version: 66.11
glider: 167
mission: 14
dive: 104
start: 11 3 112 3 32 15
data:
$ID,167
$MISSION,14
$DIVE,104
$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,-968629.56
$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,56
$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
$GPS1,031112,032406,2333.406,12318.096,35,0.9,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.9
$GPS2,031112,033148,2333.530,12318.106,14,1.2,14,-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,100.6,69546,-12.5,-7.333,-16.34
$D_GRID,3186
$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,-64.32,0.000,2,0.000,0.000,109,2320,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.38,-171.1,3.2,-6.0,11,125,9.65,0.00,-23.80,0.000,6,0.216,0.000,2607,2319,3667,0,0,0,0,0,0,25.53,28.83,26.53
$GC,430,-0.38,-171.1,39.0,-10.9,64,435,0.00,2.15,0.00,0.000,4,0.000,0.045,2607,3715,3668,0,0,0,0,0,0,28.83,26.17,28.83
$GC,464,-0.40,-171.1,42.3,-10.2,67,469,0.00,2.00,0.00,0.000,6,0.000,0.023,2607,2344,3669,0,0,0,0,0,0,28.83,26.36,28.83
$GC,778,-0.42,-171.1,71.5,-9.6,87,783,0.00,2.05,0.00,0.000,4,0.000,0.029,2602,915,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,821,-0.45,-171.1,75.7,-9.6,89,826,0.00,2.05,0.00,0.000,6,0.000,0.031,2607,2310,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1145,-0.49,-171.1,107.0,-9.2,105,1150,0.00,2.15,0.00,0.000,4,0.000,0.046,2607,3726,3668,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1217,-0.56,-171.1,112.5,-8.8,108,1223,0.15,2.00,0.00,0.000,6,0.066,0.018,2515,2289,3668,0,0,0,0,0,0,26.53,26.61,28.83
$GC,1532,-0.49,-171.1,157.5,-12.6,124,1538,0.17,2.22,0.00,0.000,4,0.130,0.044,2574,3734,3669,0,0,0,0,0,0,26.35,26.38,28.83
$GC,1571,-0.45,-171.1,159.8,-11.2,125,1577,0.00,1.95,0.00,0.000,6,0.000,0.018,2574,2317,3669,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1877,-0.51,-171.1,182.9,-7.9,141,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2316,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2179,-0.59,-171.1,204.9,-6.6,156,2184,0.00,2.15,0.00,0.000,4,0.000,0.044,2574,3725,3669,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2258,-0.68,-171.1,209.6,-7.2,159,2265,0.15,1.95,0.00,0.000,6,0.067,0.021,2479,2329,3669,0,0,0,0,0,0,26.58,26.65,28.83
$GC,2563,-0.60,-171.1,256.3,-15.1,175,2565,0.22,0.00,0.00,0.000,6,0.126,0.000,2548,2329,3669,0,0,0,0,0,0,26.31,28.83,28.83
$GC,2865,-0.64,-171.1,279.8,-6.6,190,2870,0.00,1.98,0.00,0.000,4,0.000,0.037,2548,955,3668,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2893,-0.69,-171.1,281.5,-6.5,191,2898,0.00,2.03,0.00,0.000,6,0.000,0.038,2548,2328,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3211,-0.74,-171.1,303.8,-7.1,207,3217,0.12,2.12,0.00,0.000,4,0.079,0.044,2461,3730,3667,0,0,0,0,0,0,26.77,26.43,28.83
$GC,3289,-0.73,-171.1,310.9,-10.2,210,3297,0.15,1.98,0.00,0.000,6,0.132,0.019,2504,2323,3667,0,0,0,0,0,0,26.32,26.69,28.83
$GC,3595,-0.71,-171.1,344.4,-10.2,226,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2323,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.71,-171.1,376.8,-11.1,241,3903,0.00,2.20,0.00,0.000,4,0.000,0.047,2504,3739,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3961,-0.71,-171.1,384.0,-11.0,244,3967,0.00,2.00,0.00,0.000,6,0.000,0.020,2503,2311,3664,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4284,-0.71,-171.1,414.8,-9.0,260,4290,0.00,2.17,0.00,0.000,4,0.000,0.044,2503,3732,3663,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4337,-0.71,-171.1,418.6,-8.6,262,4342,0.00,1.98,0.00,0.000,6,0.000,0.019,2504,2314,3662,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4651,-0.73,-171.1,445.4,-7.9,278,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2314,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4952,-0.75,-171.1,468.7,-8.1,293,4957,0.00,2.17,0.00,0.000,4,0.000,0.046,2504,3729,3659,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4990,-0.78,-171.1,470.8,-8.3,294,4997,0.00,1.98,0.00,0.000,6,0.000,0.020,2504,2313,3659,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5296,-0.81,-171.1,500.5,-9.1,310,5301,0.00,2.20,0.00,0.000,4,0.000,0.050,2504,3726,3658,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5340,-0.84,-171.1,504.4,-8.8,312,5346,0.10,2.00,0.00,0.000,6,0.093,0.021,2438,2316,3657,0,0,0,0,0,0,26.58,26.70,28.83
$GC,5664,-0.77,-171.1,547.0,-13.5,328,5671,0.15,1.95,0.00,0.000,4,0.140,0.023,2487,945,3656,0,0,0,0,0,0,26.39,26.57,28.83
$GC,5703,-0.72,-171.1,549.9,-13.1,329,5710,0.00,2.03,0.00,0.000,6,0.000,0.028,2487,2328,3655,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6009,-0.73,-171.1,577.3,-8.3,345,6014,0.00,2.15,0.00,0.000,4,0.000,0.054,2485,3728,3654,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6067,-0.75,-171.1,580.9,-8.3,347,6074,0.00,1.98,0.00,0.000,6,0.000,0.020,2487,2304,3653,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6384,-0.78,-171.1,608.4,-8.4,362,6390,0.00,2.22,0.00,0.000,4,0.000,0.046,2486,3735,3651,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6412,-0.80,-171.1,608.4,-8.4,362,6419,0.00,1.95,0.00,0.000,6,0.000,0.021,2487,2323,3652,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6720,-0.82,-171.1,635.8,-8.2,373,6726,0.00,2.20,0.00,0.000,4,0.000,0.047,2487,3735,3649,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6743,-0.85,-171.1,635.8,-8.2,373,6749,0.00,1.98,0.00,0.000,6,0.000,0.021,2487,2316,3649,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7060,-0.88,-171.1,664.1,-8.2,384,7065,0.00,2.20,0.00,0.000,4,0.000,0.047,2487,3726,3647,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7102,-0.91,-171.1,667.0,-8.1,385,7108,0.12,1.98,0.00,0.000,6,0.079,0.029,2424,2316,3647,0,0,0,0,0,0,26.36,26.30,28.83
$GC,7428,-0.86,-171.1,701.1,-10.0,396,7434,0.12,2.20,0.00,0.000,4,0.146,0.045,2463,3727,3644,0,0,0,0,0,0,26.44,26.27,28.83
$GC,7476,-0.81,-171.1,704.1,-9.7,397,7482,0.00,1.98,0.00,0.000,6,0.000,0.022,2463,2317,3643,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7796,-0.81,-171.1,728.5,-7.5,408,7801,0.00,2.20,0.00,0.000,4,0.000,0.047,2463,3723,3641,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7859,-0.81,-171.1,733.4,-7.6,410,7865,0.00,1.98,0.00,0.000,6,0.000,0.025,2463,2328,3641,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8194,-0.81,-171.1,759.8,-8.1,421,8200,0.00,2.17,0.00,0.000,4,0.000,0.047,2463,3722,3639,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8320,-0.81,-171.1,771.0,-8.9,425,8325,0.00,2.00,0.00,0.000,6,0.000,0.030,2462,2322,3638,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8655,-0.81,-171.1,801.5,-9.6,436,8660,0.00,2.20,0.00,0.000,4,0.000,0.047,2463,3729,3635,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8732,-0.81,-171.1,808.0,-9.9,438,8738,0.00,2.00,0.00,0.000,6,0.000,0.023,2463,2313,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9051,-0.81,-171.1,839.4,-9.3,449,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2311,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9351,-0.81,-171.1,865.8,-8.5,459,9356,0.00,2.22,0.00,0.000,4,0.000,0.047,2462,3723,3631,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9476,-0.81,-171.1,876.5,-8.7,463,9481,0.00,2.00,0.00,0.000,6,0.000,0.024,2463,2330,3630,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9811,-0.81,-171.1,901.3,-6.9,474,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2329,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10110,-0.81,-171.1,921.0,-6.5,484,10115,0.00,2.20,0.00,0.000,4,0.000,0.048,2463,3730,3627,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10248,-0.83,-171.1,929.2,-6.6,488,10254,0.00,2.00,0.00,0.000,6,0.000,0.025,2463,2327,3626,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10569,-0.83,-171.1,949.9,-6.0,499,10574,0.00,2.20,0.00,0.000,4,0.000,0.049,2463,3725,3624,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10606,-0.83,-171.1,952.2,-6.2,500,10612,0.00,2.00,0.00,0.000,6,0.000,0.025,2463,2325,3624,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10937,-0.85,-171.1,972.0,-6.0,511,10943,0.00,2.22,0.00,0.000,4,0.000,0.054,2463,3728,3623,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10975,-0.86,-171.1,974.2,-6.1,512,10980,0.00,2.03,0.00,0.000,6,0.000,0.025,2463,2313,3623,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,11240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11241,begin apogee
$GC,11246,-0.20,0.0,990.7,-6.1,521,11400,0.62,0.00,145.18,1.349,6,0.099,0.000,2675,2311,2963,0,0,0,0,0,0,25.77,28.83,23.53
$STATE,11401,end apogee,CONTROL_FINISHED_OK
$STATE,11401,begin climb
$GC,11404,0.38,171.1,995.2,0.0,526,11568,0.50,2.28,156.80,1.315,4,0.038,0.033,2883,945,2264,0,0,0,0,0,0,24.80,23.91,22.90
$GC,11736,0.28,171.1,970.8,10.9,537,11742,0.17,2.12,0.00,0.000,6,0.126,0.031,2835,2307,2250,0,0,0,0,0,0,25.20,25.39,28.83
$GC,12062,0.22,171.1,944.0,7.5,548,12067,0.00,2.22,0.00,0.000,4,0.000,0.053,2835,3707,2250,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12135,0.15,171.1,938.5,7.8,550,12141,0.17,2.08,0.00,0.000,6,0.146,0.028,2792,2320,2246,0,0,0,0,0,0,25.79,26.15,28.83
$GC,12461,0.19,259.0,921.3,4.8,561,12550,0.00,2.38,82.05,1.258,4,0.000,0.047,2792,3693,1905,0,0,0,0,0,0,28.83,24.89,23.92
$GC,12579,0.22,340.5,916.7,5.0,564,12666,0.00,2.15,78.55,1.238,6,0.000,0.028,2792,2296,1573,0,0,0,0,0,0,28.83,25.35,23.58
$GC,12974,0.31,408.1,894.1,5.4,578,13044,0.15,0.00,66.28,1.208,6,0.069,0.000,2870,2294,1303,0,0,0,0,0,0,26.01,28.83,23.94
$GC,13336,0.31,408.1,860.6,9.4,590,13341,0.00,2.25,0.00,0.000,4,0.000,0.047,2870,3698,1288,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,21939,end climb,SURFACE_DEPTH_REACHED
$STATE,21939,begin surface coast
$FINISH,0.8,1.013116
$STATE,21972,end surface coast,CONTROL_FINISHED_OK
$STATE,21972,begin surface
$SM_CCo,22050,0.00,0.000,0,0,992,484.96
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$IRIDIUM_FIX,2326.22,12315.33,021112,212136
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.80
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.00
$XPDR_PINGS,18
$24V_AH,22.9,26.485
$10V_AH,10.3,16.163
$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,21.000,183.800,589.075,0.000,0.000,0.000,0.000,263.000,4.500,0.000,15.423,3253.477,15372.146,748.974,2699.212,429.232,0.000,2333.177,0.000,2336.718,0.000,0.544,0.000
$DEVICE_MAMPS,216.495,54.315,1349.460,0.000,0.000,0.000,0.000,130.815,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.219,0.000,0.000,0.000
$MEM,329584
$DATA_FILE_SIZE,36716,1021
$CAP_FILE_SIZE,240401,0
$CFSIZE,260165632,240005120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,307.5,1
$GPS,031112,094106,2333.343,12320.798,38,1.1,38,-3.7