version: 66.11
glider: 167
mission: 14
dive: 70
start: 10 25 112 8 40 13
data:
$ID,167
$MISSION,14
$DIVE,70
$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,330
$T_MISSION,380
$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,200
$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,425
$N_FILEKB,8
$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,-968577.88
$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,2740
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,49
$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,22
$MINV_10V,9.5
$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,49
$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
$GPS1,251012,083305,2313.467,12152.030,25,1.2,25,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-65.3
$GPS2,251012,083946,2313.601,12152.118,4,1.2,4,-3.5
$SPEED_LIMITS,0.173,0.296
$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,105.6,218813,-15.7,-10.000,-18.65
$D_GRID,3460
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.47,-195.5,0.0,0.0,0,84,0.00,0.00,-63.20,0.000,2,0.000,0.000,102,2306,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.47,-195.5,3.2,-5.2,11,131,9.62,2.05,-28.23,0.000,4,0.220,0.038,2582,942,3766,0,0,0,0,0,0,25.56,26.13,26.39
$GC,175,-0.50,-195.5,14.6,-13.1,26,182,0.00,2.05,0.00,0.000,6,0.000,0.028,2582,2325,3767,0,0,0,0,0,0,28.83,26.13,28.83
$GC,494,-0.50,-195.5,63.9,-13.8,59,500,0.00,2.15,0.00,0.000,4,0.000,0.045,2582,3728,3768,0,0,0,0,0,0,28.83,26.22,28.83
$GC,561,-0.53,-195.5,72.1,-13.5,62,567,0.00,2.00,0.00,0.000,6,0.000,0.022,2582,2346,3768,0,0,0,0,0,0,28.83,26.39,28.83
$GC,881,-0.60,-195.5,105.9,-9.1,78,887,0.12,2.17,0.00,0.000,4,0.078,0.050,2493,3730,3768,0,0,0,0,0,0,26.59,26.27,28.83
$GC,929,-0.65,-195.5,111.3,-10.3,80,935,0.12,2.03,0.00,0.000,6,0.141,0.018,2528,2253,3768,0,0,0,0,0,0,26.26,26.55,28.83
$GC,1249,-0.67,-195.5,147.4,-9.7,96,1254,0.00,2.28,0.00,0.000,4,0.000,0.047,2528,3730,3770,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1282,-0.70,-195.5,149.8,-9.6,97,1287,0.00,2.03,0.00,0.000,6,0.000,0.018,2528,2247,3769,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1595,-0.76,-195.5,181.0,-10.0,113,1601,0.00,2.28,0.00,0.000,4,0.000,0.041,2523,3730,3769,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1710,-0.83,-195.5,191.0,-9.3,118,1716,0.15,2.00,0.00,0.000,6,0.068,0.017,2437,2269,3770,0,0,0,0,0,0,26.58,26.69,28.83
$GC,2026,-0.76,-195.5,243.4,-16.2,134,2031,0.17,2.25,0.00,0.000,4,0.141,0.042,2492,3737,3769,0,0,0,0,0,0,26.34,26.46,28.83
$GC,2079,-0.72,-195.5,249.1,-14.4,136,2084,0.00,2.03,0.00,0.000,6,0.000,0.018,2493,2276,3769,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2393,-0.76,-195.5,279.2,-9.4,152,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2276,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2696,-0.79,-195.5,306.9,-9.4,167,2701,0.00,2.25,0.00,0.000,4,0.000,0.047,2492,3739,3767,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2748,-0.83,-195.5,310.9,-9.1,169,2754,0.00,1.98,0.00,0.000,6,0.000,0.019,2491,2293,3767,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3063,-0.88,-195.5,336.5,-7.5,185,3069,0.12,2.20,0.00,0.000,4,0.081,0.041,2411,3731,3766,0,0,0,0,0,0,26.76,26.48,28.83
$GC,3112,-0.88,-195.5,341.7,-9.6,187,3118,0.15,1.92,0.00,0.000,6,0.148,0.019,2450,2330,3765,0,0,0,0,0,0,26.32,26.74,28.83
$GC,3432,-0.88,-195.5,380.8,-12.4,203,3437,0.00,2.15,0.00,0.000,4,0.000,0.045,2451,3726,3763,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3459,-0.88,-195.5,383.6,-12.1,204,3465,0.00,1.92,0.00,0.000,6,0.000,0.020,2451,2317,3763,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3778,-0.88,-195.5,423.0,-11.8,220,3783,0.00,2.17,0.00,0.000,4,0.000,0.045,2451,3733,3762,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3821,-0.88,-195.5,428.0,-11.5,222,3826,0.00,1.95,0.00,0.000,6,0.000,0.020,2449,2324,3760,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4144,-0.88,-195.5,462.7,-10.4,238,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2322,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4445,-0.88,-195.5,492.2,-9.8,253,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2322,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4746,-0.90,-195.5,521.3,-9.7,268,4751,0.00,2.20,0.00,0.000,4,0.000,0.047,2451,3734,3755,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4819,-0.93,-195.5,527.6,-9.5,271,4825,0.00,1.95,0.00,0.000,6,0.000,0.021,2451,2322,3754,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5133,-1.03,-195.5,555.9,-7.9,287,5139,0.12,2.17,0.00,0.000,4,0.080,0.045,2372,3726,3752,0,0,0,0,0,0,26.77,26.41,28.83
$GC,5211,-1.03,-195.5,564.1,-11.6,290,5219,0.12,1.95,0.00,0.000,6,0.160,0.021,2403,2333,3751,0,0,0,0,0,0,26.32,26.72,28.83
$GC,5537,-1.00,-195.5,610.4,-13.7,306,5543,0.00,2.15,0.00,0.000,4,0.000,0.046,2398,3723,3748,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5571,-0.97,-195.5,615.1,-13.6,307,5576,0.12,1.98,0.00,0.000,6,0.153,0.021,2431,2313,3749,0,0,0,0,0,0,26.34,26.72,28.83
$GC,5906,-0.97,-195.5,652.9,-10.9,318,5911,0.00,1.92,0.00,0.000,4,0.000,0.028,2432,969,3747,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5933,-0.97,-195.5,652.9,-10.9,318,5940,0.00,2.00,0.00,0.000,6,0.000,0.031,2431,2325,3746,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6239,-0.97,-195.5,687.7,-10.1,329,6244,0.00,2.15,0.00,0.000,4,0.000,0.047,2432,3724,3744,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6316,-0.97,-195.5,694.4,-10.3,331,6322,0.00,1.95,0.00,0.000,6,0.000,0.027,2431,2332,3743,0,0,0,0,0,0,28.83,25.20,28.83
$GC,6634,-0.97,-195.5,729.3,-10.7,342,6639,0.00,2.17,0.00,0.000,4,0.000,0.048,2431,3729,3741,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6692,-0.98,-195.5,733.0,-10.8,343,6699,0.00,1.98,0.00,0.000,6,0.000,0.024,2431,2318,3741,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7000,-1.00,-195.5,768.8,-10.9,354,7005,0.00,2.20,0.00,0.000,4,0.000,0.048,2432,3723,3738,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7047,-1.02,-195.5,772.8,-10.9,355,7053,0.00,1.98,0.00,0.000,6,0.000,0.024,2432,2318,3739,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7367,-1.04,-195.5,808.3,-10.7,366,7373,0.00,2.20,0.00,0.000,4,0.000,0.048,2431,3727,3736,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7395,-1.05,-195.5,808.3,-10.7,366,7402,0.00,1.98,0.00,0.000,6,0.000,0.024,2431,2323,3736,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7701,-1.08,-195.5,842.8,-10.1,377,7707,0.12,2.20,0.00,0.000,4,0.087,0.052,2361,3725,3733,0,0,0,0,0,0,26.73,26.28,28.83
$GC,7749,-1.08,-195.5,847.4,-10.9,378,7755,0.12,1.98,0.00,0.000,6,0.161,0.024,2393,2330,3733,0,0,0,0,0,0,26.25,26.67,28.83
$GC,8071,-1.05,-195.5,889.6,-12.4,389,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2328,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8368,-1.03,-195.5,926.2,-12.2,399,8374,0.00,2.17,0.00,0.000,4,0.000,0.048,2388,3722,3727,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8416,-1.00,-195.5,930.3,-12.2,400,8422,0.00,2.00,0.00,0.000,6,0.000,0.024,2387,2315,3730,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8737,-0.98,-195.5,969.7,-11.6,411,8739,0.15,0.00,0.00,0.000,6,0.150,0.000,2428,2313,3727,0,0,0,0,0,0,26.38,28.83,28.83
$STATE,8973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8973,begin apogee
$GC,8979,-0.20,0.0,991.9,-9.1,419,9157,0.73,0.00,165.57,1.320,6,0.109,0.000,2673,2313,2958,0,0,0,0,0,0,25.91,28.83,23.61
$STATE,9158,end apogee,CONTROL_FINISHED_OK
$STATE,9158,begin climb
$GC,9161,0.47,195.5,997.8,0.0,425,9347,0.57,2.42,176.65,1.277,4,0.037,0.046,2910,3700,2164,0,0,0,0,0,0,24.82,23.89,23.01
$GC,9455,0.35,195.5,973.4,14.1,434,9463,0.22,2.15,0.00,0.000,6,0.152,0.028,2858,2325,2153,0,0,0,0,0,0,24.87,25.13,28.83
$GC,9762,0.32,198.7,937.7,9.9,445,9767,0.00,2.20,0.00,0.000,4,0.000,0.047,2858,3700,2151,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9796,0.28,198.7,933.9,10.1,446,9802,0.12,2.12,0.00,0.000,6,0.157,0.028,2835,2297,2151,0,0,0,0,0,0,25.72,25.98,28.83
$GC,10131,0.29,226.7,903.5,9.0,457,10164,0.00,2.38,28.58,1.213,4,0.000,0.047,2835,3704,2038,0,0,0,0,0,0,28.83,25.44,24.56
$GC,10212,0.30,248.0,897.6,9.3,459,10240,0.00,2.15,21.12,1.215,6,0.000,0.029,2838,2293,1951,0,0,0,0,0,0,28.83,25.72,24.35
$GC,10553,0.31,270.9,863.3,9.2,471,10584,0.00,2.30,22.60,1.203,4,0.000,0.046,2837,3699,1858,0,0,0,0,0,0,28.83,25.43,24.56
$GC,10601,0.32,294.8,860.8,9.2,472,10631,0.00,2.15,24.52,1.192,6,0.000,0.030,2838,2297,1766,0,0,0,0,0,0,28.83,25.62,24.25
$GC,10944,0.36,319.4,827.9,9.2,484,10973,0.00,0.00,25.12,1.182,6,0.000,0.000,2838,2297,1660,0,0,0,0,0,0,28.83,28.83,24.50
$GC,11277,0.42,371.3,799.3,8.2,495,11335,0.12,2.40,52.10,1.144,4,0.085,0.047,2900,3694,1448,0,0,0,0,0,0,26.13,25.02,24.20
$GC,11352,0.43,388.7,792.8,9.4,497,11377,0.00,2.17,17.65,1.153,6,0.000,0.030,2901,2300,1379,0,0,0,0,0,0,28.83,25.33,24.18
$GC,11700,0.43,388.7,746.5,12.9,509,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2300,1372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12000,0.43,388.7,708.2,12.6,519,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2300,1370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12300,0.43,388.7,668.5,13.4,529,12306,0.00,2.20,0.00,0.000,4,0.000,0.048,2901,3700,1369,0,0,0,0,0,0,28.83,26.24,28.83
$GC,12357,0.43,388.7,663.7,13.7,530,12365,0.00,2.10,0.00,0.000,6,0.000,0.030,2901,2290,1368,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12663,0.43,388.7,619.8,12.7,541,12668,0.00,2.08,0.00,0.000,4,0.000,0.037,2903,907,1368,0,0,0,0,0,0,28.83,26.36,28.83
$GC,12697,0.43,388.7,615.7,12.7,542,12703,0.12,2.10,0.00,0.000,6,0.132,0.031,2868,2307,1368,0,0,0,0,0,0,26.22,26.39,28.83
$GC,13011,0.46,388.7,581.3,11.0,555,13016,0.00,2.17,0.00,0.000,4,0.000,0.051,2873,3701,1368,0,0,0,0,0,0,28.83,25.15,28.83
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$GC,15156,0.46,388.7,306.8,12.8,661,15161,0.00,2.05,0.00,0.000,4,0.000,0.034,2912,908,1367,0,0,0,0,0,0,28.83,26.49,28.83
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$STATE,17910,end climb,SURFACE_DEPTH_REACHED
$STATE,17910,begin surface coast
$FINISH,0.8,1.010634
$STATE,17925,end surface coast,CONTROL_FINISHED_OK
$STATE,17925,begin surface
$SM_CCo,18003,0.00,0.000,0,0,762,540.89
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$IRIDIUM_FIX,2305.10,12148.89,251012,030342
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.85
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.80
$XPDR_PINGS,14
$24V_AH,23.0,19.782
$10V_AH,9.8,10.993
$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,21.425,164.100,594.650,0.000,0.000,0.000,0.000,231.650,3.500,0.000,5.858,2638.725,12458.736,730.523,2223.570,349.959,0.000,2084.773,0.000,1925.160,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,52.020,1320.390,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17932.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.545,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,30052,829
$CAP_FILE_SIZE,203102,0
$CFSIZE,260165632,243781632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,354.9,1
$GPS,251012,134135,2313.987,12155.130,36,0.9,36,-3.5