version: 66.11
glider: 167
mission: 14
dive: 256
start: 12 12 112 1 39 25
data:
$ID,167
$MISSION,14
$DIVE,256
$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,3
$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,-969146
$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,63
$R_STBD_OVSHOOT,55
$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
$GPS1,121212,013105,2332.566,12306.279,35,0.9,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-63.4
$GPS2,121212,013858,2332.623,12306.181,3,0.8,4,-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,86.9,88744,-13.8,-8.049,-17.28
$D_GRID,3136
$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,-171.1,0.0,0.0,0,74,0.00,0.00,-51.92,0.000,2,0.000,0.000,108,2465,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.66,-171.1,3.2,-4.4,5,120,9.50,2.15,-22.45,0.000,4,0.220,0.044,2476,1050,3668,0,0,0,0,0,0,25.07,26.17,26.64
$GC,195,-0.63,-171.1,23.5,-17.8,16,200,0.00,2.08,0.00,0.000,6,0.000,0.034,2477,2431,3669,0,0,0,0,0,0,28.83,26.15,28.83
$GC,508,-0.57,-171.1,76.3,-15.7,39,514,0.12,2.08,0.00,0.000,4,0.156,0.047,2510,3766,3669,0,0,0,0,0,0,26.28,26.19,28.83
$GC,553,-0.53,-171.1,82.4,-15.2,41,558,0.00,1.90,0.00,0.000,6,0.000,0.019,2510,2424,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,876,-0.53,-171.1,115.3,-8.9,57,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2423,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-0.54,-171.1,141.8,-9.1,72,1186,0.00,2.08,0.00,0.000,4,0.000,0.048,2508,3765,3671,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1248,-0.55,-171.1,147.9,-9.2,75,1253,0.00,1.85,0.00,0.000,6,0.000,0.018,2508,2417,3671,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1566,-0.57,-171.1,174.3,-7.5,91,1572,0.00,1.90,0.00,0.000,4,0.000,0.028,2508,1087,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1620,-0.59,-171.1,177.8,-7.6,93,1625,0.00,2.03,0.00,0.000,6,0.000,0.034,2508,2456,3671,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1933,-0.61,-171.1,201.3,-7.2,109,1939,0.00,1.98,0.00,0.000,4,0.000,0.046,2508,3758,3670,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1967,-0.63,-171.1,203.1,-7.2,110,1972,0.00,1.80,0.00,0.000,6,0.000,0.018,2508,2445,3674,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2280,-0.66,-171.1,229.1,-8.8,126,2285,0.00,1.95,0.00,0.000,4,0.000,0.028,2508,1086,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2373,-0.68,-171.1,236.9,-9.3,130,2379,0.00,2.03,0.00,0.000,6,0.000,0.037,2508,2447,3670,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2688,-0.71,-171.1,266.1,-9.1,146,2690,0.12,0.00,0.00,0.000,6,0.078,0.000,2424,2450,3670,0,0,0,0,0,0,26.71,28.83,28.83
$GC,2989,-0.67,-171.1,306.0,-12.9,161,2991,0.20,0.00,0.00,0.000,6,0.136,0.000,2483,2450,3669,0,0,0,0,0,0,26.24,28.83,28.83
$GC,3291,-0.68,-171.1,333.9,-9.0,176,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2450,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3590,-0.69,-171.1,363.6,-10.1,191,3595,0.00,1.98,0.00,0.000,4,0.000,0.029,2483,1091,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3633,-0.71,-171.1,368.2,-9.9,193,3638,0.00,2.03,0.00,0.000,6,0.000,0.033,2482,2455,3667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3957,-0.72,-171.1,396.1,-7.7,209,3962,0.00,1.98,0.00,0.000,4,0.000,0.028,2482,1091,3666,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4001,-0.74,-171.1,399.7,-7.9,211,4006,0.00,2.03,0.00,0.000,6,0.000,0.033,2482,2459,3666,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4325,-0.76,-171.1,424.7,-7.5,227,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2460,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4627,-0.78,-171.1,444.1,-6.2,242,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2460,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4928,-0.80,-171.1,466.0,-8.0,257,4930,0.12,0.00,0.00,0.000,6,0.081,0.000,2409,2461,3662,0,0,0,0,0,0,26.70,28.83,28.83
$GC,5227,-0.76,-171.1,501.4,-11.5,272,5233,0.12,2.00,0.00,0.000,4,0.151,0.046,2449,3760,3662,0,0,0,0,0,0,26.37,26.20,28.83
$GC,5272,-0.74,-171.1,506.1,-10.9,274,5277,0.00,1.83,0.00,0.000,6,0.000,0.019,2449,2441,3661,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5594,-0.74,-171.1,533.2,-8.3,290,5600,0.00,1.95,0.00,0.000,4,0.000,0.028,2449,1092,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5658,-0.74,-171.1,538.7,-8.5,293,5664,0.00,2.03,0.00,0.000,6,0.000,0.034,2449,2454,3659,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5982,-0.74,-171.1,567.8,-9.2,309,5987,0.00,1.98,0.00,0.000,4,0.000,0.028,2449,1099,3658,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6074,-0.74,-171.1,575.4,-9.2,313,6079,0.00,2.03,0.00,0.000,6,0.000,0.034,2449,2454,3657,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6407,-0.74,-171.1,606.6,-9.2,329,6412,0.00,2.00,0.00,0.000,4,0.000,0.047,2447,3753,3655,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6454,-0.74,-171.1,609.9,-9.4,330,6459,0.00,1.83,0.00,0.000,6,0.000,0.020,2447,2459,3655,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6772,-0.74,-171.1,642.4,-9.8,341,6778,0.00,1.98,0.00,0.000,4,0.000,0.029,2447,1088,3652,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6830,-0.74,-171.1,645.7,-9.7,342,6837,0.00,2.05,0.00,0.000,6,0.000,0.034,2447,2457,3652,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7137,-0.74,-171.1,677.4,-9.9,353,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2457,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7436,-0.75,-171.1,706.4,-9.5,363,7442,0.00,2.03,0.00,0.000,4,0.000,0.035,2447,1086,3649,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7475,-0.76,-171.1,709.8,-9.5,364,7481,0.00,2.08,0.00,0.000,6,0.000,0.041,2447,2457,3649,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7806,-0.81,-171.1,737.8,-8.0,375,7811,0.00,2.00,0.00,0.000,4,0.000,0.049,2447,3752,3647,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7854,-0.87,-171.1,740.6,-7.8,376,7859,0.00,1.83,0.00,0.000,6,0.000,0.022,2447,2445,3645,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8175,-0.92,-171.1,764.3,-6.8,387,8182,0.12,1.98,0.00,0.000,4,0.084,0.028,2374,1093,3644,0,0,0,0,0,0,26.66,26.35,28.83
$GC,8409,-0.87,-171.1,786.5,-10.7,394,8415,0.17,2.05,0.00,0.000,6,0.151,0.036,2419,2450,3643,0,0,0,0,0,0,25.86,26.27,28.83
$GC,8725,-0.87,-171.1,815.5,-8.6,405,8730,0.00,2.00,0.00,0.000,4,0.000,0.028,2419,1088,3641,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8854,-0.87,-171.1,826.4,-8.6,409,8859,0.00,2.05,0.00,0.000,6,0.000,0.036,2420,2449,3640,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9184,-0.86,-171.1,854.7,-8.6,420,9189,0.00,2.03,0.00,0.000,4,0.000,0.050,2419,3752,3639,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9232,-0.86,-171.1,857.7,-8.6,421,9237,0.00,1.83,0.00,0.000,6,0.000,0.024,2419,2454,3638,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9550,-0.86,-171.1,884.9,-8.2,432,9556,0.00,2.00,0.00,0.000,4,0.000,0.029,2419,1080,3637,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9603,-0.86,-171.1,887.7,-8.2,433,9608,0.00,2.08,0.00,0.000,6,0.000,0.036,2418,2452,3636,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9916,-0.86,-171.1,916.2,-8.8,444,9921,0.00,2.03,0.00,0.000,4,0.000,0.028,2419,1080,3636,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9993,-0.86,-171.1,922.1,-9.1,446,9998,0.00,2.08,0.00,0.000,6,0.000,0.036,2419,2450,3635,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10311,-0.86,-171.1,953.9,-9.9,457,10317,0.00,2.00,0.00,0.000,4,0.000,0.029,2416,1093,3634,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10353,-0.86,-171.1,957.4,-10.0,458,10359,0.00,2.08,0.00,0.000,6,0.000,0.037,2419,2460,3634,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,10676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10676,begin apogee
$GC,10683,-0.27,0.0,992.2,-10.5,469,10842,0.57,0.00,148.45,1.242,6,0.110,0.000,2607,2204,2964,0,0,0,0,0,0,25.64,28.83,22.94
$STATE,10843,end apogee,CONTROL_FINISHED_OK
$STATE,10843,begin climb
$GC,10846,0.66,171.1,1001.1,0.0,474,11014,0.85,2.47,159.45,1.203,4,0.063,0.050,2911,3593,2263,0,0,0,0,0,0,24.81,24.01,22.45
$GC,11083,0.57,171.1,991.2,8.6,482,11088,0.00,2.10,0.00,0.000,6,0.000,0.027,2911,2243,2255,0,0,0,0,0,0,28.83,25.31,28.83
$GC,11403,0.49,171.1,956.8,10.4,493,11409,0.15,2.20,0.00,0.000,4,0.159,0.037,2873,792,2251,0,0,0,0,0,0,25.98,26.15,28.83
$GC,11431,0.41,171.1,956.8,10.4,493,11440,0.15,2.15,0.00,0.000,6,0.130,0.033,2832,2214,2248,0,0,0,0,0,0,25.97,26.20,28.83
$GC,11740,0.42,196.9,931.7,7.2,504,11769,0.00,2.28,23.30,1.209,4,0.000,0.047,2832,3600,2159,0,0,0,0,0,0,28.83,25.73,24.11
$GC,11802,0.42,213.0,926.5,7.5,506,11825,0.00,2.12,16.73,1.223,6,0.000,0.027,2835,2190,2096,0,0,0,0,0,0,28.83,25.98,23.93
$GC,12133,0.40,213.0,899.5,8.2,517,12139,0.00,2.10,0.00,0.000,4,0.000,0.039,2839,807,2085,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12161,0.39,213.0,899.5,8.2,517,12168,0.00,2.10,0.00,0.000,6,0.000,0.032,2839,2199,2087,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12467,0.38,213.0,870.7,8.9,528,12473,0.00,2.17,0.00,0.000,4,0.000,0.047,2839,3599,2086,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12531,0.36,213.0,864.1,9.7,530,12536,0.00,2.08,0.00,0.000,6,0.000,0.028,2839,2202,2085,0,0,0,0,0,0,28.83,26.40,28.83
$GC,12867,0.35,213.0,832.7,9.4,541,12872,0.00,2.20,0.00,0.000,4,0.000,0.046,2839,3603,2084,0,0,0,0,0,0,28.83,26.20,28.83
$GC,12930,0.33,213.0,825.9,9.7,543,12936,0.12,2.10,0.00,0.000,6,0.162,0.028,2807,2191,2083,0,0,0,0,0,0,26.08,26.41,28.83
$GC,13267,0.38,244.1,801.1,7.1,554,13304,0.00,2.15,30.73,1.164,4,0.000,0.037,2807,808,1966,0,0,0,0,0,0,28.83,25.70,24.09
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$STATE,21541,end climb,SURFACE_DEPTH_REACHED
$STATE,21541,begin surface coast
$FINISH,1.1,1.023492
$STATE,21562,end surface coast,CONTROL_FINISHED_OK
$STATE,21562,begin surface
$SM_CCo,21640,0.00,0.000,0,0,1181,438.35
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$IRIDIUM_FIX,2321.52,12308.82,111212,191942
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.79
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.20
$XPDR_PINGS,13
$24V_AH,22.5,57.250
$10V_AH,10.1,37.120
$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,21.050,198.500,554.275,0.000,0.000,0.000,0.000,286.300,3.250,0.000,5.512,3215.910,15004.321,732.676,2694.060,457.828,0.000,2335.848,0.000,2329.729,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,50.490,1242.360,0.000,0.000,0.000,0.000,123.165,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,7.872,0.000,0.000,0.000
$MEM,329552
$DATA_FILE_SIZE,33385,945
$CAP_FILE_SIZE,242089,0
$CFSIZE,260165632,224354304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,238.4,1
$GPS,121212,074130,2332.401,12308.196,42,1.0,42,-3.7