version: 66.11
glider: 167
mission: 14
dive: 262
start: 12 13 112 14 36 31
data:
$ID,167
$MISSION,14
$DIVE,262
$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,-969153.5
$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,63
$R_STBD_OVSHOOT,51
$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
$GPS1,131212,142824,2336.203,12316.607,42,1.2,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-62.9
$GPS2,131212,143604,2336.266,12316.567,4,1.0,4,-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,75.8,69899,-13.8,-8.049,-17.28
$D_GRID,3340
$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,-171.1,0.0,0.0,0,73,0.00,0.00,-51.45,0.000,2,0.000,0.000,108,2410,2587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.66,-171.1,3.1,-4.2,5,120,9.43,2.17,-27.38,0.000,4,0.216,0.061,2479,3741,3667,0,0,0,0,0,0,24.98,26.01,26.65
$GC,185,-0.63,-171.1,16.2,-14.1,15,190,0.00,1.85,0.00,0.000,6,0.000,0.018,2479,2421,3669,0,0,0,0,0,0,28.83,26.38,28.83
$GC,499,-0.58,-171.1,66.6,-15.1,41,505,0.12,1.95,0.00,0.000,4,0.152,0.025,2518,1073,3668,0,0,0,0,0,0,26.29,26.38,28.83
$GC,543,-0.55,-171.1,72.0,-13.6,43,548,0.00,2.05,0.00,0.000,6,0.000,0.033,2519,2449,3668,0,0,0,0,0,0,28.83,26.35,28.83
$GC,868,-0.56,-171.1,98.8,-7.0,59,873,0.00,2.03,0.00,0.000,4,0.000,0.047,2518,3763,3667,0,0,0,0,0,0,28.83,26.26,28.83
$GC,941,-0.59,-171.1,103.7,-7.6,62,946,0.00,1.83,0.00,0.000,6,0.000,0.018,2519,2446,3669,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1254,-0.61,-171.1,128.2,-7.3,78,1260,0.00,1.95,0.00,0.000,4,0.000,0.028,2518,1085,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1299,-0.64,-171.1,131.7,-7.6,80,1305,0.00,2.03,0.00,0.000,6,0.000,0.033,2518,2452,3670,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1623,-0.67,-171.1,160.8,-9.3,96,1629,0.00,2.00,0.00,0.000,4,0.000,0.028,2518,1076,3670,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1656,-0.70,-171.1,162.7,-8.9,97,1662,0.12,2.05,0.00,0.000,6,0.078,0.034,2439,2460,3670,0,0,0,0,0,0,26.39,26.41,28.83
$GC,1971,-0.66,-171.1,203.7,-13.0,113,1973,0.17,0.00,0.00,0.000,6,0.138,0.000,2489,2459,3670,0,0,0,0,0,0,26.29,28.83,28.83
$GC,2272,-0.67,-171.1,234.4,-10.4,128,2277,0.00,2.00,0.00,0.000,4,0.000,0.028,2489,1081,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2337,-0.68,-171.1,241.9,-11.2,131,2342,0.00,2.05,0.00,0.000,6,0.000,0.033,2489,2459,3670,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2660,-0.69,-171.1,276.3,-10.4,147,2666,0.00,2.00,0.00,0.000,4,0.000,0.028,2489,1080,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2699,-0.70,-171.1,278.8,-10.3,148,2706,0.00,2.03,0.00,0.000,6,0.000,0.032,2489,2451,3669,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3005,-0.71,-171.1,310.1,-9.5,164,3010,0.00,2.00,0.00,0.000,4,0.000,0.048,2489,3763,3668,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3053,-0.73,-171.1,314.3,-9.6,166,3059,0.00,1.83,0.00,0.000,6,0.000,0.018,2489,2441,3669,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3372,-0.74,-171.1,343.2,-8.5,182,3377,0.00,1.95,0.00,0.000,4,0.000,0.028,2489,1090,3667,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3451,-0.76,-171.1,348.5,-8.3,185,3458,0.10,2.03,0.00,0.000,6,0.091,0.033,2424,2461,3667,0,0,0,0,0,0,26.39,26.43,28.83
$GC,3756,-0.73,-171.1,385.1,-11.6,201,3762,0.12,1.98,0.00,0.000,4,0.148,0.046,2464,3750,3666,0,0,0,0,0,0,26.40,26.25,28.83
$GC,3784,-0.70,-171.1,387.7,-11.2,202,3790,0.00,1.83,0.00,0.000,6,0.000,0.018,2463,2444,3666,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4103,-0.71,-171.1,416.2,-9.5,218,4109,0.00,1.92,0.00,0.000,4,0.000,0.028,2463,1098,3665,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4148,-0.71,-171.1,420.5,-9.8,220,4154,0.00,2.03,0.00,0.000,6,0.000,0.033,2463,2458,3665,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4472,-0.72,-171.1,452.3,-10.0,236,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2458,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4774,-0.73,-171.1,482.5,-9.7,251,4779,0.00,1.98,0.00,0.000,4,0.000,0.028,2463,1099,3663,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4806,-0.74,-171.1,485.1,-9.8,252,4812,0.00,2.00,0.00,0.000,6,0.000,0.033,2463,2451,3663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5121,-0.76,-171.1,515.1,-8.9,268,5126,0.00,1.98,0.00,0.000,4,0.000,0.027,2463,1090,3662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5158,-0.78,-171.1,517.2,-8.8,269,5165,0.00,2.03,0.00,0.000,6,0.000,0.033,2463,2453,3662,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5464,-0.79,-171.1,545.2,-8.8,285,5470,0.00,1.98,0.00,0.000,4,0.000,0.027,2463,1094,3660,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5502,-0.81,-171.1,547.3,-8.9,286,5509,0.00,2.03,0.00,0.000,6,0.000,0.033,2463,2457,3660,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5808,-0.83,-171.1,578.8,-10.6,302,5814,0.00,2.00,0.00,0.000,4,0.000,0.050,2464,3756,3658,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5835,-0.85,-171.1,581.3,-10.7,303,5842,0.12,1.80,0.00,0.000,6,0.081,0.019,2395,2444,3658,0,0,0,0,0,0,26.48,26.62,28.83
$GC,6155,-0.81,-171.1,626.7,-14.0,316,6157,0.15,0.00,0.00,0.000,6,0.144,0.000,2437,2442,3656,0,0,0,0,0,0,26.34,28.83,28.83
$GC,6455,-0.81,-171.1,657.9,-9.7,326,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2441,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6755,-0.81,-171.1,686.5,-9.5,336,6760,0.00,1.95,0.00,0.000,4,0.000,0.029,2437,1092,3652,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6792,-0.81,-171.1,690.0,-9.8,337,6797,0.00,2.05,0.00,0.000,6,0.000,0.041,2438,2454,3652,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7122,-0.81,-171.1,722.8,-10.1,348,7127,0.00,2.03,0.00,0.000,4,0.000,0.050,2437,3762,3650,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7170,-0.81,-171.1,726.3,-10.1,349,7175,0.00,1.83,0.00,0.000,6,0.000,0.021,2437,2444,3648,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7489,-0.81,-171.1,756.8,-9.1,360,7495,0.00,2.08,0.00,0.000,4,0.000,0.050,2437,3756,3648,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7532,-0.82,-171.1,760.1,-9.2,361,7538,0.00,1.85,0.00,0.000,6,0.000,0.021,2433,2436,3647,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7859,-0.83,-171.1,789.7,-8.8,372,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2435,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8156,-0.83,-171.1,815.3,-8.3,382,8161,0.00,2.10,0.00,0.000,4,0.000,0.052,2436,3758,3644,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8190,-0.84,-171.1,818.1,-8.3,383,8196,0.00,1.85,0.00,0.000,6,0.000,0.022,2437,2437,3643,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8526,-0.85,-171.1,845.2,-7.9,394,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2435,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8825,-0.86,-171.1,868.2,-7.6,404,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2436,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9124,-0.88,-171.1,892.0,-8.1,414,9129,0.00,2.10,0.00,0.000,4,0.000,0.053,2437,3762,3638,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9192,-0.89,-171.1,897.5,-8.3,416,9197,0.00,1.85,0.00,0.000,6,0.000,0.031,2437,2461,3637,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9522,-0.90,-171.1,925.6,-8.5,427,9527,0.00,2.05,0.00,0.000,4,0.000,0.053,2437,3754,3636,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9556,-0.91,-171.1,928.6,-8.5,428,9561,0.00,1.88,0.00,0.000,6,0.000,0.024,2432,2430,3636,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9892,-0.93,-171.1,955.1,-7.5,439,9898,0.12,2.12,0.00,0.000,4,0.083,0.055,2371,3752,3634,0,0,0,0,0,0,26.63,25.40,28.83
$GC,9927,-0.93,-171.1,958.7,-8.0,440,9933,0.12,1.85,0.00,0.000,6,0.155,0.023,2402,2452,3634,0,0,0,0,0,0,26.10,26.53,28.83
$STATE,10260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10260,begin apogee
$GC,10266,-0.27,0.0,990.2,-9.2,451,10427,0.62,0.00,150.10,1.261,6,0.114,0.000,2607,2183,2962,0,0,0,0,0,0,25.60,28.83,22.94
$STATE,10428,end apogee,CONTROL_FINISHED_OK
$STATE,10429,begin climb
$GC,10431,0.66,171.1,995.4,0.0,456,10602,0.85,2.28,159.52,1.220,4,0.063,0.038,2918,854,2260,0,0,0,0,0,0,24.79,24.03,22.43
$GC,10671,0.58,171.1,980.5,10.2,464,10678,0.12,2.12,0.00,0.000,6,0.141,0.033,2885,2206,2250,0,0,0,0,0,0,25.13,25.32,28.83
$GC,10994,0.52,171.1,947.2,9.4,475,10999,0.00,2.20,0.00,0.000,4,0.000,0.048,2885,3615,2246,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11097,0.44,171.1,936.8,10.5,478,11103,0.17,2.05,0.00,0.000,6,0.153,0.028,2845,2225,2245,0,0,0,0,0,0,25.93,26.33,28.83
$GC,11424,0.42,176.9,910.3,7.9,489,11429,0.00,2.17,0.00,0.000,4,0.000,0.048,2845,3610,2244,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11477,0.39,176.9,907.1,8.2,490,11482,0.00,2.08,0.00,0.000,6,0.000,0.028,2851,2201,2244,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11793,0.35,176.9,877.3,8.9,501,11799,0.12,2.20,0.00,0.000,4,0.152,0.046,2812,3602,2238,0,0,0,0,0,0,26.28,26.18,28.83
$GC,11831,0.32,176.9,874.0,9.0,502,11837,0.00,2.08,0.00,0.000,6,0.000,0.028,2812,2191,2242,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12161,0.34,194.2,848.2,7.5,513,12183,0.00,0.00,19.70,1.238,6,0.000,0.000,2813,2190,2178,0,0,0,0,0,0,28.83,28.83,24.10
$GC,12462,0.39,232.5,826.6,6.8,523,12505,0.00,0.00,40.60,1.241,6,0.000,0.000,2812,2190,2019,0,0,0,0,0,0,28.83,28.83,23.73
$GC,12794,0.44,266.3,803.8,7.0,534,12836,0.00,2.30,34.45,1.132,4,0.000,0.047,2812,3599,1874,0,0,0,0,0,0,28.83,25.46,23.95
$GC,12868,0.49,290.9,799.2,7.3,536,12899,0.15,2.10,25.42,1.141,6,0.071,0.026,2887,2199,1781,0,0,0,0,0,0,25.79,25.84,23.82
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$STATE,21402,end climb,SURFACE_DEPTH_REACHED
$STATE,21402,begin surface coast
$FINISH,1.0,1.010732
$STATE,21423,end surface coast,CONTROL_FINISHED_OK
$STATE,21423,begin surface
$SM_CCo,21502,0.00,0.000,0,0,1279,414.31
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$IRIDIUM_FIX,2326.22,12316.62,131212,080856
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.20
$XPDR_PINGS,14
$24V_AH,22.4,58.469
$10V_AH,10.1,37.845
$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
$DEVICE_SECS,20.800,192.775,549.425,0.000,0.000,0.000,0.000,272.400,3.500,0.000,5.448,3093.857,15119.728,711.654,2570.989,456.491,0.000,2269.028,0.000,2230.868,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.962,0.000,0.000,0.000
$MEM,329564
$DATA_FILE_SIZE,33316,944
$CAP_FILE_SIZE,238940,0
$CFSIZE,260165632,223756288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.084,269.5,1
$GPS,131212,203605,2337.195,12318.817,28,1.1,28,-3.7