version: 66.11
glider: 167
mission: 14
dive: 19
start: 10 18 112 10 15 33
data:
$ID,167
$MISSION,14
$DIVE,19
$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,-968497.06
$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,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,74
$R_STBD_OVSHOOT,48
$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
$GPS1,181012,100823,2151.625,12105.424,37,1.1,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-58.6
$GPS2,181012,101506,2151.671,12105.468,4,1.1,4,-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,30.1,137662,-15.7,-10.000,-18.65
$D_GRID,773
$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,-195.5,0.0,0.0,0,96,0.00,0.00,-75.62,0.000,2,0.000,0.000,110,2251,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-195.5,3.1,-4.9,13,149,9.65,2.12,-29.83,0.000,4,0.229,0.048,2588,862,3766,0,0,0,0,0,0,25.83,26.23,26.55
$GC,168,-0.49,-195.5,12.5,-14.2,24,175,0.00,2.10,0.00,0.000,6,0.000,0.036,2589,2243,3768,0,0,0,0,0,0,28.83,26.24,28.83
$GC,494,-0.49,-195.5,62.4,-13.8,60,500,0.00,2.15,0.00,0.000,4,0.000,0.046,2587,3657,3767,0,0,0,0,0,0,28.83,26.40,28.83
$GC,658,-0.54,-195.5,81.9,-11.0,68,663,0.00,2.00,0.00,0.000,6,0.000,0.020,2588,2250,3768,0,0,0,0,0,0,28.83,26.56,28.83
$GC,981,-0.57,-195.5,110.8,-8.2,84,987,0.00,2.03,0.00,0.000,4,0.000,0.034,2588,855,3768,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1034,-0.61,-195.5,113.8,-7.4,86,1041,0.15,2.08,0.00,0.000,6,0.069,0.034,2495,2265,3768,0,0,0,0,0,0,26.61,26.58,28.83
$GC,1349,-0.61,-195.5,159.3,-12.8,102,1355,0.12,2.08,0.00,0.000,4,0.148,0.037,2537,852,3769,0,0,0,0,0,0,26.53,26.56,28.83
$GC,1456,-0.67,-195.5,170.6,-10.6,107,1461,0.00,2.08,0.00,0.000,6,0.000,0.034,2537,2262,3769,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1780,-0.72,-195.5,203.0,-8.3,123,1786,0.00,2.12,0.00,0.000,4,0.000,0.050,2537,3655,3770,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1929,-0.79,-195.5,213.7,-7.4,130,1935,0.15,2.00,0.00,0.000,6,0.067,0.021,2448,2242,3769,0,0,0,0,0,0,26.71,26.74,28.83
$GC,2248,-0.77,-195.5,262.5,-15.2,146,2254,0.12,2.20,0.00,0.000,4,0.155,0.047,2488,3660,3769,0,0,0,0,0,0,26.56,26.63,28.83
$GC,2321,-0.77,-195.5,270.2,-12.9,149,2327,0.00,2.00,0.00,0.000,6,0.000,0.021,2488,2251,3768,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2635,-0.80,-195.5,303.1,-10.3,165,2640,0.00,2.15,0.00,0.000,4,0.000,0.049,2488,3650,3767,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2760,-0.85,-195.5,311.9,-6.5,171,2765,0.00,2.00,0.00,0.000,6,0.000,0.021,2488,2248,3766,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3084,-0.89,-195.5,332.1,-7.1,187,3089,0.00,2.17,0.00,0.000,4,0.000,0.050,2487,3659,3764,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3137,-0.93,-195.5,335.1,-6.9,189,3143,0.15,2.00,0.00,0.000,6,0.070,0.021,2412,2248,3764,0,0,0,0,0,0,26.73,26.77,28.83
$GC,3451,-0.90,-195.5,375.8,-12.8,205,3457,0.12,2.03,0.00,0.000,4,0.159,0.031,2450,846,3762,0,0,0,0,0,0,26.55,26.72,28.83
$GC,3504,-0.88,-195.5,380.6,-11.8,207,3510,0.00,2.10,0.00,0.000,6,0.000,0.038,2450,2253,3761,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3817,-0.88,-195.5,419.0,-13.2,223,3823,0.00,2.12,0.00,0.000,4,0.000,0.046,2450,3662,3759,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3901,-0.89,-195.5,429.0,-12.1,227,3906,0.00,2.03,0.00,0.000,6,0.000,0.021,2450,2224,3757,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4224,-0.90,-195.5,468.1,-12.6,243,4230,0.00,1.92,-0.08,0.000,4,0.000,0.042,2450,872,3785,0,0,0,0,0,0,28.83,26.74,26.13
$GC,4289,-0.92,-195.5,476.6,-13.0,246,4294,0.00,2.03,0.00,0.000,6,0.000,0.031,2450,2256,3785,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4613,-0.93,-195.5,519.5,-12.9,262,4618,0.00,2.12,0.00,0.000,4,0.000,0.047,2450,3667,3782,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4710,-0.95,-195.5,530.0,-12.5,266,4718,0.00,2.00,0.00,0.000,6,0.000,0.022,2450,2253,3781,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5016,-0.97,-195.5,565.9,-10.5,282,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2252,3779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5318,-0.99,-195.5,598.1,-10.2,297,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2251,3776,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5336,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5336,begin apogee
$GC,5342,-0.20,0.0,600.1,-10.2,298,5519,0.65,0.00,163.93,1.198,6,0.104,0.000,2677,2166,2967,0,0,0,0,1,0,26.44,28.83,23.72
$STATE,5520,end apogee,CONTROL_FINISHED_OK
$STATE,5520,begin climb
$GC,5523,0.47,195.5,609.4,0.0,304,5708,0.57,2.33,171.88,1.509,4,0.039,0.043,2917,3547,2170,0,0,0,0,1,0,24.99,24.33,23.33
$GC,5843,0.39,195.5,586.3,14.6,316,5849,0.20,2.12,0.00,0.000,6,0.152,0.025,2870,2152,2168,0,0,0,0,0,0,25.41,25.58,28.83
$GC,6167,0.37,209.3,553.9,9.5,332,6188,0.00,2.30,14.90,0.947,4,0.000,0.044,2870,3557,2109,0,0,0,0,0,0,28.83,25.80,25.08
$GC,6245,0.34,209.3,547.1,10.2,335,6252,0.00,2.10,0.00,0.000,6,0.000,0.027,2870,2151,2106,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6551,0.34,254.0,518.0,8.5,351,6594,0.00,0.00,41.33,0.889,6,0.000,0.000,2870,2150,1931,0,0,0,0,0,0,28.83,28.83,24.83
$GC,6891,0.34,254.0,483.1,10.1,368,6897,0.00,2.20,0.00,0.000,4,0.000,0.046,2870,3558,1920,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6989,0.33,254.0,473.5,11.6,372,6995,0.00,2.10,0.00,0.000,6,0.000,0.027,2870,2141,1917,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7295,0.34,276.0,444.5,9.2,388,7324,0.00,2.28,20.17,0.900,4,0.000,0.044,2870,3547,1835,0,0,0,0,0,0,28.83,25.96,25.27
$GC,7417,0.32,276.0,432.0,10.7,394,7422,0.00,2.10,0.00,0.000,6,0.000,0.026,2870,2134,1831,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7740,0.33,287.3,401.3,9.6,410,7760,0.00,2.28,10.80,0.940,4,0.000,0.044,2870,3552,1789,0,0,0,0,0,0,28.83,26.10,25.40
$GC,7903,0.33,287.3,382.6,11.7,418,7908,0.00,2.08,0.00,0.000,6,0.000,0.026,2869,2148,1785,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8227,0.36,341.1,355.5,8.2,434,8287,0.00,2.17,45.42,1.286,4,0.000,0.041,2870,758,1579,0,0,0,0,1,0,28.83,25.21,24.20
$GC,8351,0.42,414.6,345.9,7.5,440,8431,0.00,2.12,67.22,1.312,6,0.000,0.027,2870,2158,1278,0,0,0,0,1,0,28.83,25.74,23.87
$GC,8731,0.51,529.2,319.5,6.1,459,8853,0.12,2.22,111.62,0.715,4,0.078,0.040,2947,3548,800,0,0,0,0,0,0,26.13,25.10,24.52
$GC,8929,0.51,529.2,297.8,12.8,468,8937,0.15,2.12,0.00,0.000,6,0.142,0.025,2910,2139,791,0,0,0,0,0,0,25.58,25.71,28.83
$GC,9236,0.56,529.2,263.7,12.6,484,9241,0.00,2.10,0.00,0.000,4,0.000,0.034,2909,746,789,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9289,0.61,529.2,258.2,12.9,486,9295,0.00,2.10,0.00,0.000,6,0.000,0.024,2910,2166,789,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9603,0.67,545.4,223.8,9.4,502,9624,0.12,2.12,13.02,0.762,4,0.080,0.041,2991,3548,730,0,0,0,0,0,0,26.46,26.11,25.49
$GC,9716,0.64,545.4,205.7,18.7,507,9723,0.15,2.08,0.00,0.000,6,0.148,0.024,2951,2144,725,0,0,0,0,0,0,26.12,26.29,28.83
$GC,10032,0.66,545.4,156.3,15.1,523,10037,0.00,2.08,0.00,0.000,4,0.000,0.034,2960,740,724,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10075,0.69,545.4,150.5,13.7,525,10081,0.00,2.08,0.00,0.000,6,0.000,0.026,2960,2153,724,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10399,0.71,545.4,104.5,14.0,541,10405,0.00,2.15,0.00,0.000,4,0.000,0.043,2960,3559,724,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10509,0.75,545.4,91.1,12.7,546,10514,0.00,2.05,0.00,0.000,6,0.000,0.023,2960,2135,724,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10828,0.83,589.6,58.0,8.5,562,10853,0.12,2.20,16.38,0.259,4,0.079,0.040,3051,3546,563,0,0,0,0,0,0,26.67,26.45,26.03
$GC,10881,0.87,589.6,52.1,10.8,564,10887,0.15,2.03,0.00,0.000,6,0.145,0.023,3014,2149,569,0,0,0,0,0,0,26.32,26.53,28.83
$GC,11191,0.91,596.5,14.9,9.8,604,11198,0.00,0.00,3.30,0.177,6,0.000,0.000,3014,2145,532,0,0,0,0,0,0,28.83,28.83,26.24
$STATE,11291,end climb,SURFACE_DEPTH_REACHED
$STATE,11291,begin surface coast
$FINISH,1.3,1.021968
$STATE,11313,end surface coast,CONTROL_FINISHED_OK
$STATE,11313,begin surface
$SM_CCo,11391,0.00,0.000,0,0,539,595.83
$SM_GC,1.51,7.22,0.15,0.00,0.027,0.073,0.000,120,2264,539,-8.10,-1.36,595.83,0,0,0,0,0,0,26.57,26.61,28.83
$IRIDIUM_FIX,2143.45,12104.20,181012,070707
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.31
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,600.1,7.9
$24V_AH,23.3,11.545
$10V_AH,10.4,5.948
$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,19.950,101.325,679.975,0.000,0.000,0.000,0.000,237.300,2.500,0.000,5.850,2043.863,6841.419,721.343,1927.131,265.884,0.000,1913.646,0.000,1608.026,0.000,9.087,0.000
$DEVICE_MAMPS,228.735,137.700,1509.345,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11326.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.437,0.000,0.000,0.000
$MEM,323848
$DATA_FILE_SIZE,23453,627
$CAP_FILE_SIZE,150277,0
$CFSIZE,260165632,247640064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.265,199.8,1
$GPS,181012,132635,2151.700,12105.729,29,0.9,29,-3.1