version: 66.11
glider: 167
mission: 14
dive: 81
start: 10 27 112 21 4 58
data:
$ID,167
$MISSION,14
$DIVE,81
$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,450
$T_MISSION,520
$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,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,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,-968599.31
$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,71
$R_STBD_OVSHOOT,52
$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
$GPS1,271012,205453,2320.098,12225.655,39,1.1,39,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.2
$GPS2,271012,210430,2320.161,12225.585,4,1.0,4,-3.6
$SPEED_LIMITS,0.127,0.250
$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,98.2,161241,-12.5,-7.333,-16.34
$D_GRID,5145
$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,-0.38,-171.1,0.0,0.0,0,85,0.00,0.00,-64.62,0.000,2,0.000,0.000,109,2325,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.38,-171.1,3.2,-5.6,11,132,9.88,2.10,-25.92,0.000,4,0.224,0.041,2611,928,3666,0,0,0,0,0,0,25.53,26.12,26.45
$GC,162,-0.41,-171.1,11.2,-10.1,23,168,0.00,2.08,0.00,0.000,6,0.000,0.028,2611,2321,3666,0,0,0,0,0,0,28.83,26.10,28.83
$GC,478,-0.40,-171.1,49.1,-12.2,66,483,0.00,2.17,0.00,0.000,4,0.000,0.046,2611,3737,3666,0,0,0,0,0,0,28.83,26.18,28.83
$GC,542,-0.42,-171.1,55.5,-10.0,70,547,0.00,2.03,0.00,0.000,6,0.000,0.022,2612,2315,3666,0,0,0,0,0,0,28.83,26.43,28.83
$GC,865,-0.42,-171.1,91.6,-11.4,86,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2314,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1167,-0.51,-171.1,118.4,-5.8,101,1173,0.12,2.17,0.00,0.000,4,0.078,0.044,2508,3730,3666,0,0,0,0,0,0,26.65,26.39,28.83
$GC,1206,-0.58,-171.1,120.6,-6.5,102,1213,0.15,1.98,0.00,0.000,6,0.129,0.018,2552,2303,3666,0,0,0,0,0,0,26.30,26.61,28.83
$GC,1512,-0.60,-171.1,150.4,-7.8,118,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2304,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1814,-0.63,-171.1,174.2,-7.3,133,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2303,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2113,-0.67,-171.1,198.8,-8.2,148,2119,0.00,2.20,0.00,0.000,4,0.000,0.047,2552,3737,3668,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2186,-0.72,-171.1,203.6,-7.4,151,2192,0.15,1.95,0.00,0.000,6,0.067,0.018,2461,2291,3668,0,0,0,0,0,0,26.63,26.73,28.83
$GC,2500,-0.62,-171.1,247.1,-13.7,167,2502,0.25,0.00,0.00,0.000,6,0.130,0.000,2537,2289,3667,0,0,0,0,0,0,26.29,28.83,28.83
$GC,2803,-0.66,-171.1,273.4,-8.2,182,2808,0.00,2.20,0.00,0.000,4,0.000,0.050,2535,3729,3666,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2835,-0.70,-171.1,275.5,-8.1,183,2841,0.00,1.92,0.00,0.000,6,0.000,0.019,2535,2342,3664,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3150,-0.73,-171.1,302.1,-8.8,199,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2343,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3451,-0.78,-171.1,327.8,-8.4,214,3453,0.12,0.00,0.00,0.000,6,0.080,0.000,2454,2343,3663,0,0,0,0,0,0,26.77,28.83,28.83
$GC,3752,-0.71,-171.1,367.7,-13.1,229,3757,0.17,2.12,0.00,0.000,4,0.133,0.043,2506,3729,3661,0,0,0,0,0,0,26.42,26.48,28.83
$GC,3790,-0.64,-171.1,370.9,-12.9,230,3797,0.00,1.95,0.00,0.000,6,0.000,0.018,2506,2321,3661,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4095,-0.64,-171.1,398.2,-8.5,246,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2320,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4398,-0.66,-171.1,421.7,-7.5,261,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2320,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,-0.69,-171.1,445.3,-8.1,276,4704,0.00,2.20,-0.08,0.000,4,0.000,0.060,2506,3736,3684,0,0,0,0,0,0,28.83,26.46,25.77
$GC,4837,-0.73,-171.1,455.9,-8.4,282,4843,0.00,1.98,0.00,0.000,6,0.000,0.020,2506,2291,3684,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5143,-0.76,-171.1,481.5,-7.6,298,5148,0.00,2.22,0.00,0.000,4,0.000,0.044,2506,3736,3682,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5248,-0.80,-171.1,488.6,-6.9,303,5254,0.00,1.95,0.00,0.000,6,0.000,0.021,2506,2332,3681,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5572,-0.84,-171.1,509.9,-6.9,319,5578,0.12,2.15,0.00,0.000,4,0.079,0.044,2425,3731,3679,0,0,0,0,0,0,26.78,26.43,28.83
$GC,5625,-0.84,-171.1,514.5,-8.6,321,5632,0.15,1.95,0.00,0.000,6,0.139,0.021,2467,2332,3679,0,0,0,0,0,0,26.34,26.74,28.83
$GC,5941,-0.84,-171.1,548.7,-10.5,337,5946,0.00,1.95,0.00,0.000,4,0.000,0.026,2468,965,3676,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5984,-0.84,-171.1,553.3,-10.7,339,5990,0.00,2.00,0.00,0.000,6,0.000,0.030,2468,2329,3673,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6307,-0.84,-171.1,585.2,-9.6,355,6313,0.00,2.12,0.00,0.000,4,0.000,0.046,2468,3725,3675,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6371,-0.84,-171.1,591.1,-9.4,358,6377,0.00,1.95,0.00,0.000,6,0.000,0.021,2468,2313,3675,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6687,-0.84,-171.1,618.5,-8.4,370,6692,0.00,2.17,0.00,0.000,4,0.000,0.046,2468,3725,3673,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6714,-0.84,-171.1,618.5,-8.4,370,6722,0.00,1.92,0.00,0.000,6,0.000,0.022,2468,2323,3673,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7020,-0.84,-171.1,648.9,-9.2,381,7026,0.00,2.17,0.00,0.000,4,0.000,0.046,2468,3725,3671,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7114,-0.84,-171.1,657.8,-9.5,384,7119,0.00,1.95,0.00,0.000,6,0.000,0.022,2468,2325,3670,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7449,-0.84,-171.1,688.0,-8.8,395,7454,0.00,2.17,0.00,0.000,4,0.000,0.047,2468,3723,3668,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7516,-0.84,-171.1,693.7,-8.6,397,7521,0.00,1.95,0.00,0.000,6,0.000,0.023,2468,2325,3667,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7847,-0.84,-171.1,721.6,-8.5,408,7852,0.00,2.17,0.00,0.000,4,0.000,0.047,2468,3725,3665,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7949,-0.84,-171.1,729.7,-8.4,411,7954,0.00,1.95,0.00,0.000,6,0.000,0.023,2468,2329,3664,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8274,-0.84,-171.1,757.8,-8.5,422,8279,0.00,2.20,0.00,0.000,4,0.000,0.047,2468,3733,3662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8320,-0.84,-171.1,760.9,-8.7,423,8326,0.00,1.98,0.00,0.000,6,0.000,0.024,2468,2322,3662,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8642,-0.86,-171.1,790.0,-8.9,434,8647,0.00,2.20,0.00,0.000,4,0.000,0.047,2468,3721,3659,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8679,-0.87,-171.1,793.2,-8.9,435,8685,0.00,1.98,0.00,0.000,6,0.000,0.024,2468,2320,3659,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9010,-0.89,-171.1,822.3,-8.7,446,9015,0.00,2.22,0.00,0.000,4,0.000,0.049,2468,3726,3657,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9084,-0.91,-171.1,828.2,-8.8,448,9089,0.00,1.98,0.00,0.000,6,0.000,0.024,2468,2330,3656,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9409,-0.93,-171.1,857.4,-8.6,459,9414,0.00,2.17,0.00,0.000,4,0.000,0.048,2467,3723,3655,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9482,-0.95,-171.1,863.0,-8.5,461,9487,0.00,2.00,0.00,0.000,6,0.000,0.024,2468,2314,3655,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9807,-0.97,-171.1,888.9,-7.7,472,9812,0.12,2.22,0.00,0.000,4,0.088,0.047,2400,3735,3653,0,0,0,0,0,0,26.72,26.24,28.83
$GC,9871,-0.97,-171.1,895.7,-9.0,474,9876,0.00,2.03,0.00,0.000,6,0.000,0.025,2400,2322,3652,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10206,-0.90,-171.1,932.5,-10.8,485,10212,0.15,2.20,0.00,0.000,4,0.151,0.047,2447,3722,3651,0,0,0,0,0,0,26.29,26.22,28.83
$GC,10270,-0.86,-171.1,938.3,-10.0,487,10276,0.00,2.00,0.00,0.000,6,0.000,0.025,2447,2323,3650,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10605,-0.86,-171.1,966.3,-8.8,498,10610,0.00,2.20,0.00,0.000,4,0.000,0.049,2447,3726,3649,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10652,-0.86,-171.1,969.5,-9.0,499,10658,0.00,2.03,0.00,0.000,6,0.000,0.028,2447,2318,3649,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,10878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10878,begin apogee
$GC,10884,-0.20,0.0,991.7,-9.0,507,11042,0.65,0.00,150.18,1.336,6,0.105,0.000,2669,2316,2964,0,0,0,0,0,0,25.85,28.83,23.63
$STATE,11044,end apogee,CONTROL_FINISHED_OK
$STATE,11044,begin climb
$GC,11046,0.38,171.1,999.2,0.0,512,11214,0.52,2.28,157.00,1.323,4,0.043,0.033,2885,948,2261,0,0,0,0,0,0,24.82,23.93,22.98
$GC,11379,0.28,171.1,980.0,9.7,523,11385,0.20,2.10,0.00,0.000,6,0.130,0.030,2829,2302,2250,0,0,0,0,0,0,25.15,25.38,28.83
$GC,11705,0.22,171.1,954.2,7.6,534,11711,0.00,2.20,0.00,0.000,4,0.000,0.047,2829,3694,2248,0,0,0,0,0,0,28.83,25.92,28.83
$GC,11842,0.14,171.1,942.7,9.2,538,11848,0.15,2.05,0.00,0.000,6,0.153,0.029,2789,2325,2246,0,0,0,0,0,0,25.86,26.16,28.83
$GC,12163,0.15,190.9,919.9,6.8,549,12186,0.00,2.20,16.70,1.251,4,0.000,0.047,2789,3695,2188,0,0,0,0,0,0,28.83,25.80,24.87
$GC,12213,0.16,210.9,917.8,6.8,550,12242,0.00,2.12,20.88,1.229,6,0.000,0.028,2789,2289,2103,0,0,0,0,0,0,28.83,25.94,24.49
$GC,12555,0.16,230.1,892.6,6.8,562,12585,0.00,2.35,19.65,1.224,4,0.000,0.047,2789,3694,2021,0,0,0,0,0,0,28.83,25.54,24.64
$GC,12618,0.17,242.3,888.0,7.0,564,12637,0.00,2.12,12.93,1.231,6,0.000,0.028,2789,2299,1977,0,0,0,0,0,0,28.83,25.78,24.51
$GC,12950,0.19,252.0,864.8,7.1,575,12962,0.00,0.00,10.00,1.252,6,0.000,0.000,2789,2299,1939,0,0,0,0,0,0,28.83,28.83,24.82
$GC,13253,0.24,298.6,845.5,6.0,585,13310,0.00,2.35,47.65,1.140,4,0.000,0.048,2789,3689,1742,0,0,0,0,0,0,28.83,25.13,24.31
$GC,13355,0.28,343.6,839.8,6.0,588,13408,0.12,2.12,44.67,1.116,6,0.079,0.028,2854,2294,1561,0,0,0,0,0,0,25.56,25.60,24.13
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$STATE,22705,end climb,SURFACE_DEPTH_REACHED
$STATE,22705,begin surface coast
$FINISH,0.8,1.021694
$STATE,22736,end surface coast,CONTROL_FINISHED_OK
$STATE,22737,begin surface
$SM_CCo,22815,0.00,0.000,0,0,1175,439.82
$SM_GC,1.79,7.18,0.00,0.00,0.028,0.000,0.000,120,2312,1175,-8.10,-0.37,439.82,0,0,0,0,0,0,26.54,28.83,28.83
$IRIDIUM_FIX,2314.48,12225.21,271012,202051
$TT8_MAMPS,0.029211,0.029211
$HUMID,49.64
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,26.00
$XPDR_PINGS,19
$24V_AH,23.0,21.949
$10V_AH,9.8,12.512
$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,20.600,192.175,530.600,0.000,0.000,0.000,0.000,336.925,4.750,0.000,5.906,3404.069,15954.512,704.661,2883.530,439.710,0.000,2428.915,0.000,2455.925,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,59.670,1335.690,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22755.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.466,0.000,0.000,0.000
$MEM,323772
$DATA_FILE_SIZE,39987,1062
$CAP_FILE_SIZE,250166,0
$CFSIZE,260165632,242614272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151,330.3,1
$GPS,281012,032636,2321.215,12228.361,40,1.0,40,-3.6