version: 66.11
glider: 167
mission: 14
dive: 126
start: 11 9 112 3 41 25
data:
$ID,167
$MISSION,14
$DIVE,126
$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,500
$T_MISSION,540
$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,150
$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,-968664.75
$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,69
$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
$GPS1,091112,033336,2308.883,12350.235,42,0.9,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-66.9
$GPS2,091112,034058,2308.907,12350.152,5,0.9,5,-3.6
$SPEED_LIMITS,0.114,0.225
$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,148.1,183960,-12.3,-6.600,-16.33
$D_GRID,5935
$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,-0.37,-146.6,0.0,0.0,0,73,0.00,0.00,-52.12,0.000,2,0.000,0.000,112,2286,2537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.37,-146.6,3.2,-6.6,9,120,10.00,1.98,-26.02,0.000,4,0.227,0.040,2615,928,3565,0,0,0,0,0,0,25.48,26.19,26.55
$GC,139,-0.41,-146.6,8.3,-7.9,19,146,0.00,2.08,0.00,0.000,6,0.000,0.028,2615,2324,3566,0,0,0,0,0,0,28.83,26.16,28.83
$GC,451,-0.46,-146.6,33.3,-8.3,70,456,0.00,2.15,0.00,0.000,4,0.000,0.046,2615,3729,3566,0,0,0,0,0,0,28.83,26.22,28.83
$GC,538,-0.53,-146.6,39.9,-7.9,78,545,0.12,2.03,0.00,0.000,6,0.075,0.021,2529,2301,3566,0,0,0,0,0,0,26.39,26.44,28.83
$GC,855,-0.42,-146.6,90.2,-16.5,98,860,0.20,1.95,0.00,0.000,4,0.135,0.028,2595,946,3566,0,0,0,0,0,0,26.21,26.46,28.83
$GC,894,-0.34,-146.6,93.2,-15.6,99,901,0.12,2.05,0.00,0.000,6,0.128,0.033,2635,2332,3566,0,0,0,0,0,0,26.27,26.44,28.83
$GC,1199,-0.57,-146.6,114.1,-8.3,115,1205,0.22,2.12,0.00,0.000,4,0.076,0.043,2541,3739,3566,0,0,0,0,0,0,26.53,26.41,28.83
$GC,1218,-0.79,-146.6,114.1,-8.3,115,1225,0.15,1.98,0.00,0.000,6,0.073,0.018,2451,2312,3566,0,0,0,0,0,0,26.53,26.64,28.83
$GC,1524,-0.65,-146.6,169.3,-16.4,131,1529,0.22,2.17,0.00,0.000,4,0.142,0.043,2518,3730,3566,0,0,0,0,0,0,26.17,26.41,28.83
$GC,1571,-0.55,-146.6,174.9,-15.0,133,1578,0.15,1.95,0.00,0.000,6,0.125,0.018,2563,2321,3566,0,0,0,0,0,0,26.34,26.67,28.83
$GC,1891,-0.60,-146.6,195.9,-7.0,149,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2322,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2194,-0.64,-146.6,220.5,-8.6,164,2199,0.00,2.15,0.00,0.000,4,0.000,0.044,2562,3729,3567,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2238,-0.70,-146.6,224.3,-8.4,166,2244,0.15,1.98,0.00,0.000,6,0.067,0.018,2465,2298,3566,0,0,0,0,0,0,26.61,26.72,28.83
$GC,2564,-0.60,-146.6,269.5,-14.1,182,2571,0.22,1.88,0.00,0.000,4,0.129,0.030,2539,969,3566,0,0,0,0,0,0,26.27,26.02,28.83
$GC,2614,-0.55,-146.6,274.1,-11.6,184,2619,0.00,1.98,0.00,0.000,6,0.000,0.027,2540,2330,3566,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2932,-0.58,-146.6,298.0,-7.3,200,2938,0.00,2.12,0.00,0.000,4,0.000,0.044,2539,3733,3566,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3005,-0.62,-146.6,302.5,-7.4,203,3011,0.00,1.92,0.00,0.000,6,0.000,0.018,2546,2332,3565,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3319,-0.65,-146.6,327.1,-7.6,219,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2333,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3622,-0.69,-146.6,346.4,-5.8,234,3627,0.00,2.15,0.00,0.000,4,0.000,0.045,2540,3731,3563,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3666,-0.74,-146.6,349.1,-5.7,236,3672,0.12,1.95,0.00,0.000,6,0.077,0.018,2460,2302,3563,0,0,0,0,0,0,26.60,26.72,28.83
$GC,3990,-0.66,-146.6,389.7,-14.0,252,3996,0.20,1.88,0.00,0.000,4,0.129,0.022,2526,969,3562,0,0,0,0,0,0,26.35,26.60,28.83
$GC,4044,-0.62,-146.6,394.3,-12.0,254,4049,0.00,2.00,0.00,0.000,6,0.000,0.036,2532,2336,3562,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4357,-0.66,-146.6,417.2,-6.0,270,4362,0.00,2.10,0.00,0.000,4,0.000,0.045,2526,3723,3560,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4395,-0.70,-146.6,418.5,-5.8,271,4402,0.00,1.92,0.00,0.000,6,0.000,0.019,2526,2322,3560,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4701,-0.74,-146.6,436.6,-6.7,287,4706,0.00,2.15,0.00,0.000,4,0.000,0.044,2526,3723,3559,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4793,-0.79,-146.6,443.4,-8.2,291,4800,0.12,1.92,0.00,0.000,6,0.076,0.018,2450,2319,3558,0,0,0,0,0,0,26.59,26.71,28.83
$GC,5108,-0.72,-146.6,486.2,-12.8,307,5111,0.20,0.00,-0.10,0.000,6,0.126,0.000,2511,2320,3581,0,0,0,0,0,0,26.36,28.83,25.85
$GC,5409,-0.75,-146.6,506.2,-5.1,322,5415,0.00,2.17,0.00,0.000,4,0.000,0.045,2510,3732,3581,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5447,-0.79,-146.6,507.4,-5.0,323,5454,0.00,1.95,0.00,0.000,6,0.000,0.019,2510,2319,3581,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5753,-0.83,-146.6,525.2,-6.6,339,5755,0.10,0.00,0.00,0.000,6,0.095,0.000,2443,2319,3579,0,0,0,0,0,0,26.77,28.83,28.83
$GC,6054,-0.77,-146.6,559.3,-11.1,354,6056,0.17,0.00,0.00,0.000,6,0.130,0.000,2495,2319,3577,0,0,0,0,0,0,26.41,28.83,28.83
$GC,6356,-0.79,-146.6,582.8,-7.4,369,6361,0.00,2.17,0.00,0.000,4,0.000,0.046,2495,3725,3576,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6413,-0.81,-146.6,586.2,-7.1,371,6420,0.00,1.95,0.00,0.000,6,0.000,0.020,2495,2325,3576,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6741,-0.84,-146.6,608.1,-6.3,386,6747,0.00,2.17,0.00,0.000,4,0.000,0.046,2495,3722,3574,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6799,-0.87,-146.6,610.5,-6.5,387,6806,0.12,1.95,0.00,0.000,6,0.080,0.020,2427,2316,3573,0,0,0,0,0,0,26.56,26.70,28.83
$GC,7107,-0.81,-146.6,641.7,-9.8,398,7113,0.15,2.20,0.00,0.000,4,0.140,0.044,2475,3732,3571,0,0,0,0,0,0,26.39,26.32,28.83
$GC,7207,-0.79,-146.6,649.0,-8.1,401,7213,0.00,1.95,0.00,0.000,6,0.000,0.021,2475,2337,3570,0,0,0,0,0,0,28.83,26.69,28.83
$GC,7538,-0.79,-146.6,672.8,-7.1,412,7543,0.00,2.17,0.00,0.000,4,0.000,0.053,2476,3721,3569,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7611,-0.79,-146.6,677.9,-7.6,414,7616,0.00,1.98,0.00,0.000,6,0.000,0.030,2476,2322,3569,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7936,-0.79,-146.6,705.5,-8.4,425,7941,0.00,2.20,0.00,0.000,4,0.000,0.047,2477,3722,3566,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8023,-0.79,-146.6,710.9,-8.4,427,8030,0.00,2.00,0.00,0.000,6,0.000,0.021,2476,2312,3566,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8329,-0.79,-146.6,735.6,-7.0,438,8334,0.00,2.20,0.00,0.000,4,0.000,0.047,2476,3721,3563,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8436,-0.79,-146.6,742.3,-7.2,441,8442,0.00,1.98,0.00,0.000,6,0.000,0.022,2476,2330,3562,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8756,-0.79,-146.6,768.4,-8.0,452,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2328,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9055,-0.79,-146.6,789.7,-6.5,462,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2327,3559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9356,-0.79,-146.6,806.1,-5.3,472,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2328,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9656,-0.80,-146.6,823.8,-6.3,482,9661,0.00,2.17,0.00,0.000,4,0.000,0.048,2476,3720,3556,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9683,-0.82,-146.6,823.8,-6.3,482,9691,0.00,1.98,0.00,0.000,6,0.000,0.024,2475,2333,3555,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9991,-0.84,-146.6,846.9,-7.0,493,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2333,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10290,-0.86,-146.6,868.9,-7.4,503,10295,0.00,2.17,0.00,0.000,4,0.000,0.048,2475,3721,3552,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10328,-0.88,-146.6,871.4,-7.4,504,10334,0.00,2.03,0.00,0.000,6,0.000,0.028,2476,2314,3551,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10658,-0.90,-146.6,896.9,-7.5,515,10664,0.00,2.22,0.00,0.000,4,0.000,0.048,2476,3731,3550,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10706,-0.93,-146.6,899.7,-7.6,516,10712,0.10,2.05,0.00,0.000,6,0.093,0.025,2422,2328,3550,0,0,0,0,0,0,26.44,26.55,28.83
$GC,11028,-0.88,-146.6,932.6,-10.0,527,11034,0.12,2.22,0.00,0.000,4,0.149,0.047,2462,3729,3549,0,0,0,0,0,0,26.39,26.08,28.83
$GC,11066,-0.84,-146.6,936.0,-9.7,528,11072,0.00,2.03,0.00,0.000,6,0.000,0.025,2461,2314,3548,0,0,0,0,0,0,28.83,26.57,28.83
$GC,11399,-0.84,-146.6,961.5,-7.6,539,11404,0.00,2.22,0.00,0.000,4,0.000,0.048,2461,3726,3547,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11465,-0.84,-146.6,966.5,-7.5,541,11471,0.00,2.03,0.00,0.000,6,0.000,0.024,2461,2313,3547,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11796,-0.84,-146.6,989.4,-6.7,552,11801,0.00,2.25,0.00,0.000,4,0.000,0.048,2462,3728,3546,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,11827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11828,begin apogee
$GC,11835,-0.20,0.0,991.7,-6.7,553,11975,0.62,0.00,129.02,1.354,6,0.100,0.000,2675,2294,2963,0,0,0,0,0,0,25.75,28.83,23.58
$STATE,11976,end apogee,CONTROL_FINISHED_OK
$STATE,11976,begin climb
$GC,11979,0.37,146.6,996.2,0.0,557,12126,0.50,2.33,133.98,1.265,4,0.039,0.038,2891,931,2364,0,0,0,0,0,0,24.90,23.96,22.88
$GC,12188,0.21,146.6,988.3,7.3,564,12196,0.30,2.17,0.00,0.000,6,0.130,0.031,2807,2296,2356,0,0,0,0,0,0,24.68,24.92,28.83
$GC,12496,0.16,146.6,964.7,6.8,575,12501,0.00,2.25,0.00,0.000,4,0.000,0.049,2807,3710,2351,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12650,0.09,146.6,952.8,7.8,580,12656,0.15,2.10,0.00,0.000,6,0.148,0.028,2768,2307,2349,0,0,0,0,0,0,25.86,26.18,28.83
$GC,12985,0.11,204.6,936.4,4.8,591,13045,0.00,2.38,53.97,1.227,4,0.000,0.048,2768,3697,2126,0,0,0,0,0,0,28.83,25.15,24.13
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$STATE,23852,end climb,SURFACE_DEPTH_REACHED
$STATE,23852,begin surface coast
$FINISH,1.0,1.022773
$STATE,23883,end surface coast,CONTROL_FINISHED_OK
$STATE,23883,begin surface
$SM_CCo,23961,0.00,0.000,0,0,1168,441.54
$SM_GC,1.66,7.15,0.00,0.00,0.031,0.000,0.000,120,2315,1168,-8.10,-0.28,441.54,0,0,0,0,0,0,26.50,28.83,28.83
$IRIDIUM_FIX,2302.75,12351.16,081112,202018
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.07
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,26.10
$XPDR_PINGS,15
$24V_AH,22.9,30.944
$10V_AH,10.0,19.680
$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,23.250,192.200,544.375,0.000,0.000,0.000,0.000,248.075,3.750,0.000,5.919,3444.655,17003.830,730.862,2753.508,458.375,0.000,2344.499,0.000,2415.999,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,52.785,1354.050,0.000,0.000,0.000,0.000,131.580,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23918.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.208,0.000,0.000,0.000
$MEM,329564
$DATA_FILE_SIZE,39992,1109
$CAP_FILE_SIZE,261253,0
$CFSIZE,260165632,237461504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,268.8,1
$GPS,091112,102206,2305.756,12351.081,36,1.0,36,-3.6