version: 66.11
glider: 167
mission: 14
dive: 252
start: 12 11 112 0 33 14
data:
$ID,167
$MISSION,14
$DIVE,252
$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,-969141
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,53
$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
$GPS1,111212,002524,2329.034,12258.492,39,1.3,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-66.3
$GPS2,111212,003246,2329.106,12258.414,12,1.3,12,-3.7
$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,81.0,103376,-13.8,-8.049,-17.28
$D_GRID,3072
$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,-0.66,-171.1,0.0,0.0,0,84,0.00,0.00,-61.72,0.000,2,0.000,0.000,108,2469,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.66,-171.1,3.1,-3.2,6,131,9.43,2.05,-26.50,0.000,4,0.218,0.063,2477,3734,3667,0,0,0,0,0,0,25.05,26.02,26.66
$GC,157,-0.59,-171.1,11.3,-13.2,12,163,0.12,1.85,0.00,0.000,6,0.149,0.018,2511,2400,3668,0,0,0,0,0,0,26.01,26.39,28.83
$GC,471,-0.57,-171.1,52.6,-11.9,42,477,0.00,1.88,0.00,0.000,4,0.000,0.028,2511,1093,3668,0,0,0,0,0,0,28.83,26.36,28.83
$GC,520,-0.55,-171.1,57.9,-11.7,44,525,0.00,2.00,0.00,0.000,6,0.000,0.034,2508,2435,3669,0,0,0,0,0,0,28.83,26.32,28.83
$GC,838,-0.54,-171.1,96.7,-11.4,60,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2439,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1140,-0.54,-171.1,126.7,-9.3,75,1145,0.00,2.00,0.00,0.000,4,0.000,0.045,2507,3755,3668,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1218,-0.56,-171.1,132.5,-9.1,78,1224,0.00,1.80,0.00,0.000,6,0.000,0.017,2508,2439,3669,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1524,-0.57,-171.1,158.3,-7.7,94,1529,0.00,1.95,0.00,0.000,4,0.000,0.028,2508,1085,3669,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1653,-0.60,-171.1,169.1,-8.8,100,1659,0.00,2.03,0.00,0.000,6,0.000,0.034,2503,2452,3669,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1972,-0.62,-171.1,195.3,-7.8,116,1978,0.00,1.98,0.00,0.000,4,0.000,0.045,2508,3756,3670,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2011,-0.64,-171.1,197.1,-7.8,117,2018,0.00,1.80,0.00,0.000,6,0.000,0.017,2508,2442,3669,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2317,-0.66,-171.1,221.2,-7.3,133,2322,0.00,1.95,0.00,0.000,4,0.000,0.028,2508,1091,3669,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2385,-0.69,-171.1,226.1,-7.5,136,2391,0.00,2.03,0.00,0.000,6,0.000,0.033,2508,2458,3670,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2705,-0.71,-171.1,253.5,-9.0,152,2706,0.12,0.00,0.00,0.000,6,0.080,0.000,2425,2457,3668,0,0,0,0,0,0,26.71,28.83,28.83
$GC,3007,-0.66,-171.1,296.4,-14.7,167,3013,0.17,2.00,0.00,0.000,4,0.140,0.028,2481,1087,3667,0,0,0,0,0,0,26.27,26.46,28.83
$GC,3052,-0.64,-171.1,302.0,-13.4,169,3057,0.00,2.03,0.00,0.000,6,0.000,0.032,2480,2450,3667,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3375,-0.65,-171.1,332.3,-8.7,185,3381,0.00,1.98,0.00,0.000,4,0.000,0.028,2480,1086,3666,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3408,-0.66,-171.1,334.4,-8.8,186,3413,0.00,2.03,0.00,0.000,6,0.000,0.033,2480,2453,3666,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3721,-0.67,-171.1,365.1,-10.1,202,3727,0.00,1.98,0.00,0.000,4,0.000,0.046,2480,3752,3666,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3765,-0.68,-171.1,369.4,-10.1,204,3770,0.00,1.80,0.00,0.000,6,0.000,0.018,2480,2442,3665,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4088,-0.69,-171.1,399.7,-9.3,220,4094,0.00,1.95,0.00,0.000,4,0.000,0.028,2480,1095,3664,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4152,-0.71,-171.1,406.0,-9.8,223,4157,0.00,2.03,0.00,0.000,6,0.000,0.034,2480,2458,3664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4476,-0.73,-171.1,434.8,-8.5,239,4481,0.00,2.00,0.00,0.000,4,0.000,0.028,2480,1092,3663,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4508,-0.75,-171.1,437.0,-8.6,240,4514,0.00,2.05,0.00,0.000,6,0.000,0.033,2480,2460,3662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4822,-0.76,-171.1,462.0,-7.5,256,4828,0.00,1.98,0.00,0.000,4,0.000,0.047,2480,3751,3661,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4891,-0.79,-171.1,466.8,-7.5,259,4896,0.00,1.80,0.00,0.000,6,0.000,0.018,2480,2437,3661,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5209,-0.81,-171.1,490.1,-7.1,275,5216,0.12,1.95,-0.05,0.000,4,0.083,0.041,2401,1102,3680,0,0,0,0,0,0,26.68,26.41,24.80
$GC,5245,-0.82,-171.1,492.6,-7.8,276,5251,0.12,2.03,0.00,0.000,6,0.156,0.034,2431,2459,3680,0,0,0,0,0,0,26.11,26.39,28.83
$GC,5559,-0.81,-171.1,525.3,-9.6,292,5564,0.00,1.98,0.00,0.000,4,0.000,0.028,2431,1103,3679,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5607,-0.79,-171.1,529.6,-9.6,294,5612,0.00,2.03,0.00,0.000,6,0.000,0.034,2431,2460,3678,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5926,-0.78,-171.1,558.2,-8.9,310,5931,0.00,1.98,0.00,0.000,4,0.000,0.028,2431,1103,3677,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5979,-0.77,-171.1,562.3,-9.1,312,5984,0.00,2.03,0.00,0.000,6,0.000,0.034,2431,2458,3677,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6292,-0.76,-171.1,593.4,-9.8,328,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2458,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,-0.75,-171.1,622.5,-8.7,340,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2458,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6912,-0.74,-171.1,646.8,-8.2,350,6917,0.00,2.00,0.00,0.000,4,0.000,0.028,2431,1094,3672,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6980,-0.74,-171.1,652.5,-8.6,352,6986,0.12,2.05,0.00,0.000,6,0.146,0.040,2466,2452,3671,0,0,0,0,0,0,26.01,26.19,28.83
$GC,7311,-0.76,-171.1,679.3,-8.7,363,7316,0.00,2.00,0.00,0.000,4,0.000,0.047,2466,3751,3670,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7353,-0.79,-171.1,682.6,-9.0,364,7358,0.00,1.80,0.00,0.000,6,0.000,0.021,2466,2453,3670,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7679,-0.82,-171.1,711.4,-8.5,375,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2452,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7976,-0.84,-171.1,737.4,-8.9,385,7982,0.12,2.05,0.00,0.000,4,0.083,0.047,2394,3759,3663,0,0,0,0,0,0,26.66,26.13,28.83
$GC,8020,-0.86,-171.1,741.3,-9.4,386,8025,0.00,1.83,0.00,0.000,6,0.000,0.023,2394,2467,3665,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8345,-0.83,-171.1,783.1,-12.5,397,8352,0.12,2.05,0.00,0.000,4,0.155,0.028,2434,1079,3663,0,0,0,0,0,0,26.33,26.35,28.83
$GC,8381,-0.80,-171.1,787.3,-12.2,398,8386,0.00,2.08,0.00,0.000,6,0.000,0.034,2434,2447,3663,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8715,-0.80,-171.1,818.3,-8.6,409,8721,0.00,2.03,0.00,0.000,4,0.000,0.049,2434,3753,3660,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8782,-0.80,-171.1,823.5,-8.1,411,8788,0.00,1.85,0.00,0.000,6,0.000,0.023,2434,2438,3660,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9113,-0.80,-171.1,848.0,-7.6,422,9118,0.00,2.08,0.00,0.000,4,0.000,0.049,2434,3758,3659,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9196,-0.80,-171.1,852.9,-7.6,424,9201,0.00,1.85,0.00,0.000,6,0.000,0.024,2433,2453,3658,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9509,-0.80,-171.1,879.0,-8.1,435,9514,0.00,2.05,0.00,0.000,4,0.000,0.048,2433,3756,3656,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9561,-0.81,-171.1,881.7,-8.1,436,9567,0.00,1.85,0.00,0.000,6,0.000,0.024,2435,2451,3656,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9876,-0.82,-171.1,909.8,-8.5,447,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2450,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10175,-0.83,-171.1,936.3,-8.8,457,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2449,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10476,-0.84,-171.1,962.0,-8.4,467,10481,0.00,2.05,0.00,0.000,4,0.000,0.050,2433,3754,3652,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10544,-0.85,-171.1,967.6,-8.5,469,10549,0.00,1.88,0.00,0.000,6,0.000,0.025,2434,2454,3651,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,10809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10809,begin apogee
$GC,10817,-0.27,0.0,990.8,-8.6,478,10977,0.52,0.00,152.20,1.247,6,0.109,0.000,2606,2189,2966,0,0,0,0,0,0,25.72,28.83,22.91
$STATE,10978,end apogee,CONTROL_FINISHED_OK
$STATE,10979,begin climb
$GC,10982,0.66,171.1,997.1,0.0,483,11150,0.88,2.45,158.52,1.203,4,0.063,0.045,2915,3599,2263,0,0,0,0,0,0,24.72,23.98,22.43
$GC,11212,0.56,171.1,982.1,10.6,491,11218,0.15,2.12,0.00,0.000,6,0.167,0.028,2882,2233,2254,0,0,0,0,0,0,24.89,25.22,28.83
$GC,11542,0.51,171.1,949.0,9.7,502,11547,0.00,2.17,0.00,0.000,4,0.000,0.047,2882,3605,2249,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11585,0.45,171.1,945.4,10.0,503,11591,0.15,2.10,0.00,0.000,6,0.159,0.029,2849,2196,2248,0,0,0,0,0,0,25.93,26.27,28.83
$GC,11911,0.42,171.1,917.7,8.3,514,11916,0.00,2.12,0.00,0.000,4,0.000,0.039,2857,798,2246,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11984,0.39,171.1,912.2,8.3,516,11990,0.12,2.12,0.00,0.000,6,0.134,0.032,2823,2208,2244,0,0,0,0,0,0,26.10,26.31,28.83
$GC,12310,0.38,171.1,885.6,8.2,527,12316,0.00,2.17,0.00,0.000,4,0.000,0.047,2823,3608,2244,0,0,0,0,0,0,28.83,26.21,28.83
$GC,12408,0.36,171.1,876.8,9.0,530,12413,0.00,2.08,0.00,0.000,6,0.000,0.028,2825,2199,2243,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12739,0.36,185.5,850.3,7.6,541,12757,0.00,2.25,11.23,1.235,4,0.000,0.046,2825,3611,2203,0,0,0,0,0,0,28.83,26.08,24.22
$GC,12854,0.34,185.5,842.2,8.5,544,12862,0.00,2.12,0.00,0.000,6,0.000,0.028,2825,2198,2201,0,0,0,0,0,0,28.83,26.26,28.83
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$STATE,22121,end climb,SURFACE_DEPTH_REACHED
$STATE,22121,begin surface coast
$FINISH,0.8,1.023450
$STATE,22142,end surface coast,CONTROL_FINISHED_OK
$STATE,22142,begin surface
$SM_CCo,22222,0.00,0.000,0,0,1163,442.77
$SM_GC,1.90,7.28,0.38,0.00,0.028,0.039,0.000,110,2475,1163,-8.00,-1.33,442.77,0,0,0,0,0,0,26.41,26.56,28.83
$IRIDIUM_FIX,2319.18,12257.10,101212,181805
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.11
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.20
$XPDR_PINGS,11
$24V_AH,22.4,56.480
$10V_AH,10.2,36.631
$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,20.600,196.850,540.325,0.000,0.000,0.000,0.000,249.700,2.750,0.000,13.565,3222.463,15607.229,726.303,2633.449,467.796,0.000,2283.281,0.000,2292.902,0.000,0.541,0.000
$DEVICE_MAMPS,218.025,62.730,1246.950,0.000,0.000,0.000,0.000,127.755,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22156.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.965,0.000,0.000,0.000
$MEM,323776
$DATA_FILE_SIZE,36675,977
$CAP_FILE_SIZE,245436,0
$CFSIZE,260165632,224755712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,266.2,1
$GPS,111212,064500,2329.835,12300.789,41,1.0,41,-3.7