version: 66.11
glider: 167
mission: 14
dive: 29
start: 10 19 112 20 54 10
data:
$ID,167
$MISSION,14
$DIVE,29
$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,-968517.25
$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,76
$R_STBD_OVSHOOT,67
$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
$GPS1,191012,204746,2200.647,12106.664,31,1.2,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-60.6
$GPS2,191012,205343,2200.726,12106.650,4,1.2,5,-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,31.5,120948,-15.7,-10.000,-18.65
$D_GRID,1136
$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,-195.5,0.0,0.0,0,95,0.00,0.00,-74.88,0.000,2,0.000,0.000,110,2278,2435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.47,-195.5,3.1,-5.9,13,148,9.65,1.27,-31.58,0.000,4,0.230,0.069,2575,3096,3765,0,0,0,0,0,0,25.81,26.22,26.58
$GC,191,-0.45,-195.5,15.6,-17.0,29,198,0.00,1.20,0.00,0.000,6,0.000,0.022,2575,2255,3765,0,0,0,0,0,0,28.83,26.37,28.83
$GC,501,-0.42,-195.5,70.7,-19.6,60,508,0.00,1.33,0.00,0.000,4,0.000,0.044,2573,3097,3765,0,0,0,0,0,0,28.83,26.42,28.83
$GC,571,-0.39,-195.5,83.7,-22.2,63,575,0.15,1.23,0.00,0.000,6,0.138,0.021,2615,2238,3766,0,0,0,0,0,0,26.31,26.55,28.83
$GC,872,-0.47,-195.5,120.0,-8.7,78,880,0.00,1.35,0.00,0.000,4,0.000,0.044,2616,3101,3766,0,0,0,0,0,0,28.83,26.52,28.83
$GC,921,-0.56,-195.5,122.4,-7.2,80,930,0.17,1.23,0.00,0.000,6,0.063,0.021,2515,2247,3765,0,0,0,0,0,0,26.60,26.64,28.83
$GC,1232,-0.57,-195.5,165.1,-11.0,96,1239,0.15,1.33,0.00,0.000,4,0.133,0.042,2561,3103,3767,0,0,0,0,0,0,26.51,26.58,28.83
$GC,1402,-0.65,-195.5,174.2,-5.4,104,1410,0.00,1.23,0.00,0.000,6,0.000,0.022,2561,2254,3767,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1712,-0.73,-195.5,195.9,-4.8,120,1714,0.17,0.00,0.00,0.000,6,0.062,0.000,2460,2254,3767,0,0,0,0,0,0,26.75,28.83,28.83
$GC,2013,-0.71,-195.5,234.0,-13.6,135,2015,0.17,0.00,0.00,0.000,6,0.136,0.000,2508,2254,3767,0,0,0,0,0,0,26.52,28.83,28.83
$GC,2313,-0.76,-195.5,260.7,-8.6,150,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2253,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2613,-0.82,-195.5,282.5,-6.1,165,2619,0.12,1.30,0.00,0.000,4,0.079,0.043,2436,3094,3765,0,0,0,0,0,0,26.81,26.66,28.83
$GC,2731,-0.80,-195.5,297.8,-14.4,171,2738,0.15,1.23,0.00,0.000,6,0.139,0.022,2479,2237,3764,0,0,0,0,0,0,26.51,26.77,28.83
$GC,3051,-0.82,-195.5,340.7,-11.6,187,3058,0.00,1.35,0.00,0.000,4,0.000,0.045,2479,3099,3761,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3261,-0.85,-195.5,360.7,-9.3,197,3264,0.00,1.23,0.00,0.000,6,0.000,0.022,2479,2256,3761,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3562,-0.88,-195.5,385.2,-7.9,212,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2257,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3863,-0.91,-195.5,412.1,-8.8,227,3869,0.00,1.33,-0.08,0.000,4,0.000,0.067,2479,3100,3778,0,0,0,0,0,0,28.83,26.65,25.91
$GC,3992,-0.95,-195.5,420.9,-7.1,233,4002,0.12,1.25,0.00,0.000,6,0.081,0.034,2412,2245,3778,0,0,0,0,0,0,26.70,26.77,28.83
$GC,4301,-0.92,-195.5,462.4,-14.5,249,4309,0.12,1.35,0.00,0.000,4,0.157,0.047,2440,3098,3776,0,0,0,0,0,0,26.57,26.64,28.83
$GC,4370,-0.90,-195.5,469.4,-12.2,252,4373,0.00,1.25,0.00,0.000,6,0.000,0.023,2440,2242,3775,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4672,-0.90,-195.5,500.0,-9.6,267,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2242,3773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4973,-0.90,-195.5,527.5,-9.5,282,4978,0.00,1.33,0.00,0.000,4,0.000,0.049,2440,3098,3770,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5100,-0.90,-195.5,539.5,-9.9,288,5103,0.00,1.25,0.00,0.000,6,0.000,0.021,2440,2195,3769,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5401,-0.90,-195.5,575.1,-12.9,303,5408,0.00,1.42,0.00,0.000,4,0.000,0.043,2440,3110,3768,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5481,-0.90,-195.5,585.2,-12.6,307,5484,0.00,1.27,0.00,0.000,6,0.000,0.022,2440,2196,3764,0,0,0,0,0,0,28.83,26.80,28.83
$STATE,5594,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5594,begin apogee
$GC,5599,-0.20,0.0,600.1,-13.6,313,5765,0.68,0.00,161.68,0.918,6,0.109,0.000,2670,2193,2966,0,0,0,0,0,0,26.37,28.83,24.36
$STATE,5769,end apogee,CONTROL_FINISHED_OK
$STATE,5769,begin climb
$GC,5771,0.47,195.5,610.2,0.0,318,5944,0.57,1.45,165.38,0.870,4,0.043,0.031,2907,1288,2160,0,0,0,0,0,0,25.21,24.94,24.25
$GC,6134,0.43,195.5,584.9,11.8,332,6137,0.00,1.33,0.00,0.000,6,0.000,0.029,2907,2143,2142,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6434,0.38,195.5,547.6,11.5,347,6441,0.15,1.38,0.00,0.000,4,0.142,0.041,2865,3028,2139,0,0,0,0,0,0,26.10,26.23,28.83
$GC,6555,0.36,195.5,535.0,10.0,353,6561,0.00,1.33,0.00,0.000,6,0.000,0.024,2867,2134,2138,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6875,0.37,274.1,508.6,7.3,369,6944,0.00,1.48,59.30,1.343,4,0.000,0.041,2867,3014,1849,0,0,0,0,1,0,28.83,25.03,24.03
$GC,7046,0.39,324.0,495.1,8.3,377,7104,0.00,1.30,47.17,1.317,6,0.000,0.027,2867,2149,1647,0,0,0,0,1,0,28.83,25.84,23.94
$GC,7405,0.42,353.9,466.7,9.0,395,7444,0.00,1.45,28.90,1.181,4,0.000,0.041,2867,3027,1524,0,0,0,0,1,0,28.83,25.37,24.32
$GC,7546,0.43,353.9,452.4,10.6,402,7552,0.00,1.33,0.00,0.000,6,0.000,0.024,2866,2135,1528,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7864,0.45,353.9,418.0,10.6,418,7871,0.00,1.40,0.00,0.000,4,0.000,0.040,2867,3027,1527,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7973,0.47,353.9,406.9,11.3,423,7977,0.00,1.30,0.00,0.000,6,0.000,0.024,2867,2145,1525,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8274,0.50,368.4,377.1,9.5,438,8302,0.10,1.40,14.88,0.836,4,0.099,0.041,2933,3019,1468,0,0,0,0,1,0,26.52,26.15,25.46
$GC,8385,0.48,368.4,365.4,12.2,443,8394,0.12,1.30,0.00,0.000,6,0.155,0.025,2898,2149,1469,0,0,0,0,0,0,26.10,26.29,28.83
$GC,8694,0.48,368.4,331.2,11.8,459,8697,0.00,1.38,0.00,0.000,4,0.000,0.041,2896,3030,1472,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8785,0.48,368.4,318.3,14.7,464,8788,0.00,1.30,0.00,0.000,6,0.000,0.024,2898,2139,1472,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9095,0.48,368.4,278.6,12.3,480,9099,0.00,1.38,0.00,0.000,4,0.000,0.040,2897,3024,1472,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9206,0.48,368.4,264.1,13.1,486,9209,0.00,1.27,0.00,0.000,6,0.000,0.024,2898,2148,1472,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9518,0.50,383.2,227.0,9.5,502,9546,0.00,1.27,15.95,0.799,4,0.000,0.031,2897,1293,1408,0,0,0,0,1,0,28.83,26.29,25.19
$GC,9567,0.54,403.6,223.3,9.3,504,9598,0.00,1.30,20.80,0.923,6,0.000,0.027,2897,2149,1322,0,0,0,0,1,0,28.83,26.32,24.88
$GC,9899,0.60,454.4,191.0,8.3,521,9958,0.10,1.35,46.45,1.144,4,0.093,0.039,2962,3021,1119,0,0,0,0,1,0,26.34,25.20,24.29
$GC,10147,0.58,454.4,152.3,15.3,533,10151,0.12,1.30,0.00,0.000,6,0.151,0.022,2931,2142,1120,0,0,0,0,0,0,25.86,26.06,28.83
$GC,10448,0.63,454.4,122.0,10.1,548,10455,0.00,1.38,0.00,0.000,4,0.000,0.038,2931,3023,1120,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10557,0.67,454.4,112.0,10.1,553,10560,0.00,1.27,0.00,0.000,6,0.000,0.021,2931,2139,1120,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10858,0.78,522.6,93.1,7.7,568,10890,0.17,1.40,27.85,0.347,4,0.062,0.037,3034,3028,835,0,0,0,0,0,0,26.53,26.23,25.72
$GC,10938,0.81,522.6,82.6,13.4,571,10942,0.12,1.27,0.00,0.000,6,0.146,0.021,3001,2150,838,0,0,0,0,0,0,26.14,26.34,28.83
$GC,11239,0.85,522.6,46.9,12.6,587,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2150,838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11539,0.89,522.6,17.2,11.2,625,11545,0.00,1.30,0.00,0.000,4,0.000,0.039,3000,3014,837,0,0,0,0,0,0,28.83,26.51,28.83
$GC,11616,0.94,575.6,9.9,8.2,639,11646,0.08,1.23,21.98,0.137,6,0.051,0.023,3073,2132,616,0,0,0,0,0,0,26.52,26.60,26.22
$STATE,11662,end climb,SURFACE_DEPTH_REACHED
$STATE,11662,begin surface coast
$FINISH,0.8,1.021961
$STATE,11679,end surface coast,CONTROL_FINISHED_OK
$STATE,11679,begin surface
$SM_CCo,11757,0.00,0.000,0,0,616,576.95
$SM_GC,1.71,7.43,0.15,0.00,0.028,0.065,0.000,113,2319,616,-8.11,-1.64,576.95,0,0,0,0,0,0,26.51,26.55,28.83
$IRIDIUM_FIX,2148.09,12105.40,191012,171707
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.59
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.00
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,600.1,7.9
$24V_AH,23.9,13.395
$10V_AH,9.9,7.125
$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,20.650,60.675,610.325,0.000,0.000,0.000,0.000,201.125,2.750,0.000,6.823,1819.516,7772.069,779.452,1490.128,258.043,0.000,1683.576,0.000,1237.845,0.000,9.090,0.000
$DEVICE_MAMPS,229.500,68.850,1343.340,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11685.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.260,0.000,0.000,0.000
$MEM,323856
$DATA_FILE_SIZE,23468,650
$CAP_FILE_SIZE,140837,0
$CFSIZE,260165632,246874112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$CURRENT,0.249, 14.4,1
$GPS,201012,001129,2203.962,12107.972,39,0.9,39,-3.2