version: 66.11
glider: 167
mission: 14
dive: 110
start: 11 4 112 18 0 38
data:
$ID,167
$MISSION,14
$DIVE,110
$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,-968637.06
$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,72
$R_STBD_OVSHOOT,50
$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
$GPS1,041112,175231,2338.415,12337.514,37,1.3,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.2
$GPS2,041112,180012,2338.434,12337.495,4,0.9,4,-3.8
$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,52.7,36582,-12.5,-7.333,-16.34
$D_GRID,3475
$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,-171.1,0.0,0.0,0,85,0.00,0.00,-64.05,0.000,2,0.000,0.000,109,2324,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.38,-171.1,3.1,-4.9,11,125,9.85,0.00,-24.02,0.000,6,0.223,0.000,2607,2326,3667,0,0,0,0,0,0,25.56,28.83,26.52
$GC,434,-0.38,-171.1,40.8,-9.6,62,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2326,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,745,-0.40,-171.1,71.6,-9.7,82,751,0.00,2.15,0.00,0.000,4,0.000,0.047,2607,3716,3668,0,0,0,0,0,0,28.83,26.30,28.83
$GC,778,-0.42,-171.1,73.8,-9.7,83,783,0.00,2.00,0.00,0.000,6,0.000,0.018,2607,2281,3668,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1091,-0.44,-171.1,104.7,-10.0,99,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2281,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1393,-0.47,-171.1,136.0,-10.0,114,1398,0.00,2.20,0.00,0.000,4,0.000,0.043,2607,3725,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1430,-0.51,-171.1,138.0,-9.3,115,1437,0.00,1.95,0.00,0.000,6,0.000,0.021,2607,2330,3668,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1737,-0.59,-171.1,157.6,-6.5,131,1743,0.12,2.15,0.00,0.000,4,0.077,0.044,2510,3721,3668,0,0,0,0,0,0,26.72,26.41,28.83
$GC,1771,-0.65,-171.1,159.8,-7.0,132,1778,0.00,1.95,0.00,0.000,6,0.000,0.018,2510,2325,3668,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2086,-0.60,-171.1,204.9,-12.7,148,2092,0.12,1.95,0.00,0.000,4,0.147,0.023,2552,941,3669,0,0,0,0,0,0,26.46,26.60,28.83
$GC,2151,-0.60,-171.1,210.7,-9.6,151,2156,0.00,2.03,0.00,0.000,6,0.000,0.029,2552,2320,3669,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2475,-0.63,-171.1,236.5,-7.5,167,2481,0.00,2.12,0.00,0.000,4,0.000,0.044,2552,3729,3669,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2508,-0.67,-171.1,238.4,-7.6,168,2513,0.00,1.98,0.00,0.000,6,0.000,0.021,2552,2315,3669,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2821,-0.72,-171.1,263.2,-8.1,184,2827,0.12,2.17,0.00,0.000,4,0.080,0.044,2464,3735,3669,0,0,0,0,0,0,26.75,26.44,28.83
$GC,2865,-0.72,-171.1,268.9,-10.3,186,2871,0.15,1.98,0.00,0.000,6,0.135,0.018,2507,2317,3669,0,0,0,0,0,0,26.33,26.69,28.83
$GC,3190,-0.69,-171.1,308.3,-11.8,202,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2316,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3491,-0.69,-171.1,338.8,-9.6,217,3496,0.00,2.17,0.00,0.000,4,0.000,0.047,2507,3733,3666,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3517,-0.69,-171.1,341.3,-9.6,218,3522,0.00,1.98,0.00,0.000,6,0.000,0.019,2507,2309,3668,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3835,-0.69,-171.1,373.2,-10.0,234,3841,0.00,1.92,0.00,0.000,4,0.000,0.024,2507,946,3666,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3885,-0.69,-171.1,377.2,-9.7,236,3890,0.00,2.05,0.00,0.000,6,0.000,0.028,2507,2334,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4202,-0.69,-171.1,406.2,-9.3,252,4207,0.00,2.12,0.00,0.000,4,0.000,0.045,2507,3726,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4300,-0.72,-171.1,413.4,-8.7,256,4306,0.00,1.95,0.00,0.000,6,0.000,0.018,2507,2319,3664,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4606,-0.74,-171.1,442.0,-8.4,272,4611,0.00,2.17,0.00,0.000,4,0.000,0.046,2507,3732,3663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4690,-0.77,-171.1,448.7,-7.9,276,4695,0.00,1.98,0.00,0.000,6,0.000,0.019,2507,2306,3662,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5014,-0.79,-171.1,473.4,-7.5,292,5019,0.00,2.17,0.00,0.000,4,0.000,0.044,2507,3725,3661,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5092,-0.83,-171.1,478.3,-7.6,295,5100,0.10,1.92,0.00,0.000,6,0.093,0.020,2441,2334,3660,0,0,0,0,0,0,26.59,26.73,28.83
$GC,5397,-0.77,-171.1,514.8,-11.6,311,5404,0.15,1.98,0.00,0.000,4,0.137,0.023,2490,953,3658,0,0,0,0,0,0,26.43,26.59,28.83
$GC,5482,-0.77,-171.1,522.6,-9.2,315,5488,0.00,2.03,0.00,0.000,6,0.000,0.028,2490,2327,3658,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5806,-0.79,-171.1,549.8,-8.4,331,5811,0.00,2.15,0.00,0.000,4,0.000,0.047,2490,3735,3656,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5850,-0.81,-171.1,553.3,-8.3,333,5855,0.00,1.98,0.00,0.000,6,0.000,0.019,2490,2316,3655,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6173,-0.83,-171.1,580.3,-8.2,349,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2316,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,-0.86,-171.1,604.1,-6.8,364,6501,0.00,2.20,0.00,0.000,4,0.000,0.046,2490,3737,3652,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6519,-0.88,-171.1,604.1,-6.8,364,6524,0.00,1.98,0.00,0.000,6,0.000,0.021,2490,2324,3652,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6835,-0.91,-171.1,624.4,-5.8,375,6841,0.12,2.17,0.00,0.000,4,0.080,0.044,2413,3723,3649,0,0,0,0,0,0,26.77,26.32,28.83
$GC,6931,-0.88,-171.1,634.3,-9.2,378,6937,0.15,2.00,0.00,0.000,6,0.143,0.021,2455,2319,3648,0,0,0,0,0,0,26.24,26.69,28.83
$GC,7268,-0.86,-171.1,664.2,-9.0,389,7273,0.00,2.22,0.00,0.000,4,0.000,0.053,2453,3735,3646,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7403,-0.86,-171.1,674.9,-8.6,393,7409,0.00,1.98,0.00,0.000,6,0.000,0.021,2453,2329,3645,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7728,-0.84,-171.1,703.8,-8.8,404,7733,0.00,2.20,0.00,0.000,4,0.000,0.047,2453,3733,3642,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7771,-0.83,-171.1,707.0,-9.0,405,7776,0.00,2.00,0.00,0.000,6,0.000,0.021,2453,2316,3642,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8094,-0.83,-171.1,740.2,-10.4,416,8099,0.00,2.20,0.00,0.000,4,0.000,0.047,2453,3726,3639,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8151,-0.83,-171.1,743.6,-10.2,417,8159,0.00,2.00,0.00,0.000,6,0.000,0.022,2453,2319,3638,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8458,-0.83,-171.1,777.6,-10.5,428,8463,0.00,2.22,0.00,0.000,4,0.000,0.047,2453,3734,3637,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8506,-0.83,-171.1,781.0,-10.4,429,8512,0.00,2.00,0.00,0.000,6,0.000,0.031,2452,2333,3637,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8825,-0.83,-171.1,813.9,-9.6,440,8830,0.00,2.20,0.00,0.000,4,0.000,0.047,2453,3730,3635,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8898,-0.83,-171.1,819.9,-9.5,442,8903,0.00,2.03,0.00,0.000,6,0.000,0.024,2453,2312,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9222,-0.83,-171.1,849.6,-8.6,453,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2310,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9521,-0.83,-171.1,874.2,-7.9,463,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2310,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9821,-0.83,-171.1,896.3,-7.4,473,9826,0.00,2.22,0.00,0.000,4,0.000,0.048,2452,3727,3628,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9869,-0.83,-171.1,898.6,-7.3,474,9874,0.00,2.00,0.00,0.000,6,0.000,0.024,2453,2322,3629,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10187,-0.83,-171.1,924.3,-8.2,485,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2319,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10487,-0.83,-171.1,948.8,-8.2,495,10492,0.00,2.22,0.00,0.000,4,0.000,0.050,2453,3733,3625,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10520,-0.83,-171.1,951.7,-8.3,496,10526,0.00,2.03,0.00,0.000,6,0.000,0.024,2453,2324,3625,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10855,-0.83,-171.1,978.4,-7.8,507,10856,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2322,3624,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11032,begin apogee
$GC,11038,-0.20,0.0,991.8,-7.3,513,11189,0.65,0.00,144.52,1.353,6,0.103,0.000,2671,2321,2966,0,0,0,0,0,0,25.75,28.83,23.56
$STATE,11191,end apogee,CONTROL_FINISHED_OK
$STATE,11191,begin climb
$GC,11193,0.38,171.1,995.9,0.0,518,11360,0.50,2.30,156.52,1.322,4,0.039,0.032,2886,935,2262,0,0,0,0,0,0,24.79,23.94,22.96
$GC,11492,0.27,171.1,971.4,12.1,528,11498,0.20,2.15,0.00,0.000,6,0.129,0.031,2831,2306,2250,0,0,0,0,0,0,25.10,25.32,28.83
$GC,11823,0.22,171.1,939.9,9.0,539,11829,0.00,2.20,0.00,0.000,4,0.000,0.049,2832,3696,2244,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11888,0.15,171.1,933.6,9.3,541,11894,0.17,2.05,0.00,0.000,6,0.145,0.029,2787,2326,2246,0,0,0,0,0,0,25.83,26.15,28.83
$GC,12222,0.17,218.1,912.2,6.0,552,12270,0.00,2.22,42.22,1.262,4,0.000,0.033,2787,901,2075,0,0,0,0,0,0,28.83,25.29,24.26
$GC,12319,0.19,270.1,906.9,5.8,555,12377,0.00,2.17,50.75,1.252,6,0.000,0.031,2787,2304,1862,0,0,0,0,0,0,28.83,25.65,23.94
$GC,12705,0.24,302.5,882.6,6.4,568,12744,0.00,2.30,31.40,1.245,4,0.000,0.049,2787,3713,1727,0,0,0,0,0,0,28.83,25.28,24.29
$GC,12777,0.29,328.4,878.3,6.6,570,12811,0.15,2.15,25.73,1.233,6,0.070,0.026,2857,2293,1624,0,0,0,0,0,0,25.61,25.65,24.13
$GC,13130,0.27,328.4,840.7,10.7,582,13136,0.12,2.10,0.00,0.000,4,0.132,0.032,2818,911,1615,0,0,0,0,0,0,25.98,26.06,28.83
$GC,13202,0.27,328.4,835.3,9.4,584,13208,0.00,2.12,0.00,0.000,6,0.000,0.030,2817,2317,1614,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,22381,end climb,SURFACE_DEPTH_REACHED
$STATE,22382,begin surface coast
$FINISH,0.8,0.999695
$STATE,22409,end surface coast,CONTROL_FINISHED_OK
$STATE,22409,begin surface
$SM_CCo,22489,0.00,0.000,0,0,851,519.30
$SM_GC,1.55,7.15,2.12,0.00,0.029,0.026,0.000,123,2315,851,-8.10,-1.39,519.30,0,0,0,0,0,0,26.44,26.42,28.83
$IRIDIUM_FIX,2326.22,12335.54,041112,111133
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.37
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.20
$XPDR_PINGS,13
$24V_AH,23.0,27.743
$10V_AH,9.7,17.098
$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,21.275,179.400,593.100,0.000,0.000,0.000,0.000,270.675,3.250,0.000,5.895,3280.135,15796.176,740.428,2702.186,420.372,0.000,2333.593,0.000,2330.977,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,52.785,1352.520,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22427.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.375,0.000,0.000,0.000
$MEM,329588
$DATA_FILE_SIZE,36672,1044
$CAP_FILE_SIZE,241879,0
$CFSIZE,260165632,239333376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.056,202.6,1
$GPS,051112,001635,2339.962,12340.381,25,0.9,25,-3.8