version: 66.11
glider: 167
mission: 14
dive: 35
start: 10 20 112 20 52 9
data:
$ID,167
$MISSION,14
$DIVE,35
$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,-968532.62
$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,2275
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,50
$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
$GPS1,201012,204559,2211.392,12107.969,41,1.7,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.5
$GPS2,201012,205141,2211.397,12107.875,4,1.3,4,-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,58.7,101411,-15.7,-10.000,-18.65
$D_GRID,1234
$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,-75.47,0.000,2,0.000,0.000,110,2240,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-195.5,3.1,-5.3,13,143,9.62,2.03,-28.73,0.000,4,0.227,0.041,2584,886,3767,0,0,0,0,0,0,25.79,26.25,26.55
$GC,163,-0.47,-195.5,11.8,-14.9,23,169,0.00,2.03,0.00,0.000,6,0.000,0.026,2584,2270,3768,0,0,0,0,0,0,28.83,26.26,28.83
$GC,473,-0.47,-195.5,61.3,-13.8,58,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2270,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,776,-0.50,-195.5,97.1,-11.2,73,781,0.00,2.12,0.00,0.000,4,0.000,0.044,2583,3675,3766,0,0,0,0,0,0,28.83,26.46,28.83
$GC,849,-0.55,-195.5,102.8,-8.9,76,854,0.00,2.00,0.00,0.000,6,0.000,0.021,2584,2294,3769,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1163,-0.62,-195.5,126.0,-6.2,92,1169,0.12,2.05,0.00,0.000,4,0.078,0.030,2494,867,3770,0,0,0,0,0,0,26.68,26.60,28.83
$GC,1222,-0.67,-195.5,130.7,-8.5,94,1229,0.00,2.08,0.00,0.000,6,0.000,0.034,2495,2268,3770,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1527,-0.67,-195.5,171.8,-11.3,110,1533,0.10,2.12,0.00,0.000,4,0.158,0.043,2520,3682,3771,0,0,0,0,0,0,26.58,26.57,28.83
$GC,1617,-0.70,-195.5,179.0,-8.6,114,1622,0.00,2.03,0.00,0.000,6,0.000,0.021,2519,2258,3770,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1935,-0.75,-195.5,208.5,-8.7,130,1941,0.00,1.98,0.00,0.000,4,0.000,0.032,2520,876,3771,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2014,-0.80,-195.5,214.2,-8.6,133,2021,0.12,2.08,0.00,0.000,6,0.079,0.034,2436,2283,3770,0,0,0,0,0,0,26.65,26.63,28.83
$GC,2319,-0.78,-195.5,259.9,-15.5,149,2326,0.15,2.08,0.00,0.000,4,0.143,0.032,2484,882,3770,0,0,0,0,0,0,26.51,26.64,28.83
$GC,2347,-0.78,-195.5,263.2,-15.0,150,2353,0.00,2.08,0.00,0.000,6,0.000,0.035,2484,2285,3770,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2667,-0.81,-195.5,292.2,-8.4,166,2672,0.00,2.10,0.00,0.000,4,0.000,0.047,2484,3680,3768,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2745,-0.84,-195.5,297.7,-8.6,169,2752,0.00,2.00,0.00,0.000,6,0.000,0.022,2485,2267,3767,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3051,-0.87,-195.5,326.3,-8.7,185,3056,0.00,2.17,0.00,0.000,4,0.000,0.050,2485,3675,3766,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3144,-0.91,-195.5,333.5,-8.4,189,3150,0.12,2.00,0.00,0.000,6,0.079,0.022,2415,2278,3765,0,0,0,0,0,0,26.68,26.73,28.83
$GC,3458,-0.89,-195.5,377.0,-14.6,205,3464,0.12,2.03,0.00,0.000,4,0.154,0.031,2455,872,3763,0,0,0,0,0,0,26.52,26.68,28.83
$GC,3506,-0.89,-195.5,382.4,-13.1,207,3511,0.00,2.08,0.00,0.000,6,0.000,0.037,2453,2272,3762,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3825,-0.90,-195.5,415.3,-9.5,223,3830,0.00,2.15,0.00,0.000,4,0.000,0.083,2453,3686,3760,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3868,-0.91,-195.5,419.2,-9.2,225,3874,0.00,2.03,0.00,0.000,6,0.000,0.021,2453,2237,3760,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4192,-0.93,-195.5,448.2,-9.6,241,4198,0.00,2.25,0.00,0.000,4,0.000,0.051,2453,3689,3758,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4231,-0.94,-195.5,450.7,-9.7,242,4238,0.00,1.98,0.00,0.000,6,0.000,0.021,2453,2264,3757,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4536,-0.95,-195.5,484.5,-10.3,258,4538,0.00,0.00,-0.08,0.000,6,0.000,0.000,2453,2262,3778,0,0,0,0,0,0,28.83,28.83,25.84
$GC,4836,-0.97,-195.5,514.0,-10.2,273,4842,0.00,2.20,0.00,0.000,4,0.000,0.046,2453,3685,3776,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4874,-0.99,-195.5,516.4,-10.2,274,4881,0.00,1.98,0.00,0.000,6,0.000,0.021,2453,2264,3776,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5180,-1.01,-195.5,547.8,-10.2,290,5182,0.12,0.00,0.00,0.000,6,0.083,0.000,2384,2262,3773,0,0,0,0,0,0,26.79,28.83,28.83
$GC,5480,-0.98,-195.5,591.8,-15.4,305,5486,0.12,2.20,0.00,0.000,4,0.161,0.044,2414,3686,3772,0,0,0,0,0,0,26.51,26.58,28.83
$GC,5550,-0.96,-195.5,601.0,-14.7,308,5556,0.00,1.98,0.00,0.000,6,0.000,0.021,2414,2288,3771,0,0,0,0,0,0,28.83,26.78,28.83
$GC,5881,-0.96,-195.5,650.4,-14.9,319,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2285,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6178,-0.96,-195.5,691.3,-12.9,329,6184,0.00,2.15,0.00,0.000,4,0.000,0.047,2413,3679,3768,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6263,-0.96,-195.5,699.1,-12.3,331,6269,0.00,1.98,0.00,0.000,6,0.000,0.023,2413,2270,3767,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,6276,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6276,begin apogee
$GC,6282,-0.20,0.0,703.2,-12.3,332,6452,0.75,0.00,161.25,0.993,6,0.108,0.000,2669,2266,2963,0,0,0,0,0,0,26.32,28.83,24.24
$STATE,6453,end apogee,CONTROL_FINISHED_OK
$STATE,6454,begin climb
$GC,6456,0.47,195.5,710.1,0.0,337,6629,0.57,2.25,164.48,0.942,4,0.039,0.037,2918,894,2161,0,0,0,0,0,0,25.17,24.30,24.08
$GC,6748,0.42,195.5,691.5,11.4,347,6755,0.15,2.10,0.00,0.000,6,0.135,0.029,2877,2266,2142,0,0,0,0,0,0,25.48,25.65,28.83
$GC,7070,0.39,195.5,656.7,10.8,358,7075,0.00,2.15,0.00,0.000,4,0.000,0.047,2877,3649,2141,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7228,0.34,195.5,637.5,12.4,363,7234,0.00,2.03,0.00,0.000,6,0.000,0.028,2883,2264,2137,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7559,0.31,195.5,599.9,11.4,374,7561,0.15,0.00,0.00,0.000,6,0.142,0.000,2841,2263,2135,0,0,0,0,0,0,26.27,28.83,28.83
$GC,7859,0.33,234.0,574.6,8.7,389,7892,0.00,2.28,22.98,1.059,4,0.000,0.047,2841,3649,2015,0,0,0,0,1,0,28.83,25.91,24.79
$GC,7997,0.32,239.3,563.3,9.8,395,8022,0.00,2.08,13.00,1.006,6,0.000,0.027,2841,2246,1986,0,0,0,0,1,0,28.83,26.15,24.67
$GC,8322,0.35,290.0,535.7,8.3,412,8381,0.00,2.35,44.20,1.400,4,0.000,0.046,2841,3644,1787,0,0,0,0,1,0,28.83,25.06,24.01
$GC,8415,0.38,305.1,527.8,9.5,416,8445,0.00,2.12,16.92,0.978,6,0.000,0.026,2841,2244,1724,0,0,0,0,1,0,28.83,25.56,24.22
$GC,8745,0.41,317.3,492.0,9.6,433,8770,0.10,2.25,13.55,0.942,4,0.096,0.047,2896,3650,1671,0,0,0,0,1,0,26.18,25.79,25.07
$GC,8803,0.42,317.3,486.9,10.1,435,8809,0.00,2.10,0.00,0.000,6,0.000,0.027,2898,2246,1674,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9109,0.41,317.3,449.4,11.8,451,9114,0.00,2.20,0.00,0.000,4,0.000,0.044,2898,3657,1673,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9182,0.40,317.3,440.8,13.4,454,9187,0.00,2.08,0.00,0.000,6,0.000,0.027,2898,2244,1672,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9495,0.40,317.3,401.2,12.0,470,9500,0.00,2.17,0.00,0.000,4,0.000,0.047,2898,3650,1672,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9573,0.38,317.3,392.9,13.0,473,9581,0.12,2.08,0.00,0.000,6,0.158,0.028,2864,2245,1672,0,0,0,0,0,0,26.25,26.46,28.83
$GC,9879,0.41,331.3,362.3,9.5,489,9903,0.00,2.20,13.60,0.885,4,0.000,0.043,2864,3656,1613,0,0,0,0,1,0,28.83,26.18,25.51
$GC,9925,0.43,335.4,357.9,9.9,491,9935,0.00,2.08,3.88,0.960,6,0.000,0.027,2865,2248,1601,0,0,0,0,0,0,28.83,26.28,25.01
$GC,10244,0.50,453.8,331.5,5.9,507,10364,0.10,2.33,107.20,1.353,4,0.099,0.042,2921,3647,1118,0,0,0,0,1,0,26.43,24.75,23.82
$GC,10401,0.51,483.6,318.5,9.0,514,10441,0.00,2.15,32.50,0.763,6,0.000,0.026,2922,2247,990,0,0,0,0,0,0,28.83,25.35,24.45
$GC,10748,0.51,483.6,274.1,14.2,532,10754,0.00,2.20,0.00,0.000,4,0.000,0.044,2921,3650,984,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10795,0.51,483.6,267.6,15.3,534,10801,0.00,2.08,0.00,0.000,6,0.000,0.026,2922,2248,983,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11114,0.53,483.6,226.0,15.9,550,11119,0.00,2.17,0.00,0.000,4,0.000,0.044,2922,3653,982,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11153,0.54,483.6,221.9,16.3,551,11160,0.00,2.08,0.00,0.000,6,0.000,0.025,2922,2235,981,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11458,0.57,483.6,180.9,10.4,567,11463,0.00,2.03,0.00,0.000,4,0.000,0.033,2921,863,981,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11525,0.60,483.6,174.5,10.2,570,11530,0.00,2.05,0.00,0.000,6,0.000,0.024,2921,2266,980,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11844,0.69,560.4,144.5,7.4,586,11917,0.12,2.25,63.70,0.636,4,0.079,0.042,3005,3651,673,0,0,0,0,0,0,26.60,25.61,25.08
$GC,11971,0.67,560.4,125.0,17.5,592,11977,0.17,2.08,0.00,0.000,6,0.132,0.024,2955,2249,668,0,0,0,0,0,0,25.75,25.91,28.83
$GC,12291,0.75,588.4,91.9,9.0,608,12306,0.00,2.05,9.75,0.327,4,0.000,0.028,2955,860,568,0,0,0,0,0,0,28.83,26.17,25.63
$GC,12348,0.84,621.5,88.0,8.9,610,12369,0.17,2.05,12.20,0.321,6,0.060,0.024,3058,2262,460,0,0,0,0,0,0,26.25,26.23,25.60
$GC,12677,0.84,621.5,35.8,13.8,631,12689,0.12,2.15,2.40,0.144,4,0.135,0.041,3015,3635,462,0,0,0,0,0,0,26.23,26.30,26.06
$GC,12789,0.88,621.5,20.7,14.1,644,12803,0.00,2.00,3.72,0.135,6,0.000,0.021,3019,2236,461,0,0,0,0,0,0,28.83,26.45,26.15
$STATE,12935,end climb,SURFACE_DEPTH_REACHED
$STATE,12935,begin surface coast
$FINISH,1.0,1.022031
$STATE,12957,end surface coast,CONTROL_FINISHED_OK
$STATE,12957,begin surface
$SM_CCo,13034,0.00,0.000,0,0,468,613.50
$SM_GC,1.50,7.30,0.00,0.00,0.027,0.000,0.000,116,2234,468,-8.10,-1.16,613.50,0,0,0,0,0,0,26.46,28.83,28.83
$IRIDIUM_FIX,2159.71,12105.81,201012,171712
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.76
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,703.2,7.8
$24V_AH,23.8,14.547
$10V_AH,9.9,7.798
$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,20.475,122.050,685.325,0.000,0.000,0.000,0.000,188.800,4.250,0.000,5.988,2136.279,8280.113,771.346,1898.199,295.581,0.000,1949.434,0.000,1635.378,0.000,15.542,0.000
$DEVICE_MAMPS,227.205,82.620,1399.950,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12976.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.923,0.000,0.000,0.000
$MEM,323868
$DATA_FILE_SIZE,23423,676
$CAP_FILE_SIZE,165709,0
$CFSIZE,260165632,246366208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$CURRENT,0.181,359.7,1
$GPS,211012,003035,2213.955,12109.747,28,0.9,28,-3.2