version: 66.11
glider: 167
mission: 14
dive: 143
start: 11 13 112 23 32 23
data:
$ID,167
$MISSION,14
$DIVE,143
$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,475
$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,400
$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,-968712.06
$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,2670
$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,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,48
$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
$GPS1,131112,232206,2225.710,12348.391,29,0.9,29,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-64.7
$GPS2,131112,233153,2225.712,12348.306,7,0.8,7,-3.5
$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,148.5,105127,-12.5,-7.333,-16.34
$D_GRID,5161
$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,-52.05,0.000,2,0.000,0.000,109,2466,2535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.38,-171.1,3.2,-5.8,9,120,9.70,2.20,-27.80,0.000,4,0.226,0.047,2537,1042,3668,0,0,0,0,0,0,25.39,26.13,25.79
$GC,238,-0.32,-171.1,25.2,-15.0,38,245,0.12,2.12,0.00,0.000,6,0.143,0.042,2567,2428,3669,0,0,0,0,0,0,25.94,26.10,28.83
$GC,555,-0.30,-171.1,65.4,-12.1,64,560,0.00,2.05,0.00,0.000,4,0.000,0.047,2561,3770,3669,0,0,0,0,0,0,28.83,26.24,28.83
$GC,588,-0.28,-171.1,68.3,-12.0,65,593,0.00,1.90,0.00,0.000,6,0.000,0.018,2558,2419,3669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,901,-0.26,-171.1,108.3,-11.4,81,906,0.00,1.95,0.00,0.000,4,0.000,0.029,2561,1057,3669,0,0,0,0,0,0,28.83,26.46,28.83
$GC,984,-0.26,-171.1,116.8,-10.1,85,989,0.00,2.10,0.00,0.000,6,0.000,0.034,2561,2473,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1307,-0.30,-171.1,142.9,-5.4,101,1313,0.00,1.95,0.00,0.000,4,0.000,0.047,2561,3756,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1340,-0.33,-171.1,144.2,-5.5,102,1347,0.00,1.83,0.00,0.000,6,0.000,0.018,2561,2429,3669,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1656,-0.39,-171.1,169.2,-6.3,118,1661,0.00,1.92,0.00,0.000,4,0.000,0.028,2561,1080,3669,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1709,-0.46,-171.1,171.8,-5.8,120,1715,0.12,2.05,0.00,0.000,6,0.078,0.032,2476,2463,3669,0,0,0,0,0,0,26.48,26.50,28.83
$GC,2023,-0.39,-171.1,210.2,-12.1,136,2025,0.22,0.00,0.00,0.000,6,0.128,0.000,2543,2463,3670,0,0,0,0,0,0,26.27,28.83,28.83
$GC,2325,-0.44,-171.1,232.2,-7.7,151,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2463,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-0.49,-171.1,254.3,-7.6,166,2630,0.00,2.00,0.00,0.000,4,0.000,0.030,2543,1080,3669,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2673,-0.54,-171.1,257.8,-7.7,168,2679,0.15,2.03,0.00,0.000,6,0.069,0.032,2451,2455,3669,0,0,0,0,0,0,26.51,26.48,28.83
$GC,2992,-0.46,-171.1,302.2,-14.5,184,2998,0.20,2.00,0.00,0.000,4,0.135,0.028,2516,1081,3668,0,0,0,0,0,0,26.27,26.55,28.83
$GC,3031,-0.39,-171.1,305.3,-14.2,185,3039,0.00,2.05,0.00,0.000,6,0.000,0.034,2516,2460,3668,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3336,-0.41,-171.1,333.4,-8.5,201,3342,0.00,1.98,0.00,0.000,4,0.000,0.047,2516,3762,3667,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3375,-0.43,-171.1,335.3,-8.4,202,3382,0.00,1.83,0.00,0.000,6,0.000,0.019,2516,2441,3667,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3681,-0.46,-171.1,359.5,-7.3,218,3686,0.00,1.95,0.00,0.000,4,0.000,0.028,2516,1073,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3765,-0.49,-171.1,366.1,-7.9,222,3770,0.00,2.05,0.00,0.000,6,0.000,0.032,2516,2454,3665,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4088,-0.53,-171.1,391.7,-7.4,238,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2454,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4393,-0.56,-171.1,411.5,-6.4,253,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2453,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4691,-0.60,-171.1,432.2,-7.2,268,4693,0.12,0.00,0.00,0.000,6,0.080,0.000,2438,2454,3661,0,0,0,0,0,0,26.77,28.83,28.83
$GC,4990,-0.53,-171.1,468.9,-11.4,283,4995,0.17,2.00,0.00,0.000,4,0.132,0.047,2494,3760,3660,0,0,0,0,0,0,26.36,26.35,28.83
$GC,5034,-0.51,-171.1,473.1,-10.4,285,5039,0.00,1.83,0.00,0.000,6,0.000,0.020,2494,2445,3660,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5358,-0.53,-171.1,494.7,-6.8,301,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2445,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5660,-0.55,-171.1,517.4,-8.1,316,5665,0.00,1.98,0.00,0.000,4,0.000,0.031,2494,1075,3657,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5717,-0.58,-171.1,521.2,-8.1,318,5725,0.00,2.05,0.00,0.000,6,0.000,0.032,2494,2444,3657,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6023,-0.60,-171.1,546.7,-7.7,334,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2444,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6326,-0.63,-171.1,568.1,-6.8,349,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2444,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6627,-0.66,-171.1,588.8,-6.8,364,6629,0.12,0.00,0.00,0.000,6,0.082,0.000,2423,2444,3651,0,0,0,0,0,0,26.74,28.83,28.83
$GC,6926,-0.60,-171.1,620.6,-10.8,376,6931,0.15,2.03,0.00,0.000,4,0.144,0.047,2467,3756,3649,0,0,0,0,0,0,26.36,26.28,28.83
$GC,6954,-0.54,-171.1,620.6,-10.8,376,6961,0.00,1.85,0.00,0.000,6,0.000,0.021,2467,2437,3649,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7259,-0.54,-171.1,649.5,-8.5,387,7265,0.00,1.98,0.00,0.000,4,0.000,0.028,2467,1076,3647,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7337,-0.54,-171.1,655.0,-8.5,389,7343,0.00,2.05,0.00,0.000,6,0.000,0.033,2467,2449,3646,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7656,-0.54,-171.1,682.0,-7.8,400,7661,0.00,2.03,0.00,0.000,4,0.000,0.050,2467,3762,3645,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7683,-0.54,-171.1,682.0,-7.8,400,7690,0.00,1.85,0.00,0.000,6,0.000,0.021,2467,2442,3644,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7989,-0.54,-171.1,708.0,-7.8,411,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2442,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8289,-0.54,-171.1,731.3,-7.7,421,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2442,3641,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8589,-0.54,-171.1,753.5,-7.3,431,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2442,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8889,-0.54,-171.1,773.8,-6.6,441,8895,0.00,1.98,0.00,0.000,4,0.000,0.028,2467,1085,3637,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8962,-0.54,-171.1,778.3,-6.8,443,8968,0.00,2.05,0.00,0.000,6,0.000,0.034,2467,2450,3638,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9287,-0.54,-171.1,798.8,-5.9,454,9294,0.10,2.05,0.00,0.000,4,0.158,0.050,2495,3766,3634,0,0,0,0,0,0,26.57,26.15,28.83
$GC,9379,-0.57,-171.1,802.3,-5.7,456,9386,0.00,1.88,0.00,0.000,6,0.000,0.024,2494,2446,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9684,-0.63,-171.1,820.0,-5.6,467,9690,0.00,2.00,0.00,0.000,4,0.000,0.029,2494,1070,3633,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9749,-0.69,-171.1,824.3,-6.2,469,9756,0.15,2.10,0.00,0.000,6,0.073,0.034,2423,2458,3632,0,0,0,0,0,0,26.31,26.31,28.83
$GC,10086,-0.65,-171.1,857.8,-9.8,480,10092,0.12,2.05,0.00,0.000,4,0.151,0.028,2463,1076,3630,0,0,0,0,0,0,26.40,26.25,28.83
$GC,10121,-0.63,-171.1,861.0,-9.6,481,10126,0.00,2.08,0.00,0.000,6,0.000,0.034,2463,2449,3630,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10456,-0.63,-171.1,884.6,-6.9,492,10461,0.00,2.05,0.00,0.000,4,0.000,0.051,2463,3757,3628,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10479,-0.63,-171.1,884.6,-6.9,492,10484,0.00,1.88,0.00,0.000,6,0.000,0.023,2463,2441,3628,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10794,-0.65,-171.1,907.7,-6.8,503,10799,0.00,2.00,0.00,0.000,4,0.000,0.028,2463,1066,3626,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10832,-0.67,-171.1,910.3,-6.9,504,10838,0.00,2.10,0.00,0.000,6,0.000,0.034,2462,2456,3626,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11163,-0.69,-171.1,931.5,-6.2,515,11169,0.00,2.05,0.00,0.000,4,0.000,0.051,2463,3760,3625,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11192,-0.70,-171.1,931.5,-6.2,515,11199,0.00,1.88,0.00,0.000,6,0.000,0.024,2463,2452,3624,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11500,-0.72,-171.1,952.6,-6.2,526,11506,0.00,2.03,0.00,0.000,4,0.000,0.028,2458,1065,3623,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11529,-0.75,-171.1,952.6,-6.2,526,11536,0.00,2.10,0.00,0.000,6,0.000,0.037,2463,2446,3624,0,0,0,0,0,0,28.83,24.91,28.83
$GC,11837,-0.77,-171.1,973.3,-6.2,537,11839,0.12,0.00,0.00,0.000,6,0.086,0.000,2399,2446,3622,0,0,0,0,0,0,26.69,28.83,28.83
$STATE,12011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12011,begin apogee
$GC,12018,-0.20,0.0,991.1,-10.4,543,12174,0.62,0.00,147.77,1.370,6,0.120,0.000,2599,2289,2964,0,0,0,0,0,0,25.46,28.83,23.12
$STATE,12176,end apogee,CONTROL_FINISHED_OK
$STATE,12176,begin climb
$GC,12178,0.38,171.1,997.9,0.0,548,12348,0.55,2.25,159.45,1.287,4,0.073,0.032,2789,947,2261,0,0,0,0,0,0,24.49,23.88,22.67
$GC,12366,0.41,314.6,995.4,3.2,554,12513,0.00,2.22,136.90,1.215,6,0.000,0.031,2789,2308,1679,0,0,0,0,0,0,28.83,24.37,22.63
$GC,12838,0.55,331.6,965.2,6.8,570,12861,0.15,2.30,14.80,1.213,4,0.075,0.050,2860,3699,1611,0,0,0,0,0,0,25.98,25.56,24.30
$GC,12915,0.62,331.6,959.8,7.6,572,12920,0.00,2.10,0.00,0.000,6,0.000,0.027,2867,2323,1608,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13236,0.59,331.6,925.3,10.6,583,13241,0.00,2.17,0.00,0.000,4,0.000,0.037,2869,903,1606,0,0,0,0,0,0,28.83,26.15,28.83
$GC,13318,0.56,331.6,918.3,10.6,585,13324,0.00,2.12,0.00,0.000,6,0.000,0.031,2869,2308,1606,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,23909,end climb,SURFACE_DEPTH_REACHED
$STATE,23909,begin surface coast
$FINISH,0.7,1.009682
$STATE,23936,end surface coast,CONTROL_FINISHED_OK
$STATE,23936,begin surface
$SM_CCo,24014,0.00,0.000,0,0,859,517.09
$SM_GC,1.70,7.12,0.20,0.00,0.022,0.064,0.000,114,2461,859,-7.88,-1.27,517.09,0,0,0,0,0,0,26.46,26.52,28.83
$IRIDIUM_FIX,2216.01,12346.58,131112,232310
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.68
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.90
$XPDR_PINGS,12
$24V_AH,22.6,34.149
$10V_AH,9.7,22.493
$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,21.525,201.950,572.625,0.000,0.000,0.000,0.000,337.675,3.000,0.000,11.160,3421.983,17110.604,753.707,2835.195,475.100,0.000,2470.963,0.000,2400.684,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,64.260,1370.115,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23957.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.350,0.000,0.000,0.000
$MEM,329640
$DATA_FILE_SIZE,40014,1100
$CAP_FILE_SIZE,265184,0
$CFSIZE,260165632,235466752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.147,244.8,1
$GPS,141112,061359,2222.011,12348.232,39,1.1,39,-3.4