version: 66.11
glider: 167
mission: 14
dive: 105
start: 11 3 112 9 49 5
data:
$ID,167
$MISSION,14
$DIVE,105
$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,-968630.81
$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,54
$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
$GPS1,031112,094106,2333.343,12320.798,38,1.1,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-64.7
$GPS2,031112,094838,2333.431,12320.756,4,0.9,5,-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,86.6,65627,-12.5,-7.333,-16.34
$D_GRID,3053
$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,-64.72,0.000,2,0.000,0.000,109,2310,2735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.38,-171.1,3.2,-5.2,11,125,9.85,0.00,-20.73,0.000,6,0.223,0.000,2610,2310,3667,0,0,0,0,0,0,25.53,28.83,26.51
$GC,429,-0.38,-171.1,42.9,-10.5,61,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2310,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,729,-0.40,-171.1,70.9,-9.0,80,734,0.00,2.15,0.00,0.000,4,0.000,0.047,2610,3713,3666,0,0,0,0,0,0,28.83,26.27,28.83
$GC,762,-0.42,-171.1,72.9,-8.9,81,767,0.00,1.95,0.00,0.000,6,0.000,0.018,2610,2281,3669,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1075,-0.46,-171.1,102.2,-9.3,97,1080,0.00,2.20,0.00,0.000,4,0.000,0.041,2609,3722,3668,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1128,-0.51,-171.1,105.7,-8.8,99,1135,0.10,1.90,0.00,0.000,6,0.089,0.018,2531,2309,3669,0,0,0,0,0,0,26.51,26.64,28.83
$GC,1443,-0.45,-171.1,147.4,-12.8,115,1449,0.17,2.17,0.00,0.000,4,0.128,0.039,2588,3726,3669,0,0,0,0,0,0,26.34,26.37,28.83
$GC,1496,-0.45,-171.1,151.5,-11.0,117,1501,0.00,1.88,0.00,0.000,6,0.000,0.017,2588,2338,3669,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1810,-0.53,-171.1,172.9,-6.5,133,1816,0.00,2.10,0.00,0.000,4,0.000,0.042,2587,3716,3670,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1884,-0.63,-171.1,176.6,-5.7,136,1890,0.15,1.90,0.00,0.000,6,0.067,0.018,2492,2336,3670,0,0,0,0,0,0,26.58,26.70,28.83
$GC,2198,-0.57,-171.1,217.6,-13.3,152,2204,0.17,1.98,0.00,0.000,4,0.132,0.023,2552,950,3670,0,0,0,0,0,0,26.36,26.58,28.83
$GC,2265,-0.57,-171.1,223.6,-10.2,155,2272,0.00,2.00,0.00,0.000,6,0.000,0.030,2552,2318,3670,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2585,-0.61,-171.1,249.2,-8.2,171,2590,0.00,2.15,0.00,0.000,4,0.000,0.044,2552,3739,3670,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2629,-0.67,-171.1,252.7,-8.1,173,2634,0.00,1.95,0.00,0.000,6,0.000,0.018,2552,2331,3670,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2953,-0.73,-171.1,275.8,-6.7,189,2959,0.12,2.15,0.00,0.000,4,0.079,0.043,2465,3732,3669,0,0,0,0,0,0,26.77,26.41,28.83
$GC,3018,-0.71,-171.1,283.0,-10.0,192,3024,0.15,1.95,0.00,0.000,6,0.133,0.019,2510,2325,3668,0,0,0,0,0,0,26.32,26.69,28.83
$GC,3342,-0.69,-171.1,317.8,-11.1,208,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2325,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3644,-0.69,-171.1,351.0,-11.0,223,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2325,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3944,-0.69,-171.1,381.5,-10.2,238,3949,0.00,2.17,0.00,0.000,4,0.000,0.053,2508,3729,3665,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3987,-0.69,-171.1,385.7,-9.8,240,3992,0.00,1.98,0.00,0.000,6,0.000,0.018,2508,2298,3665,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4310,-0.69,-171.1,413.1,-8.3,256,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2297,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4612,-0.72,-171.1,438.3,-8.7,271,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2298,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4912,-0.74,-171.1,465.5,-9.1,286,4917,0.00,2.20,0.00,0.000,4,0.000,0.044,2508,3728,3661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5037,-0.79,-171.1,476.3,-8.4,292,5042,0.00,1.92,0.00,0.000,6,0.000,0.019,2508,2316,3661,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5360,-0.82,-171.1,505.6,-9.3,308,5366,0.00,2.17,0.00,0.000,4,0.000,0.044,2508,3730,3659,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5413,-0.86,-171.1,509.5,-9.1,310,5419,0.12,1.92,0.00,0.000,6,0.078,0.020,2434,2323,3662,0,0,0,0,0,0,26.58,26.72,28.83
$GC,5728,-0.80,-171.1,551.4,-12.7,326,5734,0.15,1.92,0.00,0.000,4,0.142,0.022,2484,969,3656,0,0,0,0,0,0,26.39,26.57,28.83
$GC,5773,-0.76,-171.1,556.0,-11.5,328,5778,0.00,2.03,0.00,0.000,6,0.000,0.036,2484,2336,3656,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6096,-0.76,-171.1,582.6,-8.1,344,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2337,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6396,-0.76,-171.1,605.9,-7.7,358,6402,0.00,2.15,0.00,0.000,4,0.000,0.046,2484,3724,3652,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6445,-0.78,-171.1,608.7,-7.9,359,6451,0.00,1.95,0.00,0.000,6,0.000,0.023,2484,2321,3652,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6765,-0.80,-171.1,635.4,-8.3,370,6771,0.00,2.17,0.00,0.000,4,0.000,0.046,2484,3723,3653,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6869,-0.82,-171.1,643.8,-8.7,373,6875,0.00,1.95,0.00,0.000,6,0.000,0.021,2484,2316,3649,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7195,-0.84,-171.1,672.3,-8.3,384,7200,0.00,2.20,0.00,0.000,4,0.000,0.046,2484,3733,3647,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7222,-0.86,-171.1,672.3,-8.3,384,7229,0.00,1.95,0.00,0.000,6,0.000,0.021,2484,2324,3644,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7528,-0.89,-171.1,697.7,-7.4,395,7533,0.00,2.17,0.00,0.000,4,0.000,0.046,2484,3725,3644,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7601,-0.92,-171.1,702.3,-7.5,397,7607,0.12,1.95,0.00,0.000,6,0.081,0.022,2421,2329,3643,0,0,0,0,0,0,26.53,26.67,28.83
$GC,7927,-0.87,-171.1,737.6,-10.6,408,7933,0.12,2.17,0.00,0.000,4,0.148,0.045,2460,3722,3642,0,0,0,0,0,0,26.43,26.25,28.83
$GC,8037,-0.85,-171.1,746.1,-9.2,411,8043,0.00,1.98,0.00,0.000,6,0.000,0.023,2459,2321,3642,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8356,-0.85,-171.1,773.2,-8.3,422,8362,0.00,2.20,0.00,0.000,4,0.000,0.047,2460,3723,3639,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8425,-0.85,-171.1,778.9,-8.7,424,8430,0.00,1.98,0.00,0.000,6,0.000,0.023,2460,2320,3638,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8754,-0.85,-171.1,807.5,-8.2,435,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2317,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9052,-0.85,-171.1,830.6,-7.5,445,9058,0.00,2.22,0.00,0.000,4,0.000,0.050,2460,3722,3635,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9140,-0.85,-171.1,835.3,-7.4,447,9147,0.00,2.00,0.00,0.000,6,0.000,0.024,2460,2316,3634,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9446,-0.85,-171.1,859.2,-7.2,458,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2315,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9746,-0.85,-171.1,880.5,-6.9,468,9752,0.00,2.20,0.00,0.000,4,0.000,0.048,2460,3722,3631,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9789,-0.85,-171.1,882.8,-6.8,469,9795,0.00,2.00,0.00,0.000,6,0.000,0.026,2460,2330,3630,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10115,-0.85,-171.1,906.0,-7.3,480,10120,0.00,2.20,0.00,0.000,4,0.000,0.047,2460,3728,3628,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10152,-0.85,-171.1,908.6,-7.5,481,10157,0.00,2.03,0.00,0.000,6,0.000,0.025,2460,2316,3628,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10482,-0.85,-171.1,935.8,-8.6,492,10488,0.00,2.22,0.00,0.000,4,0.000,0.054,2460,3722,3627,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10525,-0.85,-171.1,938.9,-8.6,493,10531,0.00,2.00,0.00,0.000,6,0.000,0.025,2460,2321,3627,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10850,-0.85,-171.1,969.1,-9.1,504,10856,0.00,2.20,0.00,0.000,4,0.000,0.048,2460,3722,3624,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10898,-0.85,-171.1,972.3,-9.1,505,10903,0.00,2.00,0.00,0.000,6,0.000,0.025,2460,2322,3624,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,11093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11094,begin apogee
$GC,11099,-0.20,0.0,990.6,-8.5,512,11253,0.62,0.00,144.82,1.350,6,0.101,0.000,2671,2319,2963,0,0,0,0,0,0,25.75,28.83,23.54
$STATE,11254,end apogee,CONTROL_FINISHED_OK
$STATE,11254,begin climb
$GC,11257,0.38,171.1,996.9,0.0,517,11417,0.52,0.00,156.77,1.278,6,0.038,0.000,2885,2318,2269,0,0,0,0,0,0,24.82,28.83,23.01
$GC,11696,0.26,171.1,956.2,12.4,532,11702,0.17,2.22,0.00,0.000,4,0.139,0.046,2831,3700,2249,0,0,0,0,0,0,25.54,25.66,28.83
$GC,11775,0.16,171.1,948.8,12.0,534,11781,0.17,2.08,0.00,0.000,6,0.145,0.028,2789,2319,2248,0,0,0,0,0,0,25.63,25.96,28.83
$GC,12096,0.16,175.7,922.7,7.2,545,12097,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2319,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12394,0.18,204.9,902.4,6.5,555,12432,0.00,2.30,30.30,1.259,4,0.000,0.047,2789,3694,2125,0,0,0,0,0,0,28.83,25.49,24.50
$GC,12470,0.19,230.6,898.2,6.6,557,12504,0.00,2.12,25.95,1.255,6,0.000,0.028,2789,2293,2021,0,0,0,0,0,0,28.83,25.77,24.20
$GC,12817,0.23,287.6,876.2,5.7,569,12876,0.00,0.00,55.10,1.235,6,0.000,0.000,2789,2293,1793,0,0,0,0,0,0,28.83,28.83,24.11
$GC,13179,0.30,348.4,856.3,5.6,581,13242,0.15,0.00,59.83,1.216,6,0.071,0.000,2867,2291,1548,0,0,0,0,0,0,26.13,28.83,24.03
$GC,13538,0.27,348.4,821.0,9.9,593,13544,0.12,2.10,0.00,0.000,4,0.133,0.034,2828,908,1535,0,0,0,0,0,0,25.91,25.98,28.83
$GC,13562,0.25,348.4,821.0,9.9,593,13567,0.00,2.12,0.00,0.000,6,0.000,0.032,2828,2306,1534,0,0,0,0,0,0,28.83,26.02,28.83
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$STATE,22214,end climb,SURFACE_DEPTH_REACHED
$STATE,22214,begin surface coast
$FINISH,0.9,1.000513
$STATE,22238,end surface coast,CONTROL_FINISHED_OK
$STATE,22238,begin surface
$SM_CCo,22315,0.00,0.000,0,0,690,558.79
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$IRIDIUM_FIX,2326.22,12318.58,031112,030310
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.81
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,18
$24V_AH,23.0,26.695
$10V_AH,10.2,16.315
$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,21.425,170.250,613.175,0.000,0.000,0.000,0.000,268.875,4.500,0.000,5.912,3194.574,15756.421,790.518,2597.335,420.360,0.000,2314.457,0.000,2239.265,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,53.550,1350.225,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22254.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.449,0.000,0.000,0.000
$MEM,329572
$DATA_FILE_SIZE,36720,1021
$CAP_FILE_SIZE,235783,0
$CFSIZE,260165632,239898624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,303.6,1
$GPS,031112,160224,2333.969,12323.974,41,1.2,41,-3.7