version: 66.11
glider: 167
mission: 14
dive: 226
start: 12 4 112 6 35 14
data:
$ID,167
$MISSION,14
$DIVE,226
$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,410
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,4
$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,-969020.69
$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,2700
$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,0.0099999998
$PITCH_ADJ_DBAND,0.5
$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,64
$R_STBD_OVSHOOT,57
$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,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
$GPS1,041212,062735,2308.693,12142.446,35,1.0,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-63.1
$GPS2,041212,063448,2308.821,12142.471,3,1.0,3,-3.5
$SPEED_LIMITS,0.139,0.259
$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,79.0,237112,-13.8,-8.049,-17.28
$D_GRID,2329
$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,-0.53,-171.1,0.0,0.0,0,74,0.00,0.00,-51.62,0.000,2,0.000,0.000,108,2479,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.53,-171.1,3.2,-4.5,5,125,9.50,2.20,-31.90,0.000,4,0.213,0.047,2523,1052,3667,0,0,0,0,0,0,25.03,26.13,26.62
$GC,208,-0.49,-171.1,21.1,-20.0,17,215,0.00,2.08,0.00,0.000,6,0.000,0.034,2520,2436,3669,0,0,0,0,0,0,28.83,26.16,28.83
$GC,514,-0.43,-171.1,75.5,-16.9,41,521,0.12,2.03,0.00,0.000,4,0.151,0.044,2561,3756,3669,0,0,0,0,0,0,26.27,26.21,28.83
$GC,615,-0.44,-171.1,85.9,-12.3,45,622,0.00,1.85,0.00,0.000,6,0.000,0.018,2560,2412,3669,0,0,0,0,0,0,28.83,26.55,28.83
$GC,921,-0.54,-171.1,110.3,-6.7,61,927,0.10,2.08,0.00,0.000,4,0.096,0.042,2502,3766,3671,0,0,0,0,0,0,26.67,26.30,28.83
$GC,980,-0.63,-171.1,113.7,-7.1,63,986,0.00,1.83,0.00,0.000,6,0.000,0.019,2502,2429,3671,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1285,-0.64,-171.1,141.1,-9.4,79,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2432,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1587,-0.66,-171.1,167.1,-8.5,94,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2432,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1889,-0.67,-171.1,193.6,-9.6,109,1895,0.00,2.03,0.00,0.000,4,0.000,0.046,2499,3755,3672,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1917,-0.69,-171.1,196.4,-9.7,110,1923,0.00,1.75,0.00,0.000,6,0.000,0.017,2498,2471,3672,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2236,-0.71,-171.1,227.7,-9.7,126,2241,0.00,1.98,0.00,0.000,4,0.000,0.028,2498,1093,3671,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2279,-0.74,-171.1,231.8,-9.7,128,2285,0.10,2.03,0.00,0.000,6,0.093,0.034,2432,2461,3670,0,0,0,0,0,0,26.40,26.44,28.83
$GC,2603,-0.70,-171.1,271.0,-12.2,144,2609,0.12,1.98,0.00,0.000,4,0.150,0.043,2466,3763,3669,0,0,0,0,0,0,26.41,26.32,28.83
$GC,2671,-0.69,-171.1,278.0,-11.1,147,2676,0.00,1.80,0.00,0.000,6,0.000,0.017,2466,2452,3669,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2989,-0.69,-171.1,308.3,-9.5,163,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2452,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3290,-0.69,-171.1,335.6,-9.1,178,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2452,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3593,-0.70,-171.1,363.1,-9.4,193,3598,0.00,1.98,0.00,0.000,4,0.000,0.029,2466,1080,3664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3626,-0.70,-171.1,365.6,-9.5,194,3631,0.00,2.05,0.00,0.000,6,0.000,0.034,2466,2450,3664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3939,-0.71,-171.1,395.0,-9.2,210,3944,0.00,2.00,0.00,0.000,4,0.000,0.047,2466,3761,3662,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4017,-0.72,-171.1,400.9,-9.3,213,4024,0.00,1.83,0.00,0.000,6,0.000,0.018,2466,2438,3661,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4323,-0.74,-171.1,427.9,-8.1,229,4328,0.00,1.95,0.00,0.000,4,0.000,0.028,2466,1095,3660,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4390,-0.75,-171.1,433.3,-8.3,232,4395,0.00,2.03,0.00,0.000,6,0.000,0.034,2466,2454,3658,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4709,-0.76,-171.1,458.9,-7.6,248,4715,0.00,2.03,-0.08,0.000,4,0.000,0.060,2467,3759,3684,0,0,0,0,0,0,28.83,26.23,25.60
$GC,4763,-0.77,-171.1,462.5,-7.8,250,4768,0.00,1.83,0.00,0.000,6,0.000,0.021,2466,2443,3684,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5077,-0.79,-171.1,486.6,-7.5,266,5082,0.00,2.05,0.00,0.000,4,0.000,0.047,2466,3756,3683,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5145,-0.81,-171.1,491.5,-7.6,269,5151,0.00,1.83,0.00,0.000,6,0.000,0.020,2466,2435,3682,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5464,-0.83,-171.1,517.6,-8.1,285,5469,0.00,2.05,0.00,0.000,4,0.000,0.049,2466,3752,3680,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5528,-0.85,-171.1,522.8,-8.2,288,5534,0.12,1.85,0.00,0.000,6,0.081,0.021,2398,2427,3680,0,0,0,0,0,0,26.49,26.63,28.83
$GC,5853,-0.82,-171.1,562.4,-12.7,304,5858,0.12,1.92,0.00,0.000,4,0.152,0.027,2438,1098,3677,0,0,0,0,0,0,26.38,26.42,28.83
$GC,5921,-0.80,-171.1,569.2,-10.9,307,5926,0.00,2.03,0.00,0.000,6,0.000,0.035,2438,2449,3677,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6239,-0.80,-171.1,601.5,-10.7,323,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2449,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6539,-0.80,-171.1,633.5,-10.3,333,6544,0.00,2.03,0.00,0.000,4,0.000,0.055,2438,3754,3673,0,0,0,0,0,0,28.83,25.06,28.83
$GC,6602,-0.80,-171.1,639.8,-10.1,335,6607,0.00,1.83,0.00,0.000,6,0.000,0.022,2439,2447,3673,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6937,-0.80,-171.1,670.0,-8.7,346,6942,0.00,2.05,0.00,0.000,4,0.000,0.049,2438,3756,3670,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6989,-0.80,-171.1,673.2,-8.8,347,6995,0.00,1.83,0.00,0.000,6,0.000,0.022,2438,2449,3670,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7304,-0.80,-171.1,702.3,-9.1,358,7310,0.00,2.05,0.00,0.000,4,0.000,0.049,2438,3759,3668,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7338,-0.80,-171.1,705.4,-9.1,359,7343,0.00,1.85,0.00,0.000,6,0.000,0.024,2438,2456,3667,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7672,-0.80,-171.1,734.0,-8.2,370,7677,0.00,2.05,0.00,0.000,4,0.000,0.050,2438,3751,3665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7766,-0.80,-171.1,741.5,-8.0,373,7772,0.00,1.88,0.00,0.000,6,0.000,0.024,2438,2435,3668,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8102,-0.80,-171.1,767.8,-7.9,384,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2434,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8401,-0.80,-171.1,791.8,-8.2,394,8406,0.00,2.08,0.00,0.000,4,0.000,0.050,2438,3752,3662,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8448,-0.81,-171.1,794.7,-8.3,395,8453,0.00,1.85,0.00,0.000,6,0.000,0.024,2438,2444,3660,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8768,-0.81,-171.1,822.1,-8.5,406,8774,0.00,1.98,0.00,0.000,4,0.000,0.030,2438,1088,3659,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8802,-0.82,-171.1,825.2,-8.5,407,8808,0.00,2.08,0.00,0.000,6,0.000,0.036,2438,2454,3659,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9137,-0.83,-171.1,853.8,-8.6,418,9143,0.00,2.05,0.00,0.000,4,0.000,0.050,2438,3759,3657,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9176,-0.83,-171.1,856.9,-8.6,419,9181,0.00,1.88,0.00,0.000,6,0.000,0.024,2445,2444,3657,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9506,-0.85,-171.1,884.2,-8.2,430,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2442,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9805,-0.86,-171.1,907.9,-7.6,440,9811,0.00,2.10,0.00,0.000,4,0.000,0.051,2438,3760,3655,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9839,-0.87,-171.1,910.5,-7.5,441,9845,0.00,1.88,0.00,0.000,6,0.000,0.024,2438,2451,3654,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10176,-0.88,-171.1,935.5,-7.6,452,10182,0.00,2.08,0.00,0.000,4,0.000,0.057,2438,3756,3654,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10211,-0.89,-171.1,938.3,-7.5,453,10216,0.00,1.88,0.00,0.000,6,0.000,0.025,2438,2456,3653,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10547,-0.90,-171.1,962.4,-7.0,464,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2456,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10845,-0.92,-171.1,983.0,-6.8,474,10851,0.00,2.05,0.00,0.000,4,0.000,0.051,2438,3753,3652,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10904,-0.93,-171.1,985.5,-6.8,475,10912,0.12,1.88,0.00,0.000,6,0.085,0.025,2380,2447,3651,0,0,0,0,0,0,26.34,26.49,28.83
$STATE,10937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10937,begin apogee
$GC,10944,-0.27,0.0,990.2,-7.3,477,11109,0.73,0.00,155.45,1.244,6,0.122,0.000,2610,2285,2961,0,0,0,0,0,0,25.40,28.83,22.76
$STATE,11111,end apogee,CONTROL_FINISHED_OK
$STATE,11111,begin climb
$GC,11114,0.53,171.1,994.8,0.0,482,11285,0.73,2.42,161.15,1.222,4,0.063,0.048,2864,3700,2261,0,0,0,0,0,0,24.51,23.82,22.30
$GC,11348,0.46,171.1,981.5,9.1,490,11354,0.00,2.15,0.00,0.000,6,0.000,0.028,2869,2336,2255,0,0,0,0,0,0,28.83,25.00,28.83
$GC,11669,0.42,171.1,946.0,10.4,501,11675,0.12,2.17,0.00,0.000,4,0.152,0.037,2830,904,2250,0,0,0,0,0,0,26.01,26.08,28.83
$GC,11734,0.38,171.1,940.3,9.6,503,11740,0.00,2.15,0.00,0.000,6,0.000,0.034,2830,2305,2247,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12070,0.37,171.1,912.7,8.2,514,12075,0.00,2.20,0.00,0.000,4,0.000,0.049,2830,3706,2247,0,0,0,0,0,0,28.83,26.13,28.83
$GC,12113,0.34,171.1,909.5,8.4,515,12118,0.00,2.10,0.00,0.000,6,0.000,0.028,2830,2289,2246,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12438,0.33,171.1,879.4,9.3,526,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2289,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12738,0.31,171.1,852.8,9.1,536,12743,0.12,2.08,0.00,0.000,4,0.158,0.036,2793,903,2245,0,0,0,0,0,0,26.27,26.29,28.83
$GC,12775,0.29,171.1,849.9,8.9,537,12781,0.00,2.10,0.00,0.000,6,0.000,0.032,2793,2300,2242,0,0,0,0,0,0,28.83,26.36,28.83
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$STATE,22741,end climb,SURFACE_DEPTH_REACHED
$STATE,22741,begin surface coast
$FINISH,0.9,1.010082
$STATE,22772,end surface coast,CONTROL_FINISHED_OK
$STATE,22773,begin surface
$SM_CCo,22851,0.00,0.000,0,0,801,531.57
$SM_GC,1.76,7.30,0.17,0.00,0.028,0.063,0.000,116,2476,801,-7.98,-1.50,531.57,0,0,0,0,0,0,26.35,26.55,28.83
$IRIDIUM_FIX,2300.41,12139.21,041212,000013
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.89
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,16
$24V_AH,22.3,51.192
$10V_AH,10.1,33.305
$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,20.275,204.650,584.575,0.000,0.000,0.000,0.000,251.775,4.000,0.000,4.665,3319.385,15997.207,763.396,2722.273,473.928,0.000,2387.344,0.000,2388.319,0.000,0.541,0.000
$DEVICE_MAMPS,213.435,62.730,1243.890,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22789.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.376,0.000,0.000,0.000
$MEM,323812
$DATA_FILE_SIZE,36688,1008
$CAP_FILE_SIZE,253543,0
$CFSIZE,260165632,227319808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,319.5,1
$GPS,041212,125730,2310.150,12145.586,41,0.9,41,-3.5