,449,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2454,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10149,-0.85,-171.1,952.4,-8.2,459,10154,0.00,2.05,0.00,0.000,4,0.000,0.049,2427,3760,3632,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10191,-0.85,-171.1,955.2,-8.3,460,10196,0.00,1.88,0.00,0.000,6,0.000,0.032,2427,2451,3632,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10516,-0.85,-171.1,982.3,-8.2,471,10522,0.00,2.05,0.00,0.000,4,0.000,0.049,2434,3755,3631,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10550,-0.85,-171.1,985.3,-8.3,472,10555,0.00,1.88,0.00,0.000,6,0.000,0.025,2428,2446,3630,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,10611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10611,begin apogee
$GC,10618,-0.27,0.0,990.5,-8.3,474,10774,0.55,0.00,149.60,1.312,6,0.111,0.000,2607,2301,2966,0,0,0,0,0,0,25.68,28.83,22.70
$STATE,10776,end apogee,CONTROL_FINISHED_OK
$STATE,10776,begin climb
$GC,10779,0.53,171.1,996.1,0.0,479,10949,0.75,2.47,162.62,1.320,4,0.064,0.048,2869,3703,2262,0,0,0,0,0,0,24.51,23.87,22.32
$GC,10977,0.47,195.6,987.1,7.3,486,11008,0.00,2.20,23.80,1.287,6,0.000,0.027,2878,2333,2164,0,0,0,0,0,0,28.83,24.66,22.62
$GC,11307,0.42,195.6,951.5,10.8,497,11313,0.12,2.17,0.00,0.000,4,0.147,0.035,2842,892,2153,0,0,0,0,0,0,26.01,26.08,28.83
$GC,11345,0.38,195.6,948.4,10.5,498,11350,0.00,2.15,0.00,0.000,6,0.000,0.033,2842,2306,2152,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11677,0.36,195.6,918.5,8.9,509,11683,0.00,2.17,0.00,0.000,4,0.000,0.047,2842,3702,2151,0,0,0,0,0,0,28.83,26.19,28.83
$GC,11721,0.33,195.6,914.9,9.1,510,11727,0.12,2.10,0.00,0.000,6,0.161,0.028,2810,2277,2150,0,0,0,0,0,0,26.06,26.39,28.83
$GC,12047,0.34,213.6,889.5,7.5,521,12065,0.00,0.00,16.70,1.291,6,0.000,0.000,2810,2277,2096,0,0,0,0,0,0,28.83,28.83,24.13
$GC,12347,0.36,246.7,867.4,7.0,531,12388,0.00,2.38,33.53,1.272,4,0.000,0.047,2810,3696,1956,0,0,0,0,0,0,28.83,25.45,23.89
$GC,12426,0.37,278.4,863.0,7.0,533,12467,0.00,2.10,33.03,1.216,6,0.000,0.028,2813,2301,1827,0,0,0,0,0,0,28.83,25.85,23.71
$GC,12767,0.41,307.4,837.1,7.1,545,12805,0.00,2.20,29.50,1.224,4,0.000,0.036,2813,919,1707,0,0,0,0,0,0,28.83,25.53,23.98
$GC,12842,0.45,339.6,832.9,7.0,547,12881,0.00,2.15,32.30,1.192,6,0.000,0.031,2813,2315,1581,0,0,0,0,0,0,28.83,25.80,23.75
$GC,13190,0.51,384.9,808.9,6.6,559,13240,0.15,0.00,47.38,1.187,6,0.072,0.000,2892,2315,1397,0,0,0,0,0,0,26.34,28.83,23.82
$GC,13521,0.50,384.9,772.3,11.4,570,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2315,1384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13820,0.50,384.9,739.8,10.6,580,13826,0.12,2.12,0.00,0.000,4,0.132,0.034,2852,912,1383,0,0,0,0,0,0,26.28,26.27,28.83
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$STATE,21161,end climb,SURFACE_DEPTH_REACHED
$STATE,21161,begin surface coast
$FINISH,1.0,1.023298
$STATE,21181,end surface coast,CONTROL_FINISHED_OK
$STATE,21181,begin surface
$SM_CCo,21259,0.00,0.000,0,0,806,530.34
$SM_GC,1.69,7.22,0.17,0.00,0.028,0.068,0.000,115,2454,806,-7.98,-1.50,530.34,0,0,0,0,0,0,26.38,26.55,28.83
$IRIDIUM_FIX,2309.79,12229.17,071212,161613
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.30
$XPDR_PINGS,9
$24V_AH,22.3,54.058
$10V_AH,10.1,35.142
$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,20.450,147.525,614.450,0.000,0.000,0.000,0.000,268.975,2.250,0.000,7.810,2898.180,15272.301,755.772,2351.687,428.814,0.000,2172.337,0.000,2015.832,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,68.085,1320.390,0.000,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21192.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.312,0.000,0.000,0.000
$MEM,323776
$DATA_FILE_SIZE,33394,945
$CAP_FILE_SIZE,220833,0
$CFSIZE,260165632,225955840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.061,199.7,1
$GPS,081212,043835,2321.007,12233.198,25,1.3,25,-3.6