version: 66.11
glider: 167
mission: 14
dive: 96
start: 10 31 112 23 45 10
data:
$ID,167
$MISSION,14
$DIVE,96
$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,-968619.56
$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,78
$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
$GPS1,311012,233506,2327.646,12259.065,34,0.9,34,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-62.1
$GPS2,311012,234442,2327.748,12259.011,5,0.9,5,-3.7
$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,95.0,103416,-12.5,-7.333,-16.34
$D_GRID,3415
$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,-171.1,0.0,0.0,0,73,0.00,0.00,-52.70,0.000,2,0.000,0.000,109,2298,2634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.38,-171.1,3.3,-6.2,9,114,9.75,2.05,-22.88,0.000,4,0.220,0.038,2608,936,3668,0,0,0,0,0,0,25.53,26.15,26.48
$GC,149,-0.44,-171.1,11.5,-7.8,21,156,0.00,2.05,0.00,0.000,6,0.000,0.027,2608,2316,3669,0,0,0,0,0,0,28.83,26.13,28.83
$GC,459,-0.44,-171.1,46.2,-12.3,63,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2316,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,762,-0.46,-171.1,78.9,-9.7,80,767,0.00,2.15,0.00,0.000,4,0.000,0.045,2608,3726,3669,0,0,0,0,0,0,28.83,26.28,28.83
$GC,805,-0.49,-171.1,82.9,-9.0,82,811,0.00,2.00,0.00,0.000,6,0.000,0.022,2608,2347,3669,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1129,-0.52,-171.1,111.2,-7.9,98,1131,0.12,0.00,0.00,0.000,6,0.076,0.000,2523,2347,3669,0,0,0,0,0,0,26.67,28.83,28.83
$GC,1430,-0.47,-171.1,150.3,-12.4,113,1436,0.17,2.15,0.00,0.000,4,0.130,0.049,2578,3732,3670,0,0,0,0,0,0,26.36,26.35,28.83
$GC,1520,-0.52,-171.1,156.6,-7.3,117,1527,0.00,2.00,0.00,0.000,6,0.000,0.018,2577,2268,3670,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1840,-0.58,-171.1,174.9,-5.9,133,1845,0.00,2.22,0.00,0.000,4,0.000,0.043,2577,3726,3670,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1904,-0.66,-171.1,178.9,-6.2,136,1910,0.15,2.03,0.00,0.000,6,0.067,0.020,2482,2280,3671,0,0,0,0,0,0,26.59,26.67,28.83
$GC,2229,-0.59,-171.1,223.0,-13.6,152,2231,0.22,0.00,0.00,0.000,6,0.125,0.000,2551,2281,3670,0,0,0,0,0,0,26.33,28.83,28.83
$GC,2530,-0.63,-171.1,241.8,-5.7,167,2536,0.00,2.22,0.00,0.000,4,0.000,0.046,2551,3729,3670,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2584,-0.68,-171.1,244.5,-5.9,169,2589,0.00,1.98,0.00,0.000,6,0.000,0.019,2552,2314,3670,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2898,-0.74,-171.1,266.5,-7.1,185,2904,0.12,2.15,0.00,0.000,4,0.078,0.042,2465,3722,3669,0,0,0,0,0,0,26.79,26.44,28.83
$GC,2942,-0.74,-171.1,271.3,-8.9,187,2948,0.12,1.95,0.00,0.000,6,0.136,0.022,2500,2339,3669,0,0,0,0,0,0,26.37,26.65,28.83
$GC,3266,-0.71,-171.1,309.0,-11.5,203,3271,0.00,2.00,0.00,0.000,4,0.000,0.031,2500,947,3668,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3304,-0.68,-171.1,311.6,-11.4,204,3310,0.00,2.03,0.00,0.000,6,0.000,0.034,2500,2321,3668,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3609,-0.66,-171.1,344.7,-10.1,220,3615,0.00,2.12,0.00,0.000,4,0.000,0.045,2500,3728,3666,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3673,-0.66,-171.1,350.5,-9.2,223,3679,0.00,1.98,0.00,0.000,6,0.000,0.019,2500,2313,3666,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3996,-0.66,-171.1,379.2,-8.8,239,4002,0.00,1.95,0.00,0.000,4,0.000,0.028,2500,942,3665,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4034,-0.66,-171.1,381.6,-9.0,240,4040,0.00,2.05,0.00,0.000,6,0.000,0.031,2500,2334,3665,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4340,-0.66,-171.1,411.2,-9.0,256,4345,0.00,2.12,0.00,0.000,4,0.000,0.046,2500,3733,3663,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4459,-0.68,-171.1,420.0,-8.6,261,4466,0.00,2.00,0.00,0.000,6,0.000,0.019,2500,2313,3662,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4762,-0.68,-171.1,448.2,-8.6,277,4768,0.00,1.95,0.00,0.000,4,0.000,0.028,2500,940,3661,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4841,-0.70,-171.1,453.7,-8.8,280,4847,0.00,2.05,0.00,0.000,6,0.000,0.031,2500,2329,3660,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5146,-0.72,-171.1,478.9,-7.7,296,5151,0.00,2.17,0.00,0.000,4,0.000,0.054,2500,3737,3658,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5179,-0.74,-171.1,480.7,-7.6,297,5184,0.00,1.98,0.00,0.000,6,0.000,0.020,2500,2317,3659,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5492,-0.76,-171.1,504.6,-7.7,313,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2317,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5794,-0.79,-171.1,527.1,-7.1,328,5800,0.00,1.95,0.00,0.000,4,0.000,0.027,2500,950,3655,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5847,-0.82,-171.1,530.6,-7.5,330,5852,0.00,2.05,0.00,0.000,6,0.000,0.037,2500,2331,3654,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6161,-0.85,-171.1,552.9,-6.8,346,6167,0.12,2.15,0.00,0.000,4,0.083,0.044,2422,3729,3652,0,0,0,0,0,0,26.76,26.36,28.83
$GC,6208,-0.85,-171.1,557.3,-8.3,348,6214,0.15,1.98,0.00,0.000,6,0.142,0.021,2463,2313,3652,0,0,0,0,0,0,26.27,26.69,28.83
$GC,6528,-0.84,-171.1,587.6,-8.9,364,6533,0.00,2.22,0.00,0.000,4,0.000,0.047,2463,3732,3650,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6591,-0.84,-171.1,593.5,-9.2,367,6596,0.00,1.98,0.00,0.000,6,0.000,0.021,2463,2333,3650,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6916,-0.84,-171.1,622.2,-8.6,379,6922,0.00,2.20,0.00,0.000,4,0.000,0.053,2463,3735,3648,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6965,-0.84,-171.1,625.2,-8.5,380,6970,0.00,2.00,0.00,0.000,6,0.000,0.029,2463,2325,3648,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7283,-0.84,-171.1,650.7,-7.8,391,7289,0.00,2.20,0.00,0.000,4,0.000,0.047,2463,3726,3645,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7325,-0.84,-171.1,653.4,-7.9,392,7331,0.00,2.00,0.00,0.000,6,0.000,0.024,2463,2317,3645,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7650,-0.84,-171.1,681.2,-8.3,403,7656,0.00,2.20,0.00,0.000,4,0.000,0.047,2463,3732,3643,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7744,-0.84,-171.1,689.1,-8.3,406,7749,0.00,2.03,0.00,0.000,6,0.000,0.030,2463,2316,3642,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8078,-0.84,-171.1,716.1,-8.4,417,8084,0.00,2.20,0.00,0.000,4,0.000,0.054,2463,3726,3640,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8121,-0.84,-171.1,719.0,-8.4,418,8126,0.00,2.00,0.00,0.000,6,0.000,0.022,2462,2313,3639,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8445,-0.84,-171.1,747.4,-8.5,429,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2313,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8744,-0.84,-171.1,773.0,-8.4,439,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2312,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9044,-0.84,-171.1,798.9,-8.8,449,9050,0.00,2.22,0.00,0.000,4,0.000,0.047,2462,3725,3634,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9101,-0.84,-171.1,801.9,-8.9,450,9108,0.00,2.00,0.00,0.000,6,0.000,0.024,2463,2316,3634,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9408,-0.84,-171.1,831.2,-8.5,461,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2315,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9707,-0.84,-171.1,854.5,-7.8,471,9713,0.00,2.22,0.00,0.000,4,0.000,0.049,2463,3733,3630,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9791,-0.84,-171.1,859.6,-8.0,473,9797,0.00,2.00,0.00,0.000,6,0.000,0.024,2463,2329,3630,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10104,-0.84,-171.1,884.3,-7.3,484,10110,0.00,2.20,0.00,0.000,4,0.000,0.049,2463,3730,3629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10187,-0.84,-171.1,889.1,-7.4,486,10193,0.00,2.03,0.00,0.000,6,0.000,0.024,2463,2313,3628,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10503,-0.84,-171.1,912.4,-7.0,497,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2312,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10801,-0.84,-171.1,933.1,-7.0,507,10807,0.00,2.22,0.00,0.000,4,0.000,0.049,2462,3726,3624,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10854,-0.84,-171.1,935.5,-7.1,508,10860,0.00,2.03,0.00,0.000,6,0.000,0.025,2463,2315,3624,0,0,0,0,0,0,28.83,26.57,28.83
$GC,11168,-0.84,-171.1,960.3,-7.6,519,11174,0.00,2.25,0.00,0.000,4,0.000,0.049,2462,3735,3623,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11196,-0.84,-171.1,960.3,-7.6,519,11203,0.00,2.03,0.00,0.000,6,0.000,0.026,2462,2324,3624,0,0,0,0,0,0,28.83,26.56,28.83
$GC,11502,-0.84,-171.1,987.7,-8.4,530,11508,0.00,2.22,0.00,0.000,4,0.000,0.050,2462,3733,3622,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,11533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11533,begin apogee
$GC,11541,-0.20,0.0,990.6,-8.4,531,11695,0.62,0.00,144.82,1.326,6,0.100,0.000,2675,2297,2964,0,0,0,0,0,0,25.78,28.83,23.63
$STATE,11697,end apogee,CONTROL_FINISHED_OK
$STATE,11697,begin climb
$GC,11700,0.38,171.1,997.8,0.0,536,11867,0.50,0.00,157.60,1.287,6,0.042,0.000,2879,2296,2262,0,0,0,0,0,0,24.84,28.83,22.94
$GC,12166,0.27,171.1,961.3,10.9,552,12172,0.15,2.28,0.00,0.000,4,0.141,0.047,2833,3706,2250,0,0,0,0,0,0,25.59,25.66,28.83
$GC,12305,0.18,171.1,948.1,10.5,556,12311,0.15,2.10,0.00,0.000,6,0.150,0.028,2800,2311,2248,0,0,0,0,0,0,25.71,26.01,28.83
$GC,12626,0.15,171.1,922.0,7.6,567,12631,0.00,2.22,0.00,0.000,4,0.000,0.048,2800,3708,2246,0,0,0,0,0,0,28.83,26.06,28.83
$GC,12669,0.13,171.1,919.1,7.7,568,12674,0.00,2.10,0.00,0.000,6,0.000,0.028,2800,2295,2246,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12994,0.13,216.3,897.2,6.0,579,13038,0.00,0.00,42.28,1.229,6,0.000,0.000,2800,2293,2084,0,0,0,0,0,0,28.83,28.83,24.35
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$STATE,22924,end climb,SURFACE_DEPTH_REACHED
$STATE,22924,begin surface coast
$FINISH,1.0,1.022628
$STATE,22941,end surface coast,CONTROL_FINISHED_OK
$STATE,22941,begin surface
$SM_CCo,23018,0.00,0.000,0,0,995,483.98
$SM_GC,1.67,7.35,0.00,0.00,0.028,0.000,0.000,117,2311,995,-8.10,-0.42,483.98,0,0,0,0,0,0,26.45,28.83,28.83
$IRIDIUM_FIX,2319.18,12302.32,311012,232308
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.52
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.00
$XPDR_PINGS,17
$24V_AH,22.9,24.878
$10V_AH,9.7,14.916
$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,20.925,191.950,559.325,0.000,0.000,0.000,0.000,327.150,4.250,0.000,5.909,3357.507,16264.716,742.836,2784.462,435.666,0.000,2393.597,0.000,2357.944,0.000,0.544,0.000
$DEVICE_MAMPS,220.320,54.315,1325.745,0.000,0.000,0.000,0.000,129.285,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22963.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.425,0.000,0.000,0.000
$MEM,323772
$DATA_FILE_SIZE,40015,1063
$CAP_FILE_SIZE,248817,0
$CFSIZE,260165632,240893952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114,317.4,1
$GPS,011112,061005,2328.440,12301.816,34,1.0,34,-3.7