version: 66.11
glider: 167
mission: 14
dive: 20
start: 10 18 112 13 34 5
data:
$ID,167
$MISSION,14
$DIVE,20
$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,-968498.31
$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,58
$R_STBD_OVSHOOT,57
$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
$GPS1,181012,132635,2151.700,12105.729,29,0.9,29,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.4
$GPS2,181012,133337,2151.566,12105.584,5,0.9,5,-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,22.4,137799,-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,-195.5,0.0,0.0,0,90,0.00,0.00,-69.70,0.000,2,0.000,0.000,110,2274,2397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.47,-195.5,3.0,-5.5,12,143,9.77,2.12,-32.65,0.000,4,0.234,0.061,2574,3636,3766,0,0,0,0,0,0,25.82,26.17,26.54
$GC,167,-0.47,-195.5,12.0,-14.1,24,174,0.00,2.03,0.00,0.000,6,0.000,0.021,2575,2234,3766,0,0,0,0,0,0,28.83,26.29,28.83
$GC,492,-0.47,-195.5,77.2,-14.8,54,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2234,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,794,-0.53,-195.5,102.6,-7.2,69,800,0.00,2.15,0.00,0.000,4,0.000,0.048,2574,3632,3767,0,0,0,0,0,0,28.83,26.48,28.83
$GC,883,-0.60,-195.5,108.9,-7.4,73,888,0.00,1.98,0.00,0.000,6,0.000,0.020,2574,2239,3767,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1202,-0.76,-195.5,132.7,-5.9,89,1208,0.20,2.00,0.00,0.000,4,0.070,0.031,2482,850,3768,0,0,0,0,0,0,26.62,26.63,28.83
$GC,1327,-0.76,-195.5,146.9,-13.1,95,1332,0.00,2.05,0.00,0.000,6,0.000,0.034,2480,2232,3768,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1650,-0.76,-195.5,194.2,-12.9,111,1656,0.00,2.15,0.00,0.000,4,0.000,0.045,2480,3664,3768,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1728,-0.76,-195.5,202.5,-12.9,114,1734,0.00,2.00,0.00,0.000,6,0.000,0.021,2480,2254,3766,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2034,-0.76,-195.5,231.4,-7.9,130,2039,0.00,2.17,0.00,0.000,4,0.000,0.048,2480,3659,3768,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2111,-0.76,-195.5,236.3,-7.7,133,2118,0.00,2.00,0.00,0.000,6,0.000,0.021,2480,2251,3768,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2418,-0.78,-195.5,266.5,-11.1,149,2423,0.00,2.00,0.00,0.000,4,0.000,0.031,2480,854,3766,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2490,-0.80,-195.5,274.1,-11.8,152,2496,0.00,2.08,0.00,0.000,6,0.000,0.036,2480,2254,3766,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2805,-0.83,-195.5,307.0,-9.2,168,2810,0.00,2.12,0.00,0.000,4,0.000,0.045,2480,3668,3764,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2973,-0.86,-195.5,320.3,-8.0,176,2978,0.00,2.03,0.00,0.000,6,0.000,0.021,2480,2222,3763,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3291,-0.89,-195.5,345.7,-6.8,192,3297,0.00,2.22,0.00,0.000,4,0.000,0.050,2480,3662,3761,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3376,-0.93,-195.5,351.1,-6.4,196,3382,0.12,1.98,0.00,0.000,6,0.080,0.022,2411,2271,3761,0,0,0,0,0,0,26.71,26.77,28.83
$GC,3701,-0.90,-195.5,393.1,-14.8,212,3703,0.15,0.00,0.00,0.000,6,0.152,0.000,2451,2268,3759,0,0,0,0,0,0,26.53,28.83,28.83
$GC,4002,-0.91,-195.5,428.0,-11.4,227,4008,0.00,2.15,0.00,0.000,4,0.000,0.051,2452,3658,3756,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4075,-0.92,-195.5,436.1,-12.2,230,4082,0.00,2.03,-0.08,0.000,6,0.000,0.023,2452,2248,3779,0,0,0,0,0,0,28.83,26.76,25.84
$GC,4390,-0.94,-195.5,477.3,-13.6,246,4396,0.00,2.20,0.00,0.000,4,0.000,0.052,2452,3655,3777,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4448,-0.96,-195.5,483.1,-13.3,248,4455,0.00,2.05,0.00,0.000,6,0.000,0.021,2452,2206,3777,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4754,-0.97,-195.5,520.8,-11.1,264,4760,0.00,2.22,0.00,0.000,4,0.000,0.048,2452,3656,3774,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4842,-0.99,-195.5,529.3,-10.0,268,4847,0.00,1.98,0.00,0.000,6,0.000,0.021,2452,2244,3773,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5160,-1.01,-195.5,556.9,-8.8,284,5162,0.12,0.00,0.00,0.000,6,0.085,0.000,2385,2242,3772,0,0,0,0,0,0,26.80,28.83,28.83
$GC,5462,-0.97,-195.5,595.7,-13.3,299,5468,0.12,2.20,0.00,0.000,4,0.166,0.046,2414,3659,3769,0,0,0,0,0,0,26.51,26.57,28.83
$STATE,5507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5508,begin apogee
$GC,5515,-0.20,0.0,601.7,-13.4,301,5682,0.77,0.00,157.77,0.921,6,0.116,0.000,2674,2144,2962,0,0,0,0,0,0,26.36,28.83,24.35
$STATE,5684,end apogee,CONTROL_FINISHED_OK
$STATE,5684,begin climb
$GC,5686,0.47,195.5,608.5,0.0,307,5860,0.57,2.28,161.85,0.878,4,0.038,0.033,2922,751,2156,0,0,0,0,0,0,25.24,24.91,24.23
$GC,5897,0.41,225.4,598.3,9.0,314,5927,0.17,2.17,18.80,0.851,6,0.135,0.027,2874,2165,2048,0,0,0,0,1,0,25.28,25.41,24.18
$GC,6236,0.42,293.9,568.2,7.6,331,6310,0.00,2.33,63.38,1.418,4,0.000,0.044,2874,3544,1770,0,0,0,0,1,0,28.83,24.85,23.82
$GC,6454,0.40,293.9,549.0,10.1,341,6460,0.00,2.08,0.00,0.000,6,0.000,0.024,2878,2141,1775,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6759,0.40,293.9,512.1,12.8,357,6764,0.00,2.20,0.00,0.000,4,0.000,0.044,2880,3556,1773,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6837,0.39,293.9,502.8,14.3,360,6844,0.00,2.05,0.00,0.000,6,0.000,0.026,2881,2158,1772,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7142,0.39,293.9,458.4,13.8,376,7148,0.00,2.15,0.00,0.000,4,0.000,0.043,2880,3554,1772,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7181,0.39,293.9,455.1,13.4,377,7187,0.00,2.05,0.00,0.000,6,0.000,0.025,2881,2148,1772,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7486,0.39,293.9,414.9,12.0,393,7491,0.00,2.15,0.00,0.000,4,0.000,0.044,2881,3548,1771,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7614,0.38,293.9,398.9,13.0,399,7620,0.00,2.05,0.00,0.000,6,0.000,0.026,2885,2140,1770,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7933,0.41,387.1,369.1,6.8,415,8024,0.00,0.00,83.93,1.379,6,0.000,0.000,2885,2139,1387,0,0,0,0,1,0,28.83,28.83,23.92
$GC,8314,0.45,440.7,343.6,8.2,434,8373,0.00,2.38,48.90,1.259,4,0.000,0.042,2885,3546,1169,0,0,0,0,1,0,28.83,24.98,24.01
$GC,8458,0.49,454.4,329.7,9.5,441,8487,0.00,2.10,15.43,0.811,6,0.000,0.024,2885,2144,1115,0,0,0,0,1,0,28.83,25.73,24.46
$GC,8800,0.53,454.4,298.9,10.4,458,8805,0.00,2.20,0.00,0.000,4,0.000,0.044,2885,3555,1117,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8838,0.56,454.4,295.6,11.6,459,8845,0.10,2.10,0.00,0.000,6,0.095,0.024,2943,2135,1116,0,0,0,0,0,0,26.17,26.24,28.83
$GC,9144,0.55,454.4,242.9,17.3,475,9149,0.00,2.05,0.00,0.000,4,0.000,0.035,2951,756,1116,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9227,0.55,454.4,231.7,13.3,479,9233,0.12,2.08,0.00,0.000,6,0.133,0.025,2916,2169,1116,0,0,0,0,0,0,26.27,26.41,28.83
$GC,9552,0.56,454.4,197.5,10.2,495,9558,0.00,2.08,0.00,0.000,4,0.000,0.043,2916,3542,1119,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9625,0.58,454.4,190.7,10.5,498,9630,0.00,2.00,0.00,0.000,6,0.000,0.022,2922,2147,1115,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9938,0.61,462.8,160.4,9.7,514,9958,0.00,2.22,10.57,0.802,4,0.000,0.041,2922,3546,1073,0,0,0,0,0,0,28.83,26.32,25.70
$GC,10002,0.64,475.5,154.2,9.6,517,10022,0.00,2.03,12.55,0.763,6,0.000,0.023,2922,2141,1022,0,0,0,0,0,0,28.83,26.44,25.56
$GC,10322,0.70,475.5,120.2,11.5,533,10328,0.12,2.15,0.00,0.000,4,0.080,0.040,3001,3545,1018,0,0,0,0,0,0,26.46,26.34,28.83
$GC,10436,0.68,475.5,103.3,16.6,538,10443,0.15,2.03,0.00,0.000,6,0.142,0.022,2960,2143,1018,0,0,0,0,0,0,26.28,26.48,28.83
$GC,10752,0.78,570.9,77.2,6.7,554,10796,0.00,2.20,37.05,0.311,4,0.000,0.041,2960,3539,639,0,0,0,0,0,0,28.83,26.22,25.79
$GC,10850,0.88,640.7,70.9,7.6,558,10878,0.20,2.03,19.33,0.291,6,0.055,0.021,3068,2132,454,0,0,0,0,0,0,26.34,26.36,25.74
$GC,11177,0.87,640.7,15.8,18.9,588,11184,0.12,2.15,0.00,0.000,4,0.133,0.039,3026,3541,447,0,0,0,0,0,0,26.30,26.36,28.83
$GC,11239,0.89,640.7,5.7,15.4,599,11247,0.00,1.98,0.00,0.000,6,0.000,0.021,3026,2160,446,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,11257,end climb,SURFACE_DEPTH_REACHED
$STATE,11257,begin surface coast
$FINISH,0.8,1.022066
$STATE,11273,end surface coast,CONTROL_FINISHED_OK
$STATE,11273,begin surface
$SM_CCo,11351,0.00,0.000,0,0,445,619.14
$SM_GC,1.53,7.35,0.12,0.00,0.031,0.067,0.000,125,2280,445,-8.10,-1.30,619.14,0,0,0,0,0,0,26.42,26.53,28.83
$IRIDIUM_FIX,2143.45,12104.20,181012,101009
$TT8_MAMPS,0.029211,0.029211
$HUMID,54.64
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,601.7,9.2
$24V_AH,23.8,11.728
$10V_AH,10.2,6.114
$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,20.200,105.475,629.550,0.000,0.000,0.000,0.000,249.925,2.500,0.000,5.875,1941.270,7022.916,703.362,1848.748,261.733,0.000,1858.985,0.000,1510.775,0.000,13.770,0.000
$DEVICE_MAMPS,234.090,67.320,1417.545,0.000,0.000,0.000,0.000,129.285,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11295.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.903,0.000,0.000,0.000
$MEM,323772
$DATA_FILE_SIZE,23445,605
$CAP_FILE_SIZE,146665,0
$CFSIZE,260165632,247558144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.208,228.9,1
$GPS,181012,164435,2152.477,12105.203,37,1.2,37,-3.1