version: 66.11
glider: 167
mission: 14
dive: 39
start: 10 21 112 11 22 34
data:
$ID,167
$MISSION,14
$DIVE,39
$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,-968537.75
$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,72
$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
$GPS1,211012,111606,2219.119,12109.920,36,1.3,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-61.4
$GPS2,211012,112206,2219.161,12109.789,4,1.1,4,-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,51.6,86726,-15.7,-10.000,-18.65
$D_GRID,816
$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,-75.88,0.000,2,0.000,0.000,102,2264,2518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.47,-195.5,3.0,-5.0,13,143,9.60,0.00,-30.70,0.000,6,0.224,0.000,2583,2264,3766,0,0,0,0,0,0,25.79,28.83,26.57
$GC,452,-0.45,-195.5,61.0,-17.5,58,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2265,3765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,754,-0.47,-195.5,104.9,-13.0,73,759,0.00,2.15,0.00,0.000,4,0.000,0.049,2583,3666,3768,0,0,0,0,0,0,28.83,26.45,28.83
$GC,821,-0.52,-195.5,110.9,-9.8,76,827,0.00,1.98,0.00,0.000,6,0.000,0.020,2583,2277,3767,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1141,-0.60,-195.5,126.1,-5.6,92,1147,0.12,2.15,0.00,0.000,4,0.078,0.046,2491,3667,3769,0,0,0,0,0,0,26.69,26.52,28.83
$GC,1247,-0.58,-195.5,140.1,-14.9,97,1253,0.20,1.98,0.00,0.000,6,0.131,0.021,2550,2270,3769,0,0,0,0,0,0,26.39,26.67,28.83
$GC,1572,-0.65,-195.5,171.8,-8.5,113,1578,0.00,2.00,0.00,0.000,4,0.000,0.033,2551,876,3769,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1621,-0.72,-195.5,175.7,-8.6,115,1627,0.12,2.05,0.00,0.000,6,0.078,0.034,2464,2269,3769,0,0,0,0,0,0,26.63,26.63,28.83
$GC,1939,-0.72,-195.5,219.6,-13.9,131,1945,0.12,2.15,0.00,0.000,4,0.148,0.044,2504,3687,3769,0,0,0,0,0,0,26.54,26.60,28.83
$GC,2025,-0.75,-195.5,229.0,-11.2,135,2031,0.00,2.03,0.00,0.000,6,0.000,0.021,2507,2273,3770,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2349,-0.79,-195.5,261.4,-9.3,151,2354,0.00,2.15,0.00,0.000,4,0.000,0.049,2504,3675,3768,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2393,-0.83,-195.5,265.5,-9.2,153,2398,0.00,2.00,0.00,0.000,6,0.000,0.022,2504,2274,3768,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2717,-0.88,-195.5,294.8,-8.9,169,2723,0.12,2.17,0.00,0.000,4,0.078,0.047,2420,3683,3766,0,0,0,0,0,0,26.80,26.59,28.83
$GC,2756,-0.90,-195.5,297.5,-9.5,170,2764,0.00,2.03,0.00,0.000,6,0.000,0.022,2420,2273,3766,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3061,-0.88,-195.5,346.4,-14.1,186,3063,0.12,0.00,0.00,0.000,6,0.160,0.000,2454,2272,3764,0,0,0,0,0,0,26.56,28.83,28.83
$GC,3363,-0.88,-195.5,382.2,-13.0,201,3368,0.00,2.17,0.00,0.000,4,0.000,0.052,2453,3675,3762,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3415,-0.88,-195.5,387.6,-12.4,203,3421,0.00,2.05,0.00,0.000,6,0.000,0.022,2453,2264,3762,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3728,-0.88,-195.5,425.3,-12.3,219,3734,0.00,2.03,0.00,0.000,4,0.000,0.032,2453,868,3760,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3766,-0.88,-195.5,428.2,-12.3,220,3773,0.00,2.10,0.00,0.000,6,0.000,0.037,2453,2279,3760,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4073,-0.89,-195.5,459.7,-9.1,236,4078,0.00,2.12,0.00,0.000,4,0.000,0.046,2453,3682,3756,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4146,-0.90,-195.5,466.1,-9.7,239,4151,0.00,2.03,0.00,0.000,6,0.000,0.021,2453,2240,3757,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4460,-0.91,-195.5,500.3,-10.4,255,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2240,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4761,-0.93,-195.5,530.3,-10.0,270,4767,0.00,2.25,0.00,0.000,4,0.000,0.052,2453,3690,3753,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4788,-0.94,-195.5,532.8,-9.9,271,4795,0.00,2.00,0.00,0.000,6,0.000,0.021,2456,2257,3752,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5108,-0.96,-195.5,565.5,-9.9,287,5114,0.00,2.20,0.00,0.000,4,0.000,0.046,2453,3686,3750,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5176,-0.98,-195.5,571.6,-9.7,290,5181,0.00,1.98,0.00,0.000,6,0.000,0.022,2453,2268,3749,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,5476,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5476,begin apogee
$GC,5481,-0.20,0.0,601.3,-10.1,305,5644,0.62,0.00,153.62,0.920,6,0.106,0.000,2668,2264,2961,0,0,0,0,0,0,26.35,28.83,24.39
$STATE,5645,end apogee,CONTROL_FINISHED_OK
$STATE,5645,begin climb
$GC,5648,0.47,195.5,609.2,0.0,310,5820,0.57,2.30,162.18,0.878,4,0.041,0.046,2910,3656,2160,0,0,0,0,0,0,25.29,24.94,24.27
$GC,5879,0.41,195.5,597.4,11.0,319,5885,0.15,2.08,0.00,0.000,6,0.158,0.025,2872,2281,2144,0,0,0,0,0,0,25.39,25.58,28.83
$GC,6203,0.40,216.0,565.8,9.3,335,6224,0.00,0.00,13.48,0.840,6,0.000,0.000,2873,2282,2084,0,0,0,0,1,0,28.83,28.83,25.20
$GC,6524,0.38,216.0,531.9,10.2,351,6530,0.00,2.15,0.00,0.000,4,0.000,0.044,2872,3663,2080,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6577,0.36,216.0,526.6,11.0,353,6582,0.00,2.08,0.00,0.000,6,0.000,0.025,2878,2243,2085,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6890,0.34,216.0,491.8,11.8,369,6895,0.00,2.22,0.00,0.000,4,0.000,0.044,2878,3665,2077,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6987,0.31,216.0,480.4,13.5,373,6995,0.15,2.08,0.00,0.000,6,0.148,0.026,2840,2247,2078,0,0,0,0,0,0,26.27,26.52,28.83
$GC,7293,0.32,257.7,451.1,8.6,389,7333,0.00,0.00,31.90,1.160,6,0.000,0.000,2841,2246,1916,0,0,0,0,1,0,28.83,28.83,24.65
$GC,7634,0.37,316.4,423.5,8.0,406,7703,0.00,2.35,55.05,1.333,4,0.000,0.045,2841,3664,1681,0,0,0,0,1,0,28.83,25.03,24.06
$GC,7777,0.42,371.6,411.9,8.1,413,7841,0.12,2.12,51.10,1.280,6,0.078,0.025,2906,2237,1452,0,0,0,0,1,0,25.72,25.75,23.96
$GC,8159,0.42,371.6,368.1,12.8,432,8164,0.00,2.05,0.00,0.000,4,0.000,0.034,2906,864,1455,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8185,0.42,371.6,365.3,12.7,433,8191,0.00,2.10,0.00,0.000,6,0.000,0.027,2906,2273,1456,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8504,0.42,371.6,326.4,11.5,449,8509,0.00,2.10,0.00,0.000,4,0.000,0.044,2907,3647,1454,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8591,0.42,371.6,314.9,13.8,453,8596,0.00,2.03,0.00,0.000,6,0.000,0.024,2906,2253,1451,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8909,0.42,371.6,278.5,12.3,469,8915,0.00,2.15,0.00,0.000,4,0.000,0.045,2906,3650,1453,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8982,0.42,371.6,269.6,13.6,472,8988,0.12,2.03,0.00,0.000,6,0.153,0.024,2872,2248,1449,0,0,0,0,0,0,26.30,26.54,28.83
$GC,9296,0.47,381.8,237.4,9.6,488,9316,0.00,0.00,13.00,0.822,6,0.000,0.000,2872,2247,1400,0,0,0,0,1,0,28.83,28.83,25.03
$GC,9616,0.53,406.3,207.7,9.2,504,9645,0.12,2.08,22.33,0.742,4,0.078,0.031,2956,856,1303,0,0,0,0,0,0,26.54,26.07,25.45
$GC,9658,0.56,406.3,202.2,10.7,506,9666,0.12,2.10,0.00,0.000,6,0.128,0.026,2922,2266,1300,0,0,0,0,0,0,26.01,26.13,28.83
$GC,9984,0.58,430.6,169.8,9.2,522,10013,0.00,2.15,21.33,0.714,4,0.000,0.044,2922,3645,1202,0,0,0,0,0,0,28.83,25.98,25.41
$GC,10107,0.60,430.6,156.7,11.3,528,10113,0.00,2.05,0.00,0.000,6,0.000,0.022,2922,2243,1199,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10431,0.64,444.5,123.5,9.5,544,10446,0.00,2.25,9.40,0.740,4,0.000,0.041,2922,3650,1149,0,0,0,0,0,0,28.83,26.20,25.59
$GC,10463,0.68,461.2,121.5,9.4,545,10484,0.12,2.05,12.00,0.698,6,0.079,0.022,2996,2230,1077,0,0,0,0,0,0,26.26,26.30,25.47
$GC,10797,0.68,461.2,73.9,12.5,562,10803,0.12,2.17,0.00,0.000,4,0.132,0.039,2954,3647,1074,0,0,0,0,0,0,26.27,26.30,28.83
$GC,10904,0.73,461.2,63.1,10.1,567,10909,0.00,2.03,0.00,0.000,6,0.000,0.022,2954,2241,1075,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11218,0.84,555.0,40.5,6.8,589,11258,0.15,0.00,36.72,0.214,6,0.067,0.000,3050,2240,702,0,0,0,0,0,0,26.59,28.83,25.94
$STATE,11476,end climb,SURFACE_DEPTH_REACHED
$STATE,11476,begin surface coast
$FINISH,0.9,1.022174
$STATE,11493,end surface coast,CONTROL_FINISHED_OK
$STATE,11494,begin surface
$SM_CCo,11571,0.00,0.000,0,0,706,554.62
$SM_GC,1.57,7.38,0.00,0.00,0.026,0.000,0.000,116,2237,706,-8.12,-1.07,554.62,0,0,0,0,0,0,26.43,28.83,28.83
$IRIDIUM_FIX,2209.02,12110.21,211012,080812
$TT8_MAMPS,0.029211,0.029211
$HUMID,54.44
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.60
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,601.3,8.0
$24V_AH,24.0,15.299
$10V_AH,10.1,8.204
$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,20.200,92.450,582.100,0.000,0.000,0.000,0.000,209.800,3.000,0.000,6.836,1926.071,7383.872,671.130,1699.232,259.535,0.000,1710.980,0.000,1422.181,0.000,11.911,0.000
$DEVICE_MAMPS,224.145,52.020,1333.395,0.000,0.000,0.000,0.000,123.165,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11509.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.946,0.000,0.000,0.000
$MEM,323844
$DATA_FILE_SIZE,23433,632
$CAP_FILE_SIZE,143449,0
$CFSIZE,260165632,246063104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.068,287.1,1
$GPS,211012,143636,2220.557,12110.850,27,1.3,27,-3.2