version: 66.11
glider: 167
mission: 14
dive: 118
start: 11 6 112 21 44 7
data:
$ID,167
$MISSION,14
$DIVE,118
$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,-968654.75
$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,65
$R_STBD_OVSHOOT,47
$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
$GPS1,061112,213605,2340.591,12355.177,28,0.9,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-61.6
$GPS2,061112,214341,2340.479,12355.176,5,0.9,5,-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,208.9,241791,-12.5,-7.333,-16.34
$D_GRID,2958
$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,-171.1,0.0,0.0,0,91,0.00,0.00,-70.20,0.000,2,0.000,0.000,111,2294,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.38,-171.1,3.1,-6.0,12,139,9.90,2.25,-26.55,0.000,4,0.226,0.060,2606,3725,3666,0,0,0,0,0,0,25.53,26.04,26.54
$GC,360,-0.45,-171.1,29.3,-9.4,58,366,0.00,2.03,0.00,0.000,6,0.000,0.021,2606,2326,3667,0,0,0,0,0,0,28.83,26.37,28.83
$GC,674,-0.49,-171.1,57.3,-8.3,85,679,0.00,2.03,0.00,0.000,4,0.000,0.029,2606,925,3667,0,0,0,0,0,0,28.83,26.42,28.83
$GC,699,-0.53,-171.1,59.5,-8.4,86,705,0.12,2.08,0.00,0.000,6,0.074,0.031,2522,2322,3667,0,0,0,0,0,0,26.38,26.38,28.83
$GC,1023,-0.42,-171.1,113.7,-18.3,102,1029,0.25,2.15,0.00,0.000,4,0.135,0.044,2594,3731,3667,0,0,0,0,0,0,26.12,26.36,28.83
$GC,1036,-0.31,-171.1,113.7,-18.3,102,1042,0.15,2.00,0.00,0.000,6,0.128,0.018,2639,2296,3667,0,0,0,0,0,0,26.27,26.60,28.83
$GC,1350,-0.56,-171.1,142.1,-9.8,118,1356,0.20,2.22,0.00,0.000,4,0.081,0.044,2556,3730,3667,0,0,0,0,0,0,26.53,26.39,28.83
$GC,1389,-0.79,-171.1,144.6,-9.9,119,1397,0.20,1.98,0.00,0.000,6,0.072,0.018,2469,2295,3667,0,0,0,0,0,0,26.49,26.67,28.83
$GC,1695,-0.68,-171.1,193.2,-16.7,135,1701,0.15,1.88,0.00,0.000,4,0.145,0.023,2516,961,3667,0,0,0,0,0,0,26.37,26.58,28.83
$GC,1790,-0.65,-171.1,203.1,-11.5,139,1796,0.00,2.00,0.00,0.000,6,0.000,0.028,2516,2335,3667,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2103,-0.65,-171.1,235.9,-10.0,155,2110,0.00,2.10,0.00,0.000,4,0.000,0.044,2515,3726,3667,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2157,-0.65,-171.1,240.6,-10.4,157,2162,0.00,1.92,0.00,0.000,6,0.000,0.020,2515,2350,3667,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2469,-0.65,-171.1,274.6,-10.5,173,2475,0.00,2.15,0.00,0.000,4,0.000,0.045,2515,3736,3667,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2527,-0.65,-171.1,279.0,-10.2,175,2534,0.00,1.98,0.00,0.000,6,0.000,0.018,2515,2314,3667,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2832,-0.65,-171.1,309.3,-9.4,191,2838,0.00,2.17,0.00,0.000,4,0.000,0.044,2514,3737,3663,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2876,-0.65,-171.1,313.0,-8.8,193,2881,0.00,1.98,0.00,0.000,6,0.000,0.018,2514,2316,3666,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3199,-0.65,-171.1,340.8,-9.2,209,3204,0.00,2.17,0.00,0.000,4,0.000,0.044,2514,3736,3665,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3226,-0.65,-171.1,343.0,-9.2,210,3231,0.00,1.98,0.00,0.000,6,0.000,0.019,2513,2313,3665,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3544,-0.67,-171.1,370.4,-7.9,226,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2313,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3846,-0.69,-171.1,393.8,-7.6,241,3852,0.00,2.17,0.00,0.000,4,0.000,0.044,2513,3732,3662,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3873,-0.72,-171.1,395.8,-7.6,242,3880,0.00,1.98,0.00,0.000,6,0.000,0.019,2509,2322,3662,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4193,-0.74,-171.1,423.9,-9.1,258,4198,0.00,2.15,0.00,0.000,4,0.000,0.045,2513,3725,3660,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4256,-0.78,-171.1,429.3,-8.8,261,4261,0.00,1.95,0.00,0.000,6,0.000,0.019,2513,2312,3660,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4580,-0.81,-171.1,454.9,-7.8,277,4582,0.10,0.00,0.00,0.000,6,0.096,0.000,2447,2312,3658,0,0,0,0,0,0,26.78,28.83,28.83
$GC,4881,-0.75,-171.1,489.9,-12.1,292,4884,0.17,0.00,-0.10,0.000,6,0.128,0.000,2499,2309,3681,0,0,0,0,0,0,26.42,28.83,25.86
$GC,5179,-0.79,-171.1,515.7,-8.1,307,5185,0.00,2.17,0.00,0.000,4,0.000,0.045,2500,3725,3680,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5263,-0.83,-171.1,522.3,-8.0,311,5268,0.00,1.92,0.00,0.000,6,0.000,0.020,2499,2334,3680,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5587,-0.87,-171.1,546.7,-7.3,327,5593,0.12,2.15,0.00,0.000,4,0.080,0.043,2423,3726,3677,0,0,0,0,0,0,26.75,26.35,28.83
$GC,5666,-0.84,-171.1,554.0,-10.6,330,5674,0.15,1.98,0.00,0.000,6,0.139,0.020,2465,2319,3677,0,0,0,0,0,0,26.27,26.67,28.83
$GC,5971,-0.84,-171.1,585.2,-9.2,346,5976,0.00,2.17,0.00,0.000,4,0.000,0.047,2465,3724,3675,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6015,-0.84,-171.1,589.2,-9.0,348,6020,0.00,1.95,0.00,0.000,6,0.000,0.020,2465,2312,3675,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6350,-0.84,-171.1,618.2,-8.6,361,6356,0.00,2.20,0.00,0.000,4,0.000,0.045,2465,3729,3673,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6384,-0.84,-171.1,621.1,-8.6,362,6389,0.00,1.98,0.00,0.000,6,0.000,0.021,2465,2313,3673,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6718,-0.84,-171.1,648.3,-8.4,373,6723,0.00,2.20,0.00,0.000,4,0.000,0.046,2465,3724,3670,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6771,-0.84,-171.1,651.0,-8.2,374,6776,0.00,1.95,0.00,0.000,6,0.000,0.021,2465,2324,3670,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7085,-0.84,-171.1,678.5,-8.4,385,7090,0.00,2.20,0.00,0.000,4,0.000,0.046,2465,3726,3667,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7132,-0.84,-171.1,681.3,-8.5,386,7137,0.00,1.95,0.00,0.000,6,0.000,0.021,2465,2317,3667,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7450,-0.84,-171.1,708.9,-8.0,397,7455,0.00,2.20,0.00,0.000,4,0.000,0.047,2465,3732,3664,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7483,-0.84,-171.1,711.8,-8.2,398,7489,0.00,1.98,0.00,0.000,6,0.000,0.022,2465,2324,3665,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7818,-0.84,-171.1,739.0,-8.1,409,7824,0.00,1.98,0.00,0.000,4,0.000,0.034,2465,968,3662,0,0,0,0,0,0,28.83,25.38,28.83
$GC,7866,-0.84,-171.1,741.8,-8.1,410,7871,0.00,2.03,0.00,0.000,6,0.000,0.031,2465,2324,3660,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8184,-0.84,-171.1,767.6,-7.8,421,8189,0.00,2.17,0.00,0.000,4,0.000,0.047,2465,3732,3659,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8211,-0.84,-171.1,767.6,-7.8,421,8219,0.00,1.98,0.00,0.000,6,0.000,0.023,2465,2322,3658,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8517,-0.84,-171.1,795.4,-8.5,432,8522,0.00,2.20,0.00,0.000,4,0.000,0.047,2465,3724,3656,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8559,-0.84,-171.1,798.2,-8.6,433,8565,0.00,1.98,0.00,0.000,6,0.000,0.023,2465,2330,3656,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8885,-0.86,-171.1,827.0,-8.5,444,8891,0.00,2.17,0.00,0.000,4,0.000,0.047,2465,3722,3655,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8973,-0.88,-171.1,832.6,-8.5,446,8980,0.00,1.98,0.00,0.000,6,0.000,0.024,2465,2318,3654,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9282,-0.90,-171.1,857.1,-7.1,457,9287,0.00,2.22,0.00,0.000,4,0.000,0.047,2465,3733,3652,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9346,-0.92,-171.1,862.0,-7.2,459,9351,0.00,2.00,0.00,0.000,6,0.000,0.024,2465,2328,3652,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9682,-0.94,-171.1,885.7,-7.5,470,9688,0.00,2.20,0.00,0.000,4,0.000,0.047,2465,3731,3650,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9755,-0.97,-171.1,891.1,-7.9,472,9761,0.12,2.00,0.00,0.000,6,0.083,0.024,2405,2320,3650,0,0,0,0,0,0,26.45,26.60,28.83
$GC,10081,-0.91,-171.1,928.1,-11.0,483,10087,0.12,2.22,0.00,0.000,4,0.159,0.046,2440,3722,3648,0,0,0,0,0,0,26.35,26.11,28.83
$GC,10209,-0.90,-171.1,939.0,-8.5,487,10214,0.00,2.00,0.00,0.000,6,0.000,0.024,2440,2316,3648,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10539,-0.90,-171.1,964.2,-7.8,498,10545,0.00,2.22,0.00,0.000,4,0.000,0.054,2440,3722,3646,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10642,-0.90,-171.1,972.1,-8.1,501,10647,0.00,2.00,0.00,0.000,6,0.000,0.025,2441,2325,3645,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,10872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10872,begin apogee
$GC,10879,-0.20,0.0,992.5,-8.8,509,11036,0.70,0.00,149.55,1.364,6,0.106,0.000,2674,2329,2965,0,0,0,0,0,0,25.66,28.83,23.46
$STATE,11037,end apogee,CONTROL_FINISHED_OK
$STATE,11037,begin climb
$GC,11040,0.38,171.1,999.3,0.0,514,11209,0.50,2.38,157.35,1.317,4,0.040,0.047,2879,3685,2261,0,0,0,0,0,0,24.72,23.89,22.84
$GC,11308,0.25,171.1,983.3,10.4,523,11315,0.22,2.12,0.00,0.000,6,0.142,0.028,2823,2317,2253,0,0,0,0,0,0,24.90,25.20,28.83
$GC,11638,0.21,208.0,960.3,6.3,534,11674,0.00,0.00,33.80,1.277,6,0.000,0.000,2823,2317,2119,0,0,0,0,0,0,28.83,28.83,24.18
$GC,11970,0.18,208.0,935.7,7.9,545,11975,0.00,2.20,0.00,0.000,4,0.000,0.047,2822,3697,2102,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12033,0.13,208.0,929.4,8.9,547,12039,0.15,2.10,0.00,0.000,6,0.146,0.028,2788,2295,2104,0,0,0,0,0,0,25.89,26.17,28.83
$GC,12367,0.13,208.0,904.7,7.4,558,12372,0.00,2.22,0.00,0.000,4,0.000,0.047,2787,3700,2103,0,0,0,0,0,0,28.83,26.17,28.83
$GC,12419,0.13,208.0,901.8,7.7,559,12425,0.00,2.10,0.00,0.000,6,0.000,0.028,2787,2296,2102,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12733,0.13,208.0,874.6,8.1,570,12739,0.00,2.22,0.00,0.000,4,0.000,0.047,2787,3705,2102,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,22816,end climb,SURFACE_DEPTH_REACHED
$STATE,22817,begin surface coast
$FINISH,0.8,1.010920
$STATE,22838,end surface coast,CONTROL_FINISHED_OK
$STATE,22838,begin surface
$SM_CCo,22916,0.00,0.000,0,0,1116,454.30
$SM_GC,1.66,7.40,0.00,0.00,0.031,0.000,0.000,129,2306,1116,-8.10,-0.54,454.30,0,0,0,0,0,0,26.39,28.83,28.83
$IRIDIUM_FIX,2340.34,12356.43,061112,151525
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.40
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,26.20
$XPDR_PINGS,14
$24V_AH,22.8,29.345
$10V_AH,9.7,18.360
$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,21.800,213.250,562.775,0.000,0.000,0.000,0.000,264.925,3.500,0.000,5.907,3405.053,15942.386,760.797,2802.242,450.222,0.000,2419.365,0.000,2438.574,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,59.670,1363.995,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22859.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.133,0.000,0.000,0.000
$MEM,329588
$DATA_FILE_SIZE,40019,1053
$CAP_FILE_SIZE,254988,0
$CFSIZE,260165632,238411776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142,154.5,1
$GPS,071112,040728,2335.770,12354.240,37,1.2,41,-3.8