version: 66.11
glider: 167
mission: 14
dive: 14
start: 10 17 112 16 7 31
data:
$ID,167
$MISSION,14
$DIVE,14
$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,-968490.81
$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,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,27
$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
$GPS1,171012,155937,2144.323,12103.714,31,0.9,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-58.8
$GPS2,171012,160703,2144.386,12103.560,5,0.9,5,-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,15.5,151538,-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,17,-0.47,-195.5,0.0,0.0,0,102,0.00,0.00,-81.53,0.000,2,0.000,0.000,109,2087,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.47,-195.5,3.2,-3.4,14,142,9.65,2.22,-20.35,0.000,4,0.226,0.060,2598,3517,3769,0,0,0,0,0,0,25.75,26.10,26.48
$GC,217,-0.47,-195.5,23.7,-15.4,34,224,0.00,2.03,0.00,0.000,6,0.000,0.021,2598,2111,3766,0,0,0,0,0,0,28.83,26.32,28.83
$GC,542,-0.45,-195.5,79.4,-15.8,58,548,0.00,2.15,0.00,0.000,4,0.000,0.046,2591,3514,3766,0,0,0,0,0,0,28.83,26.37,28.83
$GC,677,-0.45,-195.5,99.2,-15.8,64,682,0.00,2.03,0.00,0.000,6,0.000,0.021,2591,2099,3766,0,0,0,0,0,0,28.83,26.52,28.83
$GC,992,-0.53,-195.5,139.8,-10.6,80,998,0.00,2.17,0.00,0.000,4,0.000,0.046,2590,3526,3767,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1107,-0.65,-195.5,148.7,-8.1,85,1113,0.12,2.03,0.00,0.000,6,0.083,0.021,2507,2092,3768,0,0,0,0,0,0,26.58,26.63,28.83
$GC,1421,-0.65,-195.5,196.3,-12.6,101,1427,0.12,2.17,0.00,0.000,4,0.149,0.044,2546,3519,3769,0,0,0,0,0,0,26.51,26.57,28.83
$GC,1645,-0.75,-195.5,214.9,-11.3,112,1650,0.00,2.00,0.00,0.000,6,0.000,0.021,2547,2103,3769,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1969,-0.87,-195.5,240.9,-5.8,128,1975,0.17,2.15,0.00,0.000,4,0.063,0.044,2437,3515,3769,0,0,0,0,0,0,26.76,26.62,28.83
$GC,2061,-0.87,-195.5,251.7,-12.8,132,2068,0.15,2.00,0.00,0.000,6,0.146,0.021,2479,2095,3768,0,0,0,0,0,0,26.49,26.72,28.83
$GC,2377,-0.90,-195.5,289.4,-9.9,148,2382,0.00,2.17,0.00,0.000,4,0.000,0.047,2479,3522,3766,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2429,-0.93,-195.5,294.0,-10.2,150,2435,0.00,2.00,0.00,0.000,6,0.000,0.021,2478,2107,3767,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2743,-0.97,-195.5,328.8,-11.1,166,2749,0.00,2.15,0.00,0.000,4,0.000,0.047,2479,3517,3764,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2816,-1.01,-195.5,336.0,-11.4,169,2822,0.12,2.03,0.00,0.000,6,0.080,0.022,2415,2092,3764,0,0,0,0,0,0,26.71,26.75,28.83
$GC,3130,-0.97,-195.5,377.4,-10.4,185,3136,0.12,2.17,0.00,0.000,4,0.160,0.047,2452,3513,3765,0,0,0,0,0,0,26.56,26.64,28.83
$GC,3208,-0.97,-195.5,383.3,-9.4,188,3215,0.00,2.03,0.00,0.000,6,0.000,0.022,2452,2089,3761,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3513,-0.97,-195.5,418.2,-10.3,204,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2086,3756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-0.97,-195.5,442.1,-10.5,219,3821,0.00,2.20,0.00,0.000,4,0.000,0.049,2452,3526,3757,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3924,-0.99,-195.5,453.5,-11.1,224,3930,0.00,2.03,-0.08,0.000,6,0.000,0.021,2452,2073,3779,0,0,0,0,0,0,28.83,26.82,25.94
$GC,4243,-0.99,-195.5,491.6,-12.9,240,4249,0.00,2.20,0.00,0.000,4,0.000,0.045,2452,3517,3777,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4442,-0.99,-195.5,507.2,-3.0,249,4448,0.00,1.98,0.00,0.000,6,0.000,0.021,2452,2106,3775,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4748,-1.02,-195.5,542.4,-17.6,265,4753,0.00,2.15,0.00,0.000,4,0.000,0.047,2458,3516,3772,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4886,-1.06,-195.5,552.9,-7.1,271,4893,0.00,2.00,0.00,0.000,6,0.000,0.022,2452,2097,3771,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5193,-1.09,-195.5,579.1,-9.7,287,5195,0.12,0.00,0.00,0.000,6,0.087,0.000,2384,2097,3769,0,0,0,0,0,0,26.80,28.83,28.83
$GC,5495,-1.04,-195.5,618.4,-13.2,300,5500,0.12,2.17,0.00,0.000,4,0.166,0.044,2414,3523,3766,0,0,0,0,0,0,26.53,26.64,28.83
$GC,5600,-1.01,-195.5,628.9,-11.5,303,5605,0.00,2.03,0.00,0.000,6,0.000,0.024,2414,2097,3764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5926,-1.01,-195.5,668.1,-12.4,314,5931,0.00,2.17,0.00,0.000,4,0.000,0.045,2414,3524,3763,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5969,-0.99,-195.5,673.2,-13.2,315,5975,0.00,2.03,0.00,0.000,6,0.000,0.023,2412,2090,3763,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6294,-0.99,-195.5,723.6,-16.0,326,6299,0.00,2.20,0.00,0.000,4,0.000,0.049,2414,3521,3760,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6381,-0.99,-195.5,731.2,-13.7,328,6388,0.00,2.03,0.00,0.000,6,0.000,0.024,2414,2092,3760,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6687,-0.99,-195.5,738.5,-5.9,339,6692,0.00,2.17,0.00,0.000,4,0.000,0.044,2414,3521,3757,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6754,-0.99,-195.5,741.5,-5.5,341,6760,0.00,2.03,0.00,0.000,6,0.000,0.026,2413,2105,3757,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7085,-0.97,-195.5,757.9,6.7,352,7091,0.12,2.17,0.00,0.000,4,0.166,0.047,2452,3514,3755,0,0,0,0,0,0,26.52,26.56,28.83
$GC,7301,-1.03,-195.5,769.7,-6.9,359,7306,0.00,2.03,0.00,0.000,6,0.000,0.024,2452,2090,3755,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,7332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7332,begin apogee
$GC,7337,-0.20,0.0,771.8,-8.2,360,7509,0.70,0.00,161.98,1.047,6,0.103,0.000,2694,2086,2962,0,0,0,0,0,0,26.41,28.83,24.12
$STATE,7511,end apogee,CONTROL_FINISHED_OK
$STATE,7511,begin climb
$GC,7514,0.47,195.5,785.4,0.0,365,7694,0.57,0.00,171.30,0.998,6,0.041,0.000,2928,2086,2159,0,0,0,0,0,0,25.10,28.83,23.96
$GC,7995,0.36,195.5,727.5,19.6,382,8000,0.15,2.17,0.00,0.000,4,0.162,0.043,2883,3471,2144,0,0,0,0,0,0,25.78,25.91,28.83
$GC,8144,0.30,244.2,717.1,8.3,386,8194,0.12,2.10,36.72,1.381,6,0.174,0.028,2860,2058,1970,0,0,0,0,1,0,25.92,26.15,23.89
$GC,8512,0.37,413.7,691.4,4.2,399,8688,0.00,2.42,158.10,1.632,4,0.000,0.044,2860,3461,1280,0,0,0,0,1,0,28.83,24.37,23.30
$GC,8807,0.40,413.7,665.9,11.4,408,8813,0.00,2.15,0.00,0.000,6,0.000,0.028,2860,2060,1280,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9123,0.46,446.8,636.2,8.9,419,9164,0.15,0.00,33.35,1.353,6,0.073,0.000,2933,2056,1145,0,0,0,0,1,0,26.13,28.83,23.97
$GC,9463,0.44,446.8,592.1,14.3,431,9469,0.12,2.20,0.00,0.000,4,0.148,0.041,2895,3468,1146,0,0,0,0,0,0,25.97,26.04,28.83
$GC,9492,0.42,446.8,588.5,14.4,432,9497,0.00,2.12,0.00,0.000,6,0.000,0.028,2894,2051,1146,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9810,0.44,446.8,543.2,14.7,448,9816,0.00,2.17,0.00,0.000,4,0.000,0.042,2895,3465,1145,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9877,0.44,446.8,533.8,14.9,451,9883,0.00,2.10,0.00,0.000,6,0.000,0.028,2895,2041,1147,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10196,0.48,446.8,492.1,10.5,467,10201,0.00,2.20,0.00,0.000,4,0.000,0.043,2895,3474,1143,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10269,0.50,446.8,483.9,12.4,470,10275,0.00,2.12,0.00,0.000,6,0.000,0.028,2895,2039,1143,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10584,0.56,518.4,458.1,7.5,486,10664,0.12,2.42,67.65,1.439,4,0.085,0.044,2960,3464,852,0,0,0,0,1,0,26.58,24.84,23.80
$GC,10718,0.53,518.4,437.3,18.5,492,10725,0.12,2.17,0.00,0.000,6,0.160,0.028,2933,2054,853,0,0,0,0,0,0,25.37,25.51,28.83
$GC,11033,0.53,518.4,389.4,12.0,508,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2055,852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11336,0.53,518.4,356.0,10.5,523,11342,0.00,2.17,0.00,0.000,4,0.000,0.041,2933,3470,852,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11364,0.53,518.4,352.8,10.9,524,11369,0.00,2.12,0.00,0.000,6,0.000,0.027,2935,2036,851,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11682,0.53,518.4,308.8,18.0,540,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2033,852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11984,0.53,518.4,258.1,19.5,555,11989,0.00,2.17,0.00,0.000,4,0.000,0.040,2936,3466,851,0,0,0,0,0,0,28.83,26.46,28.83
$GC,12109,0.55,518.4,235.3,17.2,561,12114,0.00,2.08,0.00,0.000,6,0.000,0.026,2935,2046,851,0,0,0,0,0,0,28.83,26.55,28.83
$GC,12433,0.58,518.4,194.5,14.8,577,12438,0.00,2.08,0.00,0.000,4,0.000,0.037,2935,644,850,0,0,0,0,0,0,28.83,26.54,28.83
$GC,12459,0.63,518.4,191.2,14.6,578,12465,0.00,2.10,0.00,0.000,6,0.000,0.025,2935,2086,850,0,0,0,0,0,0,28.83,26.58,28.83
$GC,12778,0.73,641.7,165.7,5.8,594,12871,0.15,2.15,85.22,0.639,4,0.070,0.041,3018,3453,452,0,0,0,0,0,0,26.65,25.45,24.90
$GC,12911,0.70,641.7,147.4,15.6,600,12917,0.12,2.12,0.00,0.000,6,0.155,0.024,2988,2046,445,0,0,0,0,0,0,25.59,25.75,28.83
$GC,13225,0.74,641.7,108.2,10.1,616,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2045,441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13527,0.89,820.6,86.5,3.8,631,13532,0.15,2.12,0.00,0.000,4,0.071,0.039,3077,3443,440,0,0,0,0,0,0,26.44,26.33,28.83
$GC,13586,0.96,897.3,81.4,7.4,633,13593,0.00,2.05,0.00,0.000,6,0.000,0.024,3086,2034,440,0,0,0,0,0,0,28.83,26.39,28.83
$GC,13891,0.94,897.3,21.1,20.4,657,13898,0.00,2.15,0.00,0.000,4,0.000,0.043,3085,3449,440,0,0,0,0,0,0,28.83,26.46,28.83
$GC,13963,0.92,897.3,8.9,16.1,670,13970,0.12,2.05,0.00,0.000,6,0.157,0.028,3057,2060,441,0,0,0,0,0,0,26.33,26.51,28.83
$STATE,13991,end climb,SURFACE_DEPTH_REACHED
$STATE,13991,begin surface coast
$FINISH,0.9,1.021780
$STATE,14003,end surface coast,CONTROL_FINISHED_OK
$STATE,14004,begin surface
$SM_CCo,14082,0.00,0.000,0,0,439,620.12
$SM_GC,1.47,7.32,0.00,0.00,0.024,0.000,0.000,123,2052,439,-8.17,-1.36,620.12,0,0,0,0,0,0,26.50,28.83,28.83
$IRIDIUM_FIX,2134.17,12101.80,171012,111102
$TT8_MAMPS,0.029211,0.029211
$HUMID,54.52
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.60
$XPDR_PINGS,25
$24V_AH,23.3,10.538
$10V_AH,9.8,4.829
$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,20.800,118.875,714.325,0.000,0.000,0.000,0.000,265.825,7.750,0.000,5.883,2320.831,8955.433,799.553,2155.738,299.090,0.000,2107.151,0.000,1803.573,0.000,11.906,0.000
$DEVICE_MAMPS,225.675,143.820,1631.745,0.000,0.000,0.000,0.000,130.815,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14046.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,70.783,0.000,0.000,0.000
$MEM,323832
$DATA_FILE_SIZE,26704,677
$CAP_FILE_SIZE,168964,0
$CFSIZE,260165632,248057856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.284, 47.6,1
$GPS,171012,200336,2148.069,12106.051,39,1.7,39,-3.1