version: 66.11
glider: 167
mission: 14
dive: 92
start: 10 30 112 21 30 35
data:
$ID,167
$MISSION,14
$DIVE,92
$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,-968614.56
$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,79
$R_STBD_OVSHOOT,48
$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
$GPS1,301012,212206,2325.463,12249.565,38,1.0,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.3
$GPS2,301012,213008,2325.574,12249.540,5,0.8,5,-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,107.1,119765,-12.5,-7.333,-16.34
$D_GRID,3835
$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,-171.1,0.0,0.0,0,79,0.00,0.00,-58.72,0.000,2,0.000,0.000,111,2316,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.38,-171.1,3.1,-5.7,10,125,9.70,2.03,-26.00,0.000,4,0.219,0.042,2607,935,3670,0,0,0,0,0,0,25.54,26.13,26.48
$GC,206,-0.42,-171.1,16.6,-9.4,32,212,0.00,2.08,0.00,0.000,6,0.000,0.031,2607,2323,3668,0,0,0,0,0,0,28.83,26.14,28.83
$GC,527,-0.42,-171.1,52.5,-10.9,70,532,0.00,2.17,0.00,0.000,4,0.000,0.047,2607,3739,3668,0,0,0,0,0,0,28.83,26.21,28.83
$GC,604,-0.45,-171.1,58.6,-9.7,73,612,0.00,2.03,0.00,0.000,6,0.000,0.021,2607,2336,3668,0,0,0,0,0,0,28.83,26.41,28.83
$GC,912,-0.45,-171.1,88.1,-9.5,89,918,0.00,2.05,0.00,0.000,4,0.000,0.030,2607,914,3667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,940,-0.45,-171.1,90.5,-9.2,90,945,0.00,2.12,0.00,0.000,6,0.000,0.035,2607,2341,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1259,-0.53,-171.1,118.4,-8.0,106,1264,0.12,2.10,0.00,0.000,4,0.077,0.042,2505,3730,3668,0,0,0,0,0,0,26.68,26.37,28.83
$GC,1342,-0.53,-171.1,127.9,-11.5,110,1348,0.20,2.05,0.00,0.000,6,0.120,0.020,2566,2298,3668,0,0,0,0,0,0,26.23,26.57,28.83
$GC,1667,-0.57,-171.1,148.9,-6.2,126,1672,0.00,2.22,0.00,0.000,4,0.000,0.047,2566,3738,3669,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1710,-0.63,-171.1,151.7,-6.4,128,1716,0.00,2.00,0.00,0.000,6,0.000,0.020,2567,2307,3669,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2034,-0.69,-171.1,172.5,-6.4,144,2036,0.15,0.00,0.00,0.000,6,0.069,0.000,2475,2307,3669,0,0,0,0,0,0,26.73,28.83,28.83
$GC,2336,-0.61,-171.1,213.7,-14.4,159,2338,0.22,0.00,0.00,0.000,6,0.129,0.000,2542,2307,3669,0,0,0,0,0,0,26.31,28.83,28.83
$GC,2635,-0.64,-171.1,241.0,-8.7,174,2641,0.00,2.20,0.00,0.000,4,0.000,0.047,2543,3736,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2703,-0.68,-171.1,246.4,-8.3,177,2709,0.00,1.98,0.00,0.000,6,0.000,0.019,2543,2316,3668,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3022,-0.72,-171.1,272.2,-7.7,193,3028,0.12,2.17,0.00,0.000,4,0.079,0.044,2453,3733,3666,0,0,0,0,0,0,26.77,26.44,28.83
$GC,3050,-0.74,-171.1,274.6,-8.3,194,3056,0.17,1.98,0.00,0.000,6,0.129,0.018,2504,2307,3667,0,0,0,0,0,0,26.31,26.70,28.83
$GC,3370,-0.72,-171.1,310.6,-10.8,210,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2307,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3671,-0.72,-171.1,339.9,-9.5,225,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2307,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3971,-0.72,-171.1,366.9,-8.5,240,3976,0.00,2.20,0.00,0.000,4,0.000,0.047,2505,3733,3662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4038,-0.72,-171.1,372.3,-8.3,243,4044,0.00,1.98,0.00,0.000,6,0.000,0.019,2505,2298,3662,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4357,-0.72,-171.1,401.4,-9.2,259,4362,0.00,2.20,0.00,0.000,4,0.000,0.044,2505,3734,3661,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4409,-0.74,-171.1,405.1,-8.7,261,4415,0.00,1.92,0.00,0.000,6,0.000,0.019,2505,2316,3661,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4724,-0.76,-171.1,431.3,-8.5,277,4729,0.00,2.17,0.00,0.000,4,0.000,0.044,2505,3735,3659,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4771,-0.78,-171.1,434.6,-7.8,279,4776,0.00,1.92,0.00,0.000,6,0.000,0.021,2505,2338,3659,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5090,-0.81,-171.1,458.6,-7.9,295,5096,0.00,1.98,-0.08,0.000,4,0.000,0.039,2505,966,3685,0,0,0,0,0,0,28.83,26.58,25.72
$GC,5135,-0.83,-171.1,462.2,-8.0,297,5141,0.00,2.00,0.00,0.000,6,0.000,0.028,2505,2331,3685,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5459,-0.86,-171.1,487.0,-7.5,313,5461,0.12,0.00,0.00,0.000,6,0.079,0.000,2429,2331,3684,0,0,0,0,0,0,26.77,28.83,28.83
$GC,5761,-0.79,-171.1,522.2,-11.2,328,5766,0.15,1.98,0.00,0.000,4,0.141,0.023,2478,963,3679,0,0,0,0,0,0,26.41,26.58,28.83
$GC,5844,-0.79,-171.1,530.0,-9.0,332,5850,0.00,2.03,0.00,0.000,6,0.000,0.029,2478,2330,3681,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6168,-0.79,-171.1,556.1,-8.5,348,6173,0.00,2.12,0.00,0.000,4,0.000,0.046,2479,3720,3680,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6191,-0.79,-171.1,558.0,-8.2,349,6197,0.00,1.95,0.00,0.000,6,0.000,0.021,2478,2309,3679,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6515,-0.79,-171.1,586.5,-9.4,365,6521,0.00,2.20,0.00,0.000,4,0.000,0.045,2478,3725,3678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6583,-0.79,-171.1,592.7,-9.7,368,6589,0.00,1.92,0.00,0.000,6,0.000,0.021,2478,2321,3676,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6903,-0.79,-171.1,621.7,-8.7,380,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2319,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7202,-0.79,-171.1,645.0,-7.9,390,7207,0.00,2.17,0.00,0.000,4,0.000,0.046,2478,3724,3674,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7366,-0.82,-171.1,657.8,-8.3,395,7371,0.00,1.92,0.00,0.000,6,0.000,0.022,2478,2337,3673,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7691,-0.84,-171.1,683.5,-7.5,406,7696,0.00,2.17,0.00,0.000,4,0.000,0.047,2477,3731,3670,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7810,-0.86,-171.1,690.5,-7.4,409,7817,0.00,1.98,0.00,0.000,6,0.000,0.022,2478,2320,3669,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8117,-0.89,-171.1,714.5,-7.2,420,8123,0.00,2.20,0.00,0.000,4,0.000,0.047,2478,3720,3668,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8184,-0.92,-171.1,719.4,-7.4,422,8190,0.10,1.95,0.00,0.000,6,0.096,0.023,2424,2330,3667,0,0,0,0,0,0,26.53,26.67,28.83
$GC,8516,-0.87,-171.1,753.8,-10.5,433,8518,0.12,0.00,0.00,0.000,6,0.146,0.000,2458,2329,3664,0,0,0,0,0,0,26.50,28.83,28.83
$GC,8813,-0.87,-171.1,779.0,-8.2,443,8818,0.00,1.98,0.00,0.000,4,0.000,0.028,2458,965,3663,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8840,-0.87,-171.1,779.0,-8.2,443,8847,0.00,2.03,0.00,0.000,6,0.000,0.031,2458,2330,3663,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9146,-0.87,-171.1,808.4,-8.9,454,9151,0.00,2.20,0.00,0.000,4,0.000,0.050,2458,3730,3661,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9213,-0.87,-171.1,813.9,-8.8,456,9219,0.00,1.98,0.00,0.000,6,0.000,0.024,2458,2326,3660,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9542,-0.87,-171.1,843.8,-9.2,467,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2325,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9842,-0.87,-171.1,870.7,-9.0,477,9847,0.00,2.20,0.00,0.000,4,0.000,0.048,2458,3730,3656,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9885,-0.87,-171.1,873.7,-9.0,478,9890,0.00,2.00,0.00,0.000,6,0.000,0.024,2458,2320,3656,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10209,-0.87,-171.1,901.6,-8.2,489,10214,0.00,2.20,0.00,0.000,4,0.000,0.048,2458,3723,3654,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10243,-0.87,-171.1,904.3,-8.1,490,10248,0.00,2.00,0.00,0.000,6,0.000,0.025,2458,2327,3654,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10578,-0.87,-171.1,930.1,-7.6,501,10583,0.00,2.22,0.00,0.000,4,0.000,0.049,2458,3733,3653,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10635,-0.87,-171.1,932.8,-7.7,502,10643,0.00,2.05,0.00,0.000,6,0.000,0.026,2458,2313,3653,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10941,-0.87,-171.1,960.0,-8.3,513,10947,0.00,2.20,0.00,0.000,4,0.000,0.048,2458,3726,3651,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10978,-0.87,-171.1,962.7,-8.3,514,10983,0.00,2.00,0.00,0.000,6,0.000,0.026,2458,2323,3653,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,11306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11306,begin apogee
$GC,11312,-0.20,0.0,990.7,-8.5,525,11471,0.62,0.00,150.10,1.325,6,0.102,0.000,2672,2321,2962,0,0,0,0,0,0,25.81,28.83,23.63
$STATE,11473,end apogee,CONTROL_FINISHED_OK
$STATE,11473,begin climb
$GC,11475,0.38,171.1,998.1,0.0,530,11644,0.50,2.45,156.12,1.291,4,0.039,0.047,2881,3693,2261,0,0,0,0,0,0,24.84,23.91,22.96
$GC,11786,0.24,171.1,979.1,11.4,540,11794,0.25,2.12,0.00,0.000,6,0.145,0.028,2820,2323,2253,0,0,0,0,0,0,25.04,25.37,28.83
$GC,12094,0.20,171.1,952.7,7.8,551,12100,0.00,2.22,0.00,0.000,4,0.000,0.047,2821,3702,2245,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12147,0.15,171.1,949.7,7.9,552,12153,0.12,2.10,0.00,0.000,6,0.151,0.028,2787,2295,2248,0,0,0,0,0,0,25.82,26.08,28.83
$GC,12463,0.16,195.4,927.2,6.6,563,12492,0.00,2.28,21.35,1.243,4,0.000,0.050,2786,3702,2165,0,0,0,0,0,0,28.83,25.65,24.72
$GC,12514,0.17,214.0,925.0,6.8,564,12539,0.00,2.12,19.35,1.241,6,0.000,0.028,2787,2301,2094,0,0,0,0,0,0,28.83,25.82,24.39
$GC,12857,0.19,224.4,898.9,7.0,576,12870,0.00,0.00,10.45,1.262,6,0.000,0.000,2787,2301,2052,0,0,0,0,0,0,28.83,28.83,24.78
$GC,13158,0.20,224.4,877.0,7.4,586,13163,0.00,2.22,0.00,0.000,4,0.000,0.047,2786,3696,2042,0,0,0,0,0,0,28.83,26.06,28.83
$GC,13205,0.20,224.4,874.1,7.6,587,13210,0.00,2.10,0.00,0.000,6,0.000,0.028,2786,2290,2041,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,22766,end climb,SURFACE_DEPTH_REACHED
$STATE,22766,begin surface coast
$FINISH,0.9,1.022674
$STATE,22809,end surface coast,CONTROL_FINISHED_OK
$STATE,22809,begin surface
$SM_CCo,22887,0.00,0.000,0,0,792,534.02
$SM_GC,1.60,7.15,0.00,0.00,0.027,0.000,0.000,113,2310,792,-8.10,-0.42,534.02,0,0,0,0,0,0,26.48,28.83,28.83
$IRIDIUM_FIX,2316.83,12245.38,301012,141410
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.63
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.90
$XPDR_PINGS,24
$24V_AH,23.0,24.099
$10V_AH,9.8,14.281
$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,21.325,196.975,624.225,0.000,0.000,0.000,0.000,293.875,6.000,0.000,5.922,3373.653,15948.373,782.631,2820.795,432.906,0.000,2465.498,0.000,2438.957,0.000,0.542,0.000
$DEVICE_MAMPS,218.790,52.785,1324.980,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22836.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.258,0.000,0.000,0.000
$MEM,323820
$DATA_FILE_SIZE,40007,1056
$CAP_FILE_SIZE,251345,0
$CFSIZE,260165632,241340416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,304.6,1
$GPS,311012,035324,2325.177,12251.957,39,1.4,39,-3.6