version: 66.11
glider: 167
mission: 14
dive: 6
start: 10 16 112 10 51 22
data:
$ID,167
$MISSION,14
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,3
$T_BOOST,0
$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,220
$T_MISSION,250
$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,250
$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,-968480.81
$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,2760
$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,1975
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,39
$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,4
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,161012,104324,2135.279,12059.428,38,1.3,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-63.6
$GPS2,161012,105055,2135.155,12059.522,5,0.9,5,-3.1
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,354.3,169828,-13.9,-10.000,-17.04
$D_GRID,662
$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,-0.44,-244.4,0.0,0.0,0,97,0.00,0.00,-77.05,0.000,2,0.000,0.000,109,1959,2703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.44,-244.4,3.3,-4.7,13,145,10.00,2.20,-25.17,0.000,4,0.240,0.062,2607,3379,3962,0,0,0,0,0,0,25.84,26.20,26.54
$GC,214,-0.46,-244.4,22.6,-13.7,33,220,0.00,2.05,0.00,0.000,6,0.000,0.024,2607,1963,3963,0,0,0,0,0,0,28.83,26.34,28.83
$GC,533,-0.48,-244.4,65.2,-11.8,60,539,0.00,2.17,0.00,0.000,4,0.000,0.046,2602,3388,3963,0,0,0,0,0,0,28.83,26.44,28.83
$GC,697,-0.54,-244.4,80.2,-8.0,68,703,0.00,2.03,0.00,0.000,6,0.000,0.021,2601,1959,3963,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1021,-0.75,-244.4,102.6,-9.3,84,1027,0.20,2.15,0.00,0.000,4,0.094,0.044,2524,3380,3964,0,0,0,0,0,0,26.55,26.57,28.83
$GC,1080,-0.97,-244.4,107.5,-10.6,86,1087,0.22,2.00,0.00,0.000,6,0.084,0.023,2435,1968,3964,0,0,0,0,0,0,26.58,26.67,28.83
$GC,1386,-0.88,-244.4,157.5,-17.3,102,1391,0.12,2.15,0.00,0.000,4,0.162,0.044,2468,3388,3965,0,0,0,0,0,0,26.53,26.63,28.83
$GC,1520,-0.85,-244.4,175.2,-13.7,108,1526,0.00,2.00,0.00,0.000,6,0.000,0.022,2468,1975,3964,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1834,-0.85,-244.4,221.9,-14.9,124,1839,0.00,2.12,0.00,0.000,4,0.000,0.047,2467,3377,3965,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1917,-0.85,-244.4,233.1,-13.6,128,1922,0.00,2.00,0.00,0.000,6,0.000,0.022,2467,1964,3964,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2240,-0.85,-244.4,269.0,-11.9,144,2246,0.00,2.15,0.00,0.000,4,0.000,0.049,2467,3377,3964,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2428,-0.85,-244.4,291.5,-11.1,153,2433,0.00,2.00,0.00,0.000,6,0.000,0.026,2466,1972,3963,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2747,-0.87,-244.4,317.3,-8.7,169,2752,0.00,2.17,0.00,0.000,4,0.000,0.050,2467,3385,3960,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2981,-0.90,-244.4,339.7,-10.0,180,2986,0.00,2.03,0.00,0.000,6,0.000,0.023,2466,1964,3959,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3294,-0.93,-244.4,373.6,-10.5,196,3299,0.00,2.17,0.00,0.000,4,0.000,0.050,2466,3386,3957,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3462,-0.97,-244.4,387.5,-7.5,204,3468,0.00,2.03,-0.08,0.000,6,0.000,0.023,2467,1968,3975,0,0,0,0,0,0,28.83,26.78,25.95
$GC,3782,-1.01,-244.4,414.8,-9.1,220,3787,0.00,2.17,0.00,0.000,4,0.000,0.051,2466,3377,3974,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3950,-1.05,-244.4,430.6,-9.6,228,3956,0.12,2.00,0.00,0.000,6,0.087,0.024,2406,1971,3973,0,0,0,0,0,0,26.72,26.78,28.83
$GC,4269,-1.01,-244.4,471.0,-13.4,244,4276,0.12,2.17,0.00,0.000,4,0.162,0.050,2445,3381,3971,0,0,0,0,0,0,26.57,26.65,28.83
$GC,4388,-1.02,-244.4,481.7,-9.7,249,4395,0.00,2.03,0.00,0.000,6,0.000,0.024,2446,1971,3970,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4695,-1.04,-244.4,510.8,-9.9,265,4700,0.00,2.17,0.00,0.000,4,0.000,0.051,2445,3383,3968,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4832,-1.05,-244.4,524.1,-10.9,271,4838,0.00,2.03,0.00,0.000,6,0.000,0.025,2446,1975,3967,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5138,-1.05,-244.4,562.6,-11.2,287,5143,0.00,2.15,0.00,0.000,4,0.000,0.052,2445,3375,3965,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5371,-1.07,-244.4,585.6,-9.9,298,5377,0.00,2.05,0.00,0.000,6,0.000,0.025,2445,1970,3964,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5707,-1.10,-244.4,618.0,-8.8,312,5712,0.12,2.20,0.00,0.000,4,0.093,0.053,2374,3384,3961,0,0,0,0,0,0,26.81,26.60,28.83
$GC,5906,-1.04,-244.4,645.9,-15.5,318,5912,0.17,2.05,0.00,0.000,6,0.153,0.025,2423,1961,3962,0,0,0,0,0,0,26.41,26.74,28.83
$STATE,6012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6012,begin apogee
$GC,6018,-0.20,0.0,662.2,-13.1,322,6234,0.77,0.00,205.95,1.681,6,0.112,0.000,2697,1961,2966,0,0,0,0,0,0,26.43,28.83,23.41
$STATE,6235,end apogee,CONTROL_FINISHED_OK
$STATE,6235,begin climb
$GC,6237,0.44,244.4,675.8,0.0,329,6467,0.57,2.40,218.32,1.624,4,0.039,0.044,2932,582,1970,0,0,0,0,0,0,24.79,24.04,22.96
$GC,6491,0.33,278.9,665.7,9.0,337,6532,0.22,2.22,32.95,1.580,6,0.134,0.028,2871,1981,1830,0,0,0,0,0,0,24.60,24.73,23.11
$GC,6830,0.31,278.9,628.7,11.8,349,6835,0.00,2.17,0.00,0.000,4,0.000,0.044,2871,3382,1825,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7063,0.28,278.9,605.7,10.3,356,7068,0.00,2.08,0.00,0.000,6,0.000,0.026,2874,1969,1823,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7387,0.26,278.9,570.1,10.8,372,7392,0.00,2.15,0.00,0.000,4,0.000,0.043,2874,3377,1823,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7551,0.22,278.9,550.6,12.4,380,7557,0.15,2.05,0.00,0.000,6,0.150,0.027,2833,1968,1822,0,0,0,0,0,0,26.27,26.46,28.83
$GC,7876,0.25,297.4,520.5,9.5,396,7900,0.00,2.28,16.73,1.563,4,0.000,0.044,2832,3381,1753,0,0,0,0,0,0,28.83,25.80,24.65
$GC,8019,0.27,297.4,504.2,10.5,403,8024,0.00,2.08,0.00,0.000,6,0.000,0.026,2833,1971,1752,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8342,0.32,338.6,476.8,8.9,419,8387,0.00,2.28,38.10,1.604,4,0.000,0.042,2833,3376,1586,0,0,0,0,0,0,28.83,25.08,23.96
$GC,8560,0.36,338.6,450.6,13.8,429,8567,0.12,2.08,0.00,0.000,6,0.080,0.026,2895,1974,1583,0,0,0,0,0,0,25.98,26.01,28.83
$GC,8865,0.36,338.6,407.7,12.1,445,8871,0.00,2.15,0.00,0.000,4,0.000,0.044,2895,3377,1583,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8932,0.34,338.6,400.2,11.8,448,8938,0.00,2.05,0.00,0.000,6,0.000,0.026,2897,1977,1582,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9251,0.32,338.6,364.6,10.5,464,9257,0.12,2.15,0.00,0.000,4,0.155,0.041,2856,3385,1582,0,0,0,0,0,0,26.35,26.43,28.83
$GC,9386,0.34,386.5,353.5,8.7,470,9435,0.00,2.05,43.28,1.531,6,0.000,0.025,2861,1969,1391,0,0,0,0,0,0,28.83,26.53,23.99
$GC,9737,0.41,467.4,328.9,7.8,488,9817,0.10,2.38,72.70,1.489,4,0.097,0.041,2916,3374,1060,0,0,0,0,0,0,26.18,24.75,23.71
$GC,9974,0.41,467.4,301.1,12.6,499,9982,0.00,2.10,0.00,0.000,6,0.000,0.026,2917,1977,1057,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10280,0.43,498.8,268.4,9.1,515,10314,0.00,2.25,28.25,1.434,4,0.000,0.041,2917,3381,933,0,0,0,0,0,0,28.83,25.25,24.17
$GC,10387,0.45,499.4,258.5,10.0,520,10393,0.00,2.12,0.00,0.000,6,0.000,0.024,2916,1960,931,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10706,0.49,536.5,230.6,9.0,536,10746,0.00,2.35,34.05,1.398,4,0.000,0.041,2916,3375,776,0,0,0,0,0,0,28.83,25.14,24.08
$GC,10811,0.55,592.4,221.6,8.5,541,10869,0.00,2.10,52.03,1.377,6,0.000,0.024,2917,1968,552,0,0,0,0,0,0,28.83,25.72,23.76
$GC,11170,0.68,686.9,194.5,7.4,559,11194,0.15,2.33,19.12,1.306,4,0.073,0.041,3006,3385,458,0,0,0,0,0,0,26.10,25.41,24.39
$GC,11292,0.66,686.9,174.8,17.3,565,11299,0.12,2.10,0.00,0.000,6,0.152,0.024,2973,1972,452,0,0,0,0,0,0,25.76,25.90,28.83
$GC,11617,0.69,686.9,132.2,11.2,581,11623,0.00,2.15,0.00,0.000,4,0.000,0.040,2972,3383,449,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11661,0.72,686.9,127.5,10.7,583,11666,0.00,2.05,0.00,0.000,6,0.000,0.023,2973,1975,448,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11985,0.89,858.8,103.2,5.3,599,11992,0.17,2.08,0.00,0.000,4,0.067,0.035,3077,578,447,0,0,0,0,0,0,26.48,26.42,28.83
$GC,12040,0.98,941.5,98.4,7.7,601,12045,0.00,2.05,0.00,0.000,6,0.000,0.025,3077,1986,447,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12353,0.95,941.5,53.5,13.9,617,12358,0.00,2.08,0.00,0.000,4,0.000,0.037,3077,3381,447,0,0,0,0,0,0,28.83,26.51,28.83
$GC,12417,0.92,941.5,43.3,16.3,622,12422,0.00,2.03,0.00,0.000,6,0.000,0.023,3077,1972,446,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,12673,end climb,SURFACE_DEPTH_REACHED
$STATE,12673,begin surface coast
$FINISH,0.9,1.021839
$STATE,12689,end surface coast,CONTROL_FINISHED_OK
$STATE,12689,begin surface
$SM_CCo,12766,0.00,0.000,0,0,446,618.65
$SM_GC,1.55,7.45,0.00,0.00,0.031,0.000,0.000,117,1969,446,-8.17,-0.17,618.65,0,0,0,0,0,0,26.59,28.83,28.83
$IRIDIUM_FIX,2124.90,12102.59,161012,070724
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.97
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.70
$XPDR_PINGS,21
$24V_AH,23.0,8.777
$10V_AH,10.0,3.529
$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,21.075,114.775,761.475,0.000,0.000,0.000,0.000,273.800,5.250,0.000,5.896,2427.735,7407.759,758.863,2344.419,281.849,0.000,2164.769,0.000,1985.653,0.000,0.542,0.000
$DEVICE_MAMPS,240.210,61.965,1681.470,0.000,0.000,0.000,0.000,131.580,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12718.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.956,0.000,0.000,0.000
$MEM,323900
$DATA_FILE_SIZE,23419,664
$CAP_FILE_SIZE,167052,0
$CFSIZE,260165632,248840192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.145,206.7,1
$GPS,161012,142530,2136.243,12058.832,38,1.1,38,-3.1