version: 66.11
glider: 167
mission: 14
dive: 95
start: 10 31 112 17 2 48
data:
$ID,167
$MISSION,14
$DIVE,95
$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,-968618.31
$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,77
$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
$GPS1,311012,165435,2325.969,12256.518,36,1.1,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.1
$GPS2,311012,170222,2326.063,12256.404,4,1.0,4,-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,81.1,108714,-12.5,-7.333,-16.34
$D_GRID,3418
$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,-171.1,0.0,0.0,0,78,0.00,0.00,-57.20,0.000,2,0.000,0.000,109,2306,2542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.38,-171.1,3.0,-5.1,10,126,9.60,2.10,-28.35,0.000,4,0.215,0.042,2609,924,3668,0,0,0,0,0,0,25.50,26.13,26.48
$GC,155,-0.44,-171.1,9.0,-6.3,22,162,0.00,2.08,0.00,0.000,6,0.000,0.028,2608,2317,3668,0,0,0,0,0,0,28.83,26.09,28.83
$GC,465,-0.44,-171.1,45.0,-12.0,67,470,0.00,2.17,0.00,0.000,4,0.000,0.047,2608,3729,3669,0,0,0,0,0,0,28.83,26.15,28.83
$GC,522,-0.46,-171.1,50.7,-10.4,72,529,0.00,2.03,0.00,0.000,6,0.000,0.022,2608,2307,3669,0,0,0,0,0,0,28.83,26.38,28.83
$GC,831,-0.48,-171.1,81.2,-9.5,88,836,0.00,1.95,0.00,0.000,4,0.000,0.028,2608,946,3669,0,0,0,0,0,0,28.83,26.40,28.83
$GC,870,-0.50,-171.1,83.7,-9.7,89,877,0.00,2.05,0.00,0.000,6,0.000,0.034,2608,2328,3669,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1175,-0.60,-171.1,104.5,-5.7,105,1181,0.15,2.12,0.00,0.000,4,0.067,0.042,2497,3730,3669,0,0,0,0,0,0,26.65,26.33,28.83
$GC,1314,-0.55,-171.1,118.7,-12.4,111,1322,0.20,1.98,0.00,0.000,6,0.122,0.021,2558,2337,3670,0,0,0,0,0,0,26.17,26.54,28.83
$GC,1620,-0.58,-171.1,149.5,-9.4,127,1626,0.00,2.03,0.00,0.000,4,0.000,0.030,2558,931,3671,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1653,-0.62,-171.1,151.8,-9.6,128,1659,0.00,2.10,0.00,0.000,6,0.000,0.034,2558,2334,3671,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1967,-0.67,-171.1,174.8,-6.5,144,1973,0.12,2.10,0.00,0.000,4,0.077,0.041,2466,3729,3671,0,0,0,0,0,0,26.74,26.39,28.83
$GC,2041,-0.65,-171.1,182.3,-10.4,147,2047,0.22,2.00,0.00,0.000,6,0.122,0.021,2534,2321,3671,0,0,0,0,0,0,26.19,26.60,28.83
$GC,2355,-0.65,-171.1,212.4,-9.2,163,2360,0.00,2.20,0.00,0.000,4,0.000,0.049,2534,3729,3670,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2387,-0.65,-171.1,214.6,-9.4,164,2394,0.00,2.00,0.00,0.000,6,0.000,0.022,2534,2334,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2702,-0.67,-171.1,244.3,-8.9,180,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2333,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3004,-0.69,-171.1,271.0,-8.7,195,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2333,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3303,-0.73,-171.1,295.6,-7.7,210,3308,0.00,2.17,0.00,0.000,4,0.000,0.050,2534,3735,3667,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3336,-0.77,-171.1,297.4,-7.5,211,3342,0.12,2.03,0.00,0.000,6,0.076,0.019,2453,2295,3667,0,0,0,0,0,0,26.58,26.68,28.83
$GC,3651,-0.69,-171.1,340.9,-14.3,227,3657,0.20,2.25,0.00,0.000,4,0.129,0.046,2518,3736,3665,0,0,0,0,0,0,26.32,26.40,28.83
$GC,3684,-0.62,-171.1,343.7,-13.5,228,3691,0.00,2.00,0.00,0.000,6,0.000,0.019,2519,2319,3666,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3999,-0.65,-171.1,370.0,-8.5,244,4004,0.00,1.95,0.00,0.000,4,0.000,0.027,2518,945,3664,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4052,-0.68,-171.1,373.7,-8.5,246,4057,0.00,2.03,0.00,0.000,6,0.000,0.030,2518,2326,3664,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4365,-0.72,-171.1,398.7,-7.7,262,4371,0.00,2.15,0.00,0.000,4,0.000,0.047,2519,3738,3662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4450,-0.76,-171.1,405.2,-7.9,266,4456,0.00,1.98,0.00,0.000,6,0.000,0.020,2519,2313,3662,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4774,-0.80,-171.1,430.7,-7.9,282,4780,0.10,2.20,0.00,0.000,4,0.093,0.046,2451,3725,3661,0,0,0,0,0,0,26.79,26.38,28.83
$GC,4828,-0.80,-171.1,435.3,-9.2,284,4834,0.12,1.95,0.00,0.000,6,0.139,0.020,2486,2318,3660,0,0,0,0,0,0,26.36,26.70,28.83
$GC,5142,-0.80,-171.1,465.8,-8.7,300,5147,0.00,2.17,0.00,0.000,4,0.000,0.046,2482,3728,3659,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5219,-0.80,-171.1,471.2,-8.9,303,5226,0.00,1.95,0.00,0.000,6,0.000,0.020,2482,2314,3658,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5525,-0.80,-171.1,499.1,-8.3,319,5527,0.00,0.00,-0.08,0.000,6,0.000,0.000,2482,2312,3680,0,0,0,0,0,0,28.83,28.83,25.54
$GC,5825,-0.80,-171.1,526.0,-9.2,334,5831,0.00,1.92,0.00,0.000,4,0.000,0.025,2481,960,3680,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5857,-0.80,-171.1,528.2,-9.3,335,5863,0.00,2.03,0.00,0.000,6,0.000,0.028,2482,2335,3680,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6170,-0.80,-171.1,559.2,-9.5,351,6176,0.00,1.98,0.00,0.000,4,0.000,0.024,2482,963,3677,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6217,-0.80,-171.1,563.3,-9.5,353,6223,0.00,2.00,0.00,0.000,6,0.000,0.029,2482,2326,3677,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6535,-0.80,-171.1,590.7,-7.8,369,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2325,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6855,-0.80,-171.1,614.5,-7.3,382,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2326,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7156,-0.80,-171.1,637.8,-8.0,392,7161,0.00,2.17,0.00,0.000,4,0.000,0.047,2482,3732,3672,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7244,-0.82,-171.1,642.9,-8.0,394,7250,0.00,1.98,0.00,0.000,6,0.000,0.021,2482,2309,3671,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7552,-0.84,-171.1,669.2,-7.8,405,7557,0.00,2.20,0.00,0.000,4,0.000,0.046,2482,3728,3669,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7640,-0.86,-171.1,674.3,-7.7,407,7646,0.00,1.95,0.00,0.000,6,0.000,0.022,2482,2315,3669,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7949,-0.89,-171.1,698.6,-7.2,418,7954,0.00,2.20,0.00,0.000,4,0.000,0.054,2482,3722,3667,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8033,-0.91,-171.1,703.5,-7.4,420,8039,0.10,1.95,0.00,0.000,6,0.099,0.023,2425,2339,3666,0,0,0,0,0,0,26.51,26.65,28.83
$GC,8350,-0.86,-171.1,737.7,-10.3,431,8355,0.12,2.17,0.00,0.000,4,0.148,0.045,2465,3722,3665,0,0,0,0,0,0,26.44,26.24,28.83
$GC,8422,-0.84,-171.1,743.5,-9.4,433,8428,0.00,1.98,0.00,0.000,6,0.000,0.023,2465,2313,3664,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8747,-0.84,-171.1,768.4,-7.9,444,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2311,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9045,-0.84,-171.1,791.4,-7.6,454,9050,0.00,2.20,0.00,0.000,4,0.000,0.047,2465,3720,3660,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9092,-0.84,-171.1,794.0,-7.7,455,9098,0.00,1.98,0.00,0.000,6,0.000,0.025,2465,2331,3660,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9411,-0.84,-171.1,819.5,-7.4,466,9417,0.00,2.17,0.00,0.000,4,0.000,0.047,2465,3722,3658,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9438,-0.84,-171.1,819.5,-7.4,466,9445,0.00,1.98,0.00,0.000,6,0.000,0.025,2465,2333,3657,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9746,-0.84,-171.1,842.0,-6.6,477,9751,0.00,2.17,0.00,0.000,4,0.000,0.047,2465,3723,3656,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9783,-0.86,-171.1,844.3,-6.6,478,9789,0.00,2.00,0.00,0.000,6,0.000,0.026,2465,2327,3656,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10115,-0.87,-171.1,866.5,-6.8,489,10120,0.00,2.20,0.00,0.000,4,0.000,0.048,2465,3729,3655,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10188,-0.89,-171.1,871.1,-7.0,491,10193,0.00,2.03,0.00,0.000,6,0.000,0.025,2464,2311,3653,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10513,-0.91,-171.1,895.4,-7.3,502,10519,0.00,2.25,0.00,0.000,4,0.000,0.049,2466,3733,3652,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10596,-0.93,-171.1,900.3,-7.5,504,10601,0.00,2.03,0.00,0.000,6,0.000,0.025,2465,2317,3650,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10911,-0.95,-171.1,925.3,-7.5,515,10916,0.00,2.20,0.00,0.000,4,0.000,0.048,2465,3720,3650,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10945,-0.98,-171.1,928.0,-7.6,516,10951,0.12,2.00,0.00,0.000,6,0.083,0.025,2405,2326,3650,0,0,0,0,0,0,26.44,26.58,28.83
$GC,11279,-0.92,-171.1,964.2,-10.9,527,11285,0.12,2.03,0.00,0.000,4,0.158,0.028,2444,958,3649,0,0,0,0,0,0,26.35,25.37,28.83
$GC,11333,-0.88,-171.1,967.6,-10.5,528,11338,0.00,2.05,0.00,0.000,6,0.000,0.032,2443,2329,3648,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,11584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11584,begin apogee
$GC,11590,-0.20,0.0,990.2,-8.2,537,11751,0.68,0.00,151.07,1.335,6,0.108,0.000,2669,2329,2962,0,0,0,0,0,0,25.72,28.83,23.54
$STATE,11753,end apogee,CONTROL_FINISHED_OK
$STATE,11753,begin climb
$GC,11755,0.38,171.1,995.7,0.0,542,11924,0.52,2.28,157.68,1.312,4,0.038,0.033,2885,944,2260,0,0,0,0,0,0,24.80,23.90,22.93
$GC,12037,0.26,171.1,979.4,10.1,551,12045,0.20,2.15,0.00,0.000,6,0.128,0.031,2829,2308,2249,0,0,0,0,0,0,24.94,25.13,28.83
$GC,12345,0.20,171.1,950.2,8.7,562,12350,0.00,2.22,0.00,0.000,4,0.000,0.049,2829,3706,2246,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12392,0.14,171.1,946.8,8.8,563,12399,0.15,2.08,0.00,0.000,6,0.147,0.028,2788,2318,2245,0,0,0,0,0,0,25.74,26.04,28.83
$GC,12714,0.15,196.5,923.2,6.6,574,12741,0.00,0.00,22.42,1.232,6,0.000,0.000,2788,2316,2160,0,0,0,0,0,0,28.83,28.83,24.66
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$STATE,23407,end climb,SURFACE_DEPTH_REACHED
$STATE,23407,begin surface coast
$FINISH,0.8,1.021313
$STATE,23440,end surface coast,CONTROL_FINISHED_OK
$STATE,23440,begin surface
$SM_CCo,23457,0.00,0.000,0,0,1234,425.10
$SM_GC,1.87,7.12,0.00,0.00,0.028,0.000,0.000,116,2300,1234,-8.11,-0.71,425.10,0,0,0,0,0,0,26.50,28.83,28.83
$IRIDIUM_FIX,2319.18,12255.82,311012,101043
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.11
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,26.20
$XPDR_PINGS,16
$24V_AH,22.9,24.679
$10V_AH,10.0,14.758
$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,20.975,200.475,531.525,0.000,0.000,0.000,0.000,281.200,4.000,0.000,5.886,3443.322,16479.369,727.845,2827.364,440.746,0.000,2398.903,0.000,2445.615,0.000,0.543,0.000
$DEVICE_MAMPS,214.965,53.550,1334.925,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23466.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.520,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,40062,1088
$CAP_FILE_SIZE,256342,0
$CFSIZE,260165632,241004544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114,313.8,1
$GPS,311012,233506,2327.646,12259.065,34,0.9,34,-3.7