version: 66.11
glider: 167
mission: 14
dive: 329
start: 12 31 112 13 58 13
data:
$ID,167
$MISSION,14
$DIVE,329
$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,390
$T_MISSION,410
$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,1
$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,-969240.75
$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,2665
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,86
$R_STBD_OVSHOOT,49
$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
$GPS1,311212,134724,2148.456,12357.736,43,1.1,43,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-62.2
$GPS2,311212,135746,2148.321,12357.686,10,1.1,10,-3.3
$SPEED_LIMITS,0.147,0.264
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,175.9,34164,-14.4,-8.462,-17.80
$D_GRID,5015
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.57,-171.1,0.0,0.0,0,85,0.00,0.00,-62.20,0.000,2,0.000,0.000,108,2459,2823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.57,-171.1,3.3,-4.0,6,125,9.52,2.12,-19.30,0.000,4,0.220,0.047,2477,1082,3668,0,0,0,0,0,0,24.98,25.96,26.65
$GC,279,-0.57,-171.1,31.9,-15.2,24,286,0.00,2.08,0.00,0.000,6,0.000,0.041,2477,2442,3670,0,0,0,0,0,0,28.83,26.10,28.83
$GC,586,-0.57,-171.1,69.7,-11.5,47,591,0.00,2.03,0.00,0.000,4,0.000,0.047,2477,3762,3670,0,0,0,0,0,0,28.83,26.07,28.83
$GC,669,-0.57,-171.1,79.8,-12.2,51,674,0.00,1.85,0.00,0.000,6,0.000,0.018,2478,2418,3670,0,0,0,0,0,0,28.83,26.53,28.83
$GC,992,-0.57,-171.1,117.7,-10.8,67,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2418,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-0.57,-171.1,150.9,-11.3,82,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2418,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1594,-0.57,-171.1,181.2,-9.4,97,1600,0.00,1.92,0.00,0.000,4,0.000,0.031,2477,1096,3670,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1637,-0.57,-171.1,185.3,-9.2,99,1643,0.00,2.05,0.00,0.000,6,0.000,0.036,2478,2455,3671,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1961,-0.57,-171.1,212.3,-8.5,115,1966,0.00,2.03,0.00,0.000,4,0.000,0.046,2477,3766,3671,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2018,-0.57,-171.1,215.9,-8.4,117,2026,0.00,1.85,0.00,0.000,6,0.000,0.017,2477,2439,3671,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2324,-0.57,-171.1,243.2,-8.5,133,2330,0.00,1.95,0.00,0.000,4,0.000,0.030,2477,1088,3670,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2392,-0.57,-171.1,248.8,-8.9,136,2398,0.00,2.05,0.00,0.000,6,0.000,0.035,2477,2452,3671,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2710,-0.57,-171.1,278.2,-9.1,152,2716,0.00,2.00,0.00,0.000,4,0.000,0.047,2478,3757,3670,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2797,-0.57,-171.1,285.4,-8.7,156,2803,0.00,1.83,0.00,0.000,6,0.000,0.018,2477,2447,3669,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3116,-0.57,-171.1,311.2,-8.0,172,3121,0.00,1.98,0.00,0.000,4,0.000,0.030,2477,1084,3668,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3168,-0.57,-171.1,315.0,-8.4,174,3174,0.00,2.08,0.00,0.000,6,0.000,0.035,2478,2460,3668,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3483,-0.57,-171.1,342.0,-8.0,190,3488,0.00,2.00,0.00,0.000,4,0.000,0.054,2477,3753,3667,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3570,-0.57,-171.1,348.9,-8.2,194,3575,0.00,1.83,0.00,0.000,6,0.000,0.018,2477,2436,3667,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3887,-0.57,-171.1,375.2,-8.7,210,3894,0.00,2.08,0.00,0.000,4,0.000,0.048,2477,3759,3666,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3931,-0.57,-171.1,379.1,-8.7,212,3938,0.00,1.88,0.00,0.000,6,0.000,0.018,2478,2423,3666,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4255,-0.57,-171.1,407.4,-8.5,228,4260,0.00,1.95,0.00,0.000,4,0.000,0.037,2477,1085,3665,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4272,-0.57,-171.1,407.4,-8.5,228,4279,0.00,2.05,0.00,0.000,6,0.000,0.040,2478,2449,3665,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4579,-0.57,-171.1,430.7,-6.2,244,4584,0.00,2.03,0.00,0.000,4,0.000,0.049,2477,3759,3663,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4631,-0.57,-171.1,433.3,-5.8,246,4637,0.00,1.83,0.00,0.000,6,0.000,0.018,2477,2430,3663,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4945,-0.57,-171.1,451.1,-5.8,262,4951,0.00,2.08,0.00,0.000,4,0.000,0.049,2477,3752,3663,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4979,-0.57,-171.1,452.6,-6.0,263,4984,0.00,1.80,0.00,0.000,6,0.000,0.019,2477,2447,3662,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5292,-0.57,-171.1,477.1,-8.0,279,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2444,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-0.57,-171.1,501.3,-8.2,294,5599,0.00,2.05,0.00,0.000,4,0.000,0.051,2478,3751,3659,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5622,-0.57,-171.1,503.4,-8.1,295,5628,0.00,1.85,0.00,0.000,6,0.000,0.020,2477,2438,3659,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5941,-0.57,-171.1,527.6,-7.4,311,5946,0.00,2.08,0.00,0.000,4,0.000,0.052,2478,3753,3661,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6047,-0.57,-171.1,535.6,-7.9,316,6052,0.00,1.85,0.00,0.000,6,0.000,0.020,2478,2433,3657,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6370,-0.57,-171.1,562.8,-8.5,332,6375,0.00,1.95,0.00,0.000,4,0.000,0.028,2477,1093,3654,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6417,-0.57,-171.1,566.7,-8.9,334,6423,0.00,2.05,0.00,0.000,6,0.000,0.034,2477,2457,3654,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6735,-0.57,-171.1,594.3,-8.6,350,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2457,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7056,-0.57,-171.1,620.0,-7.6,362,7063,0.00,2.00,0.00,0.000,4,0.000,0.028,2477,1097,3651,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7177,-0.57,-171.1,627.5,-7.8,365,7184,0.00,2.05,0.00,0.000,6,0.000,0.034,2478,2450,3650,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7482,-0.57,-171.1,652.7,-7.7,376,7488,0.00,2.03,0.00,0.000,4,0.000,0.028,2477,1085,3649,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7611,-0.57,-171.1,662.7,-8.1,380,7616,0.00,2.05,0.00,0.000,6,0.000,0.034,2474,2448,3647,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7942,-0.57,-171.1,689.8,-8.3,391,7947,0.00,2.00,0.00,0.000,4,0.000,0.036,2477,1100,3646,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7954,-0.57,-171.1,689.8,-8.3,391,7960,0.00,2.05,0.00,0.000,6,0.000,0.040,2477,2450,3646,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8280,-0.57,-171.1,717.4,-8.1,402,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2452,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8578,-0.57,-171.1,741.2,-7.6,412,8584,0.00,2.00,0.00,0.000,4,0.000,0.029,2477,1097,3642,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8606,-0.57,-171.1,741.2,-7.6,412,8613,0.00,2.05,0.00,0.000,6,0.000,0.036,2478,2452,3642,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8913,-0.57,-171.1,765.4,-6.9,423,8919,0.00,2.00,0.00,0.000,4,0.000,0.029,2478,1100,3640,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8931,-0.57,-171.1,765.4,-6.9,423,8936,0.00,2.05,0.00,0.000,6,0.000,0.035,2478,2454,3641,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9251,-0.57,-171.1,785.4,-5.6,434,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2454,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9549,-0.57,-171.1,803.0,-6.0,444,9554,0.00,2.03,0.00,0.000,4,0.000,0.036,2478,1097,3638,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9596,-0.57,-171.1,805.2,-6.2,445,9601,0.00,2.05,0.00,0.000,6,0.000,0.036,2478,2450,3637,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9917,-0.57,-171.1,828.2,-7.3,456,9923,0.00,2.03,0.00,0.000,4,0.000,0.030,2477,1094,3637,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9945,-0.57,-171.1,828.2,-7.3,456,9952,0.00,2.08,0.00,0.000,6,0.000,0.036,2477,2460,3636,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10252,-0.57,-171.1,854.2,-7.7,467,10258,0.00,2.05,0.00,0.000,4,0.000,0.030,2477,1084,3636,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10290,-0.57,-171.1,856.8,-7.7,468,10295,0.00,2.10,0.00,0.000,6,0.000,0.039,2477,2459,3635,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10621,-0.57,-171.1,880.0,-6.7,479,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2459,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10918,-0.57,-171.1,898.7,-6.1,489,10924,0.00,2.03,0.00,0.000,4,0.000,0.029,2478,1095,3632,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10956,-0.57,-171.1,900.7,-6.1,490,10962,0.00,2.08,0.00,0.000,6,0.000,0.037,2477,2455,3632,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11287,-0.57,-171.1,920.1,-5.8,501,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2454,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11585,-0.57,-171.1,938.4,-6.0,511,11591,0.00,2.03,0.00,0.000,4,0.000,0.029,2477,1094,3630,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11620,-0.57,-171.1,940.4,-5.9,512,11625,0.00,2.08,0.00,0.000,6,0.000,0.037,2478,2450,3630,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11955,-0.57,-171.1,958.5,-5.2,523,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2451,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12254,-0.57,-171.1,972.4,-4.6,533,12260,0.00,2.03,0.00,0.000,4,0.000,0.030,2478,1093,3629,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12272,-0.57,-171.1,972.4,-4.6,533,12277,0.00,2.10,0.00,0.000,6,0.000,0.041,2478,2457,3629,0,0,0,0,0,0,28.83,25.66,28.83
$STATE,12317,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12318,begin apogee
$GC,12324,-0.20,0.0,975.3,-4.4,535,12486,0.35,0.00,151.20,1.238,6,0.089,0.000,2603,2212,2961,0,0,0,0,0,0,25.98,28.83,22.80
$STATE,12488,end apogee,CONTROL_FINISHED_OK
$STATE,12488,begin climb
$GC,12490,0.57,171.1,980.8,0.0,540,12661,0.68,2.35,160.95,1.216,4,0.054,0.039,2853,844,2261,0,0,0,0,0,0,24.88,24.01,22.25
$GC,12674,0.63,220.1,973.0,6.8,546,12728,0.00,2.22,47.20,1.281,6,0.000,0.034,2853,2202,2067,0,0,0,0,0,0,28.83,24.50,22.30
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$STATE,23207,end climb,SURFACE_DEPTH_REACHED
$STATE,23207,begin surface coast
$FINISH,1.0,1.009558
$STATE,23229,end surface coast,CONTROL_FINISHED_OK
$STATE,23229,begin surface
$SM_CCo,23308,0.00,0.000,0,0,1127,451.35
$SM_GC,1.75,7.22,0.32,0.00,0.029,0.046,0.000,112,2451,1127,-7.89,-1.55,451.35,0,0,0,0,0,0,26.28,26.50,28.83
$IRIDIUM_FIX,2141.13,12359.43,311212,131341
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.21
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.80
$XPDR_PINGS,75
$24V_AH,22.2,70.779
$10V_AH,10.0,46.313
$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,18.125,219.500,548.325,0.000,0.000,0.000,0.000,362.550,18.750,0.000,12.980,3331.054,16468.570,745.612,2867.235,508.741,0.000,2509.437,0.000,2418.799,0.000,0.544,0.000
$DEVICE_MAMPS,219.555,53.550,1280.610,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23245.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.977,0.000,0.000,0.000
$MEM,329584
$DATA_FILE_SIZE,40029,1026
$CAP_FILE_SIZE,249976,0
$CFSIZE,260165632,216965120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124,240.9,1
$GPS,311212,202806,2145.670,12356.396,40,0.9,40,-3.3