version: 66.11
glider: 167
mission: 14
dive: 259
start: 12 12 112 20 12 47
data:
$ID,167
$MISSION,14
$DIVE,259
$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,-969149.75
$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,62
$R_STBD_OVSHOOT,35
$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
$GPS1,121212,200459,2334.260,12311.091,39,1.4,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-52.9
$GPS2,121212,201220,2334.285,12310.935,4,1.1,4,-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,80.8,80122,-13.8,-8.049,-17.28
$D_GRID,3087
$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,-171.1,0.0,0.0,0,93,0.00,0.00,-71.72,0.000,2,0.000,0.000,108,2452,2776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.66,-171.1,3.4,-3.8,7,130,9.48,0.00,-20.88,0.000,6,0.219,0.000,2479,2452,3664,0,0,0,0,0,0,25.06,28.83,26.66
$GC,430,-0.62,-171.1,50.3,-17.5,40,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2452,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,730,-0.57,-171.1,97.2,-14.4,55,736,0.12,2.05,0.00,0.000,4,0.151,0.048,2520,3764,3669,0,0,0,0,0,0,26.35,26.25,28.83
$GC,758,-0.53,-171.1,100.7,-14.1,56,763,0.00,1.88,0.00,0.000,6,0.000,0.018,2519,2425,3666,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1077,-0.54,-171.1,132.5,-9.0,72,1082,0.00,1.95,0.00,0.000,4,0.000,0.029,2520,1066,3669,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1130,-0.55,-171.1,136.4,-8.9,74,1135,0.00,2.05,0.00,0.000,6,0.000,0.033,2519,2454,3669,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1443,-0.57,-171.1,168.1,-10.9,90,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2454,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1745,-0.60,-171.1,196.8,-8.3,105,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2454,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2046,-0.63,-171.1,220.4,-7.6,120,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2454,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2346,-0.66,-171.1,242.3,-7.4,135,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2454,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2645,-0.69,-171.1,266.3,-8.1,150,2652,0.12,2.03,0.00,0.000,4,0.078,0.028,2429,1066,3669,0,0,0,0,0,0,26.70,26.47,28.83
$GC,2675,-0.71,-171.1,269.1,-8.8,151,2681,0.15,2.05,0.00,0.000,6,0.145,0.033,2469,2453,3669,0,0,0,0,0,0,26.12,26.43,28.83
$GC,2994,-0.70,-171.1,303.4,-10.4,167,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2453,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3295,-0.70,-171.1,336.1,-10.9,182,3300,0.00,2.03,0.00,0.000,4,0.000,0.028,2469,1063,3667,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3363,-0.70,-171.1,343.4,-11.1,185,3368,0.00,2.08,0.00,0.000,6,0.000,0.032,2469,2452,3667,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3681,-0.70,-171.1,373.7,-8.9,201,3686,0.00,2.00,0.00,0.000,4,0.000,0.048,2469,3759,3666,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3708,-0.70,-171.1,375.9,-9.0,202,3713,0.00,1.85,0.00,0.000,6,0.000,0.019,2469,2426,3666,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4026,-0.71,-171.1,404.8,-9.2,218,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2426,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4329,-0.72,-171.1,434.0,-9.7,233,4334,0.00,1.92,0.00,0.000,4,0.000,0.028,2469,1082,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4386,-0.73,-171.1,438.4,-9.7,235,4393,0.00,2.03,0.00,0.000,6,0.000,0.032,2469,2450,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4692,-0.74,-171.1,467.9,-8.9,251,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2450,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4995,-0.75,-171.1,493.0,-7.9,266,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2450,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5295,-0.77,-171.1,516.9,-7.6,281,5301,0.00,2.00,0.00,0.000,4,0.000,0.028,2469,1079,3660,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5379,-0.79,-171.1,524.3,-8.7,285,5386,0.00,2.05,0.00,0.000,6,0.000,0.032,2469,2449,3659,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5704,-0.80,-171.1,552.8,-8.9,301,5709,0.00,2.03,0.00,0.000,4,0.000,0.050,2467,3765,3657,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5802,-0.82,-171.1,560.5,-9.1,305,5808,0.00,1.85,0.00,0.000,6,0.000,0.021,2467,2433,3657,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6107,-0.84,-171.1,588.2,-8.5,321,6109,0.12,0.00,0.00,0.000,6,0.083,0.000,2396,2437,3655,0,0,0,0,0,0,26.68,28.83,28.83
$GC,6410,-0.81,-171.1,622.4,-11.1,333,6415,0.12,1.95,0.00,0.000,4,0.149,0.025,2436,1088,3653,0,0,0,0,0,0,26.37,26.42,28.83
$GC,6483,-0.78,-171.1,628.8,-10.5,335,6489,0.00,2.05,0.00,0.000,6,0.000,0.033,2436,2459,3653,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6807,-0.78,-171.1,658.1,-9.0,346,6813,0.00,2.03,0.00,0.000,4,0.000,0.050,2436,3756,3651,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6900,-0.78,-171.1,666.7,-9.2,349,6906,0.00,1.83,0.00,0.000,6,0.000,0.021,2436,2452,3650,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7236,-0.78,-171.1,698.1,-9.7,360,7242,0.00,2.05,0.00,0.000,4,0.000,0.056,2436,3753,3652,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7309,-0.78,-171.1,704.5,-9.8,362,7314,0.00,1.83,0.00,0.000,6,0.000,0.021,2436,2443,3649,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7634,-0.78,-171.1,734.3,-8.7,373,7641,0.00,1.98,0.00,0.000,4,0.000,0.028,2436,1094,3646,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7698,-0.78,-171.1,740.3,-8.9,375,7704,0.00,2.05,0.00,0.000,6,0.000,0.034,2436,2453,3645,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8035,-0.78,-171.1,768.9,-8.4,386,8041,0.00,2.03,0.00,0.000,4,0.000,0.051,2436,3756,3644,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8099,-0.78,-171.1,774.3,-8.3,388,8105,0.00,1.85,0.00,0.000,6,0.000,0.021,2436,2438,3643,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8435,-0.79,-171.1,800.5,-7.5,399,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2437,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8734,-0.80,-171.1,823.9,-7.9,409,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2437,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9033,-0.80,-171.1,847.2,-7.9,419,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2437,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9334,-0.81,-171.1,872.0,-8.5,429,9339,0.00,2.10,0.00,0.000,4,0.000,0.052,2436,3761,3635,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9381,-0.82,-171.1,874.9,-8.4,430,9386,0.00,1.85,0.00,0.000,6,0.000,0.023,2433,2452,3635,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9702,-0.83,-171.1,902.9,-8.4,441,9707,0.00,2.00,0.00,0.000,4,0.000,0.030,2436,1084,3634,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9750,-0.84,-171.1,906.0,-8.5,442,9755,0.00,2.08,0.00,0.000,6,0.000,0.035,2436,2457,3634,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10071,-0.85,-171.1,936.2,-9.2,453,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2458,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10368,-0.86,-171.1,964.4,-9.4,463,10374,0.00,2.03,0.00,0.000,4,0.000,0.052,2436,3752,3630,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10411,-0.87,-171.1,967.5,-9.2,464,10417,0.00,1.85,0.00,0.000,6,0.000,0.024,2436,2454,3630,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,10673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10673,begin apogee
$GC,10680,-0.27,0.0,991.9,-8.6,473,10837,0.52,0.00,148.12,1.268,6,0.106,0.000,2612,2197,2967,0,0,0,0,0,0,25.74,28.83,22.89
$STATE,10838,end apogee,CONTROL_FINISHED_OK
$STATE,10838,begin climb
$GC,10841,0.66,171.1,997.3,0.0,478,11012,0.85,2.47,160.23,1.291,4,0.054,0.048,2918,3603,2262,0,0,0,0,0,0,24.76,23.90,22.26
$GC,11085,0.56,171.1,978.9,12.0,486,11091,0.17,2.12,0.00,0.000,6,0.161,0.027,2882,2228,2259,0,0,0,0,0,0,25.01,25.36,28.83
$GC,11406,0.50,171.1,941.1,10.9,497,11407,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2228,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11705,0.45,171.1,909.3,10.4,507,11711,0.12,2.15,0.00,0.000,4,0.151,0.037,2848,801,2250,0,0,0,0,0,0,26.23,26.26,28.83
$GC,11749,0.40,171.1,906.0,10.0,508,11754,0.00,2.12,0.00,0.000,6,0.000,0.032,2848,2219,2245,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12074,0.37,171.1,877.3,8.4,519,12080,0.00,2.17,0.00,0.000,4,0.000,0.052,2850,3603,2245,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12108,0.34,171.1,874.0,8.6,520,12114,0.15,2.10,0.00,0.000,6,0.151,0.028,2813,2185,2245,0,0,0,0,0,0,26.04,26.42,28.83
$GC,12443,0.42,240.9,852.8,5.8,531,12516,0.00,2.33,65.78,1.146,4,0.000,0.047,2813,3597,1974,0,0,0,0,0,0,28.83,25.22,23.66
$GC,12564,0.48,287.6,844.7,6.6,535,12618,0.12,2.15,46.30,1.183,6,0.080,0.026,2877,2193,1791,0,0,0,0,0,0,25.74,25.80,23.56
$GC,12926,0.46,287.6,808.8,10.1,547,12931,0.00,2.10,0.00,0.000,4,0.000,0.038,2882,810,1778,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12960,0.44,287.6,805.5,10.0,548,12966,0.15,2.10,0.00,0.000,6,0.119,0.032,2838,2199,1777,0,0,0,0,0,0,26.00,26.20,28.83
$GC,13297,0.45,287.6,777.1,8.7,559,13302,0.00,2.20,0.00,0.000,4,0.000,0.049,2838,3604,1775,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13350,0.46,287.6,773.6,9.0,560,13355,0.00,2.08,0.00,0.000,6,0.000,0.027,2838,2196,1774,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13665,0.47,287.6,742.8,9.3,571,13667,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2196,1774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13963,0.49,287.6,715.6,9.1,581,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2196,1773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14264,0.51,292.8,690.6,7.9,591,14269,0.00,2.20,0.00,0.000,4,0.000,0.047,2838,3599,1772,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,21034,end climb,SURFACE_DEPTH_REACHED
$STATE,21034,begin surface coast
$FINISH,1.0,1.023533
$STATE,21064,end surface coast,CONTROL_FINISHED_OK
$STATE,21064,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,53.30
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.10
$XPDR_PINGS,12
$24V_AH,22.3,57.840
$10V_AH,10.2,37.478
$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,20.800,152.950,574.525,0.000,0.000,0.000,0.000,256.300,3.000,0.000,5.438,2952.935,15038.921,688.930,2456.292,439.424,0.000,2160.455,0.000,2118.351,0.000,0.541,0.000
$DEVICE_MAMPS,218.790,55.845,1290.555,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.876,0.000,0.000,0.000
$MEM,329552
$DATA_FILE_SIZE,33347,926
$CAP_FILE_SIZE,222072,0
$CFSIZE,260165632,224071680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.132,283.9,1
$GPS,131212,020635,2335.256,12312.781,42,1.0,42,-3.7