version: 66.11
glider: 167
mission: 14
dive: 321
start: 12 29 112 9 36 2
data:
$ID,167
$MISSION,14
$DIVE,321
$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,-969227.38
$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,75
$R_STBD_OVSHOOT,50
$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
$GPS1,291212,092806,2214.841,12356.741,43,1.0,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.3
$GPS2,291212,093537,2214.810,12356.814,4,0.9,4,-3.4
$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,207.7,83169,-14.4,-8.462,-17.80
$D_GRID,4987
$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,18,begin dive
$GC,21,-0.57,-171.1,0.0,0.0,0,84,0.00,0.00,-61.08,0.000,2,0.000,0.000,104,2453,2877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.57,-171.1,3.5,-4.2,6,121,9.52,2.15,-17.70,0.000,4,0.218,0.044,2474,1058,3667,0,0,0,0,0,0,24.88,26.15,26.65
$GC,176,-0.57,-171.1,16.0,-12.8,14,182,0.00,2.08,0.00,0.000,6,0.000,0.033,2468,2436,3669,0,0,0,0,0,0,28.83,26.13,28.83
$GC,501,-0.57,-171.1,59.4,-13.5,43,506,0.00,2.05,0.00,0.000,4,0.000,0.049,2466,3763,3669,0,0,0,0,0,0,28.83,26.08,28.83
$GC,533,-0.57,-171.1,62.9,-13.8,44,538,0.00,1.88,0.00,0.000,6,0.000,0.018,2465,2441,3669,0,0,0,0,0,0,28.83,26.50,28.83
$GC,846,-0.57,-171.1,107.7,-12.4,60,852,0.00,1.98,0.00,0.000,4,0.000,0.028,2465,1062,3669,0,0,0,0,0,0,28.83,26.36,28.83
$GC,924,-0.57,-171.1,115.0,-11.7,63,931,0.00,2.08,0.00,0.000,6,0.000,0.034,2465,2453,3669,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1231,-0.57,-171.1,148.8,-10.8,79,1237,0.00,2.00,0.00,0.000,4,0.000,0.049,2465,3756,3670,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1315,-0.57,-171.1,158.5,-11.5,83,1320,0.00,1.85,0.00,0.000,6,0.000,0.018,2465,2437,3669,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1638,-0.57,-171.1,193.1,-10.0,99,1643,0.00,1.95,0.00,0.000,4,0.000,0.028,2465,1079,3670,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1676,-0.57,-171.1,195.3,-10.0,100,1683,0.00,2.08,0.00,0.000,6,0.000,0.033,2464,2457,3670,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1981,-0.57,-171.1,226.4,-10.0,116,1986,0.00,2.03,0.00,0.000,4,0.000,0.033,2465,1077,3670,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2019,-0.57,-171.1,228.8,-10.2,117,2026,0.00,2.05,0.00,0.000,6,0.000,0.033,2465,2454,3670,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2324,-0.57,-171.1,262.8,-10.7,133,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2454,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2626,-0.57,-171.1,293.2,-9.8,148,2632,0.00,2.03,0.00,0.000,4,0.000,0.028,2465,1065,3669,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2673,-0.57,-171.1,297.8,-10.1,150,2679,0.00,2.08,0.00,0.000,6,0.000,0.037,2465,2449,3669,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2991,-0.57,-171.1,328.8,-9.7,166,2996,0.00,2.05,0.00,0.000,4,0.000,0.050,2465,3766,3669,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3029,-0.57,-171.1,331.0,-9.6,167,3035,0.00,1.85,0.00,0.000,6,0.000,0.019,2465,2448,3668,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3335,-0.57,-171.1,361.6,-9.5,183,3340,0.00,1.98,0.00,0.000,4,0.000,0.028,2465,1075,3667,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3362,-0.57,-171.1,363.8,-9.5,184,3368,0.00,2.05,0.00,0.000,6,0.000,0.033,2465,2450,3666,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3680,-0.57,-171.1,393.2,-8.5,200,3686,0.00,2.03,0.00,0.000,4,0.000,0.050,2459,3762,3665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3705,-0.57,-171.1,395.2,-8.3,201,3711,0.00,1.85,0.00,0.000,6,0.000,0.019,2465,2438,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4029,-0.57,-171.1,422.6,-9.1,217,4034,0.00,1.95,0.00,0.000,4,0.000,0.027,2465,1080,3664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4093,-0.57,-171.1,428.8,-9.7,220,4098,0.00,2.05,0.00,0.000,6,0.000,0.034,2465,2456,3664,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4416,-0.57,-171.1,458.0,-8.4,236,4421,0.00,2.00,0.00,0.000,4,0.000,0.050,2465,3754,3663,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4514,-0.57,-171.1,465.1,-8.4,240,4521,0.00,1.83,0.00,0.000,6,0.000,0.019,2465,2442,3663,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4820,-0.57,-171.1,489.5,-7.7,256,4825,0.00,2.05,0.00,0.000,4,0.000,0.050,2465,3752,3662,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4878,-0.57,-171.1,493.1,-8.2,258,4886,0.00,1.83,0.00,0.000,6,0.000,0.018,2465,2434,3661,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5184,-0.57,-171.1,518.9,-7.7,274,5190,0.00,1.92,0.00,0.000,4,0.000,0.028,2465,1097,3659,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5272,-0.57,-171.1,525.5,-8.0,278,5278,0.00,2.05,0.00,0.000,6,0.000,0.034,2465,2456,3659,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5591,-0.57,-171.1,550.4,-7.8,294,5596,0.00,2.00,0.00,0.000,4,0.000,0.028,2465,1092,3657,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5639,-0.57,-171.1,554.0,-8.1,296,5645,0.00,2.05,0.00,0.000,6,0.000,0.034,2465,2461,3657,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5957,-0.57,-171.1,581.4,-8.6,312,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2461,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6260,-0.57,-171.1,606.0,-7.8,326,6266,0.00,2.00,0.00,0.000,4,0.000,0.028,2465,1098,3653,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6309,-0.57,-171.1,608.8,-7.7,327,6314,0.00,2.05,0.00,0.000,6,0.000,0.034,2465,2460,3653,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6629,-0.57,-171.1,634.1,-7.6,338,6635,0.00,2.03,0.00,0.000,4,0.000,0.051,2465,3761,3651,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6663,-0.57,-171.1,636.9,-7.5,339,6669,0.00,1.85,0.00,0.000,6,0.000,0.020,2465,2438,3652,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7001,-0.57,-171.1,659.9,-6.8,350,7007,0.00,1.95,0.00,0.000,4,0.000,0.028,2465,1095,3649,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7035,-0.57,-171.1,662.5,-6.8,351,7040,0.00,2.08,0.00,0.000,6,0.000,0.035,2465,2454,3649,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7370,-0.57,-171.1,684.8,-6.6,362,7376,0.00,2.03,0.00,0.000,4,0.000,0.051,2465,3752,3647,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7404,-0.57,-171.1,687.2,-6.7,363,7410,0.00,1.83,0.00,0.000,6,0.000,0.021,2464,2452,3648,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7739,-0.57,-171.1,709.4,-6.6,374,7745,0.00,1.98,0.00,0.000,4,0.000,0.029,2465,1100,3644,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7774,-0.57,-171.1,711.9,-6.7,375,7779,0.00,2.08,0.00,0.000,6,0.000,0.041,2465,2455,3645,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8109,-0.57,-171.1,734.9,-7.0,386,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2455,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8408,-0.57,-171.1,754.9,-6.5,396,8415,0.00,2.03,0.00,0.000,4,0.000,0.029,2465,1096,3641,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8446,-0.57,-171.1,757.3,-6.5,397,8451,0.00,2.05,0.00,0.000,6,0.000,0.035,2465,2451,3641,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8777,-0.57,-171.1,783.1,-8.4,408,8782,0.00,2.05,0.00,0.000,4,0.000,0.052,2465,3755,3639,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8804,-0.57,-171.1,783.1,-8.4,408,8811,0.00,1.85,0.00,0.000,6,0.000,0.023,2465,2464,3638,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9110,-0.57,-171.1,811.9,-8.3,419,9116,0.00,2.05,0.00,0.000,4,0.000,0.031,2465,1080,3638,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9164,-0.57,-171.1,814.6,-8.2,420,9170,0.00,2.10,0.00,0.000,6,0.000,0.036,2465,2451,3638,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9478,-0.57,-171.1,837.9,-6.2,431,9484,0.00,2.05,0.00,0.000,4,0.000,0.053,2464,3753,3636,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9543,-0.57,-171.1,841.5,-5.8,433,9549,0.00,1.88,0.00,0.000,6,0.000,0.023,2465,2443,3635,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9879,-0.57,-171.1,858.4,-4.8,444,9885,0.00,2.00,0.00,0.000,4,0.000,0.030,2465,1084,3634,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9907,-0.57,-171.1,858.4,-4.8,444,9914,0.00,2.10,0.00,0.000,6,0.000,0.037,2465,2451,3634,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10214,-0.57,-171.1,876.7,-5.8,455,10220,0.00,2.08,0.00,0.000,4,0.000,0.054,2465,3759,3633,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10248,-0.57,-171.1,878.9,-6.0,456,10253,0.00,1.88,0.00,0.000,6,0.000,0.023,2465,2450,3633,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10584,-0.57,-171.1,900.8,-6.8,467,10589,0.00,2.08,0.00,0.000,4,0.000,0.053,2462,3757,3631,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10647,-0.57,-171.1,905.4,-7.0,469,10653,0.00,1.88,0.00,0.000,6,0.000,0.024,2465,2455,3631,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10983,-0.57,-171.1,928.3,-6.7,480,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2454,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11281,-0.57,-171.1,948.0,-6.5,490,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2454,3629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11581,-0.57,-171.1,968.3,-6.7,500,11587,0.00,2.10,0.00,0.000,4,0.000,0.054,2465,3762,3628,0,0,0,0,0,0,28.83,25.71,28.83
$GC,11634,-0.57,-171.1,970.6,-6.8,501,11640,0.00,1.90,0.00,0.000,6,0.000,0.024,2465,2448,3628,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,11915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11915,begin apogee
$GC,11922,-0.20,0.0,991.1,-6.8,511,12083,0.38,0.00,151.70,1.278,6,0.100,0.000,2593,2190,2961,0,0,0,0,0,0,25.83,28.83,22.60
$STATE,12084,end apogee,CONTROL_FINISHED_OK
$STATE,12084,begin climb
$GC,12087,0.57,171.1,997.5,0.0,516,12259,0.73,2.50,163.23,1.306,4,0.070,0.049,2844,3599,2262,0,0,0,0,0,0,24.65,23.81,22.08
$GC,12338,0.63,222.2,988.2,6.8,524,12392,0.00,2.12,48.50,1.287,6,0.000,0.026,2845,2233,2062,0,0,0,0,0,0,28.83,25.44,23.04
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$STATE,22778,end climb,SURFACE_DEPTH_REACHED
$STATE,22778,begin surface coast
$FINISH,0.9,0.999842
$STATE,22810,end surface coast,CONTROL_FINISHED_OK
$STATE,22810,begin surface
$SM_CCo,22888,0.00,0.000,0,0,1125,452.09
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$IRIDIUM_FIX,2209.02,12355.61,291212,030327
$TT8_MAMPS,0.029211,0.029211
$HUMID,53.70
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,35
$24V_AH,22.1,69.291
$10V_AH,9.8,45.281
$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,18.350,218.475,536.400,0.000,0.000,0.000,0.000,259.075,8.750,0.000,5.474,3274.575,16102.637,721.670,2739.835,488.940,0.000,2368.624,0.000,2395.431,0.000,0.542,0.000
$DEVICE_MAMPS,218.025,54.315,1305.855,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22827.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.975,0.000,0.000,0.000
$MEM,329548
$DATA_FILE_SIZE,36640,1001
$CAP_FILE_SIZE,244534,0
$CFSIZE,260165632,217792512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.154,192.0,1
$GPS,291212,155853,2210.208,12355.242,39,1.0,39,-3.4