version: 66.11
glider: 167
mission: 14
dive: 88
start: 10 29 112 19 7 10
data:
$ID,167
$MISSION,14
$DIVE,88
$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,-968609.56
$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,82
$R_STBD_OVSHOOT,53
$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
$GPS1,291012,185931,2323.866,12241.654,43,1.1,43,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.0
$GPS2,291012,190644,2323.973,12241.593,5,1.0,5,-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,110.0,133372,-12.5,-7.333,-16.34
$D_GRID,4138
$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,-171.1,0.0,0.0,0,79,0.00,0.00,-58.38,0.000,2,0.000,0.000,103,2298,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.38,-171.1,3.1,-5.4,10,126,9.77,2.08,-28.35,0.000,4,0.221,0.044,2609,942,3667,0,0,0,0,0,0,25.55,26.15,26.49
$GC,160,-0.42,-171.1,10.9,-9.2,23,167,0.00,2.08,0.00,0.000,6,0.000,0.028,2609,2313,3668,0,0,0,0,0,0,28.83,26.13,28.83
$GC,476,-0.40,-171.1,49.8,-13.4,66,481,0.00,2.20,0.00,0.000,4,0.000,0.046,2607,3735,3668,0,0,0,0,0,0,28.83,26.20,28.83
$GC,533,-0.40,-171.1,55.0,-12.2,69,541,0.00,2.03,0.00,0.000,6,0.000,0.022,2610,2339,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,842,-0.46,-171.1,83.1,-6.2,85,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2338,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1141,-0.56,-171.1,101.8,-4.5,100,1147,0.12,2.17,0.00,0.000,4,0.080,0.047,2508,3738,3669,0,0,0,0,0,0,26.65,26.36,28.83
$GC,1176,-0.63,-171.1,103.6,-5.3,101,1181,0.00,2.03,0.00,0.000,6,0.000,0.018,2509,2287,3669,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1489,-0.57,-171.1,146.4,-12.9,117,1495,0.12,1.90,0.00,0.000,4,0.148,0.024,2550,941,3669,0,0,0,0,0,0,26.42,26.56,28.83
$GC,1534,-0.54,-171.1,150.9,-11.5,119,1539,0.00,2.03,0.00,0.000,6,0.000,0.029,2548,2328,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1858,-0.56,-171.1,179.3,-8.1,135,1863,0.00,2.12,0.00,0.000,4,0.000,0.046,2548,3732,3669,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1922,-0.60,-171.1,184.1,-7.6,138,1927,0.00,1.98,0.00,0.000,6,0.000,0.021,2548,2323,3670,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2246,-0.64,-171.1,209.3,-7.4,154,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2323,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2547,-0.67,-171.1,232.1,-7.8,169,2552,0.00,2.17,0.00,0.000,4,0.000,0.048,2548,3732,3669,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2590,-0.72,-171.1,235.4,-7.8,171,2596,0.12,1.98,0.00,0.000,6,0.080,0.019,2465,2316,3669,0,0,0,0,0,0,26.60,26.71,28.83
$GC,2914,-0.64,-171.1,279.0,-12.9,187,2916,0.22,0.00,0.00,0.000,6,0.129,0.000,2534,2315,3666,0,0,0,0,0,0,26.33,28.83,28.83
$GC,3217,-0.67,-171.1,302.8,-8.0,202,3222,0.00,2.20,0.00,0.000,4,0.000,0.047,2533,3735,3667,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3270,-0.71,-171.1,306.7,-8.3,204,3275,0.00,1.98,0.00,0.000,6,0.000,0.020,2533,2305,3666,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3583,-0.76,-171.1,330.9,-6.6,220,3590,0.12,2.17,0.00,0.000,4,0.079,0.044,2447,3727,3664,0,0,0,0,0,0,26.77,26.44,28.83
$GC,3627,-0.76,-171.1,335.6,-8.7,222,3634,0.17,1.92,0.00,0.000,6,0.132,0.018,2498,2326,3664,0,0,0,0,0,0,26.30,26.72,28.83
$GC,3952,-0.76,-171.1,366.4,-8.9,238,3957,0.00,1.92,0.00,0.000,4,0.000,0.025,2498,959,3663,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3984,-0.76,-171.1,368.4,-8.8,239,3990,0.00,2.03,0.00,0.000,6,0.000,0.029,2496,2330,3663,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4297,-0.76,-171.1,399.3,-9.6,255,4303,0.00,2.15,0.00,0.000,4,0.000,0.047,2496,3734,3665,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4360,-0.76,-171.1,405.1,-9.3,258,4366,0.00,1.95,0.00,0.000,6,0.000,0.018,2496,2333,3662,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4684,-0.76,-171.1,437.4,-9.9,274,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2333,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4985,-0.76,-171.1,466.0,-8.9,289,4991,0.00,1.98,0.00,0.000,4,0.000,0.028,2495,954,3658,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5018,-0.76,-171.1,468.4,-9.0,290,5023,0.00,2.03,-0.08,0.000,6,0.000,0.030,2496,2331,3680,0,0,0,0,0,0,28.83,26.53,25.38
$GC,5331,-0.78,-171.1,497.2,-8.9,306,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2332,3680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5634,-0.80,-171.1,525.2,-9.4,321,5639,0.00,2.00,0.00,0.000,4,0.000,0.028,2495,950,3678,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5712,-0.82,-171.1,531.3,-9.4,324,5718,0.00,2.05,0.00,0.000,6,0.000,0.031,2495,2326,3677,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6017,-0.84,-171.1,557.1,-7.6,340,6023,0.00,2.15,0.00,0.000,4,0.000,0.047,2496,3734,3676,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6084,-0.87,-171.1,561.6,-7.1,343,6091,0.12,2.00,0.00,0.000,6,0.081,0.021,2427,2314,3675,0,0,0,0,0,0,26.58,26.72,28.83
$GC,6404,-0.81,-171.1,599.0,-11.7,359,6410,0.15,2.20,0.00,0.000,4,0.144,0.045,2474,3737,3672,0,0,0,0,0,0,26.39,26.37,28.83
$GC,6553,-0.81,-171.1,610.4,-8.7,364,6560,0.00,2.00,0.00,0.000,6,0.000,0.021,2475,2330,3672,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6859,-0.81,-171.1,636.6,-7.7,375,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2330,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7159,-0.81,-171.1,660.7,-8.2,385,7164,0.00,2.17,0.00,0.000,4,0.000,0.048,2473,3729,3668,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7241,-0.81,-171.1,666.0,-8.2,387,7246,0.00,2.00,0.00,0.000,6,0.000,0.022,2473,2317,3668,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7554,-0.81,-171.1,691.9,-7.5,398,7559,0.00,2.20,0.00,0.000,4,0.000,0.047,2473,3732,3666,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7632,-0.83,-171.1,696.5,-7.5,400,7638,0.00,2.00,0.00,0.000,6,0.000,0.023,2473,2320,3665,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7950,-0.83,-171.1,721.7,-7.9,411,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2320,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8252,-0.84,-171.1,748.0,-9.1,421,8258,0.00,2.20,0.00,0.000,4,0.000,0.048,2474,3730,3661,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8295,-0.86,-171.1,751.4,-9.4,422,8301,0.00,2.03,0.00,0.000,6,0.000,0.025,2473,2317,3660,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8621,-0.88,-171.1,783.6,-9.7,433,8626,0.00,2.22,0.00,0.000,4,0.000,0.048,2473,3733,3658,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8668,-0.90,-171.1,787.0,-9.7,434,8674,0.00,2.00,0.00,0.000,6,0.000,0.023,2473,2320,3658,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8989,-0.92,-171.1,816.8,-8.4,445,8995,0.00,2.22,0.00,0.000,4,0.000,0.052,2473,3725,3656,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9027,-0.94,-171.1,819.8,-8.3,446,9032,0.10,2.00,0.00,0.000,6,0.096,0.024,2421,2316,3656,0,0,0,0,0,0,26.51,26.63,28.83
$GC,9357,-0.89,-171.1,853.9,-10.1,457,9359,0.12,0.00,0.00,0.000,6,0.149,0.000,2454,2314,3654,0,0,0,0,0,0,26.48,28.83,28.83
$GC,9656,-0.89,-171.1,878.6,-8.2,467,9662,0.00,2.22,0.00,0.000,4,0.000,0.053,2454,3725,3653,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9720,-0.89,-171.1,884.1,-8.2,469,9726,0.00,2.00,0.00,0.000,6,0.000,0.024,2454,2332,3652,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10056,-0.89,-171.1,911.9,-8.3,480,10062,0.00,2.22,0.00,0.000,4,0.000,0.055,2454,3729,3651,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10144,-0.89,-171.1,917.3,-8.2,482,10151,0.00,2.03,0.00,0.000,6,0.000,0.031,2455,2321,3650,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10450,-0.89,-171.1,944.2,-8.1,493,10456,0.00,2.22,0.00,0.000,4,0.000,0.050,2454,3725,3649,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10547,-0.89,-171.1,951.8,-8.1,496,10553,0.00,2.00,0.00,0.000,6,0.000,0.024,2452,2329,3648,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10878,-0.89,-171.1,978.0,-8.0,507,10883,0.00,2.20,0.00,0.000,4,0.000,0.050,2454,3725,3647,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10935,-0.89,-171.1,980.9,-8.0,508,10942,0.00,2.03,0.00,0.000,6,0.000,0.025,2451,2324,3647,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,11029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11029,begin apogee
$GC,11035,-0.20,0.0,990.7,-8.2,512,11192,0.62,0.00,149.10,1.308,6,0.101,0.000,2668,2321,2964,0,0,0,0,0,0,25.83,28.83,23.63
$STATE,11194,end apogee,CONTROL_FINISHED_OK
$STATE,11194,begin climb
$GC,11196,0.38,171.1,997.2,0.0,517,11365,0.52,2.42,155.85,1.250,4,0.038,0.047,2884,3702,2261,0,0,0,0,0,0,24.84,23.91,22.96
$GC,11402,0.23,171.1,986.3,8.7,524,11409,0.25,2.20,0.00,0.000,6,0.146,0.027,2819,2322,2255,0,0,0,0,0,0,24.48,24.70,28.83
$GC,11733,0.19,171.1,958.5,8.0,535,11738,0.00,2.22,0.00,0.000,4,0.000,0.048,2819,3700,2250,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11766,0.14,171.1,955.4,8.1,536,11773,0.12,2.15,0.00,0.000,6,0.153,0.028,2786,2291,2249,0,0,0,0,0,0,25.70,25.95,28.83
$GC,12101,0.16,212.0,933.6,6.1,547,12144,0.00,2.33,37.42,1.205,4,0.000,0.047,2786,3705,2096,0,0,0,0,0,0,28.83,25.28,24.39
$GC,12176,0.18,249.6,929.7,6.2,549,12223,0.00,2.15,36.35,1.204,6,0.000,0.029,2785,2299,1943,0,0,0,0,0,0,28.83,25.60,24.10
$GC,12523,0.22,288.9,906.8,6.2,561,12566,0.00,2.33,37.60,1.203,4,0.000,0.047,2786,3700,1787,0,0,0,0,0,0,28.83,25.15,24.25
$GC,12599,0.25,322.2,902.8,6.4,563,12644,0.12,2.15,34.20,1.190,6,0.079,0.028,2848,2294,1646,0,0,0,0,0,0,25.49,25.53,24.08
$GC,12944,0.25,322.2,869.0,9.7,575,12950,0.00,2.10,0.00,0.000,4,0.000,0.036,2848,917,1637,0,0,0,0,0,0,28.83,25.97,28.83
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$STATE,22953,end climb,SURFACE_DEPTH_REACHED
$STATE,22953,begin surface coast
$FINISH,0.7,1.018835
$STATE,22990,end surface coast,CONTROL_FINISHED_OK
$STATE,22990,begin surface
$SM_CCo,23069,0.00,0.000,0,0,617,576.70
$SM_GC,1.54,7.35,0.00,0.00,0.021,0.000,0.000,103,2304,617,-8.10,-0.59,576.70,0,0,0,0,0,0,26.44,28.83,28.83
$IRIDIUM_FIX,2312.13,12238.89,291012,121210
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.17
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.30
$XPDR_PINGS,17
$24V_AH,23.0,23.305
$10V_AH,10.0,13.639
$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,21.950,209.625,571.425,0.000,0.000,0.000,0.000,245.000,4.250,0.000,5.925,3463.864,15992.659,758.350,2828.673,447.559,0.000,2417.028,0.000,2489.945,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,55.080,1308.150,0.000,0.000,0.000,0.000,132.345,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23013.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.611,0.000,0.000,0.000
$MEM,323804
$DATA_FILE_SIZE,40050,1081
$CAP_FILE_SIZE,258894,0
$CFSIZE,260165632,241799168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.153,322.3,1
$GPS,301012,013306,2324.139,12243.820,43,1.0,43,-3.6