version: 66.11
glider: 167
mission: 14
dive: 257
start: 12 12 112 7 49 2
data:
$ID,167
$MISSION,14
$DIVE,257
$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,-969147.25
$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,75
$R_STBD_OVSHOOT,68
$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
$GPS1,121212,074130,2332.401,12308.196,42,1.0,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-58.9
$GPS2,121212,074835,2332.377,12308.144,4,1.2,4,-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,67.1,85826,-13.8,-8.049,-17.28
$D_GRID,2960
$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,-62.10,0.000,2,0.000,0.000,108,2478,2860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.66,-171.1,3.4,-4.2,6,123,9.57,0.00,-18.23,0.000,6,0.220,0.000,2475,2481,3668,0,0,0,0,0,0,24.90,28.83,26.65
$GC,423,-0.61,-171.1,62.5,-20.7,37,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2481,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,725,-0.57,-171.1,113.3,-15.8,52,727,0.15,0.00,0.00,0.000,6,0.140,0.000,2520,2482,3669,0,0,0,0,0,0,26.34,28.83,28.83
$GC,1025,-0.58,-171.1,140.5,-7.1,67,1030,0.00,1.92,0.00,0.000,4,0.000,0.047,2520,3732,3670,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1064,-0.60,-171.1,142.2,-7.2,68,1070,0.00,1.80,0.00,0.000,6,0.000,0.017,2520,2424,3670,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1369,-0.63,-171.1,163.3,-7.6,84,1375,0.00,1.92,0.00,0.000,4,0.000,0.029,2520,1080,3670,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1434,-0.66,-171.1,169.0,-8.7,87,1439,0.00,2.00,0.00,0.000,6,0.000,0.034,2520,2434,3670,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1757,-0.69,-171.1,197.2,-8.4,103,1764,0.12,2.00,0.00,0.000,4,0.077,0.042,2426,3752,3670,0,0,0,0,0,0,26.70,26.27,28.83
$GC,1827,-0.67,-171.1,205.7,-12.2,106,1833,0.20,1.80,0.00,0.000,6,0.135,0.018,2485,2429,3670,0,0,0,0,0,0,26.10,26.63,28.83
$GC,2146,-0.67,-171.1,238.4,-9.2,122,2151,0.00,1.90,0.00,0.000,4,0.000,0.029,2485,1101,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2214,-0.68,-171.1,244.2,-9.1,125,2220,0.00,2.00,0.00,0.000,6,0.000,0.034,2485,2450,3670,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2532,-0.68,-171.1,271.9,-8.7,141,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2450,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2836,-0.68,-171.1,297.7,-8.7,156,2841,0.00,1.98,0.00,0.000,4,0.000,0.045,2481,3753,3670,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2873,-0.69,-171.1,300.0,-8.7,157,2880,0.00,1.77,0.00,0.000,6,0.000,0.018,2480,2455,3670,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3179,-0.70,-171.1,329.8,-9.3,173,3185,0.00,1.95,0.00,0.000,4,0.000,0.028,2481,1094,3669,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3223,-0.70,-171.1,334.0,-9.6,175,3229,0.00,2.03,0.00,0.000,6,0.000,0.034,2480,2452,3668,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3547,-0.71,-171.1,363.3,-9.0,191,3552,0.00,1.98,0.00,0.000,4,0.000,0.029,2480,1094,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3580,-0.72,-171.1,365.5,-9.1,192,3585,0.00,2.03,0.00,0.000,6,0.000,0.041,2480,2454,3667,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3893,-0.73,-171.1,394.3,-8.7,208,3898,0.00,1.98,0.00,0.000,4,0.000,0.028,2480,1093,3667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3917,-0.74,-171.1,396.4,-8.8,209,3922,0.00,2.03,0.00,0.000,6,0.000,0.033,2480,2455,3666,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4240,-0.76,-171.1,427.5,-10.1,225,4245,0.00,2.00,0.00,0.000,4,0.000,0.048,2480,3754,3665,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4273,-0.77,-171.1,429.9,-10.0,226,4278,0.00,1.80,0.00,0.000,6,0.000,0.018,2480,2444,3665,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4587,-0.79,-171.1,458.8,-7.9,242,4593,0.10,1.95,0.00,0.000,4,0.096,0.027,2419,1090,3668,0,0,0,0,0,0,26.70,26.43,28.83
$GC,4682,-0.77,-171.1,467.4,-10.3,246,4688,0.12,2.03,0.00,0.000,6,0.153,0.033,2449,2455,3664,0,0,0,0,0,0,26.13,26.41,28.83
$GC,4996,-0.77,-171.1,495.4,-8.6,262,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2455,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5298,-0.77,-171.1,520.0,-7.5,277,5303,0.00,1.98,0.00,0.000,4,0.000,0.028,2450,1096,3662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5361,-0.77,-171.1,525.3,-8.1,280,5367,0.00,2.03,0.00,0.000,6,0.000,0.034,2449,2449,3662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5685,-0.77,-171.1,553.2,-9.4,296,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2449,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5987,-0.77,-171.1,583.9,-10.5,311,5993,0.00,1.98,0.00,0.000,4,0.000,0.028,2449,1094,3658,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6021,-0.77,-171.1,586.8,-10.6,312,6026,0.00,2.03,0.00,0.000,6,0.000,0.034,2449,2452,3658,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6336,-0.78,-171.1,618.3,-9.1,325,6342,0.00,2.00,0.00,0.000,4,0.000,0.049,2449,3750,3656,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6385,-0.79,-171.1,621.5,-8.9,326,6390,0.00,1.80,0.00,0.000,6,0.000,0.019,2449,2441,3656,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6706,-0.79,-171.1,647.5,-7.4,337,6711,0.00,1.92,0.00,0.000,4,0.000,0.028,2450,1105,3654,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6754,-0.80,-171.1,650.4,-7.7,338,6759,0.00,2.03,0.00,0.000,6,0.000,0.041,2449,2453,3654,0,0,0,0,0,0,28.83,25.14,28.83
$GC,7075,-0.81,-171.1,676.1,-8.0,349,7081,0.00,2.03,0.00,0.000,4,0.000,0.054,2450,3758,3652,0,0,0,0,0,0,28.83,25.23,28.83
$GC,7099,-0.82,-171.1,676.1,-8.0,349,7105,0.00,1.83,0.00,0.000,6,0.000,0.021,2449,2452,3651,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7414,-0.83,-171.1,705.7,-8.8,360,7420,0.00,1.95,0.00,0.000,4,0.000,0.028,2450,1102,3650,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7483,-0.84,-171.1,712.4,-9.6,362,7489,0.00,2.05,0.00,0.000,6,0.000,0.035,2449,2456,3650,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7813,-0.85,-171.1,746.9,-10.4,373,7819,0.00,2.03,0.00,0.000,4,0.000,0.050,2449,3761,3647,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7857,-0.86,-171.1,750.7,-10.3,374,7863,0.00,1.83,0.00,0.000,6,0.000,0.022,2450,2456,3647,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8183,-0.88,-171.1,782.2,-8.9,385,8188,0.00,2.00,0.00,0.000,4,0.000,0.036,2449,1090,3644,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8211,-0.89,-171.1,782.2,-8.9,385,8218,0.12,2.05,0.00,0.000,6,0.083,0.035,2383,2452,3644,0,0,0,0,0,0,26.27,26.30,28.83
$GC,8518,-0.85,-171.1,818.6,-10.7,396,8523,0.12,2.03,0.00,0.000,4,0.155,0.047,2414,3752,3643,0,0,0,0,0,0,26.32,26.07,28.83
$GC,8618,-0.83,-171.1,827.6,-9.8,399,8623,0.00,1.83,0.00,0.000,6,0.000,0.021,2414,2448,3642,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8948,-0.81,-171.1,854.8,-7.6,410,8954,0.00,1.98,0.00,0.000,4,0.000,0.029,2414,1093,3640,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8987,-0.80,-171.1,857.6,-7.5,411,8992,0.00,2.05,0.00,0.000,6,0.000,0.036,2414,2450,3640,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9317,-0.79,-171.1,882.1,-7.4,422,9323,0.12,2.05,0.00,0.000,4,0.158,0.049,2452,3758,3638,0,0,0,0,0,0,26.32,26.01,28.83
$GC,9352,-0.78,-171.1,884.5,-7.2,423,9358,0.00,1.85,0.00,0.000,6,0.000,0.023,2453,2456,3638,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9690,-0.80,-171.1,905.0,-6.7,434,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2456,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9987,-0.83,-171.1,927.7,-7.8,444,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2455,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10286,-0.86,-171.1,952.7,-8.5,454,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2456,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10586,-0.88,-171.1,976.7,-7.8,464,10592,0.12,2.08,0.00,0.000,4,0.086,0.050,2387,3759,3633,0,0,0,0,0,0,26.63,25.94,28.83
$GC,10655,-0.88,-171.1,983.6,-9.3,466,10661,0.12,1.88,0.00,0.000,6,0.151,0.024,2416,2459,3632,0,0,0,0,0,0,26.10,26.51,28.83
$STATE,10712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10712,begin apogee
$GC,10718,-0.27,0.0,990.1,-10.6,468,10875,0.57,0.00,149.15,1.258,6,0.112,0.000,2606,2193,2967,0,0,0,0,0,0,25.62,28.83,22.87
$STATE,10878,end apogee,CONTROL_FINISHED_OK
$STATE,10878,begin climb
$GC,10880,0.66,171.1,995.7,0.0,473,11051,0.88,2.47,159.40,1.243,4,0.064,0.047,2915,3605,2262,0,0,0,0,0,0,24.72,23.93,22.31
$GC,11080,0.56,171.1,982.2,10.0,480,11086,0.15,2.20,0.00,0.000,6,0.165,0.027,2886,2230,2257,0,0,0,0,0,0,24.47,24.77,28.83
$GC,11415,0.50,171.1,945.1,10.9,491,11416,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2230,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11714,0.44,171.1,911.7,11.2,501,11720,0.12,2.15,0.00,0.000,4,0.155,0.036,2854,804,2248,0,0,0,0,0,0,26.21,26.24,28.83
$GC,11767,0.39,171.1,908.2,11.0,502,11773,0.00,2.12,0.00,0.000,6,0.000,0.033,2854,2216,2246,0,0,0,0,0,0,28.83,26.29,28.83
$GC,12084,0.36,171.1,877.3,9.1,513,12089,0.12,2.15,0.00,0.000,4,0.142,0.047,2814,3599,2246,0,0,0,0,0,0,26.29,26.17,28.83
$GC,12142,0.33,171.1,874.3,9.0,514,12149,0.00,2.10,0.00,0.000,6,0.000,0.027,2821,2177,2246,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12450,0.38,221.6,851.7,6.4,525,12507,0.00,2.17,47.60,1.171,4,0.000,0.038,2825,824,2056,0,0,0,0,0,0,28.83,25.42,23.80
$GC,12536,0.43,268.7,847.7,6.6,527,12589,0.00,2.12,46.88,1.243,6,0.000,0.032,2825,2204,1874,0,0,0,0,0,0,28.83,25.73,23.46
$GC,12902,0.47,292.4,819.5,7.3,540,12933,0.00,2.33,24.00,1.222,4,0.000,0.051,2825,3606,1768,0,0,0,0,0,0,28.83,25.58,23.96
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$STATE,21905,end climb,SURFACE_DEPTH_REACHED
$STATE,21905,begin surface coast
$FINISH,0.9,1.011385
$STATE,21928,end surface coast,CONTROL_FINISHED_OK
$STATE,21928,begin surface
$SM_CCo,22006,0.00,0.000,0,0,1141,448.16
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$TT8_MAMPS,0.028462,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.20
$XPDR_PINGS,15
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$10V_AH,10.1,37.243
$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
$DEVICE_SECS,21.050,192.325,533.400,0.000,0.000,0.000,0.000,239.025,3.750,0.000,5.458,3140.786,15542.801,725.004,2540.842,473.199,0.000,2235.906,0.000,2223.337,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.966,0.000,0.000,0.000
$MEM,329584
$DATA_FILE_SIZE,36753,968
$CAP_FILE_SIZE,241590,0
$CFSIZE,260165632,224256000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.153,249.8,1
$GPS,121212,135705,2333.201,12309.453,34,1.3,34,-3.7