version: 66.11
glider: 167
mission: 14
dive: 117
start: 11 6 112 15 13 4
data:
$ID,167
$MISSION,14
$DIVE,117
$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,-968653.5
$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,73
$R_STBD_OVSHOOT,49
$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
$GPS1,061112,150307,2345.731,12355.222,36,1.3,36,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-64.1
$GPS2,061112,151235,2345.636,12355.263,5,1.2,5,-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,206.7,251330,-12.5,-7.333,-16.34
$D_GRID,3115
$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,-171.1,0.0,0.0,0,72,0.00,0.00,-52.25,0.000,2,0.000,0.000,109,2309,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.38,-171.1,3.1,-5.4,9,120,9.82,2.10,-27.83,0.000,4,0.223,0.044,2607,928,3668,0,0,0,0,0,0,25.51,26.17,26.53
$GC,251,-0.45,-171.1,19.9,-8.7,41,259,0.00,2.08,0.00,0.000,6,0.000,0.030,2607,2315,3669,0,0,0,0,0,0,28.83,26.21,28.83
$GC,567,-0.49,-171.1,47.6,-9.3,80,572,0.00,2.17,0.00,0.000,4,0.000,0.047,2607,3729,3668,0,0,0,0,0,0,28.83,26.24,28.83
$GC,640,-0.54,-171.1,54.3,-10.5,84,646,0.12,2.00,0.00,0.000,6,0.075,0.018,2524,2289,3669,0,0,0,0,0,0,26.43,26.53,28.83
$GC,954,-0.42,-171.1,116.3,-18.9,100,960,0.22,1.90,0.00,0.000,4,0.133,0.023,2597,945,3668,0,0,0,0,0,0,26.17,26.51,28.83
$GC,999,-0.36,-171.1,122.3,-16.0,102,1004,0.00,2.05,0.00,0.000,6,0.000,0.028,2597,2327,3668,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1324,-0.43,-171.1,146.6,-6.4,118,1329,0.00,2.12,0.00,0.000,4,0.000,0.045,2597,3729,3668,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1430,-0.52,-171.1,152.5,-5.6,123,1435,0.00,1.95,0.00,0.000,6,0.000,0.021,2597,2327,3668,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1753,-0.65,-171.1,174.9,-7.5,139,1759,0.15,2.15,0.00,0.000,4,0.072,0.041,2513,3739,3668,0,0,0,0,0,0,26.70,26.44,28.83
$GC,1806,-0.75,-171.1,178.6,-8.1,141,1812,0.00,1.98,0.00,0.000,6,0.000,0.018,2514,2319,3669,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2120,-0.72,-171.1,213.6,-10.4,157,2125,0.00,1.98,0.00,0.000,4,0.000,0.028,2514,944,3668,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2183,-0.70,-171.1,220.0,-10.4,160,2188,0.00,2.03,0.00,0.000,6,0.000,0.031,2513,2326,3669,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2506,-0.67,-171.1,252.5,-10.7,176,2511,0.00,2.15,0.00,0.000,4,0.000,0.045,2506,3740,3669,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2584,-0.65,-171.1,259.3,-10.9,179,2591,0.00,1.98,0.00,0.000,6,0.000,0.019,2508,2323,3669,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2890,-0.63,-171.1,296.2,-11.7,195,2892,0.12,0.00,0.00,0.000,6,0.139,0.000,2542,2323,3668,0,0,0,0,0,0,26.55,28.83,28.83
$GC,3192,-0.68,-171.1,319.6,-7.5,210,3198,0.00,2.17,0.00,0.000,4,0.000,0.047,2543,3738,3667,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3287,-0.74,-171.1,326.0,-7.3,214,3293,0.12,1.98,0.00,0.000,6,0.076,0.019,2463,2308,3667,0,0,0,0,0,0,26.60,26.71,28.83
$GC,3601,-0.67,-171.1,367.0,-13.3,230,3607,0.17,1.90,0.00,0.000,4,0.133,0.022,2519,958,3665,0,0,0,0,0,0,26.39,26.60,28.83
$GC,3684,-0.67,-171.1,375.4,-9.9,234,3690,0.00,2.03,0.00,0.000,6,0.000,0.028,2520,2326,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4008,-0.70,-171.1,401.0,-7.3,250,4013,0.00,2.15,0.00,0.000,4,0.000,0.045,2521,3735,3664,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4076,-0.74,-171.1,405.5,-7.1,253,4081,0.00,1.98,0.00,0.000,6,0.000,0.018,2520,2323,3664,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4395,-0.78,-171.1,428.1,-7.2,269,4400,0.00,2.17,0.00,0.000,4,0.000,0.046,2520,3736,3662,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4468,-0.82,-171.1,432.9,-7.6,272,4474,0.12,1.98,0.00,0.000,6,0.078,0.018,2444,2301,3662,0,0,0,0,0,0,26.59,26.71,28.83
$GC,4782,-0.75,-171.1,476.5,-13.8,288,4788,0.15,1.90,0.00,0.000,4,0.141,0.023,2493,955,3660,0,0,0,0,0,0,26.41,26.60,28.83
$GC,4831,-0.70,-171.1,481.6,-12.6,290,4836,0.00,2.03,0.00,0.000,6,0.000,0.031,2493,2327,3660,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5149,-0.70,-171.1,510.6,-8.9,306,5154,0.00,2.15,0.00,0.000,4,0.000,0.054,2493,3729,3658,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5212,-0.70,-171.1,516.4,-9.1,309,5218,0.00,1.95,0.00,0.000,6,0.000,0.018,2493,2336,3655,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5536,-0.72,-171.1,545.2,-8.8,325,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2332,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5840,-0.74,-171.1,568.9,-7.6,340,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2336,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6138,-0.76,-171.1,590.6,-7.3,355,6144,0.00,2.15,0.00,0.000,4,0.000,0.047,2493,3725,3653,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6167,-0.79,-171.1,592.7,-7.4,356,6172,0.00,1.98,0.00,0.000,6,0.000,0.020,2492,2312,3652,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6477,-0.81,-171.1,617.7,-8.0,368,6482,0.00,2.22,0.00,0.000,4,0.000,0.045,2488,3736,3651,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6586,-0.85,-171.1,625.2,-7.8,371,6592,0.00,1.98,0.00,0.000,6,0.000,0.021,2492,2326,3650,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6907,-0.89,-171.1,650.6,-7.7,382,6913,0.12,2.20,0.00,0.000,4,0.081,0.051,2415,3734,3647,0,0,0,0,0,0,26.74,26.24,28.83
$GC,6956,-0.90,-171.1,654.2,-8.3,383,6962,0.12,1.98,0.00,0.000,6,0.151,0.021,2447,2320,3647,0,0,0,0,0,0,26.29,26.67,28.83
$GC,7277,-0.88,-171.1,687.2,-9.4,394,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2320,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7576,-0.85,-171.1,714.4,-8.5,404,7581,0.00,2.20,0.00,0.000,4,0.000,0.047,2446,3724,3643,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7628,-0.83,-171.1,717.4,-8.6,405,7634,0.00,1.98,0.00,0.000,6,0.000,0.021,2446,2323,3644,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7943,-0.81,-171.1,745.4,-8.6,416,7949,0.12,2.20,0.00,0.000,4,0.142,0.045,2488,3732,3640,0,0,0,0,0,0,26.47,26.25,28.83
$GC,8011,-0.81,-171.1,749.9,-7.7,418,8017,0.00,2.00,0.00,0.000,6,0.000,0.024,2488,2322,3640,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8342,-0.85,-171.1,770.9,-6.3,429,8347,0.00,2.20,0.00,0.000,4,0.000,0.047,2488,3730,3637,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8370,-0.89,-171.1,770.9,-6.3,429,8378,0.12,2.00,0.00,0.000,6,0.079,0.023,2424,2313,3637,0,0,0,0,0,0,26.51,26.65,28.83
$GC,8677,-0.85,-171.1,805.2,-11.1,440,8679,0.15,0.00,0.00,0.000,6,0.140,0.000,2466,2311,3635,0,0,0,0,0,0,26.40,28.83,28.83
$GC,8976,-0.85,-171.1,831.3,-8.4,450,8981,0.00,2.22,0.00,0.000,4,0.000,0.054,2467,3725,3633,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9009,-0.86,-171.1,834.4,-8.6,451,9015,0.00,2.00,0.00,0.000,6,0.000,0.024,2467,2319,3633,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9344,-0.86,-171.1,862.0,-7.9,462,9349,0.00,1.98,0.00,0.000,4,0.000,0.028,2467,950,3630,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9371,-0.86,-171.1,862.0,-7.9,462,9378,0.00,2.05,0.00,0.000,6,0.000,0.031,2466,2326,3630,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9679,-0.88,-171.1,886.2,-6.9,473,9685,0.00,2.17,0.00,0.000,4,0.000,0.048,2467,3729,3629,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9744,-0.90,-171.1,890.7,-6.9,475,9749,0.00,2.03,0.00,0.000,6,0.000,0.024,2466,2319,3628,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10079,-0.92,-171.1,912.6,-6.5,486,10084,0.00,2.22,0.00,0.000,4,0.000,0.048,2466,3722,3626,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10175,-0.94,-171.1,919.0,-6.7,489,10180,0.00,2.00,0.00,0.000,6,0.000,0.024,2466,2326,3626,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10511,-0.97,-171.1,944.3,-8.1,500,10517,0.12,2.22,0.00,0.000,4,0.086,0.047,2398,3728,3624,0,0,0,0,0,0,26.70,26.13,28.83
$GC,10636,-0.92,-171.1,958.9,-11.6,504,10642,0.15,2.03,0.00,0.000,6,0.152,0.024,2438,2314,3623,0,0,0,0,0,0,26.08,26.58,28.83
$STATE,10968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10968,begin apogee
$GC,10974,-0.20,0.0,990.7,-8.9,515,11126,0.70,0.00,144.07,1.367,6,0.109,0.000,2672,2312,2964,0,0,0,0,0,0,25.65,28.83,23.50
$STATE,11127,end apogee,CONTROL_FINISHED_OK
$STATE,11127,begin climb
$GC,11130,0.38,171.1,995.5,0.0,520,11296,0.50,2.28,155.62,1.291,4,0.039,0.032,2881,942,2262,0,0,0,0,0,0,24.80,23.94,22.87
$GC,11408,0.28,171.1,974.5,12.0,529,11414,0.17,2.12,0.00,0.000,6,0.122,0.031,2833,2300,2251,0,0,0,0,0,0,24.98,25.06,28.83
$GC,11729,0.21,171.1,943.5,9.0,540,11734,0.00,2.20,0.00,0.000,4,0.000,0.047,2833,3699,2246,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11866,0.13,171.1,930.1,10.7,544,11872,0.20,2.08,0.00,0.000,6,0.145,0.028,2782,2324,2245,0,0,0,0,0,0,25.82,26.20,28.83
$GC,12187,0.14,199.3,907.4,6.5,555,12220,0.00,2.30,24.83,1.262,4,0.000,0.048,2782,3705,2147,0,0,0,0,0,0,28.83,25.62,24.56
$GC,12308,0.14,199.3,898.0,7.5,559,12314,0.00,2.12,0.00,0.000,6,0.000,0.028,2784,2293,2144,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12644,0.15,234.4,876.5,6.3,570,12685,0.00,2.33,34.58,1.257,4,0.000,0.052,2784,3702,2005,0,0,0,0,0,0,28.83,25.35,24.32
$GC,12717,0.16,260.4,872.3,6.6,572,12752,0.00,2.12,26.00,1.248,6,0.000,0.028,2785,2302,1901,0,0,0,0,0,0,28.83,25.67,24.13
$GC,13066,0.21,290.3,849.3,6.5,584,13098,0.00,0.00,30.08,1.244,6,0.000,0.000,2784,2301,1784,0,0,0,0,0,0,28.83,28.83,24.30
$GC,13397,0.28,316.4,827.8,6.6,595,13430,0.12,2.15,26.75,1.229,4,0.081,0.034,2858,909,1672,0,0,0,0,0,0,26.20,25.44,24.37
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$STATE,22807,end climb,SURFACE_DEPTH_REACHED
$STATE,22807,begin surface coast
$FINISH,0.8,1.023099
$STATE,22832,end surface coast,CONTROL_FINISHED_OK
$STATE,22832,begin surface
$SM_CCo,22910,0.00,0.000,0,0,715,552.91
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$IRIDIUM_FIX,2337.99,12356.43,061112,151518
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.05
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.30
$XPDR_PINGS,19
$24V_AH,22.9,29.143
$10V_AH,10.2,18.203
$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,22.375,212.200,575.750,0.000,0.000,0.000,0.000,315.925,4.750,0.000,5.852,3526.090,15765.218,755.854,2955.554,465.389,0.000,2509.839,0.000,2538.421,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,53.550,1367.055,0.000,0.000,0.000,0.000,131.580,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22852.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.519,0.000,0.000,0.000
$MEM,329572
$DATA_FILE_SIZE,40023,1064
$CAP_FILE_SIZE,264345,0
$CFSIZE,260165632,238522368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.214,146.0,1
$GPS,061112,213605,2340.591,12355.177,28,0.9,28,-3.8