version: 66.11
glider: 167
mission: 14
dive: 239
start: 12 7 112 16 26 13
data:
$ID,167
$MISSION,14
$DIVE,239
$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,-8
$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,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,-969124.75
$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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$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,0.00039999999
$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,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
$GPS1,071212,161807,2319.597,12226.968,33,1.0,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-64.5
$GPS2,071212,162547,2319.483,12226.959,4,1.1,4,-3.6
$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,65.8,159497,-13.8,-8.049,-17.28
$D_GRID,4998
$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,-0.53,-171.1,0.0,0.0,0,84,0.00,0.00,-61.83,0.000,2,0.000,0.000,103,2465,2729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.53,-171.1,3.5,-4.3,6,125,9.75,2.17,-20.90,0.000,4,0.220,0.050,2525,1056,3667,0,0,0,0,0,0,25.09,26.03,26.63
$GC,149,-0.45,-171.1,12.1,-11.8,12,156,0.12,2.05,0.00,0.000,6,0.142,0.031,2559,2437,3668,0,0,0,0,0,0,25.92,26.15,28.83
$GC,465,-0.46,-171.1,46.0,-8.6,43,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2437,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,776,-0.49,-171.1,75.1,-9.0,61,781,0.00,2.03,0.00,0.000,4,0.000,0.028,2559,1046,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,883,-0.53,-171.1,84.5,-8.8,66,888,0.00,2.08,0.00,0.000,6,0.000,0.029,2559,2457,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1201,-0.58,-171.1,110.8,-8.2,82,1207,0.12,1.95,0.00,0.000,4,0.080,0.041,2467,3755,3669,0,0,0,0,0,0,26.70,26.32,28.83
$GC,1227,-0.62,-171.1,113.5,-8.8,83,1233,0.12,1.88,0.00,0.000,6,0.140,0.018,2505,2386,3669,0,0,0,0,0,0,26.28,26.62,28.83
$GC,1550,-0.62,-171.1,146.0,-9.8,99,1556,0.00,1.92,0.00,0.000,4,0.000,0.027,2501,1038,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1595,-0.62,-171.1,150.2,-9.6,101,1601,0.00,2.08,0.00,0.000,6,0.000,0.031,2500,2448,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1919,-0.63,-171.1,181.7,-9.5,117,1924,0.00,2.05,0.00,0.000,4,0.000,0.032,2500,1041,3670,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1946,-0.64,-171.1,184.0,-9.5,118,1952,0.00,2.08,0.00,0.000,6,0.000,0.031,2500,2453,3670,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2265,-0.66,-171.1,216.9,-10.2,134,2271,0.00,2.05,0.00,0.000,4,0.000,0.026,2500,1042,3671,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2298,-0.67,-171.1,219.3,-10.2,135,2305,0.00,2.10,0.00,0.000,6,0.000,0.032,2500,2463,3670,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2613,-0.69,-171.1,250.5,-9.0,151,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2463,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2915,-0.71,-171.1,277.3,-8.8,166,2921,0.00,2.08,0.00,0.000,4,0.000,0.028,2501,1033,3669,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2939,-0.73,-171.1,279.8,-9.2,167,2946,0.10,2.10,0.00,0.000,6,0.096,0.032,2434,2452,3668,0,0,0,0,0,0,26.41,26.45,28.83
$GC,3264,-0.69,-171.1,321.5,-12.4,183,3270,0.12,1.98,0.00,0.000,4,0.150,0.041,2468,3763,3668,0,0,0,0,0,0,26.41,26.34,28.83
$GC,3312,-0.67,-171.1,326.2,-11.6,185,3319,0.00,1.88,0.00,0.000,6,0.000,0.019,2467,2405,3668,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3631,-0.67,-171.1,359.0,-10.4,201,3636,0.00,1.88,0.00,0.000,4,0.000,0.026,2467,1083,3666,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3689,-0.67,-171.1,363.5,-10.9,203,3695,0.00,2.03,0.00,0.000,6,0.000,0.031,2467,2458,3666,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3994,-0.67,-171.1,396.0,-9.7,219,4000,0.00,1.98,0.00,0.000,4,0.000,0.044,2467,3756,3664,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4047,-0.67,-171.1,400.0,-9.3,221,4052,0.00,1.83,0.00,0.000,6,0.000,0.020,2467,2429,3665,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4361,-0.68,-171.1,428.5,-9.2,237,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2425,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4663,-0.69,-171.1,456.8,-9.0,252,4668,0.00,2.05,0.00,0.000,4,0.000,0.044,2467,3762,3663,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4690,-0.70,-171.1,459.1,-8.9,253,4696,0.00,1.83,0.00,0.000,6,0.000,0.021,2467,2442,3663,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5010,-0.71,-171.1,483.0,-7.0,269,5015,0.00,1.92,0.00,0.000,4,0.000,0.027,2467,1093,3661,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5163,-0.72,-171.1,493.7,-7.4,276,5169,0.00,2.03,0.00,0.000,6,0.000,0.040,2467,2450,3660,0,0,0,0,0,0,28.83,25.40,28.83
$GC,5478,-0.74,-171.1,518.1,-7.9,292,5483,0.00,2.00,0.00,0.000,4,0.000,0.045,2467,3765,3658,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5536,-0.75,-171.1,521.7,-8.1,294,5543,0.00,1.83,0.00,0.000,6,0.000,0.021,2467,2443,3658,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5841,-0.77,-171.1,549.1,-9.0,310,5847,0.00,2.03,0.00,0.000,4,0.000,0.045,2467,3758,3655,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5880,-0.78,-171.1,551.2,-8.9,311,5887,0.00,1.83,0.00,0.000,6,0.000,0.021,2467,2436,3656,0,0,0,0,0,0,28.83,26.64,28.83
$GC,6186,-0.80,-171.1,576.2,-7.1,327,6191,0.00,1.92,0.00,0.000,4,0.000,0.027,2467,1091,3654,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6219,-0.82,-171.1,577.9,-7.1,328,6225,0.00,2.03,0.00,0.000,6,0.000,0.033,2467,2453,3654,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6543,-0.84,-171.1,603.7,-7.9,344,6545,0.10,0.00,0.00,0.000,6,0.098,0.000,2409,2453,3649,0,0,0,0,0,0,26.70,28.83,28.83
$GC,6843,-0.81,-171.1,637.2,-11.2,354,6850,0.00,2.03,0.00,0.000,4,0.000,0.047,2408,3759,3650,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6878,-0.79,-171.1,641.2,-11.1,355,6884,0.15,1.83,0.00,0.000,6,0.142,0.022,2449,2456,3650,0,0,0,0,0,0,26.17,26.62,28.83
$GC,7213,-0.80,-171.1,669.8,-8.3,366,7218,0.00,2.03,0.00,0.000,4,0.000,0.047,2449,3759,3648,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7246,-0.81,-171.1,672.6,-8.4,367,7252,0.00,1.85,0.00,0.000,6,0.000,0.023,2449,2448,3648,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7583,-0.82,-171.1,698.8,-7.7,378,7589,0.00,2.03,0.00,0.000,4,0.000,0.047,2449,3754,3645,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7636,-0.83,-171.1,701.8,-7.9,379,7642,0.00,1.83,0.00,0.000,6,0.000,0.024,2448,2448,3645,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7952,-0.85,-171.1,730.8,-9.1,390,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2446,3640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8250,-0.86,-171.1,757.1,-8.3,400,8256,0.00,2.05,0.00,0.000,4,0.000,0.047,2448,3761,3641,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8303,-0.88,-171.1,759.8,-8.2,401,8308,0.00,1.85,0.00,0.000,6,0.000,0.024,2449,2456,3641,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8619,-0.89,-171.1,784.5,-7.1,412,8624,0.12,2.00,0.00,0.000,4,0.084,0.027,2378,1080,3638,0,0,0,0,0,0,26.65,26.38,28.83
$GC,8672,-0.89,-171.1,787.9,-7.6,413,8678,0.15,2.05,0.00,0.000,6,0.156,0.034,2414,2448,3637,0,0,0,0,0,0,25.94,26.30,28.83
$GC,8989,-0.88,-171.1,817.8,-8.6,424,8995,0.00,2.00,0.00,0.000,4,0.000,0.028,2414,1080,3634,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9047,-0.86,-171.1,820.9,-8.5,425,9054,0.00,2.08,0.00,0.000,6,0.000,0.035,2414,2449,3637,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9353,-0.85,-171.1,847.1,-8.1,436,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2449,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9653,-0.84,-171.1,873.7,-8.9,446,9659,0.00,2.05,0.00,0.000,4,0.000,0.050,2414,3763,3633,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9702,-0.83,-171.1,876.8,-9.0,447,9707,0.00,1.88,0.00,0.000,6,0.000,0.024,2413,2436,3634,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10022,-0.82,-171.1,910.6,-10.4,458,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2435,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10321,-0.80,-171.1,941.2,-10.1,468,10327,0.00,2.08,0.00,0.000,4,0.000,0.049,2413,3753,3630,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10370,-0.79,-171.1,944.6,-9.9,469,10375,0.12,1.85,0.00,0.000,6,0.145,0.025,2447,2458,3630,0,0,0,0,0,0,26.15,26.53,28.83
$GC,10691,-0.81,-171.1,972.1,-8.0,480,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2457,3629,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10926,begin apogee
$GC,10932,-0.27,0.0,990.8,-7.6,488,11090,0.47,0.00,148.70,1.245,6,0.106,0.000,2608,2298,2963,0,0,0,0,0,0,25.80,28.83,22.94
$STATE,11091,end apogee,CONTROL_FINISHED_OK
$STATE,11091,begin climb
$GC,11094,0.53,171.1,996.6,0.0,493,11265,0.73,2.50,159.45,1.203,4,0.059,0.047,2868,3693,2261,0,0,0,0,0,0,24.70,23.94,22.42
$GC,11287,0.49,245.2,990.5,5.7,499,11367,0.00,2.17,69.93,1.200,6,0.000,0.028,2867,2333,1960,0,0,0,0,0,0,28.83,24.67,22.45
$GC,11685,0.46,245.2,947.3,10.1,513,11691,0.00,2.17,0.00,0.000,4,0.000,0.038,2868,904,1948,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11739,0.44,245.2,944.0,10.0,514,11744,0.00,2.12,0.00,0.000,6,0.000,0.031,2868,2308,1947,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12054,0.41,245.2,911.8,9.6,525,12056,0.12,0.00,0.00,0.000,6,0.133,0.000,2833,2308,1946,0,0,0,0,0,0,26.30,28.83,28.83
$GC,12353,0.41,261.5,888.9,7.5,535,12370,0.00,0.00,15.10,1.256,6,0.000,0.000,2833,2308,1901,0,0,0,0,0,0,28.83,28.83,24.22
$GC,12652,0.42,276.6,866.3,7.6,545,12670,0.00,0.00,16.50,1.243,6,0.000,0.000,2833,2308,1839,0,0,0,0,0,0,28.83,28.83,24.19
$GC,12953,0.43,276.6,841.3,8.4,555,12954,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2308,1828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13252,0.44,276.6,815.1,8.9,565,13257,0.00,2.15,0.00,0.000,4,0.000,0.036,2833,894,1828,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,21952,end climb,SURFACE_DEPTH_REACHED
$STATE,21952,begin surface coast
$FINISH,1.0,1.023152
$STATE,21982,end surface coast,CONTROL_FINISHED_OK
$STATE,21983,begin surface
$SM_CCo,22061,0.00,0.000,0,0,1181,438.35
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$IRIDIUM_FIX,2312.13,12223.95,071212,101032
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.83
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.40
$XPDR_PINGS,10
$24V_AH,22.4,53.842
$10V_AH,10.2,35.018
$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,20.450,171.250,546.400,0.000,0.000,0.000,0.000,276.075,2.500,0.000,5.628,3077.238,15763.318,735.976,2494.636,441.317,0.000,2226.396,0.000,2146.000,0.000,0.542,0.000
$DEVICE_MAMPS,220.320,61.965,1256.130,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.382,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,36657,983
$CAP_FILE_SIZE,235826,0
$CFSIZE,260165632,226037760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.037,225.1,1
$GPS,071212,223505,2320.588,12230.017,27,1.1,27,-3.6