version: 66.11
glider: 167
mission: 14
dive: 334
start: 1 1 113 21 33 51
data:
$ID,167
$MISSION,14
$DIVE,334
$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,370
$T_MISSION,390
$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,185
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$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,-969248.69
$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,2665
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,64
$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,0.0012000001
$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,21
$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,48
$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
$GPS1,010113,212223,2134.961,12357.604,40,1.3,40,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-59.0
$GPS2,010113,213322,2134.992,12357.465,8,1.2,8,-3.3
$SPEED_LIMITS,0.154,0.275
$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,132.2,10225,-14.7,-8.919,-17.97
$D_GRID,5348
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-180.8,0.0,0.0,0,94,0.00,0.00,-72.07,0.000,2,0.000,0.000,109,2474,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.58,-180.8,3.1,-3.4,7,141,9.60,2.10,-26.27,0.000,4,0.222,0.044,2470,1071,3706,0,0,0,0,0,0,24.84,26.11,26.64
$GC,194,-0.58,-180.8,12.4,-12.3,16,200,0.00,2.05,0.00,0.000,6,0.000,0.039,2470,2425,3708,0,0,0,0,0,0,28.83,26.10,28.83
$GC,510,-0.58,-180.8,56.7,-14.0,46,515,0.00,2.05,0.00,0.000,4,0.000,0.047,2465,3755,3708,0,0,0,0,0,0,28.83,26.06,28.83
$GC,557,-0.58,-180.8,62.7,-13.7,48,563,0.00,1.85,0.00,0.000,6,0.000,0.018,2465,2416,3708,0,0,0,0,0,0,28.83,26.52,28.83
$GC,876,-0.58,-180.8,103.5,-11.3,64,881,0.00,1.90,0.00,0.000,4,0.000,0.029,2465,1097,3708,0,0,0,0,0,0,28.83,26.30,28.83
$GC,947,-0.58,-180.8,110.3,-10.8,67,953,0.00,2.03,0.00,0.000,6,0.000,0.036,2465,2452,3708,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1262,-0.58,-180.8,140.7,-9.2,83,1267,0.00,2.00,0.00,0.000,4,0.000,0.031,2465,1090,3713,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1314,-0.58,-180.8,145.0,-9.5,85,1319,0.00,2.03,0.00,0.000,6,0.000,0.034,2465,2450,3708,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1626,-0.58,-180.8,174.2,-9.1,101,1632,0.00,1.98,0.00,0.000,4,0.000,0.029,2465,1098,3709,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1654,-0.58,-180.8,176.5,-9.3,102,1660,0.00,2.03,0.00,0.000,6,0.000,0.034,2465,2455,3709,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1973,-0.58,-180.8,207.0,-9.7,118,1978,0.00,2.00,0.00,0.000,4,0.000,0.050,2465,3753,3708,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2000,-0.58,-180.8,209.2,-9.7,119,2006,0.00,1.80,0.00,0.000,6,0.000,0.018,2464,2461,3709,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2319,-0.58,-180.8,238.7,-9.1,135,2324,0.00,2.00,0.00,0.000,4,0.000,0.028,2465,1074,3708,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2363,-0.58,-180.8,243.0,-9.7,137,2368,0.00,2.05,0.00,0.000,6,0.000,0.034,2465,2449,3708,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2686,-0.58,-180.8,276.1,-10.1,153,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2449,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2989,-0.58,-180.8,304.9,-9.1,168,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2449,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3288,-0.58,-180.8,333.4,-9.6,183,3293,0.00,2.03,0.00,0.000,4,0.000,0.051,2465,3755,3706,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3341,-0.58,-180.8,337.9,-9.9,185,3346,0.00,1.83,0.00,0.000,6,0.000,0.018,2464,2433,3706,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3654,-0.58,-180.8,367.8,-8.6,201,3659,0.00,1.92,0.00,0.000,4,0.000,0.028,2465,1096,3705,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3727,-0.58,-180.8,373.3,-8.8,204,3733,0.00,2.05,0.00,0.000,6,0.000,0.040,2464,2450,3704,0,0,0,0,0,0,28.83,25.62,28.83
$GC,4042,-0.58,-180.8,398.4,-7.6,220,4047,0.00,2.03,0.00,0.000,4,0.000,0.050,2465,3759,3703,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4086,-0.58,-180.8,401.8,-7.7,222,4091,0.00,1.83,0.00,0.000,6,0.000,0.018,2465,2441,3702,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4409,-0.58,-180.8,428.6,-9.0,238,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2441,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4712,-0.58,-180.8,453.8,-7.8,253,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2441,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5012,-0.58,-180.8,474.5,-6.7,268,5017,0.00,2.08,0.00,0.000,4,0.000,0.050,2465,3759,3698,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5076,-0.58,-180.8,478.8,-6.5,271,5082,0.00,1.85,0.00,0.000,6,0.000,0.020,2465,2429,3698,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5400,-0.58,-180.8,499.0,-6.6,287,5406,0.00,2.15,-0.08,0.000,4,0.000,0.062,2465,3767,3726,0,0,0,0,0,0,28.83,25.98,25.45
$GC,5474,-0.58,-180.8,503.4,-6.8,290,5479,0.00,1.85,0.00,0.000,6,0.000,0.020,2465,2442,3727,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5788,-0.58,-180.8,526.0,-7.2,306,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2441,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6089,-0.58,-180.8,550.9,-9.0,321,6094,0.00,2.10,0.00,0.000,4,0.000,0.051,2465,3768,3723,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6162,-0.58,-180.8,557.2,-9.6,324,6167,0.00,1.85,0.00,0.000,6,0.000,0.021,2465,2442,3722,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6475,-0.58,-180.8,588.7,-9.7,340,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2441,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6775,-0.58,-180.8,615.8,-8.6,352,6780,0.00,2.10,0.00,0.000,4,0.000,0.052,2465,3762,3719,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6842,-0.58,-180.8,621.0,-8.2,354,6847,0.00,1.85,0.00,0.000,6,0.000,0.021,2465,2449,3719,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7173,-0.58,-180.8,645.2,-7.1,365,7178,0.00,2.00,0.00,0.000,4,0.000,0.031,2465,1084,3717,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7220,-0.58,-180.8,647.8,-7.1,366,7226,0.00,2.08,0.00,0.000,6,0.000,0.036,2467,2455,3716,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7540,-0.58,-180.8,673.4,-8.2,377,7547,0.00,2.05,0.00,0.000,4,0.000,0.052,2464,3762,3714,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7585,-0.58,-180.8,676.3,-8.2,378,7590,0.00,1.85,0.00,0.000,6,0.000,0.022,2465,2452,3715,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7910,-0.58,-180.8,706.9,-9.4,389,7915,0.00,2.03,0.00,0.000,4,0.000,0.030,2465,1081,3713,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7968,-0.58,-180.8,710.4,-9.5,390,7975,0.00,2.08,0.00,0.000,6,0.000,0.036,2465,2453,3712,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8273,-0.58,-180.8,742.9,-9.7,401,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2454,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8573,-0.58,-180.8,769.3,-8.2,411,8579,0.00,2.05,0.00,0.000,4,0.000,0.031,2464,1083,3709,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8607,-0.58,-180.8,772.0,-8.0,412,8614,0.00,2.10,0.00,0.000,6,0.000,0.036,2465,2459,3708,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8944,-0.58,-180.8,794.8,-6.2,423,8950,0.00,2.05,0.00,0.000,4,0.000,0.037,2463,1087,3706,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8963,-0.58,-180.8,794.8,-6.2,423,8968,0.00,2.08,0.00,0.000,6,0.000,0.043,2465,2447,3706,0,0,0,0,0,0,28.83,24.87,28.83
$GC,9283,-0.58,-180.8,814.4,-5.6,434,9289,0.00,2.03,0.00,0.000,4,0.000,0.030,2465,1081,3706,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9301,-0.58,-180.8,814.4,-5.6,434,9306,0.00,2.10,0.00,0.000,6,0.000,0.037,2465,2462,3706,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9621,-0.58,-180.8,835.0,-6.4,445,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2462,3705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9919,-0.58,-180.8,856.3,-7.4,455,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2461,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10220,-0.58,-180.8,878.4,-7.3,465,10226,0.00,2.08,0.00,0.000,4,0.000,0.031,2465,1081,3702,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10238,-0.58,-180.8,878.4,-7.3,465,10244,0.00,2.10,0.00,0.000,6,0.000,0.037,2465,2460,3701,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10559,-0.58,-180.8,903.3,-7.3,476,10565,0.00,2.05,0.00,0.000,4,0.000,0.031,2465,1090,3700,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10670,-0.58,-180.8,910.5,-7.4,479,10675,0.00,2.10,0.00,0.000,6,0.000,0.037,2465,2449,3700,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10991,-0.58,-180.8,932.3,-6.0,490,10996,0.00,2.08,0.00,0.000,4,0.000,0.054,2463,3761,3699,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11018,-0.58,-180.8,932.3,-6.0,490,11025,0.00,1.88,0.00,0.000,6,0.000,0.024,2465,2464,3698,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11326,-0.58,-180.8,950.7,-5.1,501,11331,0.00,2.08,0.00,0.000,4,0.000,0.031,2464,1071,3698,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11338,-0.58,-180.8,950.7,-5.1,501,11344,0.00,2.15,0.00,0.000,6,0.000,0.037,2465,2468,3697,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11664,-0.58,-180.8,970.1,-6.0,512,11669,0.00,2.08,0.00,0.000,4,0.000,0.030,2465,1071,3697,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11676,-0.58,-180.8,970.1,-6.0,512,11682,0.00,2.10,0.00,0.000,6,0.000,0.037,2465,2445,3696,0,0,0,0,0,0,28.83,25.99,28.83
$STATE,11728,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11728,begin apogee
$GC,11735,-0.20,0.0,974.4,-6.3,514,11911,0.38,0.00,165.88,1.228,6,0.090,0.000,2597,2179,2960,0,0,0,0,0,0,25.91,28.83,22.70
$STATE,11913,end apogee,CONTROL_FINISHED_OK
$STATE,11913,begin climb
$GC,11916,0.58,180.8,984.7,0.0,520,12096,0.70,2.30,169.15,1.206,4,0.057,0.039,2852,845,2222,0,0,0,0,0,0,24.76,23.96,22.23
$GC,12119,0.74,306.1,979.9,4.8,526,12250,0.15,2.22,121.70,1.258,6,0.072,0.034,2915,2209,1717,0,0,0,0,0,0,24.65,24.61,22.17
$GC,12579,0.74,306.1,930.2,10.3,542,12584,0.00,2.20,0.00,0.000,4,0.000,0.050,2914,3604,1700,0,0,0,0,0,0,28.83,25.99,28.83
$GC,12656,0.74,306.1,922.8,10.9,544,12661,0.00,2.05,0.00,0.000,6,0.000,0.027,2922,2225,1699,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,21489,end climb,SURFACE_DEPTH_REACHED
$STATE,21489,begin surface coast
$FINISH,0.9,1.023706
$STATE,21511,end surface coast,CONTROL_FINISHED_OK
$STATE,21511,begin surface
$SM_CCo,21590,0.00,0.000,0,0,925,501.39
$SM_GC,1.91,7.25,0.32,0.00,0.031,0.050,0.000,120,2458,925,-7.86,-1.50,501.39,0,0,0,0,0,0,26.27,26.44,28.83
$IRIDIUM_FIX,2124.90,12401.98,010113,212101
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.64
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,24.80
$XPDR_PINGS,56
$24V_AH,22.2,71.771
$10V_AH,9.8,46.932
$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,18.475,194.750,604.700,0.000,0.000,0.000,0.000,401.250,14.000,0.000,10.991,3063.993,15223.973,751.172,2731.049,469.947,0.000,2468.213,0.000,2239.034,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,61.965,1258.425,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21515.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.009,0.000,0.000,0.000
$MEM,329552
$DATA_FILE_SIZE,36712,962
$CAP_FILE_SIZE,230397,0
$CFSIZE,260165632,216485888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.037,303.3,1
$GPS,020113,033507,2133.861,12358.935,43,1.1,43,-3.3