version: 66.11
glider: 167
mission: 14
dive: 327
start: 12 31 112 1 9 29
data:
$ID,167
$MISSION,14
$DIVE,327
$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,-969236.56
$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,53
$R_STBD_OVSHOOT,35
$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
$GPS1,311212,010052,2154.080,12356.778,26,1.2,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-58.3
$GPS2,311212,010902,2154.119,12356.733,4,1.3,4,-3.3
$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,168.2,45021,-14.4,-8.462,-17.80
$D_GRID,5128
$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,17,begin dive
$GC,20,-0.57,-171.1,0.0,0.0,0,84,0.00,0.00,-61.65,0.000,2,0.000,0.000,108,2463,2824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.57,-171.1,3.5,-4.1,6,125,9.35,2.20,-19.15,0.000,4,0.213,0.050,2473,1054,3668,0,0,0,0,0,0,24.91,26.03,26.65
$GC,274,-0.57,-171.1,27.8,-13.0,24,279,0.00,2.17,0.00,0.000,6,0.000,0.044,2467,2442,3669,0,0,0,0,0,0,28.83,26.04,28.83
$GC,588,-0.57,-171.1,77.9,-13.9,46,593,0.00,2.05,0.00,0.000,4,0.000,0.052,2465,3767,3669,0,0,0,0,0,0,28.83,26.10,28.83
$GC,626,-0.57,-171.1,80.8,-13.3,47,632,0.00,1.90,0.00,0.000,6,0.000,0.019,2465,2425,3669,0,0,0,0,0,0,28.83,26.48,28.83
$GC,931,-0.57,-171.1,118.9,-11.6,63,937,0.00,1.95,0.00,0.000,4,0.000,0.028,2465,1065,3669,0,0,0,0,0,0,28.83,26.36,28.83
$GC,958,-0.57,-171.1,121.5,-11.4,64,963,0.00,2.10,0.00,0.000,6,0.000,0.034,2465,2470,3669,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1276,-0.57,-171.1,159.3,-11.7,80,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2470,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1578,-0.57,-171.1,191.9,-11.3,95,1583,0.00,1.98,0.00,0.000,4,0.000,0.049,2464,3755,3670,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1604,-0.57,-171.1,194.7,-11.3,96,1611,0.00,1.88,0.00,0.000,6,0.000,0.018,2464,2421,3670,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1923,-0.57,-171.1,230.4,-10.2,112,1929,0.00,2.10,0.00,0.000,4,0.000,0.049,2464,3755,3671,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1950,-0.57,-171.1,232.7,-10.0,113,1955,0.00,1.83,0.00,0.000,6,0.000,0.018,2464,2420,3671,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2268,-0.57,-171.1,263.3,-9.8,129,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2421,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2569,-0.57,-171.1,293.8,-10.2,144,2575,0.00,1.90,0.00,0.000,4,0.000,0.028,2464,1097,3669,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2608,-0.57,-171.1,296.3,-10.2,145,2614,0.00,2.05,0.00,0.000,6,0.000,0.044,2464,2458,3670,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2913,-0.57,-171.1,327.1,-8.9,161,2918,0.00,2.00,0.00,0.000,4,0.000,0.048,2464,3761,3670,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2977,-0.57,-171.1,333.0,-9.3,164,2982,0.00,1.80,0.00,0.000,6,0.000,0.018,2464,2452,3669,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3299,-0.57,-171.1,362.4,-8.9,180,3305,0.00,1.95,0.00,0.000,4,0.000,0.028,2464,1095,3668,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3343,-0.57,-171.1,366.5,-8.9,182,3348,0.00,2.03,0.00,0.000,6,0.000,0.034,2464,2456,3668,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3667,-0.57,-171.1,392.7,-7.7,198,3672,0.00,2.00,0.00,0.000,4,0.000,0.049,2464,3749,3667,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3690,-0.57,-171.1,394.7,-7.8,199,3696,0.00,1.83,0.00,0.000,6,0.000,0.018,2463,2434,3667,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4013,-0.57,-171.1,424.7,-10.1,215,4019,0.00,1.92,0.00,0.000,4,0.000,0.028,2463,1099,3665,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4031,-0.57,-171.1,424.7,-10.1,215,4038,0.00,2.03,0.00,0.000,6,0.000,0.034,2464,2453,3665,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4337,-0.57,-171.1,457.5,-9.4,231,4342,0.00,2.00,0.00,0.000,4,0.000,0.049,2464,3749,3664,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4400,-0.57,-171.1,463.1,-8.9,234,4405,0.00,1.80,0.00,0.000,6,0.000,0.018,2464,2439,3664,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4723,-0.57,-171.1,487.9,-7.6,250,4729,0.00,2.08,0.00,0.000,4,0.000,0.049,2463,3752,3663,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4801,-0.57,-171.1,493.0,-7.9,253,4808,0.00,1.80,0.00,0.000,6,0.000,0.018,2463,2443,3661,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5107,-0.57,-171.1,520.4,-9.0,269,5112,0.00,2.05,0.00,0.000,4,0.000,0.050,2463,3749,3661,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5171,-0.57,-171.1,526.2,-9.3,272,5176,0.00,1.80,0.00,0.000,6,0.000,0.019,2464,2447,3660,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5494,-0.57,-171.1,555.6,-9.1,288,5499,0.00,1.95,0.00,0.000,4,0.000,0.029,2463,1102,3658,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5526,-0.57,-171.1,557.8,-9.1,289,5532,0.00,2.05,0.00,0.000,6,0.000,0.040,2463,2456,3658,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5840,-0.57,-171.1,585.4,-7.6,305,5845,0.00,2.03,0.00,0.000,4,0.000,0.050,2463,3760,3660,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5907,-0.57,-171.1,590.0,-7.4,308,5913,0.00,1.83,0.00,0.000,6,0.000,0.021,2463,2447,3655,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6219,-0.57,-171.1,610.2,-6.4,321,6224,0.00,1.98,0.00,0.000,4,0.000,0.029,2463,1088,3654,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6246,-0.57,-171.1,610.2,-6.4,321,6254,0.00,2.08,0.00,0.000,6,0.000,0.035,2463,2459,3654,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6553,-0.57,-171.1,633.1,-6.6,332,6558,0.00,2.03,0.00,0.000,4,0.000,0.050,2463,3752,3651,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6631,-0.57,-171.1,637.4,-6.6,334,6636,0.00,1.83,0.00,0.000,6,0.000,0.021,2463,2438,3651,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6952,-0.57,-171.1,659.5,-6.7,345,6957,0.00,2.08,0.00,0.000,4,0.000,0.050,2463,3752,3651,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7004,-0.57,-171.1,662.0,-6.9,346,7010,0.00,1.83,0.00,0.000,6,0.000,0.021,2463,2443,3650,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7318,-0.57,-171.1,685.9,-7.3,357,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2441,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7618,-0.57,-171.1,708.5,-7.5,367,7624,0.00,2.08,0.00,0.000,4,0.000,0.051,2463,3751,3647,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7652,-0.57,-171.1,711.0,-7.4,368,7657,0.00,1.83,0.00,0.000,6,0.000,0.022,2463,2454,3646,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7990,-0.57,-171.1,734.8,-6.9,379,7995,0.00,2.05,0.00,0.000,4,0.000,0.051,2463,3751,3644,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8053,-0.57,-171.1,739.5,-7.0,381,8059,0.00,1.85,0.00,0.000,6,0.000,0.022,2463,2447,3643,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8391,-0.57,-171.1,762.0,-6.6,392,8396,0.00,2.08,0.00,0.000,4,0.000,0.052,2464,3753,3643,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8429,-0.57,-171.1,764.4,-6.6,393,8435,0.00,1.85,0.00,0.000,6,0.000,0.023,2463,2449,3643,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8761,-0.57,-171.1,783.8,-5.7,404,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2449,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9059,-0.57,-171.1,803.2,-7.0,414,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2449,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9359,-0.57,-171.1,825.8,-7.7,424,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2449,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9660,-0.57,-171.1,849.9,-8.3,434,9665,0.00,2.08,0.00,0.000,4,0.000,0.052,2463,3749,3637,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9702,-0.57,-171.1,853.0,-8.4,435,9708,0.00,1.85,0.00,0.000,6,0.000,0.024,2463,2466,3637,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10027,-0.57,-171.1,882.5,-8.9,446,10033,0.00,2.08,0.00,0.000,4,0.000,0.032,2464,1071,3635,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10044,-0.57,-171.1,882.5,-8.9,446,10050,0.00,2.12,0.00,0.000,6,0.000,0.040,2463,2452,3635,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10364,-0.57,-171.1,915.2,-9.5,457,10369,0.00,2.05,0.00,0.000,4,0.000,0.052,2464,3754,3634,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10422,-0.57,-171.1,918.6,-9.6,458,10429,0.00,1.90,0.00,0.000,6,0.000,0.025,2462,2444,3634,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10729,-0.57,-171.1,945.5,-7.6,469,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2444,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11028,-0.57,-171.1,965.3,-6.2,479,11033,0.00,2.10,0.00,0.000,4,0.000,0.053,2463,3756,3631,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11070,-0.57,-171.1,967.3,-6.1,480,11076,0.00,1.88,0.00,0.000,6,0.000,0.024,2463,2454,3629,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11398,-0.57,-171.1,986.3,-5.7,491,11399,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2452,3629,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11481,begin apogee
$GC,11487,-0.20,0.0,991.6,-5.9,494,11648,0.40,0.00,150.68,1.258,6,0.103,0.000,2598,2172,2962,0,0,0,0,0,0,25.77,28.83,22.77
$STATE,11650,end apogee,CONTROL_FINISHED_OK
$STATE,11650,begin climb
$GC,11653,0.57,171.1,996.9,0.0,499,11821,0.70,2.50,159.48,1.212,4,0.069,0.047,2845,3602,2266,0,0,0,0,0,0,24.77,23.96,22.27
$GC,11868,0.65,238.4,988.9,6.2,506,11940,0.00,2.15,64.60,1.203,6,0.000,0.026,2845,2239,1989,0,0,0,0,0,0,28.83,25.10,22.77
$GC,12239,0.67,255.3,957.9,7.9,519,12263,0.10,2.28,15.88,1.254,4,0.096,0.041,2905,805,1920,0,0,0,0,0,0,26.36,25.77,23.92
$GC,12291,0.67,261.4,954.9,8.3,520,12302,0.00,2.15,3.12,0.917,6,0.000,0.034,2905,2208,1901,0,0,0,0,0,0,28.83,25.93,23.38
$GC,12603,0.67,261.4,916.9,11.7,531,12608,0.00,2.17,0.00,0.000,4,0.000,0.047,2905,3603,1905,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,21834,end climb,SURFACE_DEPTH_REACHED
$STATE,21834,begin surface coast
$FINISH,0.9,1.023728
$STATE,21856,end surface coast,CONTROL_FINISHED_OK
$STATE,21856,begin surface
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$IRIDIUM_FIX,2145.77,12355.58,301212,181854
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.28
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.00
$XPDR_PINGS,41
$24V_AH,22.3,70.427
$10V_AH,10.0,46.053
$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
$DEVICE_SECS,18.700,201.325,597.975,0.000,0.000,0.000,0.000,293.525,10.250,0.000,5.428,3118.882,15407.688,753.194,2648.806,486.758,0.000,2377.621,0.000,2268.173,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.972,0.000,0.000,0.000
$MEM,329548
$DATA_FILE_SIZE,36728,967
$CAP_FILE_SIZE,235357,0
$CFSIZE,260165632,217186304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021,358.7,1
$GPS,311212,071629,2151.501,12357.178,41,0.9,41,-3.3