version: 66.11
glider: 167
mission: 14
dive: 116
start: 11 6 112 8 31 17
data:
$ID,167
$MISSION,14
$DIVE,116
$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,-968652.25
$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,75
$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
$GPS1,061112,082335,2350.071,12354.717,35,0.9,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-59.1
$GPS2,061112,083049,2349.986,12354.751,5,0.9,5,-3.8
$SPEED_LIMITS,0.127,0.250
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,194.5,259411,-12.5,-7.333,-16.34
$D_GRID,2875
$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,-171.1,0.0,0.0,0,72,0.00,0.00,-51.42,0.000,2,0.000,0.000,110,2313,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.38,-171.1,3.0,-4.5,9,120,9.73,2.03,-26.45,0.000,4,0.218,0.040,2610,924,3667,0,0,0,0,0,0,25.53,26.18,26.58
$GC,175,-0.45,-171.1,10.5,-6.5,26,182,0.00,2.08,0.00,0.000,6,0.000,0.028,2610,2324,3668,0,0,0,0,0,0,28.83,26.17,28.83
$GC,491,-0.49,-171.1,45.6,-12.6,73,497,0.00,2.15,0.00,0.000,4,0.000,0.046,2609,3735,3668,0,0,0,0,0,0,28.83,26.21,28.83
$GC,565,-0.54,-171.1,52.4,-10.2,78,571,0.12,2.00,0.00,0.000,6,0.075,0.021,2525,2309,3667,0,0,0,0,0,0,26.39,26.47,28.83
$GC,879,-0.46,-171.1,101.1,-14.5,94,885,0.20,1.95,0.00,0.000,4,0.132,0.026,2590,947,3668,0,0,0,0,0,0,26.21,26.48,28.83
$GC,947,-0.46,-171.1,106.7,-10.0,97,953,0.00,2.05,0.00,0.000,6,0.000,0.034,2590,2333,3668,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1266,-0.52,-171.1,133.6,-8.6,113,1272,0.00,2.12,0.00,0.000,4,0.000,0.045,2590,3735,3668,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1325,-0.60,-171.1,136.9,-8.2,115,1332,0.15,1.98,0.00,0.000,6,0.071,0.021,2501,2339,3668,0,0,0,0,0,0,26.49,26.57,28.83
$GC,1631,-0.54,-171.1,178.4,-12.8,131,1636,0.17,2.15,0.00,0.000,4,0.130,0.045,2560,3735,3669,0,0,0,0,0,0,26.35,26.39,28.83
$GC,1664,-0.50,-171.1,181.0,-12.3,132,1669,0.00,2.00,0.00,0.000,6,0.000,0.019,2560,2312,3669,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1978,-0.56,-171.1,204.8,-7.2,148,1984,0.00,2.20,0.00,0.000,4,0.000,0.045,2560,3732,3669,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2017,-0.63,-171.1,206.4,-6.9,149,2023,0.00,1.98,0.00,0.000,6,0.000,0.018,2560,2298,3669,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2322,-0.70,-171.1,228.9,-7.9,165,2328,0.12,2.20,0.00,0.000,4,0.077,0.043,2470,3725,3672,0,0,0,0,0,0,26.75,26.40,28.83
$GC,2376,-0.72,-171.1,234.0,-9.7,167,2382,0.15,1.92,0.00,0.000,6,0.133,0.018,2512,2333,3669,0,0,0,0,0,0,26.32,26.69,28.83
$GC,2690,-0.70,-171.1,270.4,-11.2,183,2695,0.00,1.98,0.00,0.000,4,0.000,0.027,2513,944,3668,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2743,-0.70,-171.1,275.0,-11.0,185,2749,0.00,2.05,0.00,0.000,6,0.000,0.030,2513,2327,3668,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3057,-0.70,-171.1,308.1,-10.4,201,3062,0.00,2.12,0.00,0.000,4,0.000,0.047,2513,3730,3667,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3124,-0.70,-171.1,314.3,-9.8,204,3129,0.00,1.95,0.00,0.000,6,0.000,0.018,2513,2319,3667,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3442,-0.70,-171.1,343.6,-9.3,220,3448,0.00,1.92,0.00,0.000,4,0.000,0.025,2512,953,3665,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3471,-0.70,-171.1,345.8,-9.5,221,3476,0.00,2.03,0.00,0.000,6,0.000,0.029,2512,2334,3666,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3789,-0.70,-171.1,375.8,-9.5,237,3794,0.00,2.12,0.00,0.000,4,0.000,0.046,2513,3735,3664,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3852,-0.72,-171.1,381.8,-9.6,240,3858,0.00,1.98,0.00,0.000,6,0.000,0.018,2513,2319,3664,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4176,-0.75,-171.1,410.6,-8.9,256,4181,0.00,2.17,0.00,0.000,4,0.000,0.045,2513,3732,3663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4214,-0.77,-171.1,412.6,-9.0,257,4221,0.00,1.98,0.00,0.000,6,0.000,0.019,2512,2310,3663,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4519,-0.80,-171.1,442.0,-9.3,273,4525,0.00,2.20,0.00,0.000,4,0.000,0.045,2511,3739,3662,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4572,-0.83,-171.1,446.0,-9.6,275,4578,0.12,2.00,0.00,0.000,6,0.077,0.020,2438,2308,3661,0,0,0,0,0,0,26.58,26.69,28.83
$GC,4886,-0.75,-171.1,489.7,-13.6,291,4893,0.17,2.20,0.00,0.000,4,0.135,0.043,2493,3733,3657,0,0,0,0,0,0,26.34,26.36,28.83
$GC,4921,-0.69,-171.1,492.7,-13.3,292,4926,0.00,1.95,0.00,0.000,6,0.000,0.018,2493,2327,3659,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5234,-0.69,-171.1,521.5,-9.3,308,5239,0.00,1.98,0.00,0.000,4,0.000,0.026,2492,951,3658,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5261,-0.69,-171.1,523.6,-9.3,309,5267,0.00,2.03,0.00,0.000,6,0.000,0.030,2493,2328,3658,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5580,-0.69,-171.1,552.5,-8.7,325,5585,0.00,2.15,0.00,0.000,4,0.000,0.047,2493,3736,3657,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5672,-0.72,-171.1,559.4,-8.4,329,5679,0.00,1.98,0.00,0.000,6,0.000,0.019,2493,2314,3655,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5987,-0.74,-171.1,584.4,-7.5,345,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2314,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6299,-0.77,-171.1,609.3,-8.5,359,6304,0.00,2.20,0.00,0.000,4,0.000,0.047,2493,3735,3652,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6376,-0.80,-171.1,614.9,-8.7,361,6382,0.00,1.98,0.00,0.000,6,0.000,0.020,2493,2321,3652,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6698,-0.84,-171.1,640.0,-7.1,372,6703,0.00,1.95,0.00,0.000,4,0.000,0.025,2493,951,3650,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6720,-0.87,-171.1,640.0,-7.1,372,6726,0.00,2.05,0.00,0.000,6,0.000,0.029,2493,2333,3650,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7036,-0.91,-171.1,663.6,-7.2,383,7042,0.12,2.15,0.00,0.000,4,0.080,0.045,2414,3722,3648,0,0,0,0,0,0,26.74,26.28,28.83
$GC,7100,-0.91,-171.1,671.1,-9.3,385,7106,0.12,1.98,0.00,0.000,6,0.151,0.021,2447,2319,3647,0,0,0,0,0,0,26.28,26.67,28.83
$GC,7436,-0.88,-171.1,705.3,-9.9,396,7441,0.00,2.22,0.00,0.000,4,0.000,0.053,2447,3727,3645,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7463,-0.86,-171.1,705.3,-9.9,396,7471,0.00,1.98,0.00,0.000,6,0.000,0.021,2446,2323,3644,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7771,-0.84,-171.1,735.4,-8.6,407,7776,0.00,2.17,0.00,0.000,4,0.000,0.047,2446,3722,3642,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7808,-0.82,-171.1,738.5,-8.5,408,7814,0.12,1.98,0.00,0.000,6,0.138,0.021,2481,2319,3642,0,0,0,0,0,0,26.31,26.65,28.83
$GC,8140,-0.85,-171.1,760.0,-6.5,419,8145,0.00,2.20,0.00,0.000,4,0.000,0.047,2482,3729,3640,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8188,-0.88,-171.1,762.6,-6.7,420,8193,0.00,1.98,0.00,0.000,6,0.000,0.023,2481,2329,3639,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8508,-0.91,-171.1,785.4,-6.7,431,8513,0.00,2.22,0.00,0.000,4,0.000,0.054,2481,3728,3639,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8556,-0.94,-171.1,787.8,-6.7,432,8563,0.12,2.00,0.00,0.000,6,0.083,0.023,2419,2309,3637,0,0,0,0,0,0,26.49,26.63,28.83
$GC,8878,-0.90,-171.1,819.5,-9.6,443,8880,0.12,0.00,0.00,0.000,6,0.149,0.000,2453,2306,3635,0,0,0,0,0,0,26.46,28.83,28.83
$GC,9176,-0.90,-171.1,843.5,-8.3,453,9181,0.00,2.22,0.00,0.000,4,0.000,0.047,2453,3725,3633,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9272,-0.90,-171.1,851.4,-8.4,456,9278,0.00,1.98,0.00,0.000,6,0.000,0.023,2453,2333,3633,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9603,-0.90,-171.1,877.9,-7.9,467,9608,0.00,2.03,0.00,0.000,4,0.000,0.035,2452,948,3631,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9630,-0.90,-171.1,877.9,-7.9,467,9637,0.00,2.08,0.00,0.000,6,0.000,0.031,2452,2326,3631,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9937,-0.90,-171.1,904.0,-7.5,478,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2326,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10237,-0.90,-171.1,925.4,-7.1,488,10242,0.00,2.17,0.00,0.000,4,0.000,0.048,2453,3725,3628,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10304,-0.90,-171.1,930.1,-7.2,490,10310,0.00,2.03,0.00,0.000,6,0.000,0.031,2452,2314,3627,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10635,-0.90,-171.1,954.1,-7.7,501,10640,0.00,2.22,0.00,0.000,4,0.000,0.047,2452,3733,3626,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10742,-0.90,-171.1,961.1,-7.3,504,10748,0.00,2.03,0.00,0.000,6,0.000,0.024,2453,2327,3625,0,0,0,0,0,0,28.83,26.57,28.83
$GC,11064,-0.90,-171.1,989.0,-8.3,515,11069,0.00,2.20,0.00,0.000,4,0.000,0.049,2452,3723,3624,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,11094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11095,begin apogee
$GC,11103,-0.20,0.0,992.0,-8.2,516,11257,0.68,0.00,145.35,1.357,6,0.102,0.000,2681,2302,2963,0,0,0,0,0,0,25.70,28.83,23.54
$STATE,11258,end apogee,CONTROL_FINISHED_OK
$STATE,11259,begin climb
$GC,11261,0.38,171.1,998.6,0.0,521,11430,0.47,2.28,155.45,1.255,4,0.039,0.034,2881,934,2260,0,0,0,0,0,0,24.79,23.95,22.93
$GC,11467,0.24,171.1,989.5,7.7,528,11474,0.22,2.20,0.00,0.000,6,0.126,0.030,2820,2299,2253,0,0,0,0,0,0,24.50,24.69,28.83
$GC,11800,0.20,189.6,967.0,6.8,539,11822,0.00,2.25,15.88,1.278,4,0.000,0.048,2821,3697,2189,0,0,0,0,0,0,28.83,25.53,24.42
$GC,11965,0.14,189.6,954.5,8.6,544,11971,0.12,2.08,0.00,0.000,6,0.156,0.028,2788,2317,2184,0,0,0,0,0,0,25.74,26.00,28.83
$GC,12287,0.15,224.4,932.8,6.3,555,12328,0.00,2.28,33.97,1.282,4,0.000,0.048,2787,3699,2045,0,0,0,0,0,0,28.83,25.34,24.29
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$STATE,23325,end climb,SURFACE_DEPTH_REACHED
$STATE,23325,begin surface coast
$FINISH,0.9,1.003995
$STATE,23352,end surface coast,CONTROL_FINISHED_OK
$STATE,23352,begin surface
$SM_CCo,23431,0.00,0.000,0,0,1174,439.82
$SM_GC,1.60,7.20,0.00,0.00,0.028,0.000,0.000,117,2301,1174,-8.12,-0.68,439.82,0,0,0,0,0,0,26.42,28.83,28.83
$IRIDIUM_FIX,2337.99,12349.89,061112,020256
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.01
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,26.30
$XPDR_PINGS,21
$24V_AH,22.9,28.946
$10V_AH,10.1,18.041
$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,21.850,237.425,546.975,0.000,0.000,0.000,0.000,247.225,5.250,0.000,8.322,3543.283,16194.339,761.353,2883.214,477.309,0.000,2461.163,0.000,2533.012,0.000,0.543,0.000
$DEVICE_MAMPS,218.025,53.550,1357.110,0.000,0.000,0.000,0.000,130.050,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23373.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.301,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,40017,1084
$CAP_FILE_SIZE,269710,0
$CFSIZE,260165632,238637056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.136,127.5,1
$GPS,061112,150307,2345.731,12355.222,36,1.3,36,-3.8