version: 66.11
glider: 167
mission: 14
dive: 312
start: 12 26 112 21 55 51
data:
$ID,167
$MISSION,14
$DIVE,312
$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,-969216.12
$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,71
$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,0.0012000001
$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
$GPS1,261212,214705,2249.597,12349.070,38,1.1,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-57.0
$GPS2,261212,215525,2249.550,12349.020,4,1.1,4,-3.6
$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,163.3,148536,-14.4,-8.462,-17.80
$D_GRID,6281
$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,-0.57,-171.1,0.0,0.0,0,104,0.00,0.00,-82.22,0.000,2,0.000,0.000,109,2465,2820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.57,-171.1,3.3,-3.9,8,143,9.60,2.10,-19.42,0.000,4,0.223,0.044,2473,1057,3668,0,0,0,0,0,0,25.01,26.16,26.67
$GC,228,-0.57,-171.1,21.7,-16.3,19,235,0.00,2.08,0.00,0.000,6,0.000,0.035,2473,2435,3669,0,0,0,0,0,0,28.83,26.17,28.83
$GC,536,-0.57,-171.1,66.8,-12.7,44,541,0.00,2.05,0.00,0.000,4,0.000,0.049,2473,3764,3669,0,0,0,0,0,0,28.83,26.11,28.83
$GC,587,-0.57,-171.1,72.2,-12.6,46,593,0.00,1.88,0.00,0.000,6,0.000,0.021,2472,2435,3669,0,0,0,0,0,0,28.83,26.48,28.83
$GC,901,-0.57,-171.1,116.3,-13.8,62,907,0.00,2.08,0.00,0.000,4,0.000,0.048,2467,3755,3669,0,0,0,0,0,0,28.83,26.17,28.83
$GC,945,-0.57,-171.1,121.9,-12.7,64,951,0.00,1.85,0.00,0.000,6,0.000,0.018,2467,2422,3670,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1269,-0.57,-171.1,154.2,-9.5,80,1274,0.00,1.90,0.00,0.000,4,0.000,0.028,2467,1096,3670,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1322,-0.57,-171.1,158.4,-9.6,82,1327,0.00,2.05,0.00,0.000,6,0.000,0.034,2466,2463,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1635,-0.57,-171.1,191.0,-10.1,98,1640,0.00,2.00,0.00,0.000,4,0.000,0.029,2466,1093,3673,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1679,-0.57,-171.1,195.5,-10.2,100,1684,0.00,2.03,0.00,0.000,6,0.000,0.034,2466,2456,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2002,-0.57,-171.1,230.1,-11.5,116,2007,0.00,2.00,0.00,0.000,4,0.000,0.049,2466,3759,3670,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2026,-0.57,-171.1,232.8,-11.3,117,2031,0.00,1.80,0.00,0.000,6,0.000,0.018,2466,2461,3670,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2349,-0.57,-171.1,269.1,-10.7,133,2355,0.00,2.00,0.00,0.000,4,0.000,0.028,2466,1071,3670,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2377,-0.57,-171.1,271.7,-10.6,134,2382,0.00,2.05,0.00,0.000,6,0.000,0.034,2466,2449,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2695,-0.57,-171.1,301.8,-9.3,150,2700,0.00,2.03,0.00,0.000,4,0.000,0.049,2466,3763,3669,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2738,-0.57,-171.1,306.1,-9.7,152,2743,0.00,1.85,0.00,0.000,6,0.000,0.018,2466,2433,3669,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3061,-0.57,-171.1,338.2,-9.6,168,3066,0.00,2.08,0.00,0.000,4,0.000,0.049,2466,3762,3668,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3098,-0.57,-171.1,340.4,-9.4,169,3105,0.00,1.83,0.00,0.000,6,0.000,0.018,2466,2444,3668,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3405,-0.57,-171.1,367.4,-8.1,185,3410,0.00,1.95,0.00,0.000,4,0.000,0.028,2466,1090,3666,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3428,-0.57,-171.1,369.5,-8.2,186,3434,0.00,2.03,0.00,0.000,6,0.000,0.033,2466,2457,3666,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3751,-0.57,-171.1,397.3,-8.9,202,3757,0.00,2.00,0.00,0.000,4,0.000,0.049,2465,3756,3665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3804,-0.57,-171.1,401.3,-9.1,204,3809,0.00,1.83,0.00,0.000,6,0.000,0.018,2466,2436,3665,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4117,-0.57,-171.1,429.4,-8.9,220,4122,0.00,1.95,0.00,0.000,4,0.000,0.031,2466,1091,3663,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4189,-0.57,-171.1,435.3,-9.2,223,4194,0.00,2.03,0.00,0.000,6,0.000,0.034,2466,2449,3663,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4502,-0.57,-171.1,464.5,-8.8,239,4507,0.00,1.98,0.00,0.000,4,0.000,0.031,2466,1102,3663,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4534,-0.57,-171.1,466.7,-9.0,240,4540,0.00,2.03,0.00,0.000,6,0.000,0.034,2466,2459,3663,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4848,-0.57,-171.1,494.2,-8.2,256,4853,0.00,2.00,0.00,0.000,4,0.000,0.049,2466,3753,3659,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4892,-0.57,-171.1,497.7,-8.2,258,4897,0.00,1.83,0.00,0.000,6,0.000,0.019,2466,2445,3661,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5215,-0.57,-171.1,521.1,-6.9,274,5221,0.00,2.05,0.00,0.000,4,0.000,0.050,2466,3751,3659,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5243,-0.57,-171.1,522.9,-7.0,275,5249,0.00,1.83,0.00,0.000,6,0.000,0.020,2465,2437,3658,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5562,-0.57,-171.1,546.4,-7.7,291,5568,0.00,2.08,0.00,0.000,4,0.000,0.050,2466,3748,3657,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5629,-0.57,-171.1,551.7,-8.1,294,5635,0.00,1.83,0.00,0.000,6,0.000,0.019,2466,2438,3656,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5948,-0.57,-171.1,578.2,-8.1,310,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2438,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6260,-0.57,-171.1,602.8,-7.9,325,6265,0.00,1.95,0.00,0.000,4,0.000,0.029,2466,1097,3655,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6304,-0.57,-171.1,605.7,-8.0,326,6309,0.00,2.03,0.00,0.000,6,0.000,0.035,2466,2447,3652,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6629,-0.57,-171.1,632.6,-7.8,337,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2447,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6928,-0.57,-171.1,654.7,-7.2,347,6933,0.00,2.00,0.00,0.000,4,0.000,0.028,2466,1088,3649,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6972,-0.57,-171.1,657.3,-7.3,348,6977,0.00,2.08,0.00,0.000,6,0.000,0.035,2466,2456,3649,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7297,-0.57,-171.1,681.0,-7.3,359,7302,0.00,2.03,0.00,0.000,4,0.000,0.029,2466,1091,3647,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7331,-0.57,-171.1,683.8,-7.6,360,7336,0.00,2.08,0.00,0.000,6,0.000,0.034,2466,2460,3647,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7666,-0.57,-171.1,712.6,-9.2,371,7672,0.00,2.03,0.00,0.000,4,0.000,0.053,2465,3753,3645,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7724,-0.57,-171.1,715.8,-9.3,372,7731,0.00,1.83,0.00,0.000,6,0.000,0.021,2466,2450,3644,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8030,-0.57,-171.1,745.0,-8.3,383,8035,0.00,2.08,0.00,0.000,4,0.000,0.052,2466,3757,3643,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8057,-0.57,-171.1,745.0,-8.3,383,8064,0.00,1.85,0.00,0.000,6,0.000,0.022,2466,2450,3642,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8364,-0.57,-171.1,767.9,-6.1,394,8369,0.00,2.00,0.00,0.000,4,0.000,0.031,2467,1087,3641,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8398,-0.57,-171.1,770.0,-6.0,395,8403,0.00,2.08,0.00,0.000,6,0.000,0.035,2466,2450,3640,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8734,-0.57,-171.1,788.5,-5.6,406,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2450,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9031,-0.57,-171.1,807.7,-6.5,416,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2451,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9331,-0.57,-171.1,829.6,-7.7,426,9337,0.00,2.03,0.00,0.000,4,0.000,0.030,2466,1088,3636,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9384,-0.57,-171.1,832.4,-7.9,427,9389,0.00,2.08,0.00,0.000,6,0.000,0.037,2466,2453,3636,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9698,-0.57,-171.1,858.7,-7.9,438,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2454,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9999,-0.57,-171.1,881.7,-7.5,448,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2453,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10298,-0.57,-171.1,902.5,-6.8,458,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2454,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10599,-0.57,-171.1,923.1,-6.8,468,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2453,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10898,-0.57,-171.1,943.5,-6.9,478,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2453,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11199,-0.57,-171.1,963.1,-6.3,488,11204,0.00,2.08,0.00,0.000,4,0.000,0.054,2466,3761,3629,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11226,-0.57,-171.1,963.1,-6.3,488,11233,0.00,1.88,0.00,0.000,6,0.000,0.024,2466,2459,3629,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11534,-0.57,-171.1,983.7,-6.1,499,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2459,3628,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11650,begin apogee
$GC,11657,-0.20,0.0,990.9,-6.0,503,11817,0.38,0.00,151.90,1.281,6,0.101,0.000,2594,2181,2964,0,0,0,0,0,0,25.84,28.83,22.68
$STATE,11818,end apogee,CONTROL_FINISHED_OK
$STATE,11819,begin climb
$GC,11821,0.57,171.1,996.3,0.0,508,11994,0.73,2.50,162.65,1.256,4,0.072,0.049,2845,3597,2263,0,0,0,0,0,0,24.60,23.84,22.13
$GC,12017,0.64,228.9,987.8,6.5,515,12080,0.00,2.20,56.42,1.276,6,0.000,0.026,2845,2230,2029,0,0,0,0,0,0,28.83,24.61,22.30
$GC,12408,0.64,228.9,953.1,9.0,528,12413,0.00,2.20,0.00,0.000,4,0.000,0.050,2845,3603,2015,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12437,0.64,228.9,953.1,9.0,528,12445,0.00,2.10,0.00,0.000,6,0.000,0.027,2851,2188,2012,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12742,0.64,228.9,923.9,8.5,539,12747,0.00,2.25,0.00,0.000,4,0.000,0.050,2851,3602,2014,0,0,0,0,0,0,28.83,26.09,28.83
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$STATE,23122,end climb,SURFACE_DEPTH_REACHED
$STATE,23123,begin surface coast
$FINISH,2.3,1.023709
$STATE,23139,end surface coast,CONTROL_FINISHED_OK
$STATE,23140,begin surface
$SM_CCo,23220,0.00,0.000,0,0,1145,447.18
$SM_GC,1.76,7.15,2.47,0.00,0.026,0.028,0.000,115,2441,1145,-7.87,-1.64,447.18,0,0,0,0,0,0,26.34,26.33,28.83
$IRIDIUM_FIX,2244.02,12351.13,261212,151544
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.34
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,29
$24V_AH,22.1,67.617
$10V_AH,9.9,44.114
$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,18.175,202.450,529.675,0.000,0.000,0.000,0.000,308.375,7.250,0.000,5.439,3206.483,16625.646,714.075,2686.158,476.893,0.000,2353.191,0.000,2308.365,0.000,0.541,0.000
$DEVICE_MAMPS,222.615,54.315,1281.375,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23156.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.922,0.000,0.000,0.000
$MEM,329584
$DATA_FILE_SIZE,36640,1018
$CAP_FILE_SIZE,240428,0
$CFSIZE,260165632,218710016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.004,238.0,1
$GPS,271212,042405,2246.613,12350.257,30,1.0,30,-3.6