version: 66.11
glider: 167
mission: 14
dive: 28
start: 10 19 112 17 4 57
data:
$ID,167
$MISSION,14
$DIVE,28
$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,10
$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,-968516
$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,25
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,70
$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
$GPS1,191012,165836,2158.166,12105.121,35,1.2,35,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-59.7
$GPS2,191012,170430,2158.177,12104.992,4,1.1,4,-3.2
$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,54.7,126264,-15.7,-10.000,-18.65
$D_GRID,1148
$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,-195.5,0.0,0.0,0,102,0.00,0.00,-80.95,0.000,2,0.000,0.000,109,2276,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.47,-195.5,3.2,-5.3,14,142,9.68,0.00,-23.75,0.000,6,0.231,0.000,2578,2277,3766,0,0,0,0,0,0,25.85,28.83,26.59
$GC,461,-0.44,-195.5,66.4,-20.0,56,464,0.00,1.27,0.00,0.000,4,0.000,0.046,2578,3098,3767,0,0,0,0,0,0,28.83,26.44,28.83
$GC,592,-0.42,-195.5,89.0,-17.4,63,600,0.00,1.23,0.00,0.000,6,0.000,0.021,2578,2248,3767,0,0,0,0,0,0,28.83,26.58,28.83
$GC,915,-0.49,-195.5,124.2,-8.0,79,920,0.00,1.30,0.00,0.000,4,0.000,0.044,2579,3093,3767,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1062,-0.57,-195.5,134.5,-7.3,86,1065,0.00,1.23,0.00,0.000,6,0.000,0.021,2577,2230,3767,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1362,-0.66,-195.5,154.4,-6.2,101,1370,0.15,1.35,0.00,0.000,4,0.071,0.041,2480,3105,3768,0,0,0,0,0,0,26.72,26.62,28.83
$GC,1562,-0.64,-195.5,182.2,-15.5,111,1569,0.17,1.23,0.00,0.000,6,0.128,0.021,2533,2243,3768,0,0,0,0,0,0,26.49,26.74,28.83
$GC,1882,-0.71,-195.5,208.8,-6.8,127,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2237,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2185,-0.77,-195.5,230.9,-7.8,142,2187,0.12,0.00,0.00,0.000,6,0.080,0.000,2453,2239,3768,0,0,0,0,0,0,26.80,28.83,28.83
$GC,2483,-0.77,-195.5,267.9,-12.3,157,2490,0.15,1.30,0.00,0.000,4,0.143,0.044,2493,3089,3766,0,0,0,0,0,0,26.56,26.67,28.83
$GC,2624,-0.80,-195.5,280.1,-9.5,164,2631,0.00,1.17,0.00,0.000,6,0.000,0.022,2493,2252,3764,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2943,-0.81,-195.5,313.4,-11.8,180,2949,0.00,1.33,0.00,0.000,4,0.000,0.044,2493,3101,3763,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3105,-0.85,-195.5,327.5,-8.6,188,3110,0.00,1.20,0.00,0.000,6,0.000,0.024,2493,2260,3762,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3422,-0.89,-195.5,357.9,-9.3,204,3430,0.12,1.30,0.00,0.000,4,0.080,0.046,2421,3093,3760,0,0,0,0,0,0,26.82,26.67,28.83
$GC,3492,-0.89,-195.5,366.6,-13.3,207,3496,0.12,1.23,0.00,0.000,6,0.154,0.024,2455,2239,3758,0,0,0,0,0,0,26.51,26.78,28.83
$GC,3792,-0.89,-195.5,407.9,-11.3,222,3795,0.00,1.23,0.00,0.000,4,0.000,0.032,2455,1403,3757,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3852,-0.91,-195.5,413.2,-10.5,225,3855,0.00,1.27,0.00,0.000,6,0.000,0.037,2453,2233,3756,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4153,-0.91,-195.5,444.9,-10.3,240,4160,0.00,1.40,-0.08,0.000,4,0.000,0.070,2453,3127,3777,0,0,0,0,0,0,28.83,26.67,25.91
$GC,4242,-0.91,-195.5,452.8,-9.9,244,4245,0.00,1.27,0.00,0.000,6,0.000,0.020,2453,2223,3777,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4543,-0.92,-195.5,481.3,-9.1,259,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2223,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4844,-0.92,-195.5,514.8,-11.4,274,4851,0.00,1.40,0.00,0.000,4,0.000,0.043,2453,3127,3773,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4903,-0.93,-195.5,521.4,-11.1,277,4906,0.00,1.25,0.00,0.000,6,0.000,0.021,2453,2244,3772,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5214,-0.94,-195.5,553.4,-10.5,293,5220,0.00,1.40,0.00,0.000,4,0.000,0.047,2453,3136,3771,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5354,-0.96,-195.5,566.8,-9.7,300,5362,0.00,1.25,0.00,0.000,6,0.000,0.021,2453,2247,3769,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5675,-0.98,-195.5,595.5,-7.7,316,5681,0.00,1.38,0.00,0.000,4,0.000,0.043,2452,3127,3767,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5773,-1.00,-195.5,603.1,-8.4,320,5777,0.10,1.25,0.00,0.000,6,0.097,0.023,2397,2248,3767,0,0,0,0,0,0,26.67,26.79,28.83
$GC,6088,-0.97,-195.5,652.5,-16.4,331,6094,0.12,1.35,0.00,0.000,4,0.163,0.042,2432,3144,3764,0,0,0,0,0,0,26.50,26.63,28.83
$GC,6184,-0.96,-195.5,666.9,-16.3,334,6188,0.00,1.27,0.00,0.000,6,0.000,0.024,2433,2253,3763,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,6438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6438,begin apogee
$GC,6444,-0.20,0.0,701.9,-11.3,343,6615,0.70,0.00,163.90,0.988,6,0.110,0.000,2670,2249,2957,0,0,0,0,0,0,26.34,28.83,24.27
$STATE,6619,end apogee,CONTROL_FINISHED_OK
$STATE,6619,begin climb
$GC,6621,0.47,195.5,707.9,0.0,349,6795,0.57,0.00,166.55,0.939,6,0.042,0.000,2904,2250,2161,0,0,0,0,0,0,25.21,28.83,24.15
$GC,7096,0.42,195.5,659.6,12.5,365,7102,0.00,1.25,0.00,0.000,4,0.000,0.043,2904,3029,2141,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7338,0.36,195.5,626.7,14.3,373,7344,0.12,1.25,0.00,0.000,6,0.134,0.027,2863,2180,2139,0,0,0,0,0,0,26.06,26.33,28.83
$GC,7657,0.35,195.5,590.3,11.0,385,7663,0.00,1.33,0.00,0.000,4,0.000,0.043,2863,3028,2137,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7817,0.32,195.5,572.9,10.6,393,7823,0.00,1.27,0.00,0.000,6,0.000,0.026,2866,2152,2136,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8136,0.31,210.6,543.8,9.5,409,8145,0.00,1.40,3.78,0.700,4,0.000,0.043,2866,3035,2107,0,0,0,0,0,0,28.83,26.47,25.41
$GC,8256,0.29,210.6,531.3,10.6,415,8264,0.12,1.33,0.00,0.000,6,0.156,0.027,2835,2139,2118,0,0,0,0,0,0,26.30,26.54,28.83
$GC,8576,0.32,259.1,504.5,8.3,431,8629,0.00,1.48,43.22,1.296,4,0.000,0.043,2835,3028,1910,0,0,0,0,1,0,28.83,25.33,24.29
$GC,8756,0.34,280.5,489.1,9.3,439,8787,0.00,1.33,21.70,1.074,6,0.000,0.025,2835,2150,1824,0,0,0,0,1,0,28.83,25.97,24.42
$GC,9088,0.41,351.4,461.7,7.6,456,9169,0.12,1.42,67.12,1.401,4,0.081,0.040,2900,3024,1537,0,0,0,0,1,0,26.22,24.84,23.86
$GC,9267,0.39,351.4,439.1,14.0,465,9274,0.15,1.33,0.00,0.000,6,0.144,0.024,2864,2153,1538,0,0,0,0,0,0,25.58,25.74,28.83
$GC,9588,0.42,360.7,407.0,9.7,481,9610,0.00,1.42,13.00,0.929,4,0.000,0.041,2863,3034,1485,0,0,0,0,1,0,28.83,25.91,24.67
$GC,9749,0.45,376.6,392.7,9.5,489,9771,0.00,1.33,13.32,0.894,6,0.000,0.025,2864,2148,1433,0,0,0,0,1,0,28.83,26.17,25.14
$GC,10069,0.53,472.2,369.3,6.7,505,10168,0.15,1.48,85.55,1.356,4,0.072,0.042,2942,3022,1043,0,0,0,0,1,0,26.30,24.79,23.84
$GC,10248,0.51,472.2,341.8,17.5,514,10255,0.17,1.35,0.00,0.000,6,0.141,0.025,2901,2143,1044,0,0,0,0,0,0,25.48,25.63,28.83
$GC,10568,0.54,472.2,302.7,11.6,530,10575,0.00,1.40,0.00,0.000,4,0.000,0.041,2901,3031,1043,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10698,0.56,472.2,287.5,13.3,536,10701,0.00,1.33,0.00,0.000,6,0.000,0.024,2900,2140,1042,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10998,0.60,472.2,245.8,11.4,551,11006,0.10,1.38,0.00,0.000,4,0.094,0.040,2961,3028,1042,0,0,0,0,0,0,26.47,26.39,28.83
$GC,11067,0.60,472.2,236.7,14.1,554,11071,0.12,1.30,0.00,0.000,6,0.158,0.025,2934,2152,1042,0,0,0,0,0,0,26.25,26.46,28.83
$GC,11368,0.61,472.2,202.5,11.0,569,11374,0.00,1.27,0.00,0.000,4,0.000,0.031,2934,1283,1042,0,0,0,0,0,0,28.83,26.50,28.83
$GC,11428,0.64,472.2,195.6,11.4,572,11436,0.00,1.33,0.00,0.000,6,0.000,0.028,2935,2152,1041,0,0,0,0,0,0,28.83,26.52,28.83
$GC,11749,0.67,480.3,161.8,9.7,588,11768,0.00,1.35,10.48,0.803,4,0.000,0.041,2935,3031,1000,0,0,0,0,0,0,28.83,26.34,25.70
$GC,11910,0.70,480.3,142.1,11.6,596,11915,0.00,1.30,0.00,0.000,6,0.000,0.024,2935,2134,999,0,0,0,0,0,0,28.83,26.48,28.83
$GC,12228,0.85,660.0,119.0,3.8,612,12292,0.22,1.42,58.58,0.418,4,0.054,0.038,3059,3029,459,0,0,0,0,0,0,26.58,25.96,25.44
$GC,12381,0.84,660.0,99.2,14.9,620,12388,0.17,1.30,0.00,0.000,6,0.135,0.022,3010,2150,457,0,0,0,0,0,0,25.97,26.18,28.83
$GC,12700,0.93,756.2,65.6,6.7,636,12702,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2148,442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13000,0.99,759.1,35.7,9.9,657,13002,0.12,0.00,0.00,0.000,6,0.076,0.000,3095,2148,438,0,0,0,0,0,0,26.57,28.83,28.83
$STATE,13189,end climb,SURFACE_DEPTH_REACHED
$STATE,13189,begin surface coast
$FINISH,0.7,0.997981
$STATE,13206,end surface coast,CONTROL_FINISHED_OK
$STATE,13206,begin surface
$SM_CCo,13284,0.00,0.000,0,0,436,621.10
$SM_GC,1.55,7.43,0.15,0.00,0.024,0.073,0.000,112,2277,436,-8.11,-1.30,621.10,0,0,0,0,0,0,26.54,26.58,28.83
$IRIDIUM_FIX,2148.09,12105.40,191012,131304
$TT8_MAMPS,0.029211,0.029211
$HUMID,52.87
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,701.9,8.2
$24V_AH,23.8,13.225
$10V_AH,10.0,7.029
$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,21.050,63.325,647.200,0.000,0.000,0.000,0.000,200.550,5.500,0.000,5.881,1985.576,8952.042,817.420,1615.258,274.609,0.000,1779.587,0.000,1360.478,0.000,14.825,0.000
$DEVICE_MAMPS,231.030,73.440,1401.480,0.000,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13208.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.189,0.000,0.000,0.000
$MEM,323828
$DATA_FILE_SIZE,26687,690
$CAP_FILE_SIZE,150345,0
$CFSIZE,260165632,246935552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$CURRENT,0.156,351.2,1
$GPS,191012,204746,2200.647,12106.664,31,1.2,42,-3.2