version: 66.11
glider: 167
mission: 14
dive: 144
start: 11 14 112 6 22 7
data:
$ID,167
$MISSION,14
$DIVE,144
$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,-968713.31
$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,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,69
$R_STBD_OVSHOOT,51
$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
$GPS1,141112,061359,2222.011,12348.232,39,1.1,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-61.7
$GPS2,141112,062141,2222.023,12348.095,5,1.1,5,-3.4
$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,136.4,98506,-12.5,-7.333,-16.34
$D_GRID,5095
$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,16,begin dive
$GC,19,-0.38,-171.1,0.0,0.0,0,86,0.00,0.00,-64.65,0.000,2,0.000,0.000,108,2473,2558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.38,-171.1,3.1,-5.8,11,133,9.65,2.20,-27.10,0.000,4,0.223,0.049,2539,1063,3664,0,0,0,0,0,0,25.36,26.09,26.49
$GC,252,-0.32,-171.1,23.5,-15.2,41,259,0.00,2.10,0.00,0.000,6,0.000,0.041,2540,2434,3667,0,0,0,0,0,0,28.83,26.13,28.83
$GC,568,-0.25,-171.1,72.9,-15.8,66,570,0.17,0.00,0.00,0.000,6,0.134,0.000,2592,2435,3667,0,0,0,0,0,0,26.20,28.83,28.83
$GC,870,-0.29,-171.1,101.5,-6.8,81,876,0.00,2.05,0.00,0.000,4,0.000,0.037,2592,1063,3667,0,0,0,0,0,0,28.83,26.36,28.83
$GC,914,-0.34,-171.1,104.3,-6.4,83,921,0.00,2.12,0.00,0.000,6,0.000,0.042,2593,2458,3668,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1239,-0.42,-171.1,121.4,-5.7,99,1245,0.15,2.00,0.00,0.000,4,0.068,0.047,2491,3773,3668,0,0,0,0,0,0,26.69,26.36,28.83
$GC,1274,-0.47,-171.1,123.7,-6.8,100,1279,0.00,1.88,0.00,0.000,6,0.000,0.018,2491,2433,3667,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1587,-0.41,-171.1,170.3,-14.7,116,1593,0.12,1.98,0.00,0.000,4,0.144,0.028,2533,1064,3668,0,0,0,0,0,0,26.45,26.53,28.83
$GC,1693,-0.43,-171.1,181.5,-10.0,121,1699,0.00,2.08,0.00,0.000,6,0.000,0.034,2534,2464,3668,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2017,-0.43,-171.1,208.7,-8.0,137,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2464,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2319,-0.45,-171.1,233.1,-8.2,152,2325,0.00,1.98,0.00,0.000,4,0.000,0.048,2532,3766,3668,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2348,-0.47,-171.1,235.1,-8.1,153,2353,0.00,1.85,0.00,0.000,6,0.000,0.018,2533,2427,3669,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2666,-0.50,-171.1,262.3,-8.9,169,2672,0.00,1.92,0.00,0.000,4,0.000,0.029,2533,1075,3668,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2720,-0.53,-171.1,266.2,-8.9,171,2725,0.10,2.03,0.00,0.000,6,0.093,0.032,2462,2450,3668,0,0,0,0,0,0,26.46,26.48,28.83
$GC,3034,-0.46,-171.1,310.3,-13.9,187,3039,0.17,2.00,0.00,0.000,4,0.138,0.047,2518,3760,3666,0,0,0,0,0,0,26.34,26.39,28.83
$GC,3078,-0.42,-171.1,314.7,-11.9,189,3083,0.00,1.85,0.00,0.000,6,0.000,0.019,2518,2449,3666,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3402,-0.45,-171.1,341.3,-8.4,205,3407,0.00,1.98,0.00,0.000,4,0.000,0.028,2518,1068,3665,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3469,-0.47,-171.1,346.8,-8.4,208,3474,0.00,2.05,0.00,0.000,6,0.000,0.032,2518,2455,3665,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3788,-0.50,-171.1,370.7,-7.2,224,3794,0.00,1.98,0.00,0.000,4,0.000,0.048,2518,3756,3664,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3827,-0.53,-171.1,372.4,-7.0,225,3833,0.00,1.83,0.00,0.000,6,0.000,0.019,2518,2439,3663,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4132,-0.57,-171.1,394.5,-7.0,241,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2439,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4436,-0.61,-171.1,415.6,-7.1,256,4441,0.12,1.95,0.00,0.000,4,0.078,0.026,2435,1076,3661,0,0,0,0,0,0,26.76,26.55,28.83
$GC,4463,-0.63,-171.1,418.3,-7.9,257,4469,0.12,2.05,0.00,0.000,6,0.153,0.033,2467,2458,3661,0,0,0,0,0,0,26.22,26.46,28.83
$GC,4782,-0.59,-171.1,451.4,-10.0,273,4788,0.00,2.03,0.00,0.000,4,0.000,0.030,2467,1065,3660,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4897,-0.58,-171.1,461.3,-9.3,278,4902,0.00,2.08,0.00,0.000,6,0.000,0.035,2468,2456,3659,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5210,-0.56,-171.1,488.7,-8.2,294,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2456,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5512,-0.54,-171.1,515.9,-9.8,309,5517,0.00,2.03,0.00,0.000,4,0.000,0.029,2467,1074,3654,0,0,0,0,0,0,28.83,26.54,28.83
$GC,5549,-0.54,-171.1,518.3,-9.7,310,5556,0.00,2.05,0.00,0.000,6,0.000,0.034,2468,2450,3656,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5855,-0.54,-171.1,550.3,-10.0,326,5860,0.00,2.00,0.00,0.000,4,0.000,0.047,2467,3766,3653,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5887,-0.54,-171.1,552.6,-10.2,327,5893,0.00,1.85,0.00,0.000,6,0.000,0.021,2467,2444,3653,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6202,-0.54,-171.1,582.4,-8.8,343,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2444,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6511,-0.54,-171.1,607.0,-7.6,357,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2444,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6811,-0.54,-171.1,630.3,-7.9,367,6817,0.00,1.98,0.00,0.000,4,0.000,0.030,2467,1076,3649,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6889,-0.54,-171.1,635.6,-8.2,369,6895,0.00,2.08,0.00,0.000,6,0.000,0.035,2467,2460,3648,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7208,-0.54,-171.1,665.3,-9.0,380,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2460,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7508,-0.54,-171.1,689.9,-7.9,390,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2460,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7808,-0.54,-171.1,713.3,-7.9,400,7814,0.00,2.00,0.00,0.000,4,0.000,0.048,2467,3758,3642,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7845,-0.54,-171.1,716.0,-8.0,401,7851,0.00,1.88,0.00,0.000,6,0.000,0.022,2467,2451,3641,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8176,-0.54,-171.1,743.5,-8.5,412,8181,0.00,2.05,0.00,0.000,4,0.000,0.047,2467,3767,3638,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8228,-0.54,-171.1,746.6,-8.6,413,8234,0.00,1.88,0.00,0.000,6,0.000,0.023,2468,2448,3638,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8543,-0.54,-171.1,773.6,-8.2,424,8548,0.00,2.00,0.00,0.000,4,0.000,0.030,2468,1070,3636,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8599,-0.54,-171.1,776.4,-8.1,425,8607,0.00,2.08,0.00,0.000,6,0.000,0.036,2467,2449,3636,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8906,-0.54,-171.1,801.4,-7.2,436,8911,0.00,2.03,0.00,0.000,4,0.000,0.048,2467,3764,3635,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8988,-0.54,-171.1,806.0,-7.3,438,8994,0.00,1.88,0.00,0.000,6,0.000,0.024,2467,2457,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9304,-0.56,-171.1,828.5,-6.5,449,9309,0.00,2.03,0.00,0.000,4,0.000,0.030,2467,1066,3631,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9423,-0.57,-171.1,835.1,-6.7,452,9430,0.00,2.12,0.00,0.000,6,0.000,0.037,2468,2456,3631,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9730,-0.59,-171.1,857.0,-6.4,463,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2457,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10028,-0.61,-171.1,877.2,-6.8,473,10033,0.00,2.08,0.00,0.000,4,0.000,0.034,2472,1059,3628,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10092,-0.63,-171.1,881.8,-7.1,475,10098,0.00,2.15,0.00,0.000,6,0.000,0.036,2468,2457,3628,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10428,-0.65,-171.1,906.0,-7.2,486,10433,0.00,2.03,0.00,0.000,4,0.000,0.048,2467,3765,3626,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10462,-0.67,-171.1,908.6,-7.3,487,10468,0.00,1.90,0.00,0.000,6,0.000,0.024,2468,2443,3626,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10798,-0.69,-171.1,931.5,-6.7,498,10803,0.00,2.00,0.00,0.000,4,0.000,0.031,2468,1071,3624,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10821,-0.72,-171.1,931.5,-6.7,498,10827,0.00,2.10,0.00,0.000,6,0.000,0.036,2467,2456,3624,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11138,-0.74,-171.1,954.9,-6.8,509,11143,0.12,2.03,0.00,0.000,4,0.086,0.047,2398,3761,3623,0,0,0,0,0,0,26.68,26.08,28.83
$GC,11205,-0.74,-171.1,961.3,-8.3,511,11211,0.12,1.90,0.00,0.000,6,0.153,0.024,2431,2436,3622,0,0,0,0,0,0,26.14,26.55,28.83
$GC,11534,-0.72,-171.1,988.9,-8.0,522,11536,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2436,3618,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11561,begin apogee
$GC,11568,-0.20,0.0,991.2,-7.8,523,11725,0.50,0.00,146.65,1.373,6,0.111,0.000,2598,2293,2961,0,0,0,0,0,0,25.72,28.83,23.14
$STATE,11726,end apogee,CONTROL_FINISHED_OK
$STATE,11726,begin climb
$GC,11729,0.38,171.1,994.7,0.0,528,11896,0.55,0.00,158.80,1.280,6,0.074,0.000,2789,2293,2263,0,0,0,0,0,0,24.54,28.83,22.75
$GC,12196,0.42,171.1,960.2,8.5,544,12201,0.00,2.10,0.00,0.000,4,0.000,0.035,2789,924,2251,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12311,0.43,171.1,952.8,8.0,547,12316,0.00,2.12,0.00,0.000,6,0.000,0.034,2789,2313,2249,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12626,0.43,172.6,928.0,7.3,558,12631,0.00,2.17,0.00,0.000,4,0.000,0.050,2789,3702,2248,0,0,0,0,0,0,28.83,26.08,28.83
$GC,12713,0.43,172.6,922.7,7.6,560,12720,0.00,2.05,0.00,0.000,6,0.000,0.027,2789,2316,2247,0,0,0,0,0,0,28.83,26.33,28.83
$GC,13020,0.44,182.9,899.0,7.0,571,13030,0.00,2.12,4.85,1.195,4,0.000,0.037,2789,905,2224,0,0,0,0,0,0,28.83,26.27,24.58
$GC,13047,0.44,193.1,899.0,7.0,571,13071,0.00,2.12,16.98,1.248,6,0.000,0.033,2789,2311,2174,0,0,0,0,0,0,28.83,26.26,24.58
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$STATE,23874,end climb,SURFACE_DEPTH_REACHED
$STATE,23876,begin surface coast
$FINISH,0.9,0.999247
$STATE,23902,end surface coast,CONTROL_FINISHED_OK
$STATE,23902,begin surface
$SM_CCo,23980,0.00,0.000,0,0,947,496.00
$SM_GC,1.58,7.20,0.20,0.00,0.028,0.061,0.000,113,2462,947,-7.90,-1.10,496.00,0,0,0,0,0,0,26.44,26.55,28.83
$IRIDIUM_FIX,2218.34,12346.58,131112,232337
$TT8_MAMPS,0.028462,0.028462
$HUMID,49.40
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.00
$XPDR_PINGS,13
$24V_AH,22.8,34.345
$10V_AH,9.7,22.656
$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,20.525,206.775,570.500,0.000,0.000,0.000,0.000,269.075,3.250,0.000,5.860,3466.773,16888.449,753.524,2850.267,471.877,0.000,2445.771,0.000,2482.454,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,72.675,1373.175,0.000,0.000,0.000,0.000,130.815,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23925.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.278,0.000,0.000,0.000
$MEM,329624
$DATA_FILE_SIZE,39989,1090
$CAP_FILE_SIZE,262281,0
$CFSIZE,260165632,235347968
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.122,230.8,1
$GPS,141112,130306,2218.737,12349.345,35,1.2,35,-3.4