version: 66.11
glider: 167
mission: 14
dive: 253
start: 12 11 112 6 52 51
data:
$ID,167
$MISSION,14
$DIVE,253
$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,-9
$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,2
$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,-969142.25
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,67
$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,0.0012000001
$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
$GPS1,111212,064500,2329.835,12300.789,41,1.0,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-66.5
$GPS2,111212,065207,2329.886,12300.760,5,0.9,5,-3.7
$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,77.8,99150,-13.8,-8.049,-17.28
$D_GRID,3351
$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,-0.66,-171.1,0.0,0.0,0,84,0.00,0.00,-61.92,0.000,2,0.000,0.000,108,2478,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.66,-171.1,3.5,-4.7,6,123,9.55,2.17,-18.25,0.000,4,0.223,0.043,2476,1052,3668,0,0,0,0,0,0,25.04,26.18,26.65
$GC,214,-0.62,-171.1,24.0,-15.5,18,220,0.00,2.05,0.00,0.000,6,0.000,0.034,2476,2425,3669,0,0,0,0,0,0,28.83,26.21,28.83
$GC,528,-0.56,-171.1,73.6,-16.0,42,530,0.15,0.00,0.00,0.000,6,0.149,0.000,2517,2426,3669,0,0,0,0,0,0,26.27,28.83,28.83
$GC,830,-0.57,-171.1,106.4,-9.7,57,835,0.00,2.03,0.00,0.000,4,0.000,0.044,2517,3761,3669,0,0,0,0,0,0,28.83,26.25,28.83
$GC,914,-0.59,-171.1,114.7,-9.5,61,920,0.00,1.85,0.00,0.000,6,0.000,0.018,2517,2416,3669,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1238,-0.61,-171.1,143.6,-8.5,77,1244,0.00,1.90,0.00,0.000,4,0.000,0.028,2517,1087,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1303,-0.64,-171.1,149.3,-8.8,80,1309,0.00,2.03,0.00,0.000,6,0.000,0.033,2517,2454,3670,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1627,-0.66,-171.1,176.7,-8.4,96,1632,0.00,2.00,0.00,0.000,4,0.000,0.044,2517,3763,3670,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1660,-0.69,-171.1,178.6,-8.3,97,1666,0.12,1.85,0.00,0.000,6,0.076,0.019,2439,2450,3670,0,0,0,0,0,0,26.51,26.62,28.83
$GC,1974,-0.64,-171.1,221.0,-13.4,113,1980,0.17,2.00,0.00,0.000,4,0.137,0.027,2489,1074,3671,0,0,0,0,0,0,26.27,26.46,28.83
$GC,2029,-0.62,-171.1,226.3,-12.8,115,2035,0.00,2.05,0.00,0.000,6,0.000,0.033,2489,2455,3670,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2343,-0.63,-171.1,259.8,-10.0,131,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2455,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,-0.64,-171.1,290.7,-10.5,146,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2455,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2945,-0.65,-171.1,321.6,-10.0,161,2950,0.00,2.03,0.00,0.000,4,0.000,0.031,2489,1072,3669,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3002,-0.66,-171.1,326.0,-9.7,163,3009,0.00,2.05,0.00,0.000,6,0.000,0.033,2489,2452,3669,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3309,-0.68,-171.1,354.3,-8.8,179,3314,0.00,2.00,0.00,0.000,4,0.000,0.028,2489,1077,3668,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3349,-0.70,-171.1,356.4,-8.8,180,3355,0.00,2.05,0.00,0.000,6,0.000,0.033,2489,2459,3668,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3653,-0.72,-171.1,382.9,-7.8,196,3658,0.00,2.00,0.00,0.000,4,0.000,0.045,2489,3762,3667,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3731,-0.74,-171.1,387.4,-7.0,199,3739,0.00,1.83,0.00,0.000,6,0.000,0.018,2489,2442,3667,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4037,-0.76,-171.1,409.5,-7.4,215,4039,0.10,0.00,0.00,0.000,6,0.091,0.000,2424,2442,3666,0,0,0,0,0,0,26.72,28.83,28.83
$GC,4338,-0.73,-171.1,444.8,-12.7,230,4344,0.12,1.98,0.00,0.000,4,0.149,0.026,2464,1077,3664,0,0,0,0,0,0,26.39,26.43,28.83
$GC,4422,-0.73,-171.1,454.6,-11.5,234,4428,0.00,2.08,0.00,0.000,6,0.000,0.034,2465,2455,3663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4746,-0.75,-171.1,488.6,-10.0,250,4751,0.00,2.00,0.00,0.000,4,0.000,0.028,2465,1082,3663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4824,-0.76,-171.1,494.9,-10.1,253,4831,0.00,2.05,0.00,0.000,6,0.000,0.034,2464,2458,3662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5130,-0.77,-171.1,523.0,-8.3,269,5135,0.00,2.00,0.00,0.000,4,0.000,0.028,2464,1086,3662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5157,-0.79,-171.1,525.1,-8.3,270,5163,0.00,2.05,0.00,0.000,6,0.000,0.033,2464,2462,3661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5476,-0.80,-171.1,549.2,-6.9,286,5482,0.00,2.00,0.00,0.000,4,0.000,0.054,2464,3756,3660,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5515,-0.81,-171.1,551.0,-6.8,287,5522,0.00,1.83,0.00,0.000,6,0.000,0.020,2464,2431,3659,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5821,-0.83,-171.1,571.0,-6.0,303,5826,0.00,1.95,0.00,0.000,4,0.000,0.028,2464,1090,3657,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5859,-0.85,-171.1,572.6,-6.1,304,5867,0.12,2.05,0.00,0.000,6,0.083,0.034,2396,2457,3657,0,0,0,0,0,0,26.34,26.36,28.83
$GC,6174,-0.81,-171.1,603.9,-9.7,320,6180,0.12,2.00,0.00,0.000,4,0.155,0.046,2435,3744,3655,0,0,0,0,0,0,26.35,26.17,28.83
$GC,6218,-0.78,-171.1,606.8,-9.5,321,6223,0.00,1.80,0.00,0.000,6,0.000,0.021,2435,2450,3655,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6543,-0.78,-171.1,632.4,-8.0,332,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2450,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6841,-0.78,-171.1,658.2,-8.8,342,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2450,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7141,-0.78,-171.1,684.4,-8.7,352,7147,0.00,1.98,0.00,0.000,4,0.000,0.030,2435,1095,3649,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7199,-0.78,-171.1,687.4,-8.5,353,7206,0.00,2.03,0.00,0.000,6,0.000,0.035,2435,2441,3649,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7506,-0.78,-171.1,715.9,-8.6,364,7511,0.00,2.05,0.00,0.000,4,0.000,0.049,2435,3762,3647,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7548,-0.78,-171.1,718.8,-8.6,365,7553,0.00,1.85,0.00,0.000,6,0.000,0.022,2435,2449,3646,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7871,-0.78,-171.1,747.2,-8.9,376,7877,0.00,2.00,0.00,0.000,4,0.000,0.030,2434,1090,3645,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7929,-0.78,-171.1,750.4,-9.0,377,7936,0.00,2.05,0.00,0.000,6,0.000,0.035,2435,2448,3644,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8235,-0.78,-171.1,780.1,-8.8,388,8240,0.00,2.03,0.00,0.000,4,0.000,0.050,2435,3754,3642,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8313,-0.78,-171.1,785.6,-8.8,390,8318,0.00,1.88,0.00,0.000,6,0.000,0.023,2435,2441,3642,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8631,-0.78,-171.1,812.7,-8.2,401,8637,0.00,2.08,0.00,0.000,4,0.000,0.050,2436,3758,3640,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8665,-0.78,-171.1,815.6,-8.4,402,8671,0.00,1.90,0.00,0.000,6,0.000,0.023,2435,2437,3640,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9001,-0.79,-171.1,843.9,-8.4,413,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2436,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9299,-0.79,-171.1,869.6,-8.3,423,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2436,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9600,-0.79,-171.1,893.8,-8.7,433,9606,0.00,2.10,0.00,0.000,4,0.000,0.050,2435,3765,3635,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9668,-0.80,-171.1,899.4,-8.7,435,9673,0.00,1.88,0.00,0.000,6,0.000,0.024,2435,2449,3635,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9999,-0.81,-171.1,925.4,-7.6,446,10005,0.00,2.08,0.00,0.000,4,0.000,0.050,2435,3762,3634,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10057,-0.82,-171.1,928.3,-7.7,447,10064,0.00,1.88,0.00,0.000,6,0.000,0.025,2435,2449,3634,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10366,-0.83,-171.1,952.9,-7.4,458,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2449,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10663,-0.84,-171.1,974.6,-7.1,468,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2449,3631,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10900,begin apogee
$GC,10907,-0.27,0.0,991.1,-6.9,476,11063,0.52,0.00,149.20,1.317,6,0.107,0.000,2610,2190,2972,0,0,0,0,0,0,25.71,28.83,22.68
$STATE,11065,end apogee,CONTROL_FINISHED_OK
$STATE,11065,begin climb
$GC,11068,0.66,171.1,994.6,0.0,481,11238,0.85,2.47,162.98,1.327,4,0.062,0.045,2909,3600,2264,0,0,0,0,0,0,24.52,23.84,22.20
$GC,11277,0.57,171.1,980.3,9.9,488,11282,0.00,2.17,0.00,0.000,6,0.000,0.028,2910,2237,2261,0,0,0,0,0,0,28.83,24.79,28.83
$GC,11604,0.49,171.1,940.3,11.7,499,11610,0.15,2.17,0.00,0.000,4,0.158,0.037,2872,804,2251,0,0,0,0,0,0,25.96,26.12,28.83
$GC,11683,0.43,171.1,933.4,10.8,501,11689,0.12,2.12,0.00,0.000,6,0.135,0.032,2839,2206,2248,0,0,0,0,0,0,26.01,26.20,28.83
$GC,12004,0.41,175.5,906.6,7.9,512,12010,0.00,2.17,0.00,0.000,4,0.000,0.047,2839,3609,2247,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12098,0.38,175.5,898.5,8.3,515,12104,0.00,2.12,0.00,0.000,6,0.000,0.028,2841,2182,2247,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12435,0.37,193.9,873.1,7.5,526,12462,0.00,2.30,20.48,1.275,4,0.000,0.046,2841,3606,2170,0,0,0,0,0,0,28.83,25.82,24.09
$GC,12490,0.36,202.6,870.6,7.8,527,12506,0.00,2.12,9.40,1.271,6,0.000,0.029,2841,2198,2139,0,0,0,0,0,0,28.83,26.01,23.93
$GC,12829,0.34,202.6,839.2,8.7,539,12834,0.00,2.12,0.00,0.000,4,0.000,0.039,2851,798,2131,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12868,0.33,202.6,836.4,8.6,540,12874,0.15,2.12,0.00,0.000,6,0.129,0.037,2808,2204,2129,0,0,0,0,0,0,25.93,26.03,28.83
$GC,13198,0.39,243.1,813.1,6.8,551,13246,0.00,2.28,41.08,1.224,4,0.000,0.051,2808,3604,1969,0,0,0,0,0,0,28.83,25.41,23.82
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$STATE,22041,end climb,SURFACE_DEPTH_REACHED
$STATE,22041,begin surface coast
$FINISH,1.0,1.010556
$STATE,22073,end surface coast,CONTROL_FINISHED_OK
$STATE,22073,begin surface
$SM_CCo,22151,0.00,0.000,0,0,1238,424.61
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$IRIDIUM_FIX,2321.52,12257.10,111212,000030
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.63
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.30
$XPDR_PINGS,16
$24V_AH,22.2,56.676
$10V_AH,10.2,36.754
$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,20.525,190.575,551.125,0.000,0.000,0.000,0.000,239.600,4.000,0.000,5.503,3171.975,15648.899,734.239,2567.006,463.547,0.000,2253.643,0.000,2250.157,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,54.315,1326.510,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22083.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.919,0.000,0.000,0.000
$MEM,329696
$DATA_FILE_SIZE,36675,974
$CAP_FILE_SIZE,241407,0
$CFSIZE,260165632,224657408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,254.6,1
$GPS,111212,130328,2330.555,12302.789,39,1.3,43,-3.7