version: 66.11
glider: 167
mission: 14
dive: 100
start: 11 2 112 1 45 28
data:
$ID,167
$MISSION,14
$DIVE,100
$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,-9
$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,-968624.56
$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,87
$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
$GPS1,021112,013706,2330.469,12308.147,41,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.4
$GPS2,021112,014501,2330.613,12308.092,4,1.0,4,-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,99.1,87200,-12.5,-7.333,-16.34
$D_GRID,3484
$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,-171.1,0.0,0.0,0,90,0.00,0.00,-70.10,0.000,2,0.000,0.000,110,2310,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.38,-171.1,3.0,-3.7,12,132,9.77,2.10,-23.75,0.000,4,0.221,0.047,2607,956,3667,0,0,0,0,0,0,25.57,26.10,26.49
$GC,167,-0.40,-171.1,12.0,-12.6,24,174,0.00,2.05,0.00,0.000,6,0.000,0.037,2606,2307,3668,0,0,0,0,0,0,28.83,26.08,28.83
$GC,477,-0.40,-171.1,47.9,-11.0,64,483,0.00,2.20,0.00,0.000,4,0.000,0.047,2607,3734,3666,0,0,0,0,0,0,28.83,26.18,28.83
$GC,534,-0.40,-171.1,52.3,-10.6,67,541,0.00,2.00,0.00,0.000,6,0.000,0.021,2607,2351,3668,0,0,0,0,0,0,28.83,26.41,28.83
$GC,843,-0.42,-171.1,82.4,-10.3,83,848,0.00,2.17,0.00,0.000,4,0.000,0.051,2607,3736,3668,0,0,0,0,0,0,28.83,26.22,28.83
$GC,889,-0.45,-171.1,87.0,-10.5,85,894,0.00,2.05,0.00,0.000,6,0.000,0.023,2606,2320,3668,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1208,-0.52,-171.1,113.4,-5.6,101,1214,0.00,2.05,0.00,0.000,4,0.000,0.036,2607,914,3668,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1235,-0.59,-171.1,114.8,-5.6,102,1242,0.17,2.15,0.00,0.000,6,0.058,0.041,2497,2331,3668,0,0,0,0,0,0,26.48,26.39,28.83
$GC,1555,-0.51,-171.1,158.4,-14.1,118,1562,0.22,2.15,0.00,0.000,4,0.132,0.046,2563,3742,3669,0,0,0,0,0,0,26.24,26.40,28.83
$GC,1655,-0.53,-171.1,166.2,-9.0,122,1662,0.00,2.05,0.00,0.000,6,0.000,0.022,2563,2316,3669,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1960,-0.58,-171.1,190.9,-7.7,138,1965,0.00,2.20,0.00,0.000,4,0.000,0.046,2561,3752,3669,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2017,-0.64,-171.1,194.2,-7.6,140,2024,0.00,2.05,0.00,0.000,6,0.000,0.019,2561,2297,3669,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2323,-0.70,-171.1,215.6,-6.4,156,2325,0.15,0.00,0.00,0.000,6,0.070,0.000,2469,2297,3669,0,0,0,0,0,0,26.74,28.83,28.83
$GC,2625,-0.61,-171.1,256.3,-14.5,171,2627,0.25,0.00,0.00,0.000,6,0.129,0.000,2545,2297,3668,0,0,0,0,0,0,26.26,28.83,28.83
$GC,2925,-0.66,-171.1,279.8,-7.3,186,2931,0.00,2.25,0.00,0.000,4,0.000,0.049,2544,3739,3667,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2995,-0.71,-171.1,284.4,-7.0,189,3001,0.12,2.00,0.00,0.000,6,0.076,0.019,2465,2297,3666,0,0,0,0,0,0,26.60,26.70,28.83
$GC,3314,-0.63,-171.1,327.5,-14.0,205,3316,0.22,0.00,0.00,0.000,6,0.126,0.000,2534,2297,3665,0,0,0,0,0,0,26.32,28.83,28.83
$GC,3616,-0.67,-171.1,351.1,-7.4,220,3621,0.00,2.22,0.00,0.000,4,0.000,0.047,2533,3736,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3688,-0.73,-171.1,355.9,-7.3,223,3695,0.00,1.98,0.00,0.000,6,0.000,0.018,2534,2313,3667,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4003,-0.78,-171.1,379.5,-7.5,239,4009,0.12,2.20,0.00,0.000,4,0.079,0.044,2448,3742,3662,0,0,0,0,0,0,26.77,26.39,28.83
$GC,4061,-0.78,-171.1,384.4,-9.3,241,4069,0.15,2.00,0.00,0.000,6,0.138,0.024,2491,2337,3662,0,0,0,0,0,0,26.29,26.66,28.83
$GC,4367,-0.78,-171.1,416.6,-9.0,257,4373,0.00,2.03,0.00,0.000,4,0.000,0.031,2491,932,3661,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4405,-0.78,-171.1,418.7,-9.0,258,4412,0.00,2.10,0.00,0.000,6,0.000,0.041,2491,2338,3660,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4711,-0.78,-171.1,446.4,-7.8,274,4716,0.00,2.12,0.00,0.000,4,0.000,0.047,2491,3732,3659,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4794,-0.78,-171.1,452.9,-7.9,278,4799,0.00,2.00,0.00,0.000,6,0.000,0.021,2491,2309,3658,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5117,-0.78,-171.1,479.1,-8.5,294,5123,0.00,2.22,-0.08,0.000,4,0.000,0.062,2491,3723,3685,0,0,0,0,0,0,28.83,26.35,25.71
$GC,5190,-0.80,-171.1,484.5,-8.6,297,5196,0.00,1.98,0.00,0.000,6,0.000,0.018,2491,2309,3685,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5505,-0.81,-171.1,510.1,-7.3,313,5511,0.00,1.95,0.00,0.000,4,0.000,0.029,2491,951,3684,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5593,-0.83,-171.1,516.4,-7.5,317,5598,0.00,2.05,0.00,0.000,6,0.000,0.036,2491,2328,3683,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5911,-0.86,-171.1,539.7,-7.6,333,5917,0.00,2.15,0.00,0.000,4,0.000,0.045,2491,3732,3681,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6000,-0.89,-171.1,546.0,-7.5,337,6006,0.12,1.98,0.00,0.000,6,0.080,0.021,2424,2317,3680,0,0,0,0,0,0,26.57,26.68,28.83
$GC,6319,-0.82,-171.1,587.9,-13.1,353,6325,0.15,1.95,0.00,0.000,4,0.143,0.026,2473,958,3679,0,0,0,0,0,0,26.38,26.54,28.83
$GC,6393,-0.79,-171.1,594.4,-10.8,356,6399,0.00,2.03,0.00,0.000,6,0.000,0.032,2473,2324,3678,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6716,-0.79,-171.1,623.4,-8.6,368,6721,0.00,2.17,0.00,0.000,4,0.000,0.047,2473,3732,3676,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6783,-0.79,-171.1,628.5,-8.2,370,6788,0.00,1.98,0.00,0.000,6,0.000,0.024,2473,2337,3676,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7113,-0.79,-171.1,653.0,-7.3,381,7118,0.00,2.17,0.00,0.000,4,0.000,0.050,2473,3726,3673,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7151,-0.79,-171.1,655.6,-7.3,382,7156,0.00,2.00,0.00,0.000,6,0.000,0.021,2472,2311,3673,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7480,-0.79,-171.1,680.7,-7.8,393,7487,0.00,2.20,0.00,0.000,4,0.000,0.047,2472,3725,3670,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7575,-0.81,-171.1,688.4,-8.1,396,7580,0.00,2.00,0.00,0.000,6,0.000,0.022,2472,2317,3669,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7910,-0.83,-171.1,716.1,-8.5,407,7915,0.00,2.20,0.00,0.000,4,0.000,0.047,2473,3732,3665,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7983,-0.84,-171.1,721.6,-8.6,409,7989,0.00,2.03,0.00,0.000,6,0.000,0.024,2472,2332,3667,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8309,-0.86,-171.1,747.4,-7.4,420,8314,0.00,2.20,0.00,0.000,4,0.000,0.048,2472,3733,3665,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8382,-0.88,-171.1,752.5,-7.6,422,8388,0.00,2.05,0.00,0.000,6,0.000,0.023,2472,2309,3664,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8708,-0.90,-171.1,778.3,-7.8,433,8713,0.00,2.22,0.00,0.000,4,0.000,0.054,2473,3725,3662,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8731,-0.92,-171.1,778.3,-7.8,433,8736,0.00,2.00,0.00,0.000,6,0.000,0.031,2473,2322,3662,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9046,-0.94,-171.1,805.8,-8.5,444,9051,0.12,2.00,0.00,0.000,4,0.086,0.026,2402,940,3659,0,0,0,0,0,0,26.71,26.46,28.83
$GC,9074,-0.96,-171.1,805.8,-8.5,444,9080,0.00,2.08,0.00,0.000,6,0.000,0.032,2400,2330,3659,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9382,-0.89,-171.1,847.8,-12.8,455,9384,0.17,0.00,0.00,0.000,6,0.148,0.000,2450,2330,3657,0,0,0,0,0,0,26.27,28.83,28.83
$GC,9679,-0.89,-171.1,876.4,-9.3,465,9685,0.00,2.20,0.00,0.000,4,0.000,0.050,2450,3735,3655,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9815,-0.89,-171.1,888.2,-9.5,469,9820,0.00,2.03,0.00,0.000,6,0.000,0.024,2450,2318,3655,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10140,-0.89,-171.1,918.7,-9.0,480,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2317,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10439,-0.89,-171.1,947.1,-9.7,490,10444,0.00,2.00,0.00,0.000,4,0.000,0.036,2450,951,3652,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10460,-0.89,-171.1,947.1,-9.7,490,10466,0.00,2.08,0.00,0.000,6,0.000,0.033,2450,2324,3651,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10773,-0.89,-171.1,979.8,-9.8,501,10778,0.00,2.20,0.00,0.000,4,0.000,0.054,2450,3726,3653,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10881,-0.89,-171.1,989.1,-10.0,504,10886,0.00,2.03,0.00,0.000,6,0.000,0.026,2450,2315,3648,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,10896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10896,begin apogee
$GC,10902,-0.20,0.0,992.3,-10.1,505,11059,0.65,0.00,150.43,1.344,6,0.103,0.000,2671,2314,2967,0,0,0,0,0,0,25.75,28.83,23.56
$STATE,11061,end apogee,CONTROL_FINISHED_OK
$STATE,11061,begin climb
$GC,11063,0.38,171.1,1000.6,0.0,510,11231,0.52,2.30,156.40,1.313,4,0.042,0.034,2885,940,2261,0,0,0,0,0,0,24.77,23.94,22.93
$GC,11259,0.26,254.6,997.0,4.9,516,11344,0.20,2.20,77.65,1.248,6,0.126,0.031,2831,2299,1928,0,0,0,0,0,0,24.41,24.57,22.99
$GC,11657,0.24,254.6,961.5,8.2,530,11663,0.00,2.25,0.00,0.000,4,0.000,0.048,2831,3706,1911,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11740,0.21,254.6,955.6,8.7,532,11745,0.00,2.10,0.00,0.000,6,0.000,0.028,2831,2308,1910,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12055,0.18,254.6,929.2,7.8,543,12061,0.12,2.10,0.00,0.000,4,0.147,0.034,2789,908,1908,0,0,0,0,0,0,26.08,26.15,28.83
$GC,12092,0.18,254.6,926.9,7.5,544,12097,0.00,2.10,0.00,0.000,6,0.000,0.031,2789,2305,1907,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12425,0.23,287.1,906.8,6.4,555,12457,0.00,0.00,30.40,1.255,6,0.000,0.000,2789,2305,1797,0,0,0,0,0,0,28.83,28.83,24.55
$GC,12752,0.28,317.6,885.5,6.4,566,12789,0.12,2.28,31.27,1.240,4,0.080,0.051,2861,3692,1667,0,0,0,0,0,0,26.22,25.32,24.37
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$STATE,22345,end climb,SURFACE_DEPTH_REACHED
$STATE,22345,begin surface coast
$FINISH,1.1,1.022473
$STATE,22363,end surface coast,CONTROL_FINISHED_OK
$STATE,22365,begin surface
$SM_CCo,22442,0.00,0.000,0,0,961,492.32
$SM_GC,1.71,7.30,0.00,0.00,0.022,0.000,0.000,114,2306,961,-8.11,-0.54,492.32,0,0,0,0,0,0,26.47,28.83,28.83
$IRIDIUM_FIX,2321.52,12303.60,011112,181808
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.35
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.00
$XPDR_PINGS,25
$24V_AH,22.9,25.673
$10V_AH,9.8,15.543
$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,22.175,196.800,592.850,0.000,0.000,0.000,0.000,284.975,6.250,0.000,5.891,3311.652,15650.265,752.765,2759.226,432.095,0.000,2395.775,0.000,2391.643,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,61.965,1344.105,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22389.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.275,0.000,0.000,0.000
$MEM,329588
$DATA_FILE_SIZE,36717,1025
$CAP_FILE_SIZE,247819,0
$CFSIZE,260165632,240447488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.109,312.0,1
$GPS,021112,080053,2330.854,12310.739,40,1.1,40,-3.7