version: 66.11
glider: 167
mission: 14
dive: 91
start: 10 30 112 14 55 53
data:
$ID,167
$MISSION,14
$DIVE,91
$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,-968613.31
$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,90
$R_STBD_OVSHOOT,54
$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
$GPS1,301012,144759,2324.892,12247.511,41,1.0,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.0
$GPS2,301012,145526,2325.034,12247.348,5,1.0,5,-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,110.1,123583,-12.5,-7.333,-16.34
$D_GRID,4063
$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,-64.65,0.000,2,0.000,0.000,112,2315,2516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.38,-171.1,3.1,-5.9,11,133,9.77,2.08,-28.48,0.000,4,0.222,0.039,2610,938,3667,0,0,0,0,0,0,25.58,26.15,26.49
$GC,177,-0.43,-171.1,11.5,-9.6,26,184,0.00,2.05,0.00,0.000,6,0.000,0.027,2610,2317,3668,0,0,0,0,0,0,28.83,26.17,28.83
$GC,493,-0.43,-171.1,46.0,-11.3,69,499,0.00,2.15,0.00,0.000,4,0.000,0.044,2610,3727,3668,0,0,0,0,0,0,28.83,26.22,28.83
$GC,546,-0.45,-171.1,51.0,-11.7,73,551,0.00,1.98,0.00,0.000,6,0.000,0.018,2611,2297,3668,0,0,0,0,0,0,28.83,26.48,28.83
$GC,859,-0.47,-171.1,82.2,-8.8,89,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2296,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1161,-0.59,-171.1,98.7,-5.5,104,1167,0.15,2.17,0.00,0.000,4,0.073,0.041,2537,3723,3669,0,0,0,0,0,0,26.61,26.39,28.83
$GC,1195,-0.71,-171.1,100.8,-6.3,105,1201,0.00,1.92,0.00,0.000,6,0.000,0.018,2537,2306,3669,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1510,-0.80,-171.1,128.8,-8.2,121,1516,0.12,1.90,0.00,0.000,4,0.078,0.022,2445,968,3669,0,0,0,0,0,0,26.71,26.57,28.83
$GC,1537,-0.84,-171.1,131.2,-8.4,122,1543,0.12,1.98,0.00,0.000,6,0.158,0.026,2470,2337,3668,0,0,0,0,0,0,26.26,26.54,28.83
$GC,1857,-0.76,-171.1,177.9,-14.2,138,1863,0.00,2.08,0.00,0.000,4,0.000,0.042,2466,3722,3669,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1901,-0.67,-171.1,184.2,-14.4,140,1908,0.20,1.92,0.00,0.000,6,0.125,0.023,2526,2360,3669,0,0,0,0,0,0,26.26,26.59,28.83
$GC,2225,-0.67,-171.1,214.7,-9.5,156,2231,0.00,2.03,0.00,0.000,4,0.000,0.028,2526,935,3669,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2258,-0.67,-171.1,216.9,-9.5,157,2263,0.00,2.03,0.00,0.000,6,0.000,0.030,2526,2319,3668,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2571,-0.67,-171.1,244.4,-8.2,173,2576,0.00,2.15,0.00,0.000,4,0.000,0.046,2526,3740,3668,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2643,-0.69,-171.1,249.4,-8.1,176,2649,0.00,2.00,0.00,0.000,6,0.000,0.020,2526,2307,3668,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2958,-0.71,-171.1,277.3,-9.2,192,2964,0.00,2.20,0.00,0.000,4,0.000,0.046,2527,3732,3666,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2996,-0.73,-171.1,279.4,-9.0,193,3004,0.00,1.98,0.00,0.000,6,0.000,0.019,2527,2309,3666,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3302,-0.76,-171.1,304.1,-7.3,209,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2309,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3604,-0.80,-171.1,324.7,-6.8,224,3610,0.12,2.17,0.00,0.000,4,0.080,0.042,2439,3728,3663,0,0,0,0,0,0,26.77,26.44,28.83
$GC,3647,-0.80,-171.1,329.5,-8.6,226,3653,0.15,1.95,0.00,0.000,6,0.138,0.020,2482,2330,3664,0,0,0,0,0,0,26.33,26.70,28.83
$GC,3971,-0.77,-171.1,365.5,-10.9,242,3976,0.00,1.98,0.00,0.000,4,0.000,0.028,2481,942,3663,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4018,-0.76,-171.1,370.0,-10.7,244,4023,0.00,2.05,0.00,0.000,6,0.000,0.030,2482,2326,3663,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4337,-0.74,-171.1,403.5,-10.5,260,4342,0.00,2.12,0.00,0.000,4,0.000,0.046,2480,3729,3660,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4401,-0.74,-171.1,410.0,-10.4,263,4406,0.00,1.98,0.00,0.000,6,0.000,0.020,2480,2317,3660,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4723,-0.74,-171.1,443.7,-10.3,279,4730,0.00,2.17,0.00,0.000,4,0.000,0.047,2479,3730,3659,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4761,-0.74,-171.1,446.1,-10.2,280,4768,0.00,1.98,0.00,0.000,6,0.000,0.019,2480,2306,3658,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5067,-0.74,-171.1,476.7,-9.2,296,5073,0.00,2.22,-0.08,0.000,4,0.000,0.064,2480,3730,3685,0,0,0,0,0,0,28.83,26.39,25.75
$GC,5131,-0.74,-171.1,482.8,-9.3,299,5136,0.00,1.98,0.00,0.000,6,0.000,0.020,2480,2319,3683,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5454,-0.74,-171.1,514.4,-9.6,315,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2319,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5756,-0.74,-171.1,539.9,-8.0,330,5762,0.00,1.95,0.00,0.000,4,0.000,0.026,2480,948,3682,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5863,-0.74,-171.1,549.4,-9.2,335,5868,0.00,2.03,0.00,0.000,6,0.000,0.029,2480,2327,3681,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6181,-0.74,-171.1,578.7,-9.1,351,6187,0.00,1.98,0.00,0.000,4,0.000,0.025,2480,953,3679,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6248,-0.74,-171.1,585.1,-10.0,354,6253,0.00,2.03,0.00,0.000,6,0.000,0.030,2480,2327,3678,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6558,-0.74,-171.1,615.1,-9.4,367,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2327,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6856,-0.74,-171.1,642.3,-8.8,377,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2327,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7156,-0.74,-171.1,666.9,-8.2,387,7162,0.00,2.17,0.00,0.000,4,0.000,0.054,2480,3731,3673,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7294,-0.76,-171.1,677.4,-8.4,391,7299,0.00,2.00,0.00,0.000,6,0.000,0.029,2480,2314,3672,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7614,-0.78,-171.1,705.6,-8.6,402,7620,0.00,2.22,0.00,0.000,4,0.000,0.053,2480,3734,3669,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7724,-0.81,-171.1,713.9,-8.6,405,7730,0.00,2.00,0.00,0.000,6,0.000,0.022,2480,2323,3669,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8045,-0.83,-171.1,740.6,-7.7,416,8050,0.00,2.20,0.00,0.000,4,0.000,0.047,2480,3732,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8117,-0.87,-171.1,745.5,-7.6,418,8123,0.00,1.98,0.00,0.000,6,0.000,0.023,2480,2326,3667,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8444,-0.89,-171.1,769.7,-7.2,429,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2325,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8742,-0.92,-171.1,791.2,-7.1,439,8748,0.12,2.20,0.00,0.000,4,0.085,0.046,2405,3732,3662,0,0,0,0,0,0,26.72,26.24,28.83
$GC,8791,-0.92,-171.1,794.6,-7.7,440,8797,0.12,2.00,0.00,0.000,6,0.151,0.023,2439,2319,3662,0,0,0,0,0,0,26.25,26.65,28.83
$GC,9112,-0.90,-171.1,824.0,-8.3,451,9117,0.00,2.20,0.00,0.000,4,0.000,0.048,2439,3723,3660,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9149,-0.89,-171.1,827.0,-8.2,452,9155,0.00,2.00,0.00,0.000,6,0.000,0.024,2439,2318,3659,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9480,-0.87,-171.1,853.1,-7.8,463,9486,0.00,2.22,0.00,0.000,4,0.000,0.049,2438,3729,3657,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9529,-0.87,-171.1,856.1,-7.8,464,9534,0.00,2.00,0.00,0.000,6,0.000,0.024,2439,2325,3657,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9849,-0.85,-171.1,884.1,-8.6,475,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2325,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10147,-0.85,-171.1,910.8,-9.1,485,10153,0.00,2.20,0.00,0.000,4,0.000,0.050,2438,3722,3655,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10220,-0.85,-171.1,916.8,-9.2,487,10225,0.00,2.00,0.00,0.000,6,0.000,0.024,2439,2323,3654,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10544,-0.85,-171.1,947.1,-9.1,498,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2321,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10843,-0.85,-171.1,974.2,-9.0,508,10848,0.00,2.22,0.00,0.000,4,0.000,0.050,2439,3723,3651,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10910,-0.85,-171.1,979.8,-9.1,510,10915,0.00,2.03,0.00,0.000,6,0.000,0.032,2437,2319,3651,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,11026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11026,begin apogee
$GC,11031,-0.20,0.0,990.7,-8.9,514,11189,0.70,0.00,150.85,1.330,6,0.106,0.000,2675,2316,2967,0,0,0,0,0,0,25.75,28.83,23.66
$STATE,11191,end apogee,CONTROL_FINISHED_OK
$STATE,11191,begin climb
$GC,11193,0.38,171.1,997.3,0.0,519,11362,0.50,2.30,155.23,1.229,4,0.041,0.033,2882,935,2261,0,0,0,0,0,0,24.79,23.98,23.04
$GC,11486,0.28,171.1,977.2,10.7,529,11492,0.17,2.17,0.00,0.000,6,0.129,0.033,2834,2305,2252,0,0,0,0,0,0,25.02,25.21,28.83
$GC,11822,0.22,171.1,947.5,8.7,540,11828,0.00,2.22,0.00,0.000,4,0.000,0.050,2834,3700,2249,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11956,0.13,171.1,935.1,9.9,544,11962,0.20,2.08,0.00,0.000,6,0.142,0.029,2783,2312,2247,0,0,0,0,0,0,25.79,26.13,28.83
$GC,12283,0.15,212.3,913.9,6.1,555,12323,0.00,0.00,37.92,1.226,6,0.000,0.000,2782,2312,2102,0,0,0,0,0,0,28.83,28.83,24.40
$GC,12613,0.18,235.6,892.4,6.7,566,12645,0.00,2.25,23.20,1.230,4,0.000,0.035,2782,908,2000,0,0,0,0,0,0,28.83,25.48,24.51
$GC,12662,0.20,257.1,890.4,6.7,567,12691,0.00,2.15,21.92,1.222,6,0.000,0.032,2782,2301,1916,0,0,0,0,0,0,28.83,25.38,24.25
$GC,13004,0.25,284.8,866.6,6.5,579,13036,0.12,0.00,28.25,1.213,6,0.081,0.000,2848,2301,1806,0,0,0,0,0,0,26.14,28.83,24.41
$GC,13335,0.22,284.8,835.2,9.5,590,13341,0.12,2.20,0.00,0.000,4,0.132,0.047,2807,3697,1793,0,0,0,0,0,0,25.96,25.97,28.83
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$STATE,22972,end climb,SURFACE_DEPTH_REACHED
$STATE,22972,begin surface coast
$FINISH,0.8,1.009352
$STATE,23015,end surface coast,CONTROL_FINISHED_OK
$STATE,23015,begin surface
$SM_CCo,23092,0.00,0.000,0,0,999,483.00
$SM_GC,1.58,7.10,0.00,0.00,0.024,0.000,0.000,119,2311,999,-8.11,-0.42,483.00,0,0,0,0,0,0,26.41,28.83,28.83
$IRIDIUM_FIX,2316.83,12247.36,301012,080810
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.62
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.20
$XPDR_PINGS,19
$24V_AH,23.0,23.886
$10V_AH,9.8,14.123
$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,21.325,199.975,553.600,0.000,0.000,0.000,0.000,255.125,4.750,0.000,5.880,3457.256,16057.342,752.963,2813.990,446.963,0.000,2391.820,0.000,2455.437,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,64.260,1329.570,0.000,0.000,0.000,0.000,130.815,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23040.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.489,0.000,0.000,0.000
$MEM,323832
$DATA_FILE_SIZE,40001,1076
$CAP_FILE_SIZE,258058,0
$CFSIZE,260165632,241451008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151,323.4,1
$GPS,301012,212206,2325.463,12249.565,38,1.0,38,-3.6