version: 66.11
glider: 167
mission: 14
dive: 13
start: 10 17 112 12 3 28
data:
$ID,167
$MISSION,14
$DIVE,13
$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,-968489.56
$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,53
$R_STBD_OVSHOOT,30
$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
$GPS1,171012,115459,2143.537,12103.481,39,1.1,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-63.8
$GPS2,171012,120301,2143.448,12103.344,4,1.0,4,-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,16.8,153312,-15.7,-10.000,-18.65
$D_GRID,771
$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,-195.5,0.0,0.0,0,85,0.00,0.00,-64.32,0.000,2,0.000,0.000,113,2096,2573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.47,-195.5,3.3,-6.5,11,132,9.70,2.30,-26.45,0.000,4,0.229,0.063,2599,3517,3767,0,0,0,0,0,0,25.76,26.08,26.44
$GC,185,-0.47,-195.5,17.0,-13.3,28,191,0.00,2.08,0.00,0.000,6,0.000,0.022,2599,2090,3768,0,0,0,0,0,0,28.83,26.23,28.83
$GC,510,-0.50,-195.5,60.6,-12.1,61,516,0.00,2.22,0.00,0.000,4,0.000,0.048,2599,3513,3769,0,0,0,0,0,0,28.83,26.35,28.83
$GC,653,-0.60,-195.5,73.6,-8.1,68,660,0.00,2.03,0.00,0.000,6,0.000,0.021,2599,2092,3769,0,0,0,0,0,0,28.83,26.51,28.83
$GC,978,-0.73,-195.5,94.1,-6.7,84,984,0.17,2.17,0.00,0.000,4,0.063,0.046,2485,3513,3770,0,0,0,0,0,0,26.63,26.49,28.83
$GC,1026,-0.81,-195.5,99.2,-9.0,86,1033,0.00,2.03,0.00,0.000,6,0.000,0.021,2485,2089,3770,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1346,-0.78,-195.5,143.4,-10.2,102,1351,0.00,2.17,0.00,0.000,4,0.000,0.054,2480,3508,3771,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1478,-0.77,-195.5,157.9,-11.8,108,1484,0.12,2.00,0.00,0.000,6,0.145,0.022,2516,2097,3771,0,0,0,0,0,0,26.48,26.67,28.83
$GC,1794,-0.81,-195.5,187.5,-8.4,124,1799,0.00,2.03,0.00,0.000,4,0.000,0.036,2515,707,3771,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1851,-0.86,-195.5,191.1,-8.1,126,1859,0.00,2.10,0.00,0.000,6,0.000,0.034,2515,2120,3770,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2157,-0.92,-195.5,221.9,-11.4,142,2163,0.12,2.10,0.00,0.000,4,0.079,0.047,2429,3506,3770,0,0,0,0,0,0,26.77,26.61,28.83
$GC,2305,-0.87,-195.5,244.8,-15.9,149,2311,0.17,2.00,0.00,0.000,6,0.145,0.021,2477,2095,3770,0,0,0,0,0,0,26.49,26.73,28.83
$GC,2625,-0.88,-195.5,274.6,-7.7,165,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2094,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2926,-0.90,-195.5,299.3,-8.1,180,2932,0.00,2.17,0.00,0.000,4,0.000,0.057,2477,3511,3766,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3041,-0.93,-195.5,308.0,-8.2,185,3047,0.00,2.00,0.00,0.000,6,0.000,0.022,2477,2106,3765,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3355,-0.96,-195.5,343.2,-11.5,201,3360,0.00,2.15,0.00,0.000,4,0.000,0.050,2477,3504,3763,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3499,-0.99,-195.5,360.2,-12.0,208,3505,0.12,2.00,0.00,0.000,6,0.080,0.022,2414,2097,3762,0,0,0,0,0,0,26.70,26.77,28.83
$GC,3823,-0.95,-195.5,406.6,-13.2,224,3829,0.12,2.17,0.00,0.000,4,0.161,0.048,2452,3510,3760,0,0,0,0,0,0,26.55,26.64,28.83
$GC,3956,-0.95,-195.5,422.1,-12.4,230,3962,0.00,2.03,0.00,0.000,6,0.000,0.022,2452,2091,3760,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4269,-0.95,-195.5,461.1,-9.7,246,4275,0.00,2.17,0.00,0.000,4,0.000,0.058,2452,3499,3758,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4356,-0.95,-195.5,468.1,-8.4,250,4362,0.00,2.00,0.00,0.000,6,0.000,0.022,2452,2097,3758,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4676,-0.97,-195.5,501.8,-13.4,266,4681,0.00,2.17,0.00,0.000,4,0.000,0.052,2452,3504,3755,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4763,-0.99,-195.5,513.6,-13.8,270,4768,0.00,2.03,0.00,0.000,6,0.000,0.023,2452,2091,3755,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5082,-1.01,-195.5,553.1,-11.5,286,5087,0.00,2.20,0.00,0.000,4,0.000,0.059,2452,3507,3752,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5208,-1.04,-195.5,565.6,-9.7,292,5213,0.00,2.03,0.00,0.000,6,0.000,0.024,2452,2104,3751,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5541,-1.06,-195.5,605.8,-13.7,308,5547,0.00,2.17,0.00,0.000,4,0.000,0.054,2452,3503,3749,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5610,-1.09,-195.5,614.3,-13.2,310,5616,0.12,2.03,0.00,0.000,6,0.088,0.024,2388,2096,3749,0,0,0,0,0,0,26.68,26.75,28.83
$GC,5941,-1.04,-195.5,661.3,-13.5,321,5947,0.12,2.20,0.00,0.000,4,0.168,0.053,2425,3507,3746,0,0,0,0,0,0,26.53,26.58,28.83
$GC,5990,-1.00,-195.5,665.6,-12.9,322,5995,0.00,2.03,0.00,0.000,6,0.000,0.024,2424,2105,3746,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6310,-1.00,-195.5,697.4,-8.6,333,6315,0.00,2.17,0.00,0.000,4,0.000,0.055,2425,3499,3744,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6377,-1.00,-195.5,704.1,-9.6,335,6382,0.00,2.03,0.00,0.000,6,0.000,0.024,2425,2100,3743,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6705,-1.00,-195.5,741.9,-12.2,346,6710,0.00,2.15,0.00,0.000,4,0.000,0.047,2425,3503,3741,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6872,-1.00,-195.5,758.4,-11.0,351,6877,0.00,2.03,0.00,0.000,6,0.000,0.024,2425,2087,3739,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,6948,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6948,begin apogee
$GC,6954,-0.20,0.0,768.4,-10.6,354,7121,0.80,0.00,160.00,1.046,6,0.117,0.000,2694,2083,2967,0,0,0,0,0,0,26.39,28.83,24.15
$STATE,7123,end apogee,CONTROL_FINISHED_OK
$STATE,7123,begin climb
$GC,7125,0.47,195.5,772.2,0.0,359,7307,0.57,2.30,170.23,0.982,4,0.039,0.041,2941,669,2157,0,0,0,0,0,0,25.07,24.72,24.00
$GC,7505,0.38,195.5,726.3,13.3,372,7512,0.20,2.12,0.00,0.000,6,0.135,0.030,2885,2066,2144,0,0,0,0,0,0,25.65,25.81,28.83
$GC,7826,0.36,250.3,695.0,8.1,383,7884,0.00,2.30,41.95,1.416,4,0.000,0.044,2885,3442,1948,0,0,0,0,1,0,28.83,25.00,23.84
$GC,8113,0.32,256.5,667.5,9.8,392,8132,0.00,2.08,11.90,1.047,6,0.000,0.027,2891,2053,1914,0,0,0,0,0,0,28.83,26.04,24.91
$GC,8461,0.29,256.5,632.2,10.4,404,8467,0.12,2.17,0.00,0.000,4,0.159,0.043,2853,3450,1908,0,0,0,0,0,0,26.10,26.18,28.83
$GC,8605,0.30,296.5,621.5,8.6,408,8654,0.00,2.08,34.88,1.380,6,0.000,0.028,2858,2046,1758,0,0,0,0,1,0,28.83,26.32,24.07
$GC,8968,0.37,386.3,593.5,6.9,422,9067,0.00,2.35,84.93,1.549,4,0.000,0.045,2858,3440,1392,0,0,0,0,1,0,28.83,24.66,23.56
$GC,9192,0.42,388.8,574.0,9.9,433,9200,0.12,2.10,0.88,0.291,6,0.083,0.027,2921,2054,1386,0,0,0,0,0,0,25.70,25.71,25.20
$GC,9517,0.42,388.8,527.9,13.4,449,9522,0.00,2.17,0.00,0.000,4,0.000,0.043,2921,3454,1390,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9601,0.40,388.8,515.6,14.8,453,9607,0.15,2.10,0.00,0.000,6,0.155,0.028,2887,2048,1390,0,0,0,0,0,0,26.08,26.25,28.83
$GC,9925,0.43,388.8,473.8,12.0,469,9930,0.00,2.15,0.00,0.000,4,0.000,0.044,2887,3445,1389,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9993,0.46,388.8,466.1,12.0,472,9998,0.00,2.08,0.00,0.000,6,0.000,0.028,2892,2038,1388,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10312,0.52,450.9,437.4,7.9,488,10391,0.10,2.35,67.57,0.837,4,0.101,0.042,2949,3451,1118,0,0,0,0,0,0,26.58,25.29,24.63
$GC,10478,0.49,450.9,417.9,12.6,496,10484,0.12,2.12,0.00,0.000,6,0.155,0.028,2924,2051,1113,0,0,0,0,0,0,25.67,25.81,28.83
$GC,10797,0.51,450.9,386.7,10.0,512,10803,0.00,2.17,0.00,0.000,4,0.000,0.044,2924,3445,1112,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10856,0.54,458.9,382.2,9.7,514,10863,0.00,2.08,1.65,0.239,6,0.000,0.028,2923,2048,1098,0,0,0,0,0,0,28.83,26.25,25.55
$GC,11162,0.56,458.9,349.2,11.5,530,11168,0.00,2.17,1.33,0.231,4,0.000,0.048,2923,3445,1096,0,0,0,0,0,0,28.83,26.33,25.98
$GC,11200,0.58,458.9,346.1,12.1,531,11207,0.00,2.08,0.00,0.000,6,0.000,0.027,2923,2034,1103,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11506,0.61,458.9,305.5,13.3,547,11511,0.00,2.17,0.00,0.000,4,0.000,0.044,2924,3454,1104,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11544,0.63,458.9,301.8,13.8,548,11552,0.12,2.08,0.00,0.000,6,0.083,0.028,2987,2047,1104,0,0,0,0,0,0,26.46,26.49,28.83
$GC,11850,0.59,458.9,245.0,18.1,564,11856,0.12,2.08,0.00,0.000,4,0.139,0.037,2956,653,1104,0,0,0,0,0,0,26.43,26.51,28.83
$GC,11875,0.55,458.9,241.1,17.8,565,11880,0.00,2.05,0.00,0.000,6,0.000,0.026,2956,2049,1104,0,0,0,0,0,0,28.83,26.55,28.83
$GC,12197,0.55,458.9,200.0,11.0,581,12204,0.00,2.12,0.00,0.000,4,0.000,0.044,2956,3461,1104,0,0,0,0,0,0,28.83,26.53,28.83
$GC,12331,0.55,458.9,184.6,12.6,587,12336,0.00,2.05,0.00,0.000,6,0.000,0.025,2962,2043,1104,0,0,0,0,0,0,28.83,26.62,28.83
$GC,12645,0.57,458.9,143.0,12.3,603,12650,0.00,2.15,0.00,0.000,4,0.000,0.044,2962,3459,1104,0,0,0,0,0,0,28.83,26.57,28.83
$GC,12759,0.57,458.9,132.1,10.2,608,12764,0.00,2.05,0.00,0.000,6,0.000,0.025,2965,2039,1107,0,0,0,0,0,0,28.83,26.65,28.83
$GC,13073,0.63,458.9,102.8,10.5,624,13078,0.00,2.15,0.00,0.000,4,0.000,0.042,2965,3459,1104,0,0,0,0,0,0,28.83,26.60,28.83
$GC,13240,0.72,513.2,88.0,8.1,632,13271,0.00,2.03,23.12,0.334,6,0.000,0.023,2964,2044,872,0,0,0,0,0,0,28.83,26.69,25.91
$GC,13580,0.87,608.7,62.4,6.7,649,13625,0.17,2.20,37.65,0.272,4,0.063,0.046,3076,3461,484,0,0,0,0,0,0,26.62,26.24,25.86
$GC,13678,0.89,608.7,52.4,12.1,653,13686,0.00,2.08,0.00,0.000,6,0.000,0.029,3076,2067,488,0,0,0,0,0,0,28.83,26.35,28.83
$GC,13985,0.86,608.7,5.7,14.6,696,13992,0.12,2.12,0.00,0.000,4,0.152,0.044,3036,3454,487,0,0,0,0,0,0,26.34,26.42,28.83
$STATE,13998,end climb,SURFACE_DEPTH_REACHED
$STATE,13998,begin surface coast
$FINISH,0.7,1.021808
$STATE,14013,end surface coast,CONTROL_FINISHED_OK
$STATE,14014,begin surface
$SM_CCo,14094,0.00,0.000,0,0,486,608.83
$SM_GC,1.43,7.32,2.05,0.00,0.027,0.021,0.000,113,2057,486,-8.18,1.02,608.83,0,0,0,0,0,0,26.49,26.53,28.83
$IRIDIUM_FIX,2134.17,12103.79,171012,080853
$TT8_MAMPS,0.029211,0.029211
$HUMID,54.05
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,602.0,215.8
$24V_AH,23.6,10.290
$10V_AH,9.8,4.493
$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,20.875,135.500,636.075,0.000,0.000,0.000,0.000,302.075,4.250,0.000,5.881,2539.914,8609.305,711.466,2410.466,308.111,0.000,2158.254,0.000,2006.660,0.000,9.650,0.000
$DEVICE_MAMPS,228.735,62.730,1549.125,0.000,0.000,0.000,0.000,129.285,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14056.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.200,0.000,0.000,0.000
$MEM,323856
$DATA_FILE_SIZE,26804,701
$CAP_FILE_SIZE,180991,0
$CFSIZE,260165632,248147968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.155,190.5,1
$GPS,171012,155937,2144.323,12103.714,31,0.9,31,-3.1