version: 66.11
glider: 167
mission: 14
dive: 241
start: 12 8 112 4 46 27
data:
$ID,167
$MISSION,14
$DIVE,241
$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,-969127.25
$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,73
$R_STBD_OVSHOOT,52
$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
$GPS1,081212,043835,2321.007,12233.198,25,1.3,25,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-60.3
$GPS2,081212,044600,2320.933,12233.158,6,1.3,6,-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,62.2,148730,-13.8,-8.049,-17.28
$D_GRID,4534
$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,-171.1,0.0,0.0,0,94,0.00,0.00,-72.20,0.000,2,0.000,0.000,108,2466,2738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.53,-171.1,3.5,-4.5,7,134,9.60,2.08,-20.40,0.000,4,0.217,0.041,2519,1053,3668,0,0,0,0,0,0,25.02,26.20,26.64
$GC,177,-0.53,-171.1,15.1,-13.5,14,184,0.00,2.10,0.00,0.000,6,0.000,0.033,2520,2443,3669,0,0,0,0,0,0,28.83,26.17,28.83
$GC,493,-0.51,-171.1,55.2,-12.2,44,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2444,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,794,-0.49,-171.1,89.2,-11.2,59,800,0.00,2.00,0.00,0.000,4,0.000,0.044,2520,3768,3669,0,0,0,0,0,0,28.83,26.28,28.83
$GC,857,-0.49,-171.1,96.6,-11.3,62,862,0.00,1.88,0.00,0.000,6,0.000,0.019,2519,2407,3669,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1180,-0.51,-171.1,126.6,-8.9,78,1186,0.00,1.88,0.00,0.000,4,0.000,0.026,2519,1079,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1253,-0.53,-171.1,132.7,-9.6,81,1259,0.00,2.05,0.00,0.000,6,0.000,0.031,2519,2462,3670,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1567,-0.55,-171.1,160.4,-8.4,97,1573,0.00,2.00,0.00,0.000,4,0.000,0.031,2519,1087,3668,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1605,-0.57,-171.1,162.3,-8.3,98,1612,0.00,2.03,0.00,0.000,6,0.000,0.031,2519,2466,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1911,-0.60,-171.1,186.1,-6.9,114,1917,0.00,1.98,0.00,0.000,4,0.000,0.025,2519,1085,3670,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1945,-0.63,-171.1,187.9,-6.8,115,1950,0.00,2.00,0.00,0.000,6,0.000,0.032,2519,2451,3670,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2258,-0.66,-171.1,211.3,-7.7,131,2263,0.00,1.95,0.00,0.000,4,0.000,0.042,2519,3752,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2291,-0.69,-171.1,213.2,-7.7,132,2297,0.12,1.80,0.00,0.000,6,0.080,0.018,2439,2429,3670,0,0,0,0,0,0,26.54,26.68,28.83
$GC,2606,-0.65,-171.1,255.0,-12.5,148,2612,0.12,1.90,0.00,0.000,4,0.147,0.024,2480,1099,3670,0,0,0,0,0,0,26.41,26.50,28.83
$GC,2679,-0.64,-171.1,262.1,-11.3,151,2686,0.00,2.00,0.00,0.000,6,0.000,0.032,2480,2448,3669,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2994,-0.64,-171.1,295.0,-10.3,167,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2447,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3296,-0.64,-171.1,325.7,-10.1,182,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2447,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3595,-0.65,-171.1,355.5,-9.8,197,3601,0.00,1.98,0.00,0.000,4,0.000,0.031,2480,1087,3667,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3643,-0.66,-171.1,360.0,-9.8,199,3649,0.00,2.03,0.00,0.000,6,0.000,0.031,2480,2461,3666,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3962,-0.67,-171.1,389.7,-8.6,215,3967,0.00,1.98,0.00,0.000,4,0.000,0.025,2480,1087,3666,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4000,-0.68,-171.1,391.8,-8.6,216,4007,0.00,2.03,0.00,0.000,6,0.000,0.031,2480,2460,3665,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4306,-0.70,-171.1,418.6,-9.0,232,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2460,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4608,-0.71,-171.1,448.2,-10.1,247,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2460,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4907,-0.73,-171.1,477.2,-9.3,262,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2460,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5208,-0.76,-171.1,501.9,-7.8,277,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2460,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5509,-0.79,-171.1,526.3,-8.7,292,5514,0.00,1.98,0.00,0.000,4,0.000,0.045,2480,3759,3660,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5542,-0.81,-171.1,528.6,-8.8,293,5548,0.12,1.85,0.00,0.000,6,0.082,0.021,2411,2419,3659,0,0,0,0,0,0,26.51,26.66,28.83
$GC,5856,-0.78,-171.1,566.3,-12.1,309,5862,0.12,1.88,0.00,0.000,4,0.148,0.024,2452,1109,3658,0,0,0,0,0,0,26.39,26.46,28.83
$GC,5950,-0.78,-171.1,574.7,-9.9,313,5955,0.00,2.00,0.00,0.000,6,0.000,0.034,2452,2453,3656,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6274,-0.79,-171.1,603.1,-8.4,329,6279,0.00,2.00,0.00,0.000,4,0.000,0.045,2451,3765,3655,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6331,-0.80,-171.1,605.9,-8.4,330,6338,0.00,1.80,0.00,0.000,6,0.000,0.022,2452,2456,3654,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6639,-0.81,-171.1,630.6,-7.5,341,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2454,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6938,-0.82,-171.1,655.3,-8.6,351,6943,0.00,2.03,0.00,0.000,4,0.000,0.047,2452,3761,3651,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6965,-0.83,-171.1,655.3,-8.6,351,6972,0.00,1.83,0.00,0.000,6,0.000,0.023,2451,2444,3650,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7273,-0.84,-171.1,683.6,-8.3,362,7278,0.00,1.95,0.00,0.000,4,0.000,0.028,2451,1095,3648,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7351,-0.86,-171.1,688.9,-8.1,364,7357,0.00,2.03,0.00,0.000,6,0.000,0.034,2452,2446,3648,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7672,-0.87,-171.1,713.9,-7.4,375,7677,0.00,1.98,0.00,0.000,4,0.000,0.027,2452,1090,3646,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7700,-0.88,-171.1,713.9,-7.4,375,7708,0.10,2.08,0.00,0.000,6,0.098,0.034,2396,2460,3645,0,0,0,0,0,0,26.29,26.34,28.83
$GC,8008,-0.85,-171.1,747.8,-10.2,386,8013,0.00,2.00,0.00,0.000,4,0.000,0.047,2396,3761,3643,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8050,-0.82,-171.1,751.7,-10.4,387,8056,0.15,1.83,0.00,0.000,6,0.146,0.023,2437,2464,3643,0,0,0,0,0,0,26.12,26.59,28.83
$GC,8376,-0.82,-171.1,780.4,-8.3,398,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2462,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8675,-0.82,-171.1,808.7,-10.0,408,8680,0.00,2.05,0.00,0.000,4,0.000,0.050,2437,3763,3639,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8752,-0.83,-171.1,815.4,-10.2,410,8757,0.00,1.88,0.00,0.000,6,0.000,0.024,2436,2438,3638,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9073,-0.83,-171.1,850.7,-10.2,421,9078,0.00,2.08,0.00,0.000,4,0.000,0.048,2437,3759,3637,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9106,-0.84,-171.1,854.2,-10.0,422,9111,0.00,1.88,0.00,0.000,6,0.000,0.024,2437,2443,3637,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9442,-0.85,-171.1,885.4,-8.7,433,9447,0.00,1.98,0.00,0.000,4,0.000,0.030,2437,1088,3635,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9494,-0.86,-171.1,888.5,-8.6,434,9500,0.00,2.05,0.00,0.000,6,0.000,0.035,2437,2449,3635,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9811,-0.86,-171.1,915.9,-7.9,445,9816,0.00,2.03,0.00,0.000,4,0.000,0.049,2437,3754,3634,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9864,-0.87,-171.1,918.9,-8.0,446,9870,0.00,1.88,0.00,0.000,6,0.000,0.025,2437,2446,3633,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10181,-0.88,-171.1,945.4,-7.7,457,10186,0.00,2.00,0.00,0.000,4,0.000,0.030,2437,1085,3632,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10235,-0.89,-171.1,948.3,-7.7,458,10240,0.00,2.08,0.00,0.000,6,0.000,0.035,2437,2456,3631,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10550,-0.90,-171.1,972.1,-6.9,469,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2457,3630,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10815,begin apogee
$GC,10822,-0.27,0.0,991.8,-7.3,478,10983,0.52,0.00,151.18,1.365,6,0.109,0.000,2610,2308,2963,0,0,0,0,0,0,25.72,28.83,22.56
$STATE,10985,end apogee,CONTROL_FINISHED_OK
$STATE,10985,begin climb
$GC,10988,0.53,171.1,996.4,0.0,483,11163,0.73,2.50,163.90,1.337,4,0.057,0.047,2869,3706,2262,0,0,0,0,0,0,24.49,23.84,22.30
$GC,11227,0.46,171.1,982.8,9.1,491,11232,0.00,2.15,0.00,0.000,6,0.000,0.027,2879,2332,2255,0,0,0,0,0,0,28.83,25.18,28.83
$GC,11548,0.40,171.1,948.2,10.4,502,11554,0.15,2.15,0.00,0.000,4,0.144,0.034,2841,905,2251,0,0,0,0,0,0,26.02,26.15,28.83
$GC,11591,0.35,171.1,944.8,10.1,503,11596,0.00,2.15,0.00,0.000,6,0.000,0.033,2841,2307,2249,0,0,0,0,0,0,28.83,25.17,28.83
$GC,11916,0.33,171.1,916.6,8.3,514,11923,0.12,2.12,0.00,0.000,4,0.140,0.034,2802,902,2248,0,0,0,0,0,0,26.28,26.29,28.83
$GC,11946,0.30,171.1,916.6,8.3,514,11952,0.00,2.12,0.00,0.000,6,0.000,0.031,2802,2311,2248,0,0,0,0,0,0,28.83,26.31,28.83
$GC,12252,0.31,208.2,893.3,6.9,525,12295,0.00,2.28,34.53,1.286,4,0.000,0.048,2802,3689,2112,0,0,0,0,0,0,28.83,25.51,23.88
$GC,12337,0.33,243.2,888.9,6.9,527,12379,0.00,2.10,34.80,1.245,6,0.000,0.027,2802,2285,1973,0,0,0,0,0,0,28.83,25.91,23.67
$GC,12707,0.37,300.8,862.7,6.2,540,12771,0.00,2.15,57.33,1.220,4,0.000,0.034,2802,919,1735,0,0,0,0,0,0,28.83,25.19,23.68
$GC,12796,0.42,356.4,859.0,6.3,542,12859,0.00,2.15,55.33,1.196,6,0.000,0.032,2802,2302,1510,0,0,0,0,0,0,28.83,25.53,23.39
$GC,13160,0.53,383.2,835.1,7.2,555,13194,0.17,2.25,27.17,1.225,4,0.074,0.046,2879,3701,1398,0,0,0,0,0,0,26.22,25.50,23.97
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$STATE,21487,end climb,SURFACE_DEPTH_REACHED
$STATE,21487,begin surface coast
$FINISH,0.8,1.022677
$STATE,21509,end surface coast,CONTROL_FINISHED_OK
$STATE,21509,begin surface
$SM_CCo,21588,0.00,0.000,0,0,994,484.22
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$IRIDIUM_FIX,2309.79,12229.17,071212,222212
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.11
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.70
$XPDR_PINGS,10
$24V_AH,22.3,54.267
$10V_AH,10.1,35.271
$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,19.975,188.575,580.025,0.000,0.000,0.000,0.000,261.175,2.500,0.000,7.221,3028.885,15271.822,762.315,2504.004,460.158,0.000,2280.139,0.000,2154.593,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,59.670,1364.760,0.000,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21524.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.360,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,33355,949
$CAP_FILE_SIZE,234842,0
$CFSIZE,260165632,225845248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110,201.5,1
$GPS,081212,104735,2321.510,12235.826,36,0.8,36,-3.6