version: 66.11
glider: 167
mission: 14
dive: 7
start: 10 16 112 14 33 16
data:
$ID,167
$MISSION,14
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,380
$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,200
$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,-968482.06
$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,58
$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,0.00039999999
$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
$GPS1,161012,142530,2136.243,12058.832,38,1.1,38,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-64.8
$GPS2,161012,143249,2136.310,12058.822,5,0.8,5,-3.1
$SPEED_LIMITS,0.173,0.296
$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,24.3,168089,-15.7,-10.000,-18.65
$D_GRID,645
$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,-0.47,-195.5,0.0,0.0,0,107,0.00,0.00,-86.40,0.000,2,0.000,0.000,109,1967,2798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.47,-195.5,3.4,-3.5,15,142,9.80,0.00,-18.75,0.000,6,0.233,0.000,2601,1967,3767,0,0,0,0,0,0,25.88,28.83,26.51
$GC,447,-0.47,-195.5,65.4,-17.7,52,453,0.00,2.15,0.00,0.000,4,0.000,0.048,2600,3366,3768,0,0,0,0,0,0,28.83,26.39,28.83
$GC,624,-0.47,-195.5,92.1,-14.2,60,632,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1966,3769,0,0,0,0,0,0,28.83,26.54,28.83
$GC,932,-0.53,-195.5,133.1,-9.4,76,937,0.00,2.12,0.00,0.000,4,0.000,0.047,2600,3363,3768,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1165,-0.67,-195.5,156.6,-9.7,87,1171,0.15,1.98,0.00,0.000,6,0.073,0.021,2510,1970,3769,0,0,0,0,0,0,26.64,26.67,28.83
$GC,1479,-0.67,-195.5,196.2,-9.4,103,1485,0.12,2.12,0.00,0.000,4,0.154,0.044,2547,3371,3770,0,0,0,0,0,0,26.55,26.63,28.83
$GC,1604,-0.76,-195.5,205.2,-7.0,109,1609,0.00,1.98,0.00,0.000,6,0.000,0.022,2548,1977,3770,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1928,-0.86,-195.5,232.0,-8.3,125,1934,0.15,2.12,0.00,0.000,4,0.071,0.045,2451,3372,3770,0,0,0,0,0,0,26.77,26.66,28.83
$GC,2161,-0.83,-195.5,267.5,-13.6,136,2168,0.15,1.98,0.00,0.000,6,0.142,0.023,2494,1971,3770,0,0,0,0,0,0,26.57,26.76,28.83
$GC,2477,-0.88,-195.5,300.3,-9.5,152,2482,0.00,2.15,0.00,0.000,4,0.000,0.048,2493,3374,3768,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2571,-0.93,-195.5,308.3,-9.4,156,2576,0.00,1.98,0.00,0.000,6,0.000,0.023,2493,1981,3766,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2884,-0.99,-195.5,346.9,-12.2,172,2891,0.12,2.12,0.00,0.000,4,0.082,0.047,2414,3365,3766,0,0,0,0,0,0,26.82,26.70,28.83
$GC,3009,-0.95,-195.5,367.1,-16.8,178,3016,0.15,1.98,0.00,0.000,6,0.151,0.023,2456,1972,3766,0,0,0,0,0,0,26.56,26.78,28.83
$GC,3334,-0.98,-195.5,412.3,-13.6,194,3340,0.00,2.12,0.00,0.000,4,0.000,0.049,2453,3367,3764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3427,-1.00,-195.5,423.6,-13.7,198,3432,0.00,1.98,0.00,0.000,6,0.000,0.022,2453,1971,3763,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3741,-1.02,-195.5,462.5,-8.5,214,3746,0.00,2.12,0.00,0.000,4,0.000,0.050,2453,3362,3761,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3855,-1.05,-195.5,473.7,-10.5,219,3861,0.00,1.98,0.00,0.000,6,0.000,0.025,2453,1985,3760,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4170,-1.07,-195.5,501.4,-7.5,235,4176,0.12,2.12,0.00,0.000,4,0.087,0.049,2378,3371,3757,0,0,0,0,0,0,26.82,26.69,28.83
$GC,4276,-1.01,-195.5,514.2,-12.9,240,4282,0.20,2.00,0.00,0.000,6,0.148,0.024,2434,1971,3756,0,0,0,0,0,0,26.52,26.78,28.83
$GC,4600,-1.01,-195.5,534.9,-4.3,256,4606,0.00,2.15,0.00,0.000,4,0.000,0.051,2434,3372,3753,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4684,-1.01,-195.5,538.8,-4.7,260,4690,0.00,2.00,0.00,0.000,6,0.000,0.024,2435,1978,3753,0,0,0,0,0,0,28.83,26.78,28.83
$GC,5008,-1.01,-195.5,555.5,-6.0,276,5013,0.00,2.12,0.00,0.000,4,0.000,0.053,2435,3357,3747,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5146,-1.01,-195.5,564.1,-7.0,282,5152,0.00,2.00,0.00,0.000,6,0.000,0.024,2434,1966,3749,0,0,0,0,0,0,28.83,26.78,28.83
$GC,5451,-1.01,-195.5,588.8,-8.9,298,5457,0.00,2.12,0.00,0.000,4,0.000,0.045,2435,3370,3747,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5580,-1.01,-195.5,601.4,-11.4,304,5585,0.00,2.00,0.00,0.000,6,0.000,0.024,2435,1965,3746,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5910,-1.03,-195.5,644.4,-12.8,315,5915,0.00,2.17,0.00,0.000,4,0.000,0.054,2435,3372,3743,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,5941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5941,begin apogee
$GC,5949,-0.20,0.0,649.8,-13.3,316,6118,0.75,0.00,160.90,1.683,6,0.117,0.000,2690,1990,2967,0,0,0,0,0,0,26.49,28.83,23.50
$STATE,6120,end apogee,CONTROL_FINISHED_OK
$STATE,6120,begin climb
$GC,6122,0.47,195.5,670.8,0.0,321,6308,0.57,2.42,174.10,1.629,4,0.040,0.051,2927,3359,2170,0,0,0,0,0,0,24.87,24.10,23.05
$GC,6537,0.35,195.5,647.8,13.4,335,6543,0.22,2.12,0.00,0.000,6,0.157,0.031,2872,1975,2164,0,0,0,0,0,0,25.60,25.76,28.83
$GC,6854,0.32,195.5,611.1,11.0,346,6859,0.00,2.20,0.00,0.000,4,0.000,0.053,2872,3370,2162,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7086,0.26,195.5,584.1,12.7,356,7092,0.12,2.10,0.00,0.000,6,0.159,0.033,2846,1972,2161,0,0,0,0,0,0,26.18,26.34,28.83
$GC,7400,0.30,304.3,560.1,6.3,372,7505,0.00,2.30,97.72,1.628,4,0.000,0.043,2846,3364,1725,0,0,0,0,0,0,28.83,24.71,23.63
$GC,7735,0.39,436.5,539.1,5.5,388,7867,0.12,2.10,118.35,1.604,6,0.081,0.028,2907,1959,1188,0,0,0,0,0,0,25.98,25.99,23.49
$GC,8168,0.42,442.0,508.7,9.8,410,8179,0.00,2.30,5.90,1.268,4,0.000,0.047,2907,3367,1161,0,0,0,0,0,0,28.83,25.77,24.68
$GC,8292,0.44,442.0,491.8,13.7,416,8298,0.00,2.10,0.00,0.000,6,0.000,0.027,2911,1966,1164,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8616,0.46,442.0,452.2,14.6,432,8621,0.00,2.17,0.00,0.000,4,0.000,0.044,2912,3367,1162,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8668,0.48,442.0,443.8,17.7,434,8674,0.00,2.05,0.00,0.000,6,0.000,0.027,2912,1973,1162,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8983,0.51,442.0,376.0,19.5,450,8988,0.00,2.15,0.00,0.000,4,0.000,0.050,2912,3365,1164,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9080,0.54,442.0,360.3,18.7,454,9087,0.00,2.03,0.00,0.000,6,0.000,0.025,2909,1970,1162,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9386,0.57,442.0,314.4,13.2,470,9392,0.00,2.12,0.00,0.000,4,0.000,0.043,2912,3367,1161,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9484,0.61,442.0,303.3,13.2,474,9492,0.12,2.03,0.00,0.000,6,0.081,0.025,2976,1966,1160,0,0,0,0,0,0,26.55,26.58,28.83
$GC,9790,0.59,442.0,257.3,15.3,490,9795,0.00,2.05,0.00,0.000,4,0.000,0.039,2984,582,1161,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9817,0.56,442.0,253.4,16.0,491,9824,0.15,2.03,0.00,0.000,6,0.127,0.026,2941,1976,1165,0,0,0,0,0,0,26.46,26.61,28.83
$GC,10137,0.59,442.0,203.4,15.9,507,10142,0.00,2.08,0.00,0.000,4,0.000,0.042,2941,3365,1161,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10325,0.61,442.0,177.6,12.5,516,10330,0.00,2.03,0.00,0.000,6,0.000,0.024,2942,1966,1160,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10644,0.74,575.4,150.4,5.4,532,10751,0.15,0.00,103.38,1.314,6,0.071,0.000,3027,1966,620,0,0,0,0,0,0,26.73,28.83,23.92
$GC,11044,0.77,575.4,98.7,11.9,552,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1966,617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11345,0.81,575.4,64.2,12.5,567,11351,0.00,2.12,0.00,0.000,4,0.000,0.041,3028,3365,617,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11451,0.85,575.4,50.9,12.8,572,11457,0.00,2.03,0.00,0.000,6,0.000,0.030,3028,1998,617,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11762,0.89,575.4,13.5,13.3,610,11769,0.00,2.10,0.00,0.000,4,0.000,0.046,3028,3371,619,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11802,0.93,575.4,8.1,14.3,617,11809,0.00,2.05,0.00,0.000,6,0.000,0.028,3028,1971,619,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,11845,end climb,SURFACE_DEPTH_REACHED
$STATE,11845,begin surface coast
$FINISH,0.6,1.014286
$STATE,11868,end surface coast,CONTROL_FINISHED_OK
$STATE,11868,begin surface
$SM_CCo,11945,0.00,0.000,0,0,618,576.21
$SM_GC,1.52,7.30,0.00,0.00,0.028,0.000,0.000,115,1970,618,-8.18,-0.14,576.21,0,0,0,0,0,0,26.52,28.83,28.83
$IRIDIUM_FIX,2124.90,12059.42,161012,101021
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.66
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.40
$XPDR_PINGS,28
$24V_AH,23.0,9.080
$10V_AH,10.1,3.662
$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,20.500,100.325,660.350,0.000,0.000,0.000,0.000,261.900,7.000,0.000,5.873,2262.631,6989.140,708.433,2155.890,270.181,0.000,1986.588,0.000,1796.636,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,54.315,1683.000,0.000,0.000,0.000,0.000,129.285,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11907.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.002,0.000,0.000,0.000
$MEM,323848
$DATA_FILE_SIZE,23443,629
$CAP_FILE_SIZE,153629,0
$CFSIZE,260165632,248754176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.319,105.4,1
$GPS,161012,175335,2137.368,12101.781,32,1.2,32,-3.1