version: 66.11
glider: 167
mission: 14
dive: 84
start: 10 28 112 16 37 23
data:
$ID,167
$MISSION,14
$DIVE,84
$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,-968603.06
$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,84
$R_STBD_OVSHOOT,51
$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
$GPS1,281012,162906,2321.905,12232.867,35,1.4,35,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.4
$GPS2,281012,163657,2321.997,12232.805,4,1.3,4,-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,102.2,148589,-12.5,-7.333,-16.34
$D_GRID,4405
$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,16,begin dive
$GC,18,-0.38,-171.1,0.0,0.0,0,85,0.00,0.00,-64.25,0.000,2,0.000,0.000,111,2309,2518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.38,-171.1,3.0,-5.2,11,133,9.80,2.08,-28.88,0.000,4,0.222,0.040,2611,934,3666,0,0,0,0,0,0,25.52,26.14,26.47
$GC,197,-0.42,-171.1,13.4,-10.5,30,204,0.00,2.05,0.00,0.000,6,0.000,0.028,2611,2317,3668,0,0,0,0,0,0,28.83,26.13,28.83
$GC,512,-0.42,-171.1,48.7,-11.6,72,518,0.00,2.17,0.00,0.000,4,0.000,0.046,2613,3733,3668,0,0,0,0,0,0,28.83,26.18,28.83
$GC,549,-0.42,-171.1,51.1,-11.0,74,556,0.00,2.00,0.00,0.000,6,0.000,0.019,2611,2317,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,858,-0.46,-171.1,81.9,-9.1,90,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2317,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1158,-0.54,-171.1,103.0,-5.7,105,1164,0.12,2.17,0.00,0.000,4,0.078,0.044,2515,3730,3668,0,0,0,0,0,0,26.66,26.34,28.83
$GC,1184,-0.60,-171.1,105.0,-6.1,106,1190,0.12,1.98,0.00,0.000,6,0.138,0.018,2550,2297,3668,0,0,0,0,0,0,26.29,26.60,28.83
$GC,1508,-0.60,-171.1,134.7,-9.5,122,1514,0.00,2.20,0.00,0.000,4,0.000,0.044,2550,3725,3673,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1581,-0.63,-171.1,139.3,-7.5,125,1587,0.00,1.95,0.00,0.000,6,0.000,0.021,2550,2352,3669,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1895,-0.67,-171.1,161.7,-7.4,141,1900,0.00,2.03,0.00,0.000,4,0.000,0.029,2550,934,3669,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1928,-0.71,-171.1,163.6,-7.7,142,1934,0.12,2.05,0.00,0.000,6,0.077,0.033,2465,2328,3669,0,0,0,0,0,0,26.51,26.52,28.83
$GC,2242,-0.61,-171.1,210.7,-14.5,158,2248,0.22,2.12,0.00,0.000,4,0.133,0.043,2532,3732,3669,0,0,0,0,0,0,26.24,26.42,28.83
$GC,2286,-0.56,-171.1,215.5,-12.6,160,2292,0.00,2.00,0.00,0.000,6,0.000,0.021,2532,2306,3669,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2610,-0.56,-171.1,242.2,-8.2,176,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2306,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2911,-0.58,-171.1,267.3,-7.7,191,2917,0.00,2.17,0.00,0.000,4,0.000,0.047,2532,3726,3667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2960,-0.61,-171.1,270.7,-7.6,193,2965,0.00,1.98,0.00,0.000,6,0.000,0.020,2532,2311,3667,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3279,-0.65,-171.1,291.5,-6.6,209,3284,0.00,2.17,0.00,0.000,4,0.000,0.045,2532,3732,3665,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3342,-0.69,-171.1,295.6,-6.6,212,3348,0.00,2.00,0.00,0.000,6,0.000,0.020,2532,2315,3665,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3666,-0.73,-171.1,319.6,-7.8,228,3671,0.00,2.20,0.00,0.000,4,0.000,0.047,2532,3735,3663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3739,-0.77,-171.1,324.5,-7.8,231,3745,0.12,1.98,0.00,0.000,6,0.078,0.020,2450,2312,3663,0,0,0,0,0,0,26.60,26.71,28.83
$GC,4054,-0.70,-171.1,369.0,-13.8,247,4060,0.17,1.95,0.00,0.000,4,0.132,0.024,2508,950,3661,0,0,0,0,0,0,26.39,26.60,28.83
$GC,4082,-0.64,-171.1,371.9,-13.4,248,4087,0.00,2.03,0.00,0.000,6,0.000,0.030,2508,2330,3661,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4400,-0.67,-171.1,399.0,-7.9,264,4406,0.00,2.15,0.00,0.000,4,0.000,0.047,2508,3735,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4530,-0.70,-171.1,409.4,-8.5,270,4535,0.00,1.98,0.00,0.000,6,0.000,0.020,2508,2314,3659,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4848,-0.73,-171.1,435.3,-7.5,286,4854,0.00,2.20,0.00,0.000,4,0.000,0.047,2508,3732,3658,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4875,-0.77,-171.1,437.1,-7.4,287,4881,0.00,1.95,0.00,0.000,6,0.000,0.020,2508,2322,3658,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5195,-0.80,-171.1,461.1,-7.6,303,5200,0.00,2.20,-0.08,0.000,4,0.000,0.057,2507,3729,3684,0,0,0,0,0,0,28.83,26.39,25.72
$GC,5233,-0.84,-171.1,463.0,-7.5,304,5240,0.12,1.95,0.00,0.000,6,0.079,0.021,2429,2315,3684,0,0,0,0,0,0,26.60,26.73,28.83
$GC,5539,-0.77,-171.1,499.4,-11.6,320,5545,0.15,2.20,0.00,0.000,4,0.143,0.044,2480,3732,3682,0,0,0,0,0,0,26.41,26.41,28.83
$GC,5578,-0.72,-171.1,502.1,-11.4,321,5586,0.00,1.98,0.00,0.000,6,0.000,0.021,2480,2326,3682,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5884,-0.72,-171.1,527.5,-8.3,337,5890,0.00,2.17,0.00,0.000,4,0.000,0.047,2480,3733,3681,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5921,-0.72,-171.1,529.5,-8.3,338,5928,0.00,2.00,0.00,0.000,6,0.000,0.021,2480,2314,3680,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6227,-0.72,-171.1,555.3,-7.7,354,6232,0.00,2.20,0.00,0.000,4,0.000,0.046,2480,3727,3678,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6294,-0.72,-171.1,560.2,-7.6,357,6300,0.00,1.98,0.00,0.000,6,0.000,0.021,2480,2313,3677,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6612,-0.72,-171.1,585.3,-8.2,373,6618,0.00,2.20,0.00,0.000,4,0.000,0.047,2479,3730,3676,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6685,-0.74,-171.1,590.4,-8.1,376,6692,0.00,1.98,0.00,0.000,6,0.000,0.021,2480,2317,3675,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7011,-0.76,-171.1,617.1,-8.2,389,7016,0.00,2.20,0.00,0.000,4,0.000,0.047,2480,3726,3673,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7078,-0.78,-171.1,622.4,-8.2,391,7084,0.00,1.98,0.00,0.000,6,0.000,0.022,2480,2316,3673,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7408,-0.79,-171.1,649.4,-8.0,402,7413,0.00,2.20,0.00,0.000,4,0.000,0.047,2480,3730,3671,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7461,-0.81,-171.1,652.2,-7.9,403,7467,0.00,1.98,0.00,0.000,6,0.000,0.022,2479,2325,3670,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7776,-0.83,-171.1,680.0,-8.4,414,7782,0.00,2.20,0.00,0.000,4,0.000,0.048,2481,3735,3668,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7880,-0.86,-171.1,687.9,-8.3,417,7886,0.00,2.03,0.00,0.000,6,0.000,0.023,2480,2310,3667,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8206,-0.88,-171.1,711.1,-6.5,428,8212,0.00,2.20,0.00,0.000,4,0.000,0.048,2480,3725,3665,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8285,-0.91,-171.1,715.2,-6.3,430,8291,0.00,2.00,0.00,0.000,6,0.000,0.024,2480,2323,3663,0,0,0,0,0,0,28.83,25.66,28.83
$GC,8606,-0.93,-171.1,736.9,-6.6,441,8612,0.12,2.20,0.00,0.000,4,0.083,0.047,2406,3730,3662,0,0,0,0,0,0,26.73,26.25,28.83
$GC,8649,-0.93,-171.1,740.1,-7.1,442,8655,0.12,2.00,0.00,0.000,6,0.153,0.024,2439,2315,3662,0,0,0,0,0,0,26.25,26.65,28.83
$GC,8975,-0.90,-171.1,769.6,-8.9,453,8981,0.00,2.20,0.00,0.000,4,0.000,0.048,2439,3723,3660,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9073,-0.88,-171.1,778.3,-8.9,456,9079,0.00,1.98,0.00,0.000,6,0.000,0.024,2439,2332,3659,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9403,-0.85,-171.1,808.1,-9.0,467,9409,0.10,2.20,0.00,0.000,4,0.158,0.047,2466,3732,3658,0,0,0,0,0,0,26.58,26.21,28.83
$GC,9487,-0.85,-171.1,813.4,-8.7,469,9492,0.00,2.00,0.00,0.000,6,0.000,0.024,2466,2320,3657,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9800,-0.85,-171.1,841.6,-8.7,480,9805,0.00,2.20,0.00,0.000,4,0.000,0.049,2465,3725,3655,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9867,-0.87,-171.1,847.1,-8.6,482,9873,0.00,2.00,0.00,0.000,6,0.000,0.024,2466,2319,3655,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10198,-0.89,-171.1,874.1,-7.9,493,10203,0.00,2.22,0.00,0.000,4,0.000,0.050,2465,3735,3654,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10245,-0.90,-171.1,876.9,-7.9,494,10250,0.00,2.03,0.00,0.000,6,0.000,0.025,2466,2316,3654,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10565,-0.92,-171.1,902.5,-7.5,505,10571,0.00,2.22,0.00,0.000,4,0.000,0.050,2466,3730,3652,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10639,-0.94,-171.1,907.5,-7.5,507,10644,0.00,2.03,0.00,0.000,6,0.000,0.032,2466,2327,3652,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10964,-0.97,-171.1,930.9,-7.0,518,10971,0.12,2.22,0.00,0.000,4,0.085,0.049,2398,3730,3651,0,0,0,0,0,0,26.70,26.12,28.83
$GC,11070,-0.93,-171.1,941.3,-10.1,521,11077,0.15,2.05,0.00,0.000,6,0.148,0.025,2438,2311,3650,0,0,0,0,0,0,26.11,26.58,28.83
$GC,11397,-0.92,-171.1,972.0,-8.9,532,11402,0.00,2.22,0.00,0.000,4,0.000,0.050,2438,3723,3649,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11444,-0.92,-171.1,975.0,-8.8,533,11449,0.00,2.03,0.00,0.000,6,0.000,0.026,2438,2320,3649,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,11610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11610,begin apogee
$GC,11615,-0.20,0.0,990.3,-8.3,539,11773,0.68,0.00,151.12,1.281,6,0.106,0.000,2667,2317,2968,0,0,0,0,0,0,25.80,28.83,23.62
$STATE,11775,end apogee,CONTROL_FINISHED_OK
$STATE,11775,begin climb
$GC,11777,0.38,171.1,995.7,0.0,544,11946,0.52,2.42,156.62,1.220,4,0.037,0.047,2884,3699,2260,0,0,0,0,0,0,24.81,23.90,22.95
$GC,12029,0.24,171.1,979.0,11.5,552,12035,0.25,2.15,0.00,0.000,6,0.147,0.028,2817,2333,2252,0,0,0,0,0,0,24.70,24.99,28.83
$GC,12345,0.19,171.1,948.1,8.7,563,12350,0.00,2.20,0.00,0.000,4,0.000,0.035,2819,895,2248,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,23472,end climb,SURFACE_DEPTH_REACHED
$STATE,23472,begin surface coast
$FINISH,0.8,1.022393
$STATE,23513,end surface coast,CONTROL_FINISHED_OK
$STATE,23514,begin surface
$SM_CCo,23591,0.00,0.000,0,0,1168,441.54
$SM_GC,1.54,7.10,0.00,0.00,0.028,0.000,0.000,118,2290,1168,-8.10,-0.99,441.54,0,0,0,0,0,0,26.52,28.83,28.83
$IRIDIUM_FIX,2312.13,12234.39,281012,101019
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.70
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,26.20
$XPDR_PINGS,17
$24V_AH,23.0,22.543
$10V_AH,9.7,12.998
$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,21.775,226.625,553.100,0.000,0.000,0.000,0.000,283.825,4.250,0.000,5.843,3553.809,16340.309,781.674,2914.956,462.025,0.000,2495.100,0.000,2526.623,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,56.610,1281.375,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23536.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.591,0.000,0.000,0.000
$MEM,323784
$DATA_FILE_SIZE,40080,1091
$CAP_FILE_SIZE,267264,0
$CFSIZE,260165632,242253824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.131,318.4,1
$GPS,281012,231159,2322.265,12235.303,41,0.9,41,-3.6