version: 66.11
glider: 167
mission: 14
dive: 8
start: 10 16 112 18 1 13
data:
$ID,167
$MISSION,14
$DIVE,8
$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,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,-968483.31
$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,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,44
$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
$GPS1,161012,175335,2137.368,12101.781,32,1.2,32,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.8
$GPS2,161012,180047,2137.429,12102.100,5,0.9,5,-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,332.3,164637,-15.7,-10.000,-18.65
$D_GRID,720
$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,-0.47,-195.5,0.0,0.0,0,94,0.00,0.00,-73.12,0.000,2,0.000,0.000,109,1965,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.47,-195.5,3.2,-5.0,12,142,9.65,2.25,-26.92,0.000,4,0.226,0.061,2601,3373,3767,0,0,0,0,0,0,25.84,26.17,26.51
$GC,171,-0.47,-195.5,13.2,-14.2,24,177,0.00,2.05,0.00,0.000,6,0.000,0.022,2601,1959,3767,0,0,0,0,0,0,28.83,26.28,28.83
$GC,491,-0.45,-195.5,65.9,-15.5,58,497,0.00,2.15,0.00,0.000,4,0.000,0.047,2600,3364,3768,0,0,0,0,0,0,28.83,26.41,28.83
$GC,616,-0.45,-195.5,83.4,-14.2,64,622,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1961,3767,0,0,0,0,0,0,28.83,26.54,28.83
$GC,940,-0.49,-195.5,128.3,-10.6,80,945,0.00,2.12,0.00,0.000,4,0.000,0.046,2600,3363,3767,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1003,-0.56,-195.5,133.0,-7.7,83,1009,0.00,2.00,0.00,0.000,6,0.000,0.021,2599,1963,3767,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1327,-0.67,-195.5,151.5,-4.3,99,1333,0.12,2.12,0.00,0.000,4,0.080,0.044,2509,3368,3768,0,0,0,0,0,0,26.73,26.60,28.83
$GC,1466,-0.65,-195.5,165.9,-12.9,105,1473,0.15,1.98,0.00,0.000,6,0.138,0.023,2552,1974,3768,0,0,0,0,0,0,26.52,26.70,28.83
$GC,1772,-0.74,-195.5,190.6,-9.4,121,1777,0.00,2.10,0.00,0.000,4,0.000,0.045,2551,3366,3769,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1845,-0.84,-195.5,196.4,-9.1,124,1851,0.17,1.98,0.00,0.000,6,0.061,0.022,2453,1966,3769,0,0,0,0,0,0,26.73,26.74,28.83
$GC,2159,-0.80,-195.5,237.0,-16.4,140,2161,0.17,0.00,0.00,0.000,6,0.141,0.000,2504,1965,3769,0,0,0,0,0,0,26.56,28.83,28.83
$GC,2461,-0.85,-195.5,277.6,-10.5,155,2466,0.00,2.12,0.00,0.000,4,0.000,0.047,2504,3366,3768,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2518,-0.91,-195.5,280.8,-8.3,157,2526,0.12,2.00,0.00,0.000,6,0.080,0.022,2436,1965,3767,0,0,0,0,0,0,26.74,26.77,28.83
$GC,2824,-0.88,-195.5,307.9,-7.4,173,2830,0.12,2.03,0.00,0.000,4,0.153,0.036,2476,581,3766,0,0,0,0,0,0,26.61,26.72,28.83
$GC,2883,-0.88,-195.5,310.4,-6.5,175,2889,0.00,2.03,0.00,0.000,6,0.000,0.034,2476,1963,3766,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3189,-0.92,-195.5,340.0,-12.4,191,3194,0.00,2.15,0.00,0.000,4,0.000,0.050,2476,3374,3764,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3361,-0.97,-195.5,361.1,-13.0,199,3366,0.00,2.00,0.00,0.000,6,0.000,0.023,2476,1968,3762,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3674,-1.02,-195.5,406.7,-14.3,215,3681,0.12,2.15,0.00,0.000,4,0.082,0.047,2398,3376,3760,0,0,0,0,0,0,26.83,26.69,28.83
$GC,3879,-0.97,-195.5,443.6,-18.1,225,3886,0.17,2.00,0.00,0.000,6,0.151,0.024,2447,1971,3759,0,0,0,0,0,0,26.52,26.79,28.83
$GC,4204,-0.97,-195.5,490.6,-13.8,241,4209,0.00,2.17,-0.08,0.000,4,0.000,0.069,2446,3384,3785,0,0,0,0,0,0,28.83,26.67,26.27
$GC,4277,-0.97,-195.5,499.6,-13.9,244,4282,0.00,2.03,0.00,0.000,6,0.000,0.024,2446,1967,3785,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4590,-0.98,-195.5,542.4,-12.8,260,4595,0.00,2.17,0.00,0.000,4,0.000,0.050,2446,3383,3783,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4718,-1.00,-195.5,560.9,-15.7,266,4723,0.00,2.03,0.00,0.000,6,0.000,0.024,2446,1968,3781,0,0,0,0,0,0,28.83,26.78,28.83
$GC,5046,-1.02,-195.5,616.1,-16.8,281,5052,0.00,2.17,0.00,0.000,4,0.000,0.051,2445,3382,3779,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5130,-1.05,-195.5,626.1,-16.6,283,5136,0.00,2.05,0.00,0.000,6,0.000,0.024,2446,1968,3779,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5444,-1.08,-195.5,668.4,-12.2,294,5450,0.00,2.20,0.00,0.000,4,0.000,0.052,2446,3381,3776,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5648,-1.11,-195.5,689.7,-11.4,300,5655,0.12,2.03,0.00,0.000,6,0.093,0.031,2384,1977,3774,0,0,0,0,0,0,26.70,26.76,28.83
$STATE,5840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5840,begin apogee
$GC,5846,-0.20,0.0,720.7,-15.2,307,6018,0.93,0.00,163.90,1.026,6,0.125,0.000,2689,1975,2967,0,0,0,0,0,0,26.45,28.83,24.24
$STATE,6019,end apogee,CONTROL_FINISHED_OK
$STATE,6020,begin climb
$GC,6022,0.47,195.5,729.1,0.0,312,6204,0.57,2.33,169.60,0.959,4,0.038,0.044,2943,579,2158,0,0,0,0,0,0,25.17,24.85,24.14
$GC,6433,0.38,195.5,694.6,13.5,326,6439,0.20,2.15,0.00,0.000,6,0.142,0.037,2887,1979,2146,0,0,0,0,0,0,25.80,25.98,28.83
$GC,6755,0.33,195.5,658.0,10.4,337,6760,0.00,2.15,0.00,0.000,4,0.000,0.045,2887,3381,2144,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6987,0.27,195.5,632.8,12.5,344,6993,0.17,2.08,0.00,0.000,6,0.157,0.027,2845,1968,2142,0,0,0,0,0,0,26.22,26.43,28.83
$GC,7302,0.27,195.5,599.8,10.3,355,7308,0.00,2.17,0.00,0.000,4,0.000,0.049,2845,3378,2140,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7436,0.27,195.5,584.4,12.7,361,7441,0.00,2.05,0.00,0.000,6,0.000,0.027,2851,1968,2139,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7749,0.27,195.5,546.4,12.0,377,7754,0.00,2.15,0.00,0.000,4,0.000,0.046,2851,3378,2138,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7962,0.25,195.5,518.6,13.3,387,7968,0.00,2.05,0.00,0.000,6,0.000,0.027,2858,1966,2138,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8277,0.31,340.3,494.1,5.0,403,8411,0.00,2.35,120.93,1.524,4,0.000,0.044,2858,3381,1579,0,0,0,0,1,0,28.83,24.70,23.64
$GC,8585,0.38,413.6,473.8,7.5,418,8666,0.00,2.10,67.68,1.426,6,0.000,0.027,2859,1979,1281,0,0,0,0,1,0,28.83,25.88,23.67
$GC,8984,0.48,464.1,442.1,8.3,438,9045,0.12,2.35,47.70,1.347,4,0.082,0.044,2937,3375,1074,0,0,0,0,1,0,26.13,24.90,23.84
$GC,9217,0.48,464.1,406.6,17.6,449,9223,0.00,2.10,0.00,0.000,6,0.000,0.027,2938,1978,1076,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9530,0.48,464.1,358.9,13.0,465,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1978,1076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9832,0.48,464.1,323.9,10.7,480,9837,0.00,2.15,0.00,0.000,4,0.000,0.044,2939,3382,1075,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9910,0.48,464.1,316.4,11.5,483,9917,0.00,2.10,0.00,0.000,6,0.000,0.027,2939,1963,1075,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10216,0.50,464.1,281.9,10.4,499,10221,0.00,2.15,0.00,0.000,4,0.000,0.042,2939,3381,1075,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10260,0.52,464.1,276.4,11.4,501,10266,0.00,2.05,0.00,0.000,6,0.000,0.027,2939,1976,1075,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10584,0.53,464.1,231.6,14.3,517,10590,0.00,2.08,0.00,0.000,4,0.000,0.038,2938,577,1079,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10613,0.55,464.1,228.1,14.4,518,10618,0.00,2.05,0.00,0.000,6,0.000,0.026,2938,1978,1074,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10932,0.58,464.1,186.3,12.5,534,10937,0.00,2.10,0.00,0.000,4,0.000,0.044,2939,3377,1075,0,0,0,0,0,0,28.83,26.56,28.83
$GC,11096,0.61,464.1,163.4,14.5,542,11101,0.00,2.03,0.00,0.000,6,0.000,0.025,2939,1968,1075,0,0,0,0,0,0,28.83,26.65,28.83
$GC,11419,0.68,464.1,119.3,13.8,558,11425,0.12,2.15,0.00,0.000,4,0.081,0.044,3019,3381,1075,0,0,0,0,0,0,26.72,26.60,28.83
$GC,11487,0.68,464.1,107.2,17.9,561,11493,0.17,2.05,0.00,0.000,6,0.151,0.032,2974,1991,1075,0,0,0,0,0,0,26.44,26.67,28.83
$GC,11807,0.77,535.7,73.5,7.5,577,11847,0.00,2.20,29.52,0.305,4,0.000,0.047,2973,3375,783,0,0,0,0,0,0,28.83,26.39,25.97
$GC,11933,0.89,605.5,64.0,7.6,583,11974,0.20,2.08,32.67,0.278,6,0.057,0.028,3080,1968,497,0,0,0,0,0,0,26.53,26.50,25.83
$GC,12273,0.89,605.5,9.3,17.4,621,12280,0.12,2.15,0.00,0.000,4,0.135,0.043,3039,3376,489,0,0,0,0,0,0,26.36,26.40,28.83
$GC,12309,0.94,605.5,3.9,13.4,627,12316,0.00,2.05,0.00,0.000,6,0.000,0.028,3038,1982,488,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,12321,end climb,SURFACE_DEPTH_REACHED
$STATE,12321,begin surface coast
$FINISH,0.9,1.021750
$STATE,12343,end surface coast,CONTROL_FINISHED_OK
$STATE,12343,begin surface
$SM_CCo,12421,0.00,0.000,0,0,485,609.08
$SM_GC,1.55,7.32,0.00,0.00,0.027,0.000,0.000,113,1981,485,-8.18,0.17,609.08,0,0,0,0,0,0,26.48,28.83,28.83
$IRIDIUM_FIX,2129.53,12058.62,161012,141429
$TT8_MAMPS,0.029211,0.029211
$HUMID,56.10
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.50
$XPDR_PINGS,19
$24V_AH,23.6,9.285
$10V_AH,9.8,3.797
$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,20.900,109.475,632.000,0.000,0.000,0.000,0.000,259.975,4.750,0.000,5.880,2292.837,7427.099,685.028,2183.106,269.249,0.000,1994.245,0.000,1838.306,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,68.850,1523.880,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12380.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.707,0.000,0.000,0.000
$MEM,323852
$DATA_FILE_SIZE,23422,633
$CAP_FILE_SIZE,158730,0
$CFSIZE,260165632,248659968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.375, 74.9,1
$GPS,161012,212935,2139.695,12103.741,37,1.1,37,-3.1