version: 66.11
glider: 167
mission: 14
dive: 178
start: 11 22 112 12 2 34
data:
$ID,167
$MISSION,14
$DIVE,178
$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,380
$T_MISSION,400
$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,-968801.12
$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,2660
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$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,69
$R_STBD_OVSHOOT,37
$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
$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
$GPS1,221112,115535,2152.982,12326.719,42,1.1,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.8
$GPS2,221112,120206,2152.992,12326.729,4,1.1,4,-3.3
$SPEED_LIMITS,0.150,0.266
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,331.0,243997,-14.8,-8.684,-18.08
$D_GRID,4677
$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,17,begin dive
$GC,19,-0.56,-171.1,0.0,0.0,0,104,0.00,0.00,-82.07,0.000,2,0.000,0.000,108,2452,2636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.56,-171.1,3.1,-3.7,8,150,9.40,2.08,-24.50,0.000,4,0.223,0.044,2474,1062,3666,0,0,0,0,0,0,25.30,26.21,26.63
$GC,340,-0.54,-171.1,42.7,-19.1,30,347,0.00,2.10,0.00,0.000,6,0.000,0.040,2474,2449,3667,0,0,0,0,0,0,28.83,26.29,28.83
$GC,656,-0.51,-171.1,100.9,-17.9,48,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2450,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,957,-0.50,-171.1,152.1,-12.6,63,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2450,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.49,-171.1,186.3,-12.8,78,1263,0.00,1.98,0.00,0.000,4,0.000,0.044,2467,3765,3666,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1305,-0.48,-171.1,192.5,-13.2,80,1311,0.15,1.85,0.00,0.000,6,0.131,0.019,2510,2434,3667,0,0,0,0,0,0,26.29,26.64,28.83
$GC,1625,-0.49,-171.1,226.2,-9.1,96,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2434,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1926,-0.51,-171.1,252.9,-9.8,111,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2434,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2227,-0.52,-171.1,280.6,-7.2,126,2232,0.00,1.95,0.00,0.000,4,0.000,0.030,2510,1071,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2280,-0.54,-171.1,283.7,-6.8,128,2285,0.00,2.05,0.00,0.000,6,0.000,0.034,2508,2452,3665,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2593,-0.56,-171.1,305.7,-7.5,144,2599,0.00,1.98,0.00,0.000,4,0.000,0.045,2509,3763,3664,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2640,-0.58,-171.1,308.8,-7.3,146,2646,0.10,1.85,0.00,0.000,6,0.093,0.019,2438,2446,3665,0,0,0,0,0,0,26.55,26.67,28.83
$GC,2960,-0.56,-171.1,352.5,-18.1,162,2966,0.12,1.98,0.00,0.000,4,0.144,0.028,2479,1071,3663,0,0,0,0,0,0,26.46,26.55,28.83
$GC,3070,-0.57,-171.1,370.1,-16.3,167,3075,0.00,2.05,0.00,0.000,6,0.000,0.034,2479,2451,3663,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3388,-0.58,-171.1,404.6,-8.2,183,3394,0.00,2.00,0.00,0.000,4,0.000,0.047,2479,3763,3661,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3539,-0.59,-171.1,415.8,-7.8,190,3544,0.00,1.83,0.00,0.000,6,0.000,0.020,2479,2450,3660,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3858,-0.60,-171.1,445.7,-10.3,206,3863,0.00,2.03,0.00,0.000,4,0.000,0.048,2480,3759,3658,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3885,-0.61,-171.1,448.4,-10.7,207,3891,0.00,1.83,0.00,0.000,6,0.000,0.020,2479,2443,3658,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4204,-0.63,-171.1,481.4,-9.0,223,4210,0.00,1.98,-0.08,0.000,4,0.000,0.039,2479,1073,3687,0,0,0,0,0,0,28.83,26.53,25.70
$GC,4249,-0.64,-171.1,484.8,-8.1,225,4254,0.00,2.05,0.00,0.000,6,0.000,0.032,2479,2451,3687,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4574,-0.66,-171.1,504.8,-6.3,241,4579,0.00,2.00,0.00,0.000,4,0.000,0.048,2479,3762,3685,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4618,-0.67,-171.1,508.0,-6.8,243,4624,0.12,1.83,0.00,0.000,6,0.080,0.020,2408,2434,3685,0,0,0,0,0,0,26.55,26.67,28.83
$GC,4943,-0.66,-171.1,553.5,-15.9,259,4945,0.15,0.00,0.00,0.000,6,0.144,0.000,2450,2433,3683,0,0,0,0,0,0,26.39,28.83,28.83
$GC,5243,-0.66,-171.1,587.9,-10.1,274,5249,0.00,1.92,0.00,0.000,4,0.000,0.027,2450,1087,3681,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5297,-0.66,-171.1,592.4,-10.1,276,5302,0.00,2.03,0.00,0.000,6,0.000,0.032,2450,2449,3681,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5612,-0.67,-171.1,626.5,-11.2,288,5617,0.00,2.00,0.00,0.000,4,0.000,0.028,2450,1087,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5705,-0.68,-171.1,638.1,-12.1,291,5711,0.00,2.05,0.00,0.000,6,0.000,0.034,2450,2455,3678,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6042,-0.68,-171.1,668.0,-6.8,302,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2456,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6340,-0.69,-171.1,692.2,-9.1,312,6345,0.00,2.03,0.00,0.000,4,0.000,0.050,2450,3758,3674,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6407,-0.70,-171.1,698.3,-9.5,314,6412,0.00,1.83,0.00,0.000,6,0.000,0.022,2450,2458,3674,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6738,-0.71,-171.1,725.2,-7.2,325,6743,0.00,2.03,0.00,0.000,4,0.000,0.050,2450,3756,3671,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6785,-0.73,-171.1,727.6,-7.0,326,6791,0.00,1.85,0.00,0.000,6,0.000,0.021,2450,2439,3670,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7106,-0.74,-171.1,748.3,-6.4,337,7112,0.00,2.08,0.00,0.000,4,0.000,0.053,2450,3762,3668,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7175,-0.75,-171.1,753.1,-6.9,339,7180,0.00,1.85,0.00,0.000,6,0.000,0.023,2450,2451,3667,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7505,-0.76,-171.1,782.0,-9.6,350,7511,0.12,2.05,0.00,0.000,4,0.086,0.048,2379,3759,3665,0,0,0,0,0,0,26.68,26.23,28.83
$GC,7541,-0.77,-171.1,786.9,-10.5,351,7547,0.15,1.88,0.00,0.000,6,0.148,0.023,2420,2444,3664,0,0,0,0,0,0,26.15,26.61,28.83
$GC,7874,-0.77,-171.1,828.8,-12.3,362,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2444,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8175,-0.77,-171.1,862.0,-10.5,372,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2443,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8474,-0.77,-171.1,892.1,-9.6,382,8479,0.00,2.00,0.00,0.000,4,0.000,0.028,2420,1068,3658,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8532,-0.77,-171.1,895.3,-9.6,383,8539,0.00,2.10,0.00,0.000,6,0.000,0.040,2419,2453,3658,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8837,-0.77,-171.1,925.8,-8.9,394,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2453,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9137,-0.77,-171.1,950.9,-8.0,404,9143,0.00,2.05,0.00,0.000,4,0.000,0.052,2420,3766,3655,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9205,-0.77,-171.1,955.9,-7.8,406,9210,0.00,1.88,0.00,0.000,6,0.000,0.024,2419,2452,3655,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9535,-0.77,-171.1,981.9,-8.0,417,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2450,3653,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9650,begin apogee
$GC,9657,-0.27,0.0,991.6,-8.1,421,9893,0.45,0.00,227.62,1.088,6,0.118,0.000,2567,2290,2963,0,0,0,0,0,0,25.81,28.83,23.07
$STATE,9894,end apogee,CONTROL_FINISHED_OK
$STATE,9894,begin climb
$GC,9897,0.56,171.1,1000.5,0.0,429,10080,0.80,2.28,173.57,1.239,4,0.080,0.033,2833,937,2260,0,0,0,0,0,0,24.36,23.89,22.58
$GC,10165,0.57,210.4,988.3,7.3,437,10212,0.00,2.17,38.83,1.159,6,0.000,0.037,2833,2307,2104,0,0,0,0,0,0,28.83,25.08,23.22
$GC,10531,0.57,210.4,952.2,9.6,450,10532,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2307,2082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10830,0.57,210.4,921.6,10.1,460,10835,0.00,2.22,0.00,0.000,4,0.000,0.050,2833,3707,2081,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10887,0.57,210.4,918.1,10.1,461,10894,0.00,2.05,0.00,0.000,6,0.000,0.028,2833,2328,2080,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11194,0.57,210.4,887.4,8.9,472,11199,0.00,2.15,0.00,0.000,4,0.000,0.037,2833,908,2079,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11242,0.57,210.4,884.5,8.8,473,11248,0.00,2.10,0.00,0.000,6,0.000,0.032,2833,2308,2079,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11563,0.58,243.5,858.3,7.6,484,11598,0.00,0.00,33.17,1.115,6,0.000,0.000,2833,2308,1976,0,0,0,0,0,0,28.83,28.83,24.32
$GC,11892,0.61,310.9,835.8,6.4,495,11989,0.00,2.25,90.05,1.064,4,0.000,0.034,2834,903,1693,0,0,0,0,0,0,28.83,25.03,23.93
$GC,12022,0.64,370.3,827.7,6.7,499,12096,0.00,2.17,66.05,1.037,6,0.000,0.034,2834,2299,1450,0,0,0,0,0,0,28.83,25.43,23.57
$GC,12405,0.67,390.8,799.3,8.0,512,12434,0.12,2.25,18.70,1.114,4,0.083,0.036,2905,905,1361,0,0,0,0,0,0,26.20,25.66,24.34
$GC,12457,0.68,393.0,796.3,8.6,513,12463,0.00,2.15,0.00,0.000,6,0.000,0.031,2905,2305,1353,0,0,0,0,0,0,28.83,25.81,28.83
$GC,12773,0.68,393.0,749.9,14.0,524,12779,0.00,2.12,0.00,0.000,4,0.000,0.035,2905,910,1348,0,0,0,0,0,0,28.83,26.19,28.83
$GC,12802,0.67,393.0,749.9,14.0,524,12808,0.00,2.10,0.00,0.000,6,0.000,0.031,2905,2303,1350,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13107,0.67,393.0,705.5,12.3,535,13113,0.00,2.20,0.00,0.000,4,0.000,0.050,2905,3706,1347,0,0,0,0,0,0,28.83,26.22,28.83
$GC,13142,0.67,393.0,701.2,12.3,536,13147,0.00,2.10,0.00,0.000,6,0.000,0.028,2905,2296,1346,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13476,0.67,393.0,663.2,11.4,547,13481,0.00,2.08,0.00,0.000,4,0.000,0.037,2905,911,1346,0,0,0,0,0,0,28.83,26.34,28.83
$GC,13519,0.67,393.0,659.3,11.3,548,13524,0.00,2.10,0.00,0.000,6,0.000,0.031,2905,2301,1346,0,0,0,0,0,0,28.83,26.38,28.83
$GC,13843,0.67,393.0,621.0,11.0,559,13844,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2301,1345,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20116,end climb,SURFACE_DEPTH_REACHED
$STATE,20116,begin surface coast
$FINISH,0.8,1.021618
$STATE,20148,end surface coast,CONTROL_FINISHED_OK
$STATE,20148,begin surface
$SM_CCo,20228,0.00,0.000,0,0,674,562.96
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$IRIDIUM_FIX,2143.45,12329.17,221112,060611
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.06
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.80
$XPDR_PINGS,20
$24V_AH,22.6,41.457
$10V_AH,10.2,27.347
$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,19.700,156.025,778.325,0.000,0.000,0.000,0.000,224.550,5.000,0.000,5.870,2862.496,14075.633,866.099,2416.898,395.301,0.000,2334.277,0.000,2117.699,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,58.905,1238.535,0.000,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20145.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.282,0.000,0.000,0.000
$MEM,329592
$DATA_FILE_SIZE,33344,896
$CAP_FILE_SIZE,218868,0
$CFSIZE,260165632,231972864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,227.8,1
$GPS,221112,174106,2155.649,12324.692,40,0.9,40,-3.3