version: 66.11
glider: 167
mission: 14
dive: 109
start: 11 4 112 11 27 24
data:
$ID,167
$MISSION,14
$DIVE,109
$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,-968635.81
$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,78
$R_STBD_OVSHOOT,52
$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
$GPS1,041112,111923,2337.115,12333.479,39,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-63.0
$GPS2,041112,112658,2337.160,12333.490,5,1.0,5,-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,66.9,43512,-12.5,-7.333,-16.34
$D_GRID,3297
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.38,-171.1,0.0,0.0,0,97,0.00,0.00,-75.70,0.000,2,0.000,0.000,110,2307,2594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.38,-171.1,3.1,-5.7,13,145,9.77,2.20,-26.92,0.000,4,0.221,0.056,2606,3722,3666,0,0,0,0,0,0,25.53,26.04,26.52
$GC,169,-0.42,-171.1,9.2,-9.1,24,176,0.00,2.03,0.00,0.000,6,0.000,0.021,2607,2343,3667,0,0,0,0,0,0,28.83,26.22,28.83
$GC,480,-0.44,-171.1,37.5,-9.4,73,486,0.00,2.08,0.00,0.000,4,0.000,0.031,2607,915,3667,0,0,0,0,0,0,28.83,26.33,28.83
$GC,518,-0.47,-171.1,40.7,-9.3,76,525,0.00,2.10,0.00,0.000,6,0.000,0.034,2607,2322,3667,0,0,0,0,0,0,28.83,26.32,28.83
$GC,835,-0.49,-171.1,69.4,-10.0,98,840,0.00,2.12,0.00,0.000,4,0.000,0.044,2607,3728,3667,0,0,0,0,0,0,28.83,26.32,28.83
$GC,887,-0.52,-171.1,73.6,-9.9,100,893,0.12,2.03,0.00,0.000,6,0.075,0.018,2525,2283,3667,0,0,0,0,0,0,26.47,26.56,28.83
$GC,1201,-0.44,-171.1,132.0,-17.1,116,1208,0.20,1.90,0.00,0.000,4,0.128,0.028,2592,951,3666,0,0,0,0,0,0,26.27,26.51,28.83
$GC,1226,-0.39,-171.1,135.5,-16.0,117,1232,0.00,2.05,0.00,0.000,6,0.000,0.032,2592,2335,3667,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1551,-0.46,-171.1,156.0,-4.0,133,1556,0.00,2.10,0.00,0.000,4,0.000,0.044,2593,3729,3667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1609,-0.55,-171.1,157.8,-4.0,135,1616,0.00,1.98,0.00,0.000,6,0.000,0.018,2592,2309,3667,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1915,-0.73,-171.1,177.9,-7.4,151,1921,0.22,2.20,0.00,0.000,4,0.063,0.042,2490,3738,3664,0,0,0,0,0,0,26.63,26.44,28.83
$GC,2061,-0.69,-171.1,195.1,-13.5,158,2066,0.00,1.98,0.00,0.000,6,0.000,0.021,2489,2339,3667,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2384,-0.62,-171.1,243.0,-13.9,174,2391,0.15,2.00,0.00,0.000,4,0.138,0.028,2539,947,3667,0,0,0,0,0,0,26.43,26.56,28.83
$GC,2418,-0.57,-171.1,246.0,-13.4,175,2423,0.00,2.03,0.00,0.000,6,0.000,0.031,2539,2325,3667,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2732,-0.60,-171.1,270.6,-6.8,191,2737,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,3735,3666,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2827,-0.65,-171.1,275.9,-6.2,195,2832,0.00,1.98,0.00,0.000,6,0.000,0.019,2539,2314,3667,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3140,-0.69,-171.1,300.8,-9.0,211,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2314,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3443,-0.74,-171.1,327.9,-8.4,226,3449,0.12,2.17,0.00,0.000,4,0.079,0.043,2452,3733,3665,0,0,0,0,0,0,26.77,26.44,28.83
$GC,3478,-0.76,-171.1,330.7,-9.0,227,3484,0.15,1.98,0.00,0.000,6,0.135,0.019,2495,2316,3665,0,0,0,0,0,0,26.33,26.70,28.83
$GC,3792,-0.74,-171.1,363.7,-9.1,243,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2315,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4095,-0.72,-171.1,391.5,-9.5,258,4100,0.00,2.17,0.00,0.000,4,0.000,0.045,2495,3732,3662,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4138,-0.72,-171.1,396.1,-9.7,260,4144,0.00,1.98,0.00,0.000,6,0.000,0.020,2495,2320,3661,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4461,-0.72,-171.1,428.3,-9.8,276,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2320,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4763,-0.72,-171.1,458.8,-9.7,291,4769,0.00,2.17,0.00,0.000,4,0.000,0.045,2495,3736,3658,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4816,-0.72,-171.1,463.1,-9.6,293,4821,0.00,1.98,0.00,0.000,6,0.000,0.019,2496,2311,3658,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5129,-0.72,-171.1,488.9,-7.6,309,5135,0.00,2.20,-0.08,0.000,4,0.000,0.056,2496,3729,3686,0,0,0,0,0,0,28.83,26.39,25.70
$GC,5178,-0.72,-171.1,492.3,-7.6,311,5183,0.00,1.95,0.00,0.000,6,0.000,0.019,2495,2317,3686,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5496,-0.72,-171.1,518.5,-8.5,327,5501,0.00,1.92,0.00,0.000,4,0.000,0.025,2495,958,3685,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5553,-0.74,-171.1,522.2,-8.6,329,5560,0.00,2.03,0.00,0.000,6,0.000,0.029,2494,2326,3685,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5859,-0.76,-171.1,551.2,-9.1,345,5864,0.00,2.15,0.00,0.000,4,0.000,0.046,2495,3735,3683,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6018,-0.79,-171.1,563.2,-8.3,352,6025,0.00,1.95,0.00,0.000,6,0.000,0.020,2495,2333,3682,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6324,-0.82,-171.1,588.0,-7.5,368,6330,0.00,1.98,0.00,0.000,4,0.000,0.025,2491,943,3680,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6362,-0.85,-171.1,589.8,-7.4,369,6370,0.00,2.05,0.00,0.000,6,0.000,0.029,2495,2334,3680,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6670,-0.87,-171.1,614.5,-7.6,382,6676,0.12,2.15,0.00,0.000,4,0.081,0.051,2415,3730,3678,0,0,0,0,0,0,26.75,26.20,28.83
$GC,6766,-0.84,-171.1,625.8,-10.9,385,6772,0.17,1.98,0.00,0.000,6,0.136,0.021,2466,2317,3677,0,0,0,0,0,0,26.20,26.67,28.83
$GC,7100,-0.84,-171.1,656.8,-9.2,396,7105,0.00,1.92,0.00,0.000,4,0.000,0.025,2466,961,3676,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7134,-0.84,-171.1,659.7,-9.2,397,7140,0.00,2.05,0.00,0.000,6,0.000,0.034,2466,2329,3675,0,0,0,0,0,0,28.83,25.30,28.83
$GC,7469,-0.84,-171.1,690.5,-9.1,408,7475,0.00,2.15,0.00,0.000,4,0.000,0.047,2466,3730,3673,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7506,-0.84,-171.1,693.7,-9.1,409,7512,0.00,1.98,0.00,0.000,6,0.000,0.021,2466,2326,3672,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7837,-0.84,-171.1,723.6,-9.1,420,7842,0.00,2.20,0.00,0.000,4,0.000,0.047,2466,3740,3671,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7878,-0.84,-171.1,726.8,-9.0,421,7883,0.00,2.00,0.00,0.000,6,0.000,0.021,2466,2320,3670,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8202,-0.84,-171.1,752.8,-7.6,432,8208,0.00,2.20,0.00,0.000,4,0.000,0.047,2466,3733,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8269,-0.84,-171.1,757.7,-7.6,434,8274,0.00,2.00,0.00,0.000,6,0.000,0.023,2466,2328,3668,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8600,-0.84,-171.1,783.2,-7.8,445,8605,0.00,2.17,0.00,0.000,4,0.000,0.047,2466,3730,3665,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8706,-0.84,-171.1,790.6,-7.7,448,8712,0.00,2.00,0.00,0.000,6,0.000,0.023,2466,2326,3665,0,0,0,0,0,0,28.83,25.31,28.83
$GC,9025,-0.84,-171.1,815.9,-7.8,459,9031,0.00,2.20,0.00,0.000,4,0.000,0.047,2466,3735,3663,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9108,-0.86,-171.1,820.9,-7.8,461,9113,0.00,2.00,0.00,0.000,6,0.000,0.023,2466,2319,3661,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9423,-0.88,-171.1,846.4,-7.9,472,9429,0.00,2.22,0.00,0.000,4,0.000,0.047,2466,3740,3659,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9538,-0.90,-171.1,854.2,-8.1,475,9543,0.00,2.03,0.00,0.000,6,0.000,0.031,2466,2328,3659,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9854,-0.92,-171.1,880.5,-7.7,486,9859,0.00,2.22,0.00,0.000,4,0.000,0.050,2466,3736,3657,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9926,-0.94,-171.1,885.5,-7.6,488,9931,0.00,2.03,0.00,0.000,6,0.000,0.024,2466,2316,3657,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10252,-0.96,-171.1,908.3,-6.7,499,10258,0.12,2.22,0.00,0.000,4,0.086,0.047,2398,3730,3655,0,0,0,0,0,0,26.70,26.15,28.83
$GC,10325,-0.96,-171.1,914.7,-8.2,501,10331,0.12,2.03,0.00,0.000,6,0.155,0.031,2429,2332,3654,0,0,0,0,0,0,25.86,25.96,28.83
$GC,10652,-0.94,-171.1,944.6,-8.7,512,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2331,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10949,-0.91,-171.1,971.5,-8.9,522,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2331,3652,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11157,begin apogee
$GC,11163,-0.20,0.0,991.3,-9.5,529,11319,0.73,0.00,149.90,1.364,6,0.108,0.000,2672,2326,2968,0,0,0,0,0,0,25.67,28.83,23.52
$STATE,11321,end apogee,CONTROL_FINISHED_OK
$STATE,11321,begin climb
$GC,11323,0.38,171.1,997.0,0.0,534,11493,0.50,2.33,155.85,1.294,4,0.039,0.033,2882,932,2261,0,0,0,0,0,0,24.75,23.96,22.99
$GC,11625,0.28,171.1,977.4,9.9,544,11631,0.17,2.15,0.00,0.000,6,0.127,0.035,2834,2303,2252,0,0,0,0,0,0,25.07,24.58,28.83
$GC,11952,0.22,171.1,947.8,9.0,555,11957,0.00,2.22,0.00,0.000,4,0.000,0.049,2834,3704,2248,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12009,0.15,171.1,944.3,9.1,556,12017,0.15,2.10,0.00,0.000,6,0.152,0.028,2793,2311,2247,0,0,0,0,0,0,25.83,26.14,28.83
$GC,12316,0.15,171.1,918.3,7.4,567,12322,0.00,2.12,0.00,0.000,4,0.000,0.035,2793,905,2246,0,0,0,0,0,0,28.83,26.22,28.83
$GC,12364,0.15,173.6,915.8,7.3,568,12370,0.00,2.15,0.00,0.000,6,0.000,0.031,2793,2321,2245,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12686,0.16,184.1,892.2,7.0,579,12704,0.00,2.20,9.48,1.275,4,0.000,0.048,2793,3691,2211,0,0,0,0,0,0,28.83,26.10,24.98
$GC,12761,0.14,184.1,887.2,7.3,581,12767,0.00,2.08,0.00,0.000,6,0.000,0.028,2793,2296,2209,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,22914,end climb,SURFACE_DEPTH_REACHED
$STATE,22914,begin surface coast
$FINISH,0.7,1.022785
$STATE,22948,end surface coast,CONTROL_FINISHED_OK
$STATE,22948,begin surface
$SM_CCo,23026,0.00,0.000,0,0,948,495.51
$SM_GC,1.66,7.18,0.00,0.00,0.028,0.000,0.000,118,2315,948,-8.11,-0.28,495.51,0,0,0,0,0,0,26.44,28.83,28.83
$IRIDIUM_FIX,2330.93,12328.36,041112,050514
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.89
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.10
$XPDR_PINGS,27
$24V_AH,23.0,27.535
$10V_AH,9.8,16.944
$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,21.450,204.850,589.575,0.000,0.000,0.000,0.000,268.950,6.750,0.000,5.871,3477.104,15876.564,776.134,2881.397,459.757,0.000,2475.116,0.000,2509.743,0.000,0.543,0.000
$DEVICE_MAMPS,221.085,55.845,1363.995,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22968.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.203,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,40044,1076
$CAP_FILE_SIZE,257429,0
$CFSIZE,260165632,239435776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050, 81.2,1
$GPS,041112,175231,2338.415,12337.514,37,1.3,38,-3.8