version: 66.11
glider: 167
mission: 14
dive: 11
start: 10 17 112 4 36 59
data:
$ID,167
$MISSION,14
$DIVE,11
$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,-968487.06
$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,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,46
$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,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$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,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
$GPS1,171012,042905,2141.102,12103.076,25,1.3,25,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.5
$GPS2,171012,043631,2141.262,12103.096,14,1.4,14,-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,8.7,157339,-15.7,-10.000,-18.65
$D_GRID,685
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-195.5,0.0,0.0,0,95,0.00,0.00,-75.30,0.000,2,0.000,0.000,113,2120,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.47,-195.5,3.0,-5.5,13,148,9.68,2.22,-33.65,0.000,4,0.228,0.063,2600,3507,3766,0,0,0,0,0,0,25.82,26.14,26.37
$GC,358,-0.47,-195.5,41.0,-16.9,53,363,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,2109,3767,0,0,0,0,0,0,28.83,26.40,28.83
$GC,681,-0.47,-195.5,94.4,-14.0,72,686,0.00,2.12,0.00,0.000,4,0.000,0.046,2600,3498,3767,0,0,0,0,0,0,28.83,26.44,28.83
$GC,749,-0.49,-195.5,100.0,-9.6,75,754,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,2095,3767,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1067,-0.60,-195.5,133.0,-8.3,91,1074,0.10,2.12,0.00,0.000,4,0.096,0.044,2527,3495,3769,0,0,0,0,0,0,26.66,26.53,28.83
$GC,1112,-0.68,-195.5,138.3,-9.9,93,1119,0.00,1.98,0.00,0.000,6,0.000,0.021,2527,2095,3768,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1436,-0.68,-195.5,183.8,-13.6,109,1441,0.00,2.00,0.00,0.000,4,0.000,0.034,2528,706,3768,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1534,-0.70,-195.5,193.7,-12.1,113,1540,0.00,2.05,0.00,0.000,6,0.000,0.033,2527,2102,3768,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1840,-0.79,-195.5,232.2,-9.8,129,1845,0.00,2.12,0.00,0.000,4,0.000,0.046,2528,3507,3768,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2068,-0.88,-195.5,248.3,-6.7,140,2074,0.15,2.00,0.00,0.000,6,0.069,0.021,2441,2089,3768,0,0,0,0,0,0,26.71,26.74,28.83
$GC,2388,-0.85,-195.5,273.4,-7.8,156,2390,0.15,0.00,0.00,0.000,6,0.149,0.000,2482,2089,3767,0,0,0,0,0,0,26.55,28.83,28.83
$GC,2688,-0.88,-195.5,299.8,-10.7,171,2694,0.00,2.15,0.00,0.000,4,0.000,0.047,2485,3499,3765,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2848,-0.92,-195.5,314.2,-9.7,178,2855,0.00,1.98,0.00,0.000,6,0.000,0.022,2482,2106,3764,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3153,-0.97,-195.5,348.7,-12.5,194,3158,0.10,2.15,0.00,0.000,4,0.099,0.047,2424,3508,3762,0,0,0,0,0,0,26.82,26.65,28.83
$GC,3246,-0.97,-195.5,362.0,-15.9,198,3251,0.00,2.03,0.00,0.000,6,0.000,0.023,2424,2092,3761,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3559,-0.94,-195.5,410.5,-13.1,214,3565,0.12,2.17,0.00,0.000,4,0.163,0.048,2464,3504,3758,0,0,0,0,0,0,26.55,26.65,28.83
$GC,3669,-0.96,-195.5,420.8,-9.5,219,3674,0.00,2.03,0.00,0.000,6,0.000,0.023,2463,2089,3755,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3988,-0.99,-195.5,452.7,-9.4,235,3994,0.00,2.17,-0.08,0.000,4,0.000,0.063,2463,3496,3783,0,0,0,0,0,0,28.83,26.64,26.24
$GC,4108,-1.03,-195.5,462.9,-9.6,240,4115,0.00,2.00,0.00,0.000,6,0.000,0.023,2463,2097,3782,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4412,-1.06,-195.5,496.1,-11.2,256,4419,0.12,2.17,0.00,0.000,4,0.086,0.050,2387,3504,3780,0,0,0,0,0,0,26.81,26.63,28.83
$GC,4482,-1.04,-195.5,506.8,-15.5,259,4487,0.15,2.03,0.00,0.000,6,0.156,0.024,2428,2094,3780,0,0,0,0,0,0,26.47,26.76,28.83
$GC,4800,-1.04,-195.5,561.8,-17.4,275,4805,0.00,2.17,0.00,0.000,4,0.000,0.053,2427,3496,3777,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4886,-1.04,-195.5,575.4,-16.4,279,4892,0.00,2.00,0.00,0.000,6,0.000,0.024,2427,2101,3776,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5215,-1.04,-195.5,619.3,-12.2,293,5221,0.00,2.17,0.00,0.000,4,0.000,0.054,2427,3504,3774,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5283,-1.04,-195.5,626.8,-11.8,295,5288,0.00,2.03,0.00,0.000,6,0.000,0.024,2427,2100,3773,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5612,-1.04,-195.5,664.9,-10.9,306,5618,0.00,2.17,0.00,0.000,4,0.000,0.055,2426,3494,3771,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5676,-1.04,-195.5,672.1,-11.0,308,5682,0.00,2.03,0.00,0.000,6,0.000,0.027,2427,2101,3770,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,5798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5798,begin apogee
$GC,5804,-0.20,0.0,685.9,-11.3,312,5981,0.77,0.00,165.20,0.971,6,0.115,0.000,2689,2099,2956,0,0,0,0,0,0,26.43,28.83,24.25
$STATE,5983,end apogee,CONTROL_FINISHED_OK
$STATE,5983,begin climb
$GC,5985,0.47,195.5,692.6,0.0,318,6164,0.57,2.35,168.43,0.922,4,0.040,0.041,2938,652,2158,0,0,0,0,0,0,25.20,24.83,24.15
$GC,6351,0.39,195.5,657.5,13.3,330,6357,0.17,2.15,0.00,0.000,6,0.143,0.031,2890,2061,2141,0,0,0,0,0,0,25.70,25.86,28.83
$GC,6682,0.35,195.5,621.8,11.3,341,6687,0.00,2.15,0.00,0.000,4,0.000,0.044,2890,3458,2137,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6765,0.31,195.5,614.1,11.6,343,6771,0.15,2.08,0.00,0.000,6,0.161,0.028,2856,2050,2136,0,0,0,0,0,0,26.10,26.32,28.83
$GC,7079,0.32,233.8,584.4,8.7,357,7118,0.00,2.30,23.77,1.060,4,0.000,0.045,2855,3454,2017,0,0,0,0,1,0,28.83,25.77,24.61
$GC,7276,0.32,233.8,565.3,10.9,366,7283,0.00,2.08,1.55,0.206,6,0.000,0.026,2860,2051,2011,0,0,0,0,0,0,28.83,26.17,25.89
$GC,7582,0.33,269.7,537.2,8.8,382,7631,0.00,2.33,35.65,1.346,4,0.000,0.045,2861,3451,1869,0,0,0,0,1,0,28.83,25.25,24.15
$GC,7805,0.34,283.8,515.2,9.5,393,7834,0.00,2.10,16.42,0.953,6,0.000,0.026,2867,2048,1810,0,0,0,0,1,0,28.83,26.02,24.53
$GC,8147,0.36,283.8,483.7,11.6,410,8152,0.00,2.20,0.00,0.000,4,0.000,0.044,2867,3461,1814,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8316,0.36,283.8,464.5,10.2,418,8321,0.00,2.08,0.00,0.000,6,0.000,0.027,2872,2053,1816,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8635,0.36,290.1,429.1,9.8,434,8655,0.00,2.22,9.90,0.983,4,0.000,0.044,2872,3446,1778,0,0,0,0,0,0,28.83,26.15,25.41
$GC,8758,0.36,290.1,415.7,11.1,440,8763,0.00,2.08,0.00,0.000,6,0.000,0.027,2872,2045,1777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9082,0.41,354.0,390.0,7.8,456,9150,0.00,2.33,56.95,1.388,4,0.000,0.043,2872,3451,1523,0,0,0,0,1,0,28.83,24.93,23.89
$GC,9289,0.45,354.0,369.3,11.6,466,9294,0.00,2.10,0.00,0.000,6,0.000,0.025,2873,2050,1524,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9607,0.53,443.2,342.0,6.9,482,9700,0.12,2.33,80.32,1.365,4,0.085,0.043,2949,3457,1162,0,0,0,0,1,0,26.27,24.75,23.72
$GC,9790,0.53,443.2,315.0,16.9,491,9795,0.00,2.15,0.00,0.000,6,0.000,0.026,2957,2045,1163,0,0,0,0,0,0,28.83,25.64,28.83
$GC,10113,0.53,443.2,268.0,12.7,507,10118,0.00,2.12,0.00,0.000,4,0.000,0.040,2962,640,1161,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10160,0.53,443.2,263.1,11.9,509,10166,0.12,2.12,0.00,0.000,6,0.130,0.028,2928,2065,1161,0,0,0,0,0,0,26.09,26.19,28.83
$GC,10479,0.56,443.2,226.6,12.4,525,10485,0.00,2.10,0.00,0.000,4,0.000,0.041,2927,3454,1161,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10566,0.59,443.2,215.5,13.4,529,10571,0.00,2.08,0.00,0.000,6,0.000,0.024,2931,2036,1159,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10884,0.63,443.2,180.5,11.4,545,10890,0.00,2.15,0.00,0.000,4,0.000,0.042,2931,3452,1159,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10928,0.67,443.2,175.2,11.8,547,10935,0.12,2.05,0.00,0.000,6,0.081,0.025,3000,2042,1159,0,0,0,0,0,0,26.50,26.52,28.83
$GC,11253,0.67,443.2,123.9,17.3,563,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2042,1159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11555,0.70,454.7,83.8,9.6,578,11566,0.00,2.17,4.47,0.327,4,0.000,0.047,2994,3450,1114,0,0,0,0,0,0,28.83,26.50,26.07
$GC,11608,0.72,454.7,78.9,10.3,580,11614,0.00,2.05,0.00,0.000,6,0.000,0.028,3000,2053,1115,0,0,0,0,0,0,28.83,26.58,28.83
$GC,11923,0.77,491.4,53.5,8.7,596,11943,0.00,2.22,15.18,0.252,4,0.000,0.047,3000,3448,961,0,0,0,0,0,0,28.83,26.46,26.11
$GC,11976,0.82,491.4,47.7,10.5,599,11982,0.00,2.05,0.00,0.000,6,0.000,0.027,3000,2043,962,0,0,0,0,0,0,28.83,26.55,28.83
$GC,12286,0.88,494.9,18.2,9.9,636,12295,0.12,2.22,1.40,0.195,4,0.082,0.044,3089,3449,949,0,0,0,0,0,0,26.67,26.55,26.32
$GC,12317,0.85,494.9,14.3,14.2,641,12325,0.20,2.05,0.00,0.000,6,0.135,0.028,3034,2051,950,0,0,0,0,0,0,26.44,26.60,28.83
$STATE,12406,end climb,SURFACE_DEPTH_REACHED
$STATE,12406,begin surface coast
$FINISH,0.7,1.009114
$STATE,12433,end surface coast,CONTROL_FINISHED_OK
$STATE,12433,begin surface
$SM_CCo,12510,0.00,0.000,0,0,951,494.77
$SM_GC,1.68,7.22,0.00,0.00,0.024,0.000,0.000,115,2049,951,-8.17,-1.44,494.77,0,0,0,0,0,0,26.62,28.83,28.83
$IRIDIUM_FIX,2134.17,12058.62,171012,010136
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.62
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,26.20
$XPDR_PINGS,14
$24V_AH,23.7,9.909
$10V_AH,9.9,4.202
$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,20.175,114.475,579.250,0.000,0.000,0.000,0.000,263.250,4.500,0.000,15.545,2292.404,7560.362,665.421,2165.697,276.872,0.000,1961.928,0.000,1800.870,0.000,8.275,0.000
$DEVICE_MAMPS,227.970,63.495,1388.475,0.000,0.000,0.000,0.000,129.285,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12451.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.582,0.000,0.000,0.000
$MEM,323832
$DATA_FILE_SIZE,23392,663
$CAP_FILE_SIZE,161563,0
$CFSIZE,260165632,248369152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.131,117.5,1
$GPS,171012,080654,2142.772,12104.097,42,1.1,42,-3.1