version: 66.11
glider: 167
mission: 14
dive: 188
start: 11 24 112 23 30 2
data:
$ID,167
$MISSION,14
$DIVE,188
$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,380
$T_MISSION,400
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-968904.31
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,33
$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,0.00039999999
$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,22
$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,49
$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
$GPS1,241112,232135,2212.083,12300.868,36,1.1,36,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-59.0
$GPS2,241112,232934,2212.129,12300.846,5,1.1,5,-3.4
$SPEED_LIMITS,0.150,0.266
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,315.5,187871,-14.8,-8.684,-18.08
$D_GRID,3241
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.56,-171.1,0.0,0.0,0,93,0.00,0.00,-71.70,0.000,2,0.000,0.000,109,2446,2580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.56,-171.1,3.4,-3.7,7,139,9.70,2.08,-24.50,0.000,4,0.225,0.063,2518,3760,3668,0,0,0,0,0,0,25.25,26.05,26.60
$GC,347,-0.55,-171.1,42.7,-15.0,31,354,0.00,1.88,0.00,0.000,6,0.000,0.022,2518,2462,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,653,-0.53,-171.1,89.0,-13.1,49,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2462,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,955,-0.54,-171.1,127.4,-11.4,64,960,0.00,2.05,0.00,0.000,4,0.000,0.028,2518,1035,3669,0,0,0,0,0,0,28.83,26.48,28.83
$GC,988,-0.55,-171.1,130.2,-11.1,65,994,0.00,2.12,0.00,0.000,6,0.000,0.035,2518,2459,3669,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1302,-0.56,-171.1,158.4,-7.9,81,1308,0.00,2.08,0.00,0.000,4,0.000,0.029,2518,1045,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1357,-0.58,-171.1,162.1,-8.2,83,1362,0.00,2.10,0.00,0.000,6,0.000,0.035,2518,2462,3669,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1670,-0.60,-171.1,192.1,-9.5,99,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2461,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,-0.62,-171.1,219.1,-8.6,114,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2467,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2273,-0.65,-171.1,244.7,-8.0,129,2278,0.00,2.08,0.00,0.000,4,0.000,0.029,2518,1040,3668,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2346,-0.68,-171.1,250.0,-7.9,132,2352,0.12,2.10,0.00,0.000,6,0.079,0.034,2437,2460,3668,0,0,0,0,0,0,26.48,26.51,28.83
$GC,2660,-0.65,-171.1,290.0,-13.3,148,2667,0.15,2.08,0.00,0.000,4,0.145,0.027,2483,1037,3667,0,0,0,0,0,0,26.36,26.52,28.83
$GC,2694,-0.63,-171.1,293.1,-13.3,149,2699,0.00,2.10,0.00,0.000,6,0.000,0.034,2484,2457,3667,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3008,-0.64,-171.1,327.9,-10.4,165,3013,0.00,1.98,0.00,0.000,4,0.000,0.046,2484,3760,3666,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3051,-0.66,-171.1,332.3,-9.9,167,3056,0.00,1.88,0.00,0.000,6,0.000,0.018,2484,2401,3665,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3374,-0.67,-171.1,362.3,-9.0,183,3380,0.00,1.88,0.00,0.000,4,0.000,0.028,2484,1094,3665,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3402,-0.68,-171.1,364.5,-9.0,184,3407,0.00,2.00,0.00,0.000,6,0.000,0.034,2484,2455,3665,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3722,-0.70,-171.1,390.0,-7.3,200,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2450,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-0.72,-171.1,412.3,-7.4,215,4028,0.00,2.00,0.00,0.000,4,0.000,0.028,2484,1087,3662,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4072,-0.74,-171.1,415.8,-7.7,217,4077,0.00,2.03,0.00,0.000,6,0.000,0.038,2484,2452,3665,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4390,-0.76,-171.1,443.1,-8.5,233,4395,0.00,1.98,0.00,0.000,4,0.000,0.047,2484,3752,3657,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4438,-0.78,-171.1,446.9,-8.5,235,4445,0.12,1.80,0.00,0.000,6,0.080,0.018,2415,2428,3659,0,0,0,0,0,0,26.55,26.68,28.83
$GC,4758,-0.76,-171.1,485.8,-11.5,251,4764,0.12,1.92,-0.05,0.000,4,0.151,0.040,2455,1100,3677,0,0,0,0,0,0,26.42,26.49,24.70
$GC,4826,-0.76,-171.1,492.3,-10.4,254,4832,0.00,2.03,0.00,0.000,6,0.000,0.034,2453,2460,3678,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5145,-0.76,-171.1,523.2,-9.7,270,5150,0.00,1.95,0.00,0.000,4,0.000,0.027,2458,1105,3675,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5182,-0.76,-171.1,525.6,-9.9,271,5190,0.00,2.00,0.00,0.000,6,0.000,0.037,2453,2446,3675,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5488,-0.77,-171.1,556.7,-8.8,287,5494,0.00,2.00,0.00,0.000,4,0.000,0.047,2453,3751,3673,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5527,-0.78,-171.1,558.7,-8.8,288,5534,0.00,1.77,0.00,0.000,6,0.000,0.018,2453,2456,3673,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5832,-0.79,-171.1,587.7,-9.9,304,5837,0.00,2.03,0.00,0.000,4,0.000,0.050,2453,3757,3672,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5876,-0.80,-171.1,592.1,-10.1,306,5881,0.00,1.80,0.00,0.000,6,0.000,0.020,2453,2436,3672,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6201,-0.81,-171.1,623.3,-9.2,318,6206,0.00,2.05,0.00,0.000,4,0.000,0.047,2452,3753,3669,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6244,-0.82,-171.1,626.6,-9.1,319,6249,0.00,1.77,0.00,0.000,6,0.000,0.021,2452,2453,3668,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6569,-0.84,-171.1,652.8,-7.9,330,6575,0.00,2.03,0.00,0.000,4,0.000,0.049,2452,3748,3666,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6604,-0.85,-171.1,655.4,-7.7,331,6609,0.00,1.80,0.00,0.000,6,0.000,0.021,2452,2445,3666,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6941,-0.86,-171.1,681.7,-8.3,342,6946,0.00,2.05,0.00,0.000,4,0.000,0.054,2452,3752,3668,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6989,-0.88,-171.1,685.0,-8.6,343,6995,0.10,1.80,0.00,0.000,6,0.096,0.021,2396,2452,3663,0,0,0,0,0,0,26.51,26.65,28.83
$GC,7310,-0.86,-171.1,726.5,-13.3,354,7316,0.00,1.95,0.00,0.000,4,0.000,0.028,2396,1100,3661,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7364,-0.84,-171.1,731.3,-13.4,355,7370,0.12,2.03,0.00,0.000,6,0.158,0.035,2428,2452,3660,0,0,0,0,0,0,26.10,26.39,28.83
$GC,7679,-0.84,-171.1,768.1,-10.6,366,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2452,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7977,-0.84,-171.1,795.8,-8.8,376,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2452,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8278,-0.84,-171.1,823.1,-9.3,386,8283,0.00,1.98,0.00,0.000,4,0.000,0.028,2428,1100,3654,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8360,-0.84,-171.1,829.4,-9.8,388,8365,0.00,2.03,0.00,0.000,6,0.000,0.035,2427,2448,3654,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8674,-0.84,-171.1,864.0,-10.3,399,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2448,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8973,-0.84,-171.1,893.0,-9.2,409,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2448,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9273,-0.84,-171.1,918.5,-8.1,419,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2448,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9574,-0.84,-171.1,942.8,-8.0,429,9580,0.00,2.05,0.00,0.000,4,0.000,0.052,2427,3762,3648,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9597,-0.84,-171.1,942.8,-8.0,429,9603,0.00,1.85,0.00,0.000,6,0.000,0.024,2426,2458,3647,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9913,-0.84,-171.1,971.0,-8.7,440,9919,0.00,2.00,0.00,0.000,4,0.000,0.030,2427,1093,3646,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9982,-0.84,-171.1,977.0,-8.9,442,9987,0.00,2.05,0.00,0.000,6,0.000,0.036,2427,2449,3646,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,10157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10157,begin apogee
$GC,10164,-0.27,0.0,992.3,-8.1,448,10325,0.55,0.00,151.52,1.259,6,0.112,0.000,2607,2310,2961,0,0,0,0,0,0,25.73,28.83,23.17
$STATE,10326,end apogee,CONTROL_FINISHED_OK
$STATE,10326,begin climb
$GC,10329,0.56,171.1,995.6,0.0,453,10494,0.77,0.00,158.10,1.204,6,0.064,0.000,2880,2309,2269,0,0,0,0,0,0,24.65,28.83,22.61
$GC,10790,0.53,171.1,949.4,12.2,469,10796,0.00,2.22,0.00,0.000,4,0.000,0.048,2887,3702,2247,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10838,0.49,171.1,944.8,12.4,470,10844,0.00,2.05,0.00,0.000,6,0.000,0.028,2888,2319,2247,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11158,0.45,171.1,903.6,12.1,481,11164,0.12,2.15,0.00,0.000,4,0.157,0.034,2858,901,2246,0,0,0,0,0,0,26.15,26.25,28.83
$GC,11207,0.42,171.1,899.7,11.7,482,11213,0.00,2.12,0.00,0.000,6,0.000,0.033,2858,2312,2244,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11528,0.40,171.1,867.7,9.6,493,11533,0.00,2.20,0.00,0.000,4,0.000,0.050,2858,3702,2243,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11561,0.37,171.1,863.9,9.9,494,11567,0.17,2.08,0.00,0.000,6,0.151,0.027,2819,2299,2244,0,0,0,0,0,0,26.01,26.44,28.83
$GC,11895,0.39,198.0,837.6,7.8,505,11926,0.00,2.25,23.45,1.208,4,0.000,0.047,2819,3693,2154,0,0,0,0,0,0,28.83,25.79,24.39
$GC,11959,0.39,217.2,832.2,8.0,507,11990,0.00,2.10,19.98,1.217,6,0.000,0.027,2824,2302,2075,0,0,0,0,0,0,28.83,26.01,24.09
$GC,12289,0.39,217.2,803.2,9.0,518,12294,0.00,2.10,0.00,0.000,4,0.000,0.036,2825,909,2069,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12393,0.40,217.2,794.7,9.1,521,12398,0.00,2.12,0.00,0.000,6,0.000,0.032,2824,2308,2068,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12719,0.41,225.4,765.5,8.4,532,12729,0.00,2.12,3.85,1.100,4,0.000,0.034,2824,904,2048,0,0,0,0,0,0,28.83,26.29,24.06
$GC,12757,0.43,241.3,762.7,8.1,533,12787,0.00,2.12,22.08,1.196,6,0.000,0.037,2824,2301,1978,0,0,0,0,0,0,28.83,25.75,24.35
$GC,13116,0.46,283.9,735.7,7.2,545,13162,0.00,0.00,43.85,1.125,6,0.000,0.000,2824,2301,1809,0,0,0,0,0,0,28.83,28.83,24.13
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$STATE,20180,end climb,SURFACE_DEPTH_REACHED
$STATE,20180,begin surface coast
$FINISH,0.9,1.017242
$STATE,20200,end surface coast,CONTROL_FINISHED_OK
$STATE,20200,begin surface
$SM_CCo,20278,0.00,0.000,0,0,458,615.70
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$IRIDIUM_FIX,2202.04,12305.92,241112,171724
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.71
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.70
$XPDR_PINGS,11
$24V_AH,22.6,43.687
$10V_AH,10.2,28.598
$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,20.300,159.900,708.050,0.000,0.000,0.000,0.000,282.125,2.750,0.000,5.873,2810.094,14295.259,828.866,2389.334,411.025,0.000,2307.296,0.000,2030.081,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,70.380,1259.190,0.000,0.000,0.000,0.000,130.815,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20216.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.288,0.000,0.000,0.000
$MEM,329568
$DATA_FILE_SIZE,33376,891
$CAP_FILE_SIZE,219200,0
$CFSIZE,260165632,231002112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.070,122.4,1
$GPS,251112,050924,2214.022,12258.968,41,1.4,41,-3.4