version: 66.11
glider: 167
mission: 14
dive: 115
start: 11 6 112 2 13 35
data:
$ID,167
$MISSION,14
$DIVE,115
$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,-968643.31
$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,79
$R_STBD_OVSHOOT,50
$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
$GPS1,061112,020553,2347.682,12352.641,41,1.0,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-61.9
$GPS2,061112,021309,2347.590,12352.674,5,1.0,5,-3.8
$SPEED_LIMITS,0.127,0.250
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,17.3,5953,-12.5,-7.333,-16.34
$D_GRID,2967
$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,-171.1,0.0,0.0,0,85,0.00,0.00,-64.25,0.000,2,0.000,0.000,109,2316,2783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.38,-171.1,3.1,-3.9,11,126,9.80,2.28,-20.83,0.000,4,0.221,0.061,2610,3719,3668,0,0,0,0,0,0,25.51,26.06,26.55
$GC,169,-0.43,-171.1,13.8,-12.8,25,177,0.00,2.03,0.00,0.000,6,0.000,0.022,2610,2342,3669,0,0,0,0,0,0,28.83,26.23,28.83
$GC,486,-0.46,-171.1,41.0,-9.0,68,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2342,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,797,-0.50,-171.1,68.1,-8.9,89,803,0.00,2.08,0.00,0.000,4,0.000,0.031,2609,910,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,830,-0.54,-171.1,70.4,-9.0,90,836,0.12,2.08,0.00,0.000,6,0.077,0.031,2524,2317,3669,0,0,0,0,0,0,26.39,26.39,28.83
$GC,1145,-0.45,-171.1,125.4,-15.9,106,1147,0.22,0.00,0.00,0.000,6,0.132,0.000,2591,2316,3668,0,0,0,0,0,0,26.20,28.83,28.83
$GC,1446,-0.50,-171.1,149.1,-6.9,121,1452,0.00,2.15,0.00,0.000,4,0.000,0.045,2591,3729,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1499,-0.57,-171.1,151.7,-6.1,123,1506,0.12,2.00,0.00,0.000,6,0.076,0.017,2507,2284,3669,0,0,0,0,0,0,26.55,26.66,28.83
$GC,1815,-0.52,-171.1,189.1,-10.8,139,1817,0.20,0.00,0.00,0.000,6,0.122,0.000,2569,2284,3669,0,0,0,0,0,0,26.34,28.83,28.83
$GC,2117,-0.59,-171.1,211.8,-7.2,154,2123,0.00,2.22,0.00,0.000,4,0.000,0.045,2568,3736,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2201,-0.68,-171.1,217.8,-6.9,158,2209,0.15,1.98,0.00,0.000,6,0.067,0.018,2478,2310,3670,0,0,0,0,0,0,26.60,26.70,28.83
$GC,2527,-0.61,-171.1,261.0,-13.5,174,2532,0.20,1.92,0.00,0.000,4,0.130,0.027,2543,965,3669,0,0,0,0,0,0,26.32,26.55,28.83
$GC,2605,-0.61,-171.1,266.9,-10.1,177,2611,0.00,2.03,0.00,0.000,6,0.000,0.037,2543,2329,3669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2911,-0.65,-171.1,290.2,-7.2,193,2917,0.00,2.12,0.00,0.000,4,0.000,0.044,2543,3728,3668,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3005,-0.71,-171.1,296.2,-7.1,197,3011,0.00,1.95,0.00,0.000,6,0.000,0.019,2543,2337,3668,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3320,-0.76,-171.1,319.9,-7.3,213,3322,0.15,0.00,0.00,0.000,6,0.070,0.000,2454,2337,3667,0,0,0,0,0,0,26.76,28.83,28.83
$GC,3621,-0.68,-171.1,361.7,-14.1,228,3628,0.20,2.00,0.00,0.000,4,0.135,0.028,2519,955,3665,0,0,0,0,0,0,26.30,26.55,28.83
$GC,3680,-0.64,-171.1,367.1,-12.7,230,3687,0.00,2.03,0.00,0.000,6,0.000,0.035,2519,2326,3665,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3986,-0.66,-171.1,393.2,-7.5,246,3991,0.00,2.12,0.00,0.000,4,0.000,0.045,2519,3727,3664,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4079,-0.70,-171.1,399.5,-7.6,250,4084,0.00,1.95,0.00,0.000,6,0.000,0.018,2518,2324,3664,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4392,-0.74,-171.1,426.0,-8.8,266,4397,0.00,2.17,0.00,0.000,4,0.000,0.047,2519,3732,3663,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4459,-0.78,-171.1,430.9,-8.0,269,4464,0.00,1.98,0.00,0.000,6,0.000,0.019,2519,2303,3667,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4778,-0.82,-171.1,454.6,-7.1,285,4780,0.12,0.00,0.00,0.000,6,0.080,0.000,2441,2302,3661,0,0,0,0,0,0,26.77,28.83,28.83
$GC,5080,-0.75,-171.1,493.1,-12.7,300,5086,0.15,1.92,0.00,0.000,4,0.137,0.031,2491,951,3659,0,0,0,0,0,0,26.42,26.31,28.83
$GC,5118,-0.70,-171.1,496.1,-12.1,301,5125,0.00,2.00,0.00,0.000,6,0.000,0.028,2491,2324,3659,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5424,-0.70,-171.1,523.9,-8.0,317,5429,0.00,2.15,0.00,0.000,4,0.000,0.046,2491,3733,3658,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5491,-0.72,-171.1,528.7,-7.8,320,5497,0.00,1.95,0.00,0.000,6,0.000,0.018,2491,2334,3657,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5811,-0.74,-171.1,552.0,-7.1,336,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2335,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6112,-0.76,-171.1,574.5,-7.5,351,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2334,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6414,-0.79,-171.1,598.1,-8.3,366,6420,0.00,2.15,0.00,0.000,4,0.000,0.047,2491,3723,3652,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6528,-0.82,-171.1,606.4,-8.5,370,6533,0.00,1.95,0.00,0.000,6,0.000,0.021,2489,2326,3651,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6842,-0.85,-171.1,632.4,-7.6,381,6847,0.00,2.17,0.00,0.000,4,0.000,0.051,2491,3729,3649,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6900,-0.89,-171.1,634.8,-7.4,382,6907,0.12,2.00,0.00,0.000,6,0.080,0.021,2425,2312,3648,0,0,0,0,0,0,26.55,26.69,28.83
$GC,7207,-0.83,-171.1,666.8,-9.7,393,7209,0.17,0.00,0.00,0.000,6,0.138,0.000,2476,2309,3647,0,0,0,0,0,0,26.35,28.83,28.83
$GC,7505,-0.83,-171.1,687.4,-7.1,403,7510,0.00,2.20,0.00,0.000,4,0.000,0.047,2476,3723,3645,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7564,-0.85,-171.1,690.2,-7.4,404,7571,0.00,2.00,0.00,0.000,6,0.000,0.021,2476,2314,3644,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7869,-0.87,-171.1,715.5,-7.7,415,7875,0.00,2.22,0.00,0.000,4,0.000,0.046,2476,3733,3642,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7913,-0.89,-171.1,718.1,-7.8,416,7919,0.00,2.00,0.00,0.000,6,0.000,0.024,2476,2337,3641,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8239,-0.91,-171.1,745.5,-8.5,427,8244,0.00,2.17,0.00,0.000,4,0.000,0.047,2476,3722,3639,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8311,-0.93,-171.1,751.0,-8.5,429,8318,0.12,2.00,0.00,0.000,6,0.080,0.023,2411,2310,3639,0,0,0,0,0,0,26.50,26.63,28.83
$GC,8638,-0.87,-171.1,790.0,-11.8,440,8644,0.12,1.98,0.00,0.000,4,0.155,0.025,2451,954,3637,0,0,0,0,0,0,26.39,26.46,28.83
$GC,8697,-0.82,-171.1,794.0,-11.6,441,8704,0.00,2.05,0.00,0.000,6,0.000,0.031,2452,2333,3637,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9003,-0.82,-171.1,824.0,-8.9,452,9008,0.00,2.17,0.00,0.000,4,0.000,0.048,2451,3728,3635,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9040,-0.82,-171.1,827.1,-8.9,453,9045,0.00,2.00,0.00,0.000,6,0.000,0.023,2446,2317,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9369,-0.82,-171.1,857.6,-9.4,464,9375,0.00,1.98,0.00,0.000,4,0.000,0.028,2451,948,3632,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9421,-0.82,-171.1,860.9,-9.4,465,9427,0.00,2.05,0.00,0.000,6,0.000,0.031,2451,2327,3632,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9735,-0.82,-171.1,890.3,-8.6,476,9741,0.00,2.17,0.00,0.000,4,0.000,0.048,2451,3729,3630,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9860,-0.82,-171.1,901.2,-8.8,480,9866,0.00,2.00,0.00,0.000,6,0.000,0.024,2451,2323,3630,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10196,-0.82,-171.1,928.3,-7.8,491,10202,0.00,2.20,0.00,0.000,4,0.000,0.048,2451,3725,3628,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10328,-0.82,-171.1,938.0,-7.7,495,10334,0.00,2.00,0.00,0.000,6,0.000,0.024,2451,2324,3628,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10653,-0.82,-171.1,964.4,-8.1,506,10659,0.00,2.20,0.00,0.000,4,0.000,0.048,2451,3724,3626,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10717,-0.82,-171.1,969.9,-8.2,508,10723,0.00,2.03,0.00,0.000,6,0.000,0.024,2451,2317,3625,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,10959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10959,begin apogee
$GC,10965,-0.20,0.0,990.2,-8.3,516,11117,0.65,0.00,144.40,1.346,6,0.102,0.000,2671,2314,2966,0,0,0,0,0,0,25.74,28.83,23.61
$STATE,11118,end apogee,CONTROL_FINISHED_OK
$STATE,11118,begin climb
$GC,11121,0.38,171.1,996.5,0.0,521,11287,0.50,2.28,155.88,1.255,4,0.040,0.033,2881,944,2262,0,0,0,0,0,0,24.81,23.97,22.97
$GC,11315,0.24,197.9,988.8,6.6,527,11349,0.22,2.20,24.90,1.276,6,0.126,0.030,2820,2308,2154,0,0,0,0,0,0,24.42,24.58,23.21
$GC,11658,0.21,201.0,961.5,7.2,539,11663,0.00,2.20,0.00,0.000,4,0.000,0.047,2820,3699,2144,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11715,0.17,201.0,958.7,7.4,540,11723,0.00,2.05,0.00,0.000,6,0.000,0.028,2825,2327,2143,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12023,0.13,201.0,933.5,7.7,551,12029,0.12,2.20,0.00,0.000,4,0.149,0.051,2785,3706,2141,0,0,0,0,0,0,26.08,26.06,28.83
$GC,12066,0.09,201.0,930.8,7.7,552,12072,0.00,2.10,0.00,0.000,6,0.000,0.028,2785,2295,2141,0,0,0,0,0,0,28.83,26.27,28.83
$GC,12393,0.10,226.1,908.7,6.6,563,12424,0.00,2.28,26.40,1.282,4,0.000,0.046,2785,3700,2040,0,0,0,0,0,0,28.83,25.60,24.55
$GC,12476,0.11,245.6,904.4,6.8,565,12501,0.00,2.12,19.73,1.273,6,0.000,0.028,2785,2298,1966,0,0,0,0,0,0,28.83,25.87,24.27
$GC,12814,0.16,302.5,882.3,5.7,577,12878,0.00,2.35,56.72,1.206,4,0.000,0.047,2785,3701,1727,0,0,0,0,0,0,28.83,25.06,24.11
$GC,12922,0.20,350.8,876.8,5.9,580,12975,0.00,2.15,47.25,1.184,6,0.000,0.028,2785,2291,1537,0,0,0,0,0,0,28.83,25.56,23.96
$GC,13299,0.33,391.3,853.7,6.2,593,13347,0.15,2.15,40.38,1.193,4,0.082,0.032,2849,919,1365,0,0,0,0,0,0,26.06,25.20,24.22
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$STATE,21983,end climb,SURFACE_DEPTH_REACHED
$STATE,21983,begin surface coast
$FINISH,0.8,1.013335
$STATE,22043,end surface coast,CONTROL_FINISHED_OK
$STATE,22043,begin surface
$SM_CCo,22121,0.00,0.000,0,0,1227,427.07
$SM_GC,1.63,7.22,0.00,0.00,0.033,0.000,0.000,122,2305,1227,-8.10,-0.57,427.07,0,0,0,0,0,0,26.49,28.83,28.83
$IRIDIUM_FIX,2337.99,12349.89,051112,191948
$TT8_MAMPS,0.029211,0.029211
$HUMID,50.00
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,27.20
$XPDR_PINGS,20
$24V_AH,23.0,28.752
$10V_AH,9.7,17.879
$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,21.700,183.350,540.600,0.000,0.000,0.000,0.000,249.450,5.000,0.000,5.861,3313.700,15354.916,716.625,2726.308,436.963,0.000,2304.331,0.000,2395.865,0.000,0.545,0.000
$DEVICE_MAMPS,221.085,61.200,1346.400,0.000,0.000,0.000,0.000,130.050,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22061.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.399,0.000,0.000,0.000
$MEM,329596
$DATA_FILE_SIZE,39948,1036
$CAP_FILE_SIZE,243436,0
$CFSIZE,260165632,238772224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.096,143.1,1
$GPS,061112,082335,2350.071,12354.717,35,0.9,35,-3.8