version: 66.11
glider: 167
mission: 14
dive: 17
start: 10 18 112 3 6 46
data:
$ID,167
$MISSION,14
$DIVE,17
$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,-968494.56
$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,2740
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,41
$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,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
$GPS1,181012,025905,2149.651,12105.429,37,1.0,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-57.7
$GPS2,181012,030619,2149.526,12105.311,4,1.0,4,-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,15.5,141574,-15.7,-10.000,-18.65
$D_GRID,777
$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,16,begin dive
$GC,18,-0.47,-195.5,0.0,0.0,0,96,0.00,0.00,-75.20,0.000,2,0.000,0.000,110,2269,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-195.5,3.1,-5.9,13,144,9.60,2.22,-29.40,0.000,4,0.226,0.061,2581,3654,3767,0,0,0,0,0,0,25.77,26.15,26.51
$GC,193,-0.47,-195.5,16.3,-15.1,29,200,0.00,2.03,0.00,0.000,6,0.000,0.020,2579,2247,3770,0,0,0,0,0,0,28.83,26.30,28.83
$GC,509,-0.45,-195.5,72.4,-13.0,58,514,0.00,2.03,0.00,0.000,4,0.000,0.034,2579,856,3769,0,0,0,0,0,0,28.83,26.46,28.83
$GC,541,-0.44,-195.5,75.6,-12.5,59,546,0.00,2.08,0.00,0.000,6,0.000,0.035,2575,2249,3768,0,0,0,0,0,0,28.83,26.42,28.83
$GC,855,-0.51,-195.5,112.0,-10.0,75,861,0.00,2.15,0.00,0.000,4,0.000,0.048,2574,3665,3769,0,0,0,0,0,0,28.83,26.50,28.83
$GC,975,-0.60,-195.5,119.3,-6.5,80,982,0.00,2.03,0.00,0.000,6,0.000,0.021,2575,2240,3770,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1281,-0.69,-195.5,138.7,-6.2,96,1287,0.15,2.17,0.00,0.000,4,0.071,0.046,2474,3659,3770,0,0,0,0,0,0,26.70,26.55,28.83
$GC,1349,-0.73,-195.5,146.0,-10.1,99,1357,0.12,2.00,0.00,0.000,6,0.141,0.021,2508,2245,3770,0,0,0,0,0,0,26.46,26.67,28.83
$GC,1670,-0.75,-195.5,183.4,-11.4,115,1675,0.00,2.15,0.00,0.000,4,0.000,0.047,2508,3653,3770,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1727,-0.77,-195.5,187.7,-10.6,117,1734,0.00,2.00,0.00,0.000,6,0.000,0.021,2508,2246,3770,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2034,-0.81,-195.5,217.1,-9.0,133,2039,0.00,2.15,0.00,0.000,4,0.000,0.048,2507,3654,3769,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2078,-0.85,-195.5,221.2,-9.2,135,2084,0.12,2.00,0.00,0.000,6,0.079,0.021,2434,2244,3769,0,0,0,0,0,0,26.68,26.72,28.83
$GC,2402,-0.83,-195.5,266.0,-12.4,151,2409,0.12,2.20,0.00,0.000,4,0.153,0.047,2473,3659,3768,0,0,0,0,0,0,26.55,26.61,28.83
$GC,2471,-0.83,-195.5,272.5,-10.3,154,2476,0.00,2.00,0.00,0.000,6,0.000,0.021,2473,2251,3767,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2790,-0.84,-195.5,303.9,-9.7,170,2795,0.00,2.17,0.00,0.000,4,0.000,0.057,2473,3661,3765,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2823,-0.87,-195.5,306.1,-9.7,171,2829,0.00,2.03,0.00,0.000,6,0.000,0.030,2473,2241,3765,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3137,-0.89,-195.5,339.1,-9.9,187,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2240,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3439,-0.92,-195.5,362.7,-7.1,202,3445,0.00,2.17,0.00,0.000,4,0.000,0.050,2473,3656,3761,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3497,-0.95,-195.5,366.7,-8.2,204,3506,0.12,2.00,0.00,0.000,6,0.080,0.021,2408,2227,3761,0,0,0,0,0,0,26.71,26.79,28.83
$GC,3803,-0.92,-195.5,417.4,-16.6,220,3809,0.12,1.95,0.00,0.000,4,0.161,0.027,2446,858,3758,0,0,0,0,0,0,26.54,26.73,28.83
$GC,3836,-0.89,-195.5,421.2,-16.6,221,3842,0.00,2.05,0.00,0.000,6,0.000,0.031,2446,2255,3758,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4149,-0.89,-195.5,466.9,-14.4,237,4155,0.00,2.12,-0.08,0.000,4,0.000,0.060,2446,3656,3788,0,0,0,0,0,0,28.83,26.63,26.10
$GC,4249,-0.89,-195.5,480.2,-15.9,241,4256,0.00,1.98,0.00,0.000,6,0.000,0.021,2446,2247,3784,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4553,-0.91,-195.5,525.6,-12.4,257,4559,0.00,2.17,0.00,0.000,4,0.000,0.046,2446,3658,3782,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4612,-0.91,-195.5,528.8,-9.3,259,4619,0.00,1.98,0.00,0.000,6,0.000,0.022,2446,2252,3779,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4918,-0.94,-195.5,559.0,-4.5,275,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2248,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5219,-0.95,-195.5,578.8,-7.3,290,5225,0.00,2.15,0.00,0.000,4,0.000,0.050,2446,3650,3777,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5277,-0.95,-195.5,583.9,-10.4,292,5284,0.00,1.98,0.00,0.000,6,0.000,0.023,2446,2235,3776,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5606,-0.97,-195.5,620.7,-9.5,306,5611,0.00,2.22,0.00,0.000,4,0.000,0.049,2446,3661,3773,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5709,-1.00,-195.5,630.9,-10.6,309,5715,0.00,1.98,0.00,0.000,6,0.000,0.023,2446,2268,3772,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6035,-1.02,-195.5,671.6,-11.4,320,6041,0.10,2.15,0.00,0.000,4,0.102,0.044,2387,3655,3769,0,0,0,0,0,0,26.82,26.58,28.83
$GC,6058,-1.05,-195.5,671.6,-11.4,320,6063,0.00,2.00,0.00,0.000,6,0.000,0.024,2388,2243,3770,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6373,-1.02,-195.5,731.7,-17.8,331,6378,0.00,2.17,0.00,0.000,4,0.000,0.049,2385,3652,3768,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6430,-1.00,-195.5,737.7,-17.5,332,6438,0.12,2.00,0.00,0.000,6,0.160,0.024,2417,2242,3767,0,0,0,0,0,0,26.43,26.77,28.83
$STATE,6497,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6497,begin apogee
$GC,6502,-0.20,0.0,751.3,-15.9,335,6678,0.75,0.00,167.00,1.017,6,0.109,0.000,2674,2238,2958,0,0,0,0,0,0,26.34,28.83,24.18
$STATE,6680,end apogee,CONTROL_FINISHED_OK
$STATE,6680,begin climb
$GC,6683,0.47,195.5,755.2,0.0,341,6862,0.60,2.35,169.00,0.975,4,0.036,0.037,2932,776,2161,0,0,0,0,0,0,25.14,24.77,24.04
$GC,6991,0.40,195.5,728.1,13.5,351,6997,0.22,2.12,0.00,0.000,6,0.139,0.030,2868,2159,2143,0,0,0,0,0,0,25.51,25.67,28.83
$GC,7318,0.37,196.1,697.1,10.0,362,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2159,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7616,0.35,196.1,658.1,13.8,372,7621,0.00,2.15,0.00,0.000,4,0.000,0.046,2869,3551,2137,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7710,0.31,196.1,643.0,15.3,375,7715,0.00,2.05,0.00,0.000,6,0.000,0.028,2868,2166,2136,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8036,0.28,196.1,595.4,12.9,386,8042,0.12,2.15,0.00,0.000,4,0.158,0.042,2829,3552,2134,0,0,0,0,0,0,26.31,26.41,28.83
$GC,8213,0.28,196.1,577.5,10.2,394,8221,0.00,2.08,0.00,0.000,6,0.000,0.028,2834,2136,2134,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8520,0.34,355.9,560.7,4.5,410,8667,0.00,2.45,132.68,1.541,4,0.000,0.046,2834,3550,1517,0,0,0,0,1,0,28.83,24.61,23.58
$GC,8754,0.41,441.8,547.8,7.0,421,8846,0.12,2.15,79.75,1.473,6,0.081,0.026,2896,2139,1165,0,0,0,0,1,0,25.52,25.55,23.49
$GC,9145,0.41,441.8,504.6,10.3,441,9150,0.00,2.22,0.00,0.000,4,0.000,0.045,2896,3549,1168,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9232,0.41,441.8,495.7,10.7,445,9238,0.00,2.12,0.00,0.000,6,0.000,0.028,2898,2144,1166,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9551,0.43,478.0,466.9,8.8,461,9592,0.00,0.00,34.45,1.281,6,0.000,0.000,2898,2144,1018,0,0,0,0,1,0,28.83,28.83,24.20
$GC,9891,0.44,478.0,428.8,11.6,478,9896,0.00,2.20,0.00,0.000,4,0.000,0.044,2897,3552,1022,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9935,0.46,478.0,422.9,12.5,480,9940,0.00,2.10,0.00,0.000,6,0.000,0.027,2898,2148,1021,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10258,0.47,478.0,382.8,13.7,496,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2145,1021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10561,0.50,478.0,344.3,13.4,511,10566,0.00,2.17,0.00,0.000,4,0.000,0.044,2898,3560,1020,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10594,0.52,478.0,340.6,13.7,512,10600,0.00,2.08,0.00,0.000,6,0.000,0.026,2898,2144,1020,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10908,0.54,478.0,299.9,10.6,528,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2142,1020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11211,0.57,478.0,266.2,11.3,543,11216,0.00,2.17,0.00,0.000,4,0.000,0.044,2898,3563,1020,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11288,0.59,478.0,258.5,11.6,546,11296,0.10,2.08,0.00,0.000,6,0.095,0.026,2957,2133,1020,0,0,0,0,0,0,26.54,26.60,28.83
$GC,11594,0.58,478.0,210.7,15.6,562,11599,0.00,2.17,0.00,0.000,4,0.000,0.042,2957,3562,1020,0,0,0,0,0,0,28.83,26.55,28.83
$GC,11681,0.56,478.0,198.2,15.0,566,11687,0.15,2.08,0.00,0.000,6,0.151,0.026,2921,2155,1020,0,0,0,0,0,0,26.40,26.63,28.83
$GC,12001,0.59,478.0,163.1,11.7,582,12007,0.00,2.12,0.00,0.000,4,0.000,0.042,2921,3554,1020,0,0,0,0,0,0,28.83,26.55,28.83
$GC,12048,0.62,478.0,157.7,11.9,584,12053,0.00,2.05,0.00,0.000,6,0.000,0.025,2922,2138,1020,0,0,0,0,0,0,28.83,26.65,28.83
$GC,12367,0.71,556.5,131.3,7.3,600,12447,0.12,2.17,68.47,0.627,4,0.080,0.036,3013,759,686,0,0,0,0,0,0,26.73,25.68,25.14
$GC,12495,0.72,556.5,117.6,11.8,606,12501,0.15,2.12,0.00,0.000,6,0.118,0.025,2969,2166,682,0,0,0,0,0,0,25.80,25.90,28.83
$GC,12814,0.81,568.8,94.7,9.6,622,12825,0.00,2.12,3.45,0.266,4,0.000,0.042,2969,3552,652,0,0,0,0,0,0,28.83,26.20,25.65
$GC,12842,0.89,574.8,92.3,9.8,623,12853,0.17,2.05,3.83,0.296,6,0.060,0.021,3067,2129,622,0,0,0,0,0,0,26.28,26.31,25.68
$GC,13162,0.86,574.8,34.5,19.5,642,13169,0.15,2.17,0.95,0.179,4,0.135,0.038,3018,3553,624,0,0,0,0,0,0,26.25,26.35,26.13
$GC,13230,0.88,574.8,24.0,14.8,648,13236,0.00,2.05,0.00,0.000,6,0.000,0.022,3018,2152,632,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,13397,end climb,SURFACE_DEPTH_REACHED
$STATE,13397,begin surface coast
$FINISH,1.6,1.021857
$STATE,13431,end surface coast,CONTROL_FINISHED_OK
$STATE,13431,begin surface
$SM_CCo,13509,0.00,0.000,0,0,633,573.02
$SM_GC,1.63,7.25,0.15,0.00,0.025,0.077,0.000,119,2263,633,-8.10,-1.22,573.02,0,0,0,0,0,0,26.49,26.50,28.83
$IRIDIUM_FIX,2143.45,12106.19,171012,232333
$TT8_MAMPS,0.029211,0.029211
$HUMID,53.89
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.90
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,751.3,32.1
$24V_AH,23.5,11.132
$10V_AH,9.6,5.449
$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,20.525,122.400,659.575,0.000,0.000,0.000,0.000,266.725,5.250,0.000,5.881,2196.331,8708.604,737.056,2019.268,287.994,0.000,1993.156,0.000,1668.709,0.000,17.588,0.000
$DEVICE_MAMPS,226.440,77.265,1541.475,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13448.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,52.370,0.000,0.000,0.000
$MEM,323808
$DATA_FILE_SIZE,26788,687
$CAP_FILE_SIZE,167305,0
$CFSIZE,260165632,247791616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.262,180.1,1
$GPS,181012,065305,2149.913,12105.794,27,1.1,27,-3.1