version: 66.11
glider: 167
mission: 14
dive: 82
start: 10 28 112 3 34 38
data:
$ID,167
$MISSION,14
$DIVE,82
$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,-968600.56
$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,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,85
$R_STBD_OVSHOOT,57
$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
$GPS1,281012,032636,2321.215,12228.361,40,1.0,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-68.2
$GPS2,281012,033412,2321.354,12228.370,4,0.8,4,-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,110.3,156052,-12.5,-7.333,-16.34
$D_GRID,4759
$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,-171.1,0.0,0.0,0,72,0.00,0.00,-51.92,0.000,2,0.000,0.000,111,2321,2564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.38,-171.1,3.3,-6.8,9,120,9.90,2.05,-25.20,0.000,4,0.227,0.040,2609,949,3669,0,0,0,0,0,0,25.58,26.14,26.48
$GC,178,-0.42,-171.1,15.0,-10.2,27,185,0.00,2.03,0.00,0.000,6,0.000,0.027,2609,2323,3670,0,0,0,0,0,0,28.83,26.17,28.83
$GC,490,-0.41,-171.1,52.7,-12.6,65,496,0.00,2.15,0.00,0.000,4,0.000,0.044,2605,3733,3670,0,0,0,0,0,0,28.83,26.22,28.83
$GC,568,-0.41,-171.1,60.5,-12.0,68,575,0.00,2.00,0.00,0.000,6,0.000,0.019,2605,2309,3670,0,0,0,0,0,0,28.83,26.48,28.83
$GC,877,-0.49,-171.1,90.3,-6.0,84,882,0.00,2.20,0.00,0.000,4,0.000,0.044,2603,3734,3670,0,0,0,0,0,0,28.83,26.33,28.83
$GC,920,-0.58,-171.1,92.8,-5.7,86,926,0.15,1.98,0.00,0.000,6,0.067,0.018,2503,2292,3671,0,0,0,0,0,0,26.50,26.60,28.83
$GC,1244,-0.52,-171.1,132.0,-13.1,102,1246,0.22,0.00,0.00,0.000,6,0.124,0.000,2573,2291,3672,0,0,0,0,0,0,26.28,28.83,28.83
$GC,1547,-0.60,-171.1,154.1,-6.4,117,1552,0.00,2.20,0.00,0.000,4,0.000,0.044,2572,3722,3672,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1631,-0.69,-171.1,158.9,-5.7,121,1637,0.17,1.92,0.00,0.000,6,0.060,0.021,2471,2340,3672,0,0,0,0,0,0,26.58,26.65,28.83
$GC,1955,-0.61,-171.1,201.2,-13.5,137,1957,0.22,0.00,0.00,0.000,6,0.127,0.000,2539,2339,3672,0,0,0,0,0,0,26.32,28.83,28.83
$GC,2257,-0.64,-171.1,224.0,-6.9,152,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2338,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2558,-0.68,-171.1,245.1,-7.3,167,2563,0.00,2.12,0.00,0.000,4,0.000,0.047,2539,3723,3671,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2585,-0.72,-171.1,246.8,-7.1,168,2591,0.00,1.95,0.00,0.000,6,0.000,0.020,2539,2317,3670,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2905,-0.77,-171.1,268.4,-6.5,184,2906,0.15,0.00,0.00,0.000,6,0.069,0.000,2449,2316,3669,0,0,0,0,0,0,26.77,28.83,28.83
$GC,3206,-0.69,-171.1,307.7,-13.8,199,3212,0.20,2.17,0.00,0.000,4,0.132,0.050,2508,3726,3667,0,0,0,0,0,0,26.34,26.50,28.83
$GC,3271,-0.66,-171.1,315.2,-12.0,202,3277,0.00,1.95,0.00,0.000,6,0.000,0.018,2506,2325,3667,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3594,-0.66,-171.1,345.3,-9.4,218,3600,0.00,1.98,0.00,0.000,4,0.000,0.028,2506,945,3666,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3641,-0.66,-171.1,349.2,-9.0,220,3648,0.00,2.05,0.00,0.000,6,0.000,0.038,2507,2326,3665,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3961,-0.66,-171.1,378.8,-9.2,236,3966,0.00,2.12,0.00,0.000,4,0.000,0.047,2506,3730,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4044,-0.68,-171.1,385.9,-8.6,240,4049,0.00,1.98,0.00,0.000,6,0.000,0.020,2506,2315,3663,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4368,-0.70,-171.1,411.6,-8.5,256,4373,0.00,2.20,0.00,0.000,4,0.000,0.050,2506,3733,3662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4431,-0.73,-171.1,417.1,-8.7,259,4437,0.00,1.98,0.00,0.000,6,0.000,0.020,2506,2305,3661,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4755,-0.76,-171.1,441.6,-7.4,275,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2305,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5057,-0.79,-171.1,463.5,-7.3,290,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2305,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5358,-0.81,-171.1,485.9,-7.6,305,5364,0.00,1.92,-0.08,0.000,4,0.000,0.040,2506,962,3685,0,0,0,0,0,0,28.83,26.60,25.75
$GC,5386,-0.84,-171.1,487.9,-7.6,306,5392,0.12,2.03,0.00,0.000,6,0.080,0.028,2432,2334,3685,0,0,0,0,0,0,26.53,26.55,28.83
$GC,5705,-0.77,-171.1,527.1,-12.8,322,5711,0.17,1.98,0.00,0.000,4,0.135,0.023,2489,964,3684,0,0,0,0,0,0,26.37,26.60,28.83
$GC,5830,-0.81,-171.1,538.8,-9.1,328,5835,0.00,2.03,0.00,0.000,6,0.000,0.029,2489,2333,3683,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6154,-0.82,-171.1,564.2,-7.3,344,6160,0.00,2.00,0.00,0.000,4,0.000,0.026,2489,958,3682,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6313,-0.85,-171.1,574.5,-7.1,351,6320,0.00,2.03,0.00,0.000,6,0.000,0.029,2489,2335,3681,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6619,-0.88,-171.1,597.4,-7.8,367,6624,0.00,2.12,0.00,0.000,4,0.000,0.047,2489,3725,3679,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6636,-0.90,-171.1,597.4,-7.8,367,6644,0.12,1.95,0.00,0.000,6,0.080,0.022,2423,2319,3679,0,0,0,0,0,0,26.59,26.72,28.83
$GC,6964,-0.84,-171.1,636.9,-11.7,379,6970,0.12,1.95,0.00,0.000,4,0.150,0.032,2463,968,3677,0,0,0,0,0,0,26.46,26.46,28.83
$GC,7069,-0.83,-171.1,646.2,-10.2,382,7074,0.00,2.00,0.00,0.000,6,0.000,0.031,2463,2326,3676,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7392,-0.83,-171.1,677.4,-9.4,393,7398,0.00,1.98,0.00,0.000,4,0.000,0.027,2463,970,3674,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7546,-0.83,-171.1,691.8,-9.4,398,7552,0.00,2.03,0.00,0.000,6,0.000,0.030,2463,2335,3674,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7881,-0.83,-171.1,720.6,-8.3,409,7886,0.00,1.98,0.00,0.000,4,0.000,0.027,2463,971,3670,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8045,-0.83,-171.1,733.8,-8.5,414,8050,0.00,2.00,0.00,0.000,6,0.000,0.031,2463,2324,3669,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8368,-0.83,-171.1,760.8,-8.1,425,8374,0.00,2.17,0.00,0.000,4,0.000,0.049,2463,3732,3666,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8441,-0.83,-171.1,765.7,-8.0,427,8446,0.00,1.98,0.00,0.000,6,0.000,0.024,2463,2328,3667,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8764,-0.83,-171.1,790.5,-7.4,438,8770,0.00,1.98,0.00,0.000,4,0.000,0.034,2462,960,3665,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8792,-0.83,-171.1,790.5,-7.4,438,8799,0.00,2.05,0.00,0.000,6,0.000,0.036,2462,2332,3665,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9098,-0.83,-171.1,815.5,-7.3,449,9104,0.00,2.15,0.00,0.000,4,0.000,0.050,2463,3721,3663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9207,-0.83,-171.1,822.6,-7.5,452,9212,0.00,1.98,0.00,0.000,6,0.000,0.024,2463,2323,3663,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9525,-0.83,-171.1,848.9,-8.0,463,9530,0.00,2.20,0.00,0.000,4,0.000,0.049,2463,3728,3661,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9589,-0.84,-171.1,854.1,-8.2,465,9594,0.00,2.00,0.00,0.000,6,0.000,0.024,2463,2325,3660,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9923,-0.84,-171.1,882.6,-9.0,476,9928,0.00,1.98,0.00,0.000,4,0.000,0.028,2463,960,3658,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9945,-0.84,-171.1,882.6,-9.0,476,9950,0.00,2.03,0.00,0.000,6,0.000,0.031,2464,2324,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10258,-0.84,-171.1,912.2,-8.7,487,10263,0.00,2.17,0.00,0.000,4,0.000,0.050,2463,3724,3657,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10336,-0.86,-171.1,917.4,-8.5,489,10341,0.00,2.00,0.00,0.000,6,0.000,0.026,2463,2330,3656,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10656,-0.88,-171.1,944.2,-8.0,500,10661,0.00,2.20,0.00,0.000,4,0.000,0.049,2463,3731,3655,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10703,-0.90,-171.1,946.9,-7.8,501,10708,0.00,2.03,0.00,0.000,6,0.000,0.025,2463,2315,3660,0,0,0,0,0,0,28.83,26.62,28.83
$GC,11024,-0.91,-171.1,972.1,-7.6,512,11030,0.00,2.22,0.00,0.000,4,0.000,0.049,2463,3732,3654,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11102,-0.94,-171.1,977.1,-7.6,514,11107,0.00,2.03,0.00,0.000,6,0.000,0.027,2463,2323,3654,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,11267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11267,begin apogee
$GC,11273,-0.20,0.0,990.9,-7.6,520,11435,0.60,0.00,151.88,1.303,6,0.102,0.000,2669,2322,2961,0,0,0,0,0,0,25.95,28.83,23.64
$STATE,11436,end apogee,CONTROL_FINISHED_OK
$STATE,11436,begin climb
$GC,11439,0.38,171.1,997.4,0.0,525,11607,0.52,2.35,155.95,1.248,4,0.042,0.035,2883,941,2261,0,0,0,0,0,0,24.84,23.95,23.01
$GC,11711,0.27,171.1,981.6,10.1,534,11717,0.20,2.15,0.00,0.000,6,0.130,0.031,2829,2300,2252,0,0,0,0,0,0,24.86,25.07,28.83
$GC,12032,0.21,171.1,953.7,8.2,545,12037,0.00,2.22,0.00,0.000,4,0.000,0.048,2829,3700,2248,0,0,0,0,0,0,28.83,25.81,28.83
$GC,12129,0.13,171.1,944.6,9.4,548,12135,0.17,2.08,0.00,0.000,6,0.151,0.029,2786,2314,2247,0,0,0,0,0,0,25.72,26.06,28.83
$GC,12458,0.14,201.0,922.5,6.5,559,12492,0.00,2.28,27.17,1.226,4,0.000,0.047,2786,3712,2142,0,0,0,0,0,0,28.83,25.49,24.58
$GC,12534,0.15,220.4,918.2,6.8,561,12559,0.00,2.15,20.10,1.229,6,0.000,0.029,2786,2298,2068,0,0,0,0,0,0,28.83,25.75,24.34
$GC,12882,0.16,247.4,893.9,6.6,573,12914,0.00,2.38,25.98,1.219,4,0.000,0.049,2787,3701,1955,0,0,0,0,0,0,28.83,25.37,24.46
$GC,12941,0.17,271.1,891.7,6.6,574,12977,0.00,2.15,25.50,1.213,6,0.000,0.028,2787,2295,1855,0,0,0,0,0,0,28.83,25.63,24.19
$GC,13277,0.23,336.2,869.8,5.5,586,13344,0.00,0.00,64.47,1.170,6,0.000,0.000,2786,2294,1595,0,0,0,0,0,0,28.83,28.83,24.06
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$STATE,22765,end climb,SURFACE_DEPTH_REACHED
$STATE,22765,begin surface coast
$FINISH,0.8,1.017409
$STATE,22800,end surface coast,CONTROL_FINISHED_OK
$STATE,22800,begin surface
$SM_CCo,22877,0.00,0.000,0,0,1115,454.54
$SM_GC,1.74,7.07,0.00,0.00,0.022,0.000,0.000,117,2304,1115,-8.11,-0.59,454.54,0,0,0,0,0,0,26.49,28.83,28.83
$IRIDIUM_FIX,2309.79,12223.95,271012,212100
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.60
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,27.60
$XPDR_PINGS,18
$24V_AH,23.0,22.145
$10V_AH,9.7,12.672
$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,21.450,203.225,554.025,0.000,0.000,0.000,0.000,271.975,4.500,0.000,5.910,3508.391,15732.927,745.878,2896.109,439.941,0.000,2436.430,0.000,2518.872,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,50.490,1302.795,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22824.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.472,0.000,0.000,0.000
$MEM,323824
$DATA_FILE_SIZE,40039,1065
$CAP_FILE_SIZE,256773,0
$CFSIZE,260165632,242499584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110,329.6,1
$GPS,281012,095706,2321.393,12230.414,28,1.2,28,-3.6