version: 66.11
glider: 167
mission: 14
dive: 47
start: 10 22 112 12 29 26
data:
$ID,167
$MISSION,14
$DIVE,47
$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,-968548.25
$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,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$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
$GPS1,221012,122035,2239.770,12117.745,36,1.0,36,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.6
$GPS2,221012,122859,2239.950,12117.772,4,1.0,4,-3.3
$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,20.0,45906,-15.7,-10.000,-18.65
$D_GRID,1036
$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,-74.82,0.000,2,0.000,0.000,113,2267,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.47,-195.5,3.3,-4.9,13,142,9.77,2.20,-24.27,0.000,4,0.231,0.057,2574,3661,3767,0,0,0,0,0,0,25.72,26.17,26.56
$GC,202,-0.46,-195.5,21.4,-16.6,31,208,0.00,1.98,0.00,0.000,6,0.000,0.018,2574,2253,3768,0,0,0,0,0,0,28.83,26.38,28.83
$GC,526,-0.46,-195.5,74.3,-13.8,57,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2252,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,829,-0.51,-195.5,107.1,-9.8,72,834,0.00,2.17,0.00,0.000,4,0.000,0.047,2574,3670,3768,0,0,0,0,0,0,28.83,26.48,28.83
$GC,976,-0.60,-195.5,117.4,-6.6,79,982,0.00,1.92,0.00,0.000,6,0.000,0.018,2574,2250,3769,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1296,-0.69,-195.5,139.2,-7.3,95,1302,0.12,2.15,0.00,0.000,4,0.078,0.040,2478,3668,3772,0,0,0,0,0,0,26.74,26.54,28.83
$GC,1363,-0.72,-195.5,147.1,-10.9,98,1369,0.12,1.90,0.00,0.000,6,0.142,0.019,2513,2279,3769,0,0,0,0,0,0,26.44,26.72,28.83
$GC,1683,-0.74,-195.5,183.7,-11.2,114,1689,0.00,2.12,0.00,0.000,4,0.000,0.047,2513,3669,3769,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1756,-0.76,-195.5,190.9,-11.3,117,1762,0.00,1.92,0.00,0.000,6,0.000,0.019,2512,2255,3769,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2070,-0.79,-195.5,221.3,-10.6,133,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2254,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2372,-0.84,-195.5,249.9,-7.4,148,2377,0.12,2.12,0.00,0.000,4,0.079,0.039,2424,3662,3768,0,0,0,0,0,0,26.81,26.59,28.83
$GC,2420,-0.85,-195.5,255.3,-9.8,150,2426,0.15,1.88,0.00,0.000,6,0.148,0.018,2465,2285,3768,0,0,0,0,0,0,26.41,26.79,28.83
$GC,2739,-0.85,-195.5,292.7,-10.1,166,2744,0.00,2.10,0.00,0.000,4,0.000,0.043,2465,3667,3766,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2796,-0.85,-195.5,296.8,-9.6,168,2804,0.00,1.90,0.00,0.000,6,0.000,0.018,2465,2282,3767,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3102,-0.86,-195.5,334.9,-13.6,184,3108,0.00,2.10,0.00,0.000,4,0.000,0.044,2465,3660,3765,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3161,-0.88,-195.5,341.0,-13.9,186,3167,0.00,1.92,0.00,0.000,6,0.000,0.018,2465,2262,3767,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3466,-0.89,-195.5,377.4,-10.7,202,3472,0.00,1.92,0.00,0.000,4,0.000,0.026,2465,914,3762,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3510,-0.91,-195.5,381.9,-10.6,204,3516,0.00,1.98,0.00,0.000,6,0.000,0.029,2465,2263,3762,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3834,-0.93,-195.5,413.8,-9.2,220,3839,0.00,2.15,0.00,0.000,4,0.000,0.046,2465,3679,3758,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3922,-0.95,-195.5,421.5,-9.3,224,3927,0.00,1.95,0.00,0.000,6,0.000,0.019,2465,2272,3760,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4241,-0.98,-195.5,455.7,-10.4,240,4243,0.12,0.00,0.00,0.000,6,0.083,0.000,2397,2272,3758,0,0,0,0,0,0,26.80,28.83,28.83
$GC,4542,-0.94,-195.5,498.4,-14.5,255,4549,0.12,2.17,-0.08,0.000,4,0.158,0.061,2436,3671,3780,0,0,0,0,0,0,26.50,26.54,25.13
$GC,4593,-0.92,-195.5,504.5,-13.9,257,4598,0.00,1.98,0.00,0.000,6,0.000,0.021,2436,2262,3780,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4911,-0.92,-195.5,543.0,-11.7,273,4916,0.00,2.17,0.00,0.000,4,0.000,0.046,2436,3673,3778,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4977,-0.92,-195.5,550.3,-11.7,276,4982,0.00,1.95,0.00,0.000,6,0.000,0.022,2436,2277,3778,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5300,-0.92,-195.5,582.0,-9.0,292,5306,0.00,2.15,0.00,0.000,4,0.000,0.046,2436,3670,3776,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5353,-0.92,-195.5,586.0,-9.0,294,5359,0.00,1.95,0.00,0.000,6,0.000,0.022,2436,2271,3775,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,5489,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5489,begin apogee
$GC,5494,-0.20,0.0,600.0,-10.1,301,5661,0.68,0.00,156.73,0.929,6,0.109,0.000,2667,2267,2961,0,0,0,0,0,0,26.24,28.83,24.39
$STATE,5663,end apogee,CONTROL_FINISHED_OK
$STATE,5663,begin climb
$GC,5665,0.47,195.5,606.5,0.0,306,5838,0.60,2.33,159.50,0.890,4,0.041,0.044,2911,3646,2161,0,0,0,0,0,0,25.30,24.95,24.26
$GC,5952,0.40,195.5,583.5,15.0,318,5958,0.17,2.03,0.00,0.000,6,0.148,0.024,2871,2280,2154,0,0,0,0,0,0,25.57,25.83,28.83
$GC,6266,0.38,195.5,545.0,11.7,334,6272,0.00,2.15,0.00,0.000,4,0.000,0.045,2871,3652,2150,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6331,0.35,195.5,536.7,12.8,337,6337,0.00,2.08,0.00,0.000,6,0.000,0.026,2870,2245,2149,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6655,0.33,203.7,502.1,9.7,353,6661,0.00,2.20,1.08,0.218,4,0.000,0.043,2870,3656,2133,0,0,0,0,0,0,28.83,26.34,25.99
$GC,6733,0.31,203.7,495.1,10.5,356,6740,0.00,2.08,0.00,0.000,6,0.000,0.027,2870,2246,2141,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7040,0.32,275.5,469.3,7.5,372,7119,0.00,2.35,65.38,1.409,4,0.000,0.045,2870,3640,1844,0,0,0,0,1,0,28.83,25.01,24.03
$GC,7183,0.32,275.5,455.6,10.5,379,7188,0.00,2.10,0.00,0.000,6,0.000,0.026,2870,2246,1845,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7507,0.34,340.6,427.0,7.8,395,7572,0.00,0.00,58.17,1.323,6,0.000,0.000,2870,2246,1579,0,0,0,0,1,0,28.83,28.83,24.05
$GC,7867,0.36,340.6,394.1,10.5,413,7872,0.00,2.20,0.00,0.000,4,0.000,0.044,2870,3652,1579,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7924,0.38,340.6,389.0,10.9,415,7932,0.00,2.08,0.00,0.000,6,0.000,0.027,2870,2252,1578,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8231,0.40,342.8,354.4,9.9,431,8237,0.00,2.08,0.00,0.000,4,0.000,0.034,2870,849,1577,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8264,0.43,350.0,352.1,9.8,432,8281,0.00,2.10,11.65,0.912,6,0.000,0.027,2872,2262,1540,0,0,0,0,0,0,28.83,26.38,25.42
$GC,8599,0.47,373.7,321.7,9.2,449,8628,0.00,2.15,22.17,0.835,4,0.000,0.043,2870,3641,1439,0,0,0,0,0,0,28.83,25.91,25.29
$GC,8693,0.50,378.3,313.7,9.8,453,8704,0.00,2.05,2.47,0.630,6,0.000,0.024,2870,2242,1428,0,0,0,0,0,0,28.83,26.13,24.86
$GC,9002,0.56,420.4,288.1,8.6,469,9050,0.12,2.25,40.70,0.768,4,0.080,0.044,2949,3646,1248,0,0,0,0,0,0,26.40,25.63,25.03
$GC,9094,0.55,420.4,276.0,14.9,473,9101,0.12,2.08,0.00,0.000,6,0.152,0.024,2918,2256,1244,0,0,0,0,0,0,25.72,25.90,28.83
$GC,9410,0.56,420.4,235.2,11.4,489,9415,0.00,2.17,0.00,0.000,4,0.000,0.043,2918,3651,1242,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9438,0.56,420.4,232.4,11.4,490,9443,0.00,2.05,0.00,0.000,6,0.000,0.024,2922,2248,1242,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9756,0.57,420.4,196.5,12.7,506,9763,0.00,2.08,0.00,0.000,4,0.000,0.033,2922,858,1241,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9801,0.60,420.4,190.9,12.9,508,9807,0.00,2.05,0.00,0.000,6,0.000,0.025,2922,2252,1241,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10125,0.62,420.4,158.1,10.7,524,10131,0.00,2.12,0.00,0.000,4,0.000,0.044,2922,3647,1241,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10178,0.64,420.4,152.6,11.9,526,10184,0.00,2.05,0.00,0.000,6,0.000,0.024,2921,2232,1240,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10492,0.71,498.9,121.9,7.3,542,10560,0.12,2.08,60.42,0.619,4,0.082,0.032,3010,860,926,0,0,0,0,0,0,26.66,25.78,25.22
$GC,10582,0.71,498.9,109.5,15.4,546,10588,0.15,2.08,0.00,0.000,6,0.118,0.024,2967,2254,923,0,0,0,0,0,0,25.78,25.89,28.83
$GC,10898,0.77,553.6,78.7,8.1,562,10925,0.00,2.17,19.95,0.303,4,0.000,0.042,2966,3634,713,0,0,0,0,0,0,28.83,26.11,25.64
$GC,10981,0.85,625.4,72.5,7.5,566,11014,0.15,2.00,26.45,0.291,6,0.067,0.020,3059,2237,457,0,0,0,0,0,0,26.24,26.28,25.58
$GC,11318,0.85,625.4,21.0,15.0,594,11333,0.12,2.05,3.72,0.125,4,0.132,0.030,3017,877,464,0,0,0,0,0,0,26.24,26.32,26.08
$GC,11386,0.93,649.5,13.3,9.2,606,11394,0.00,2.00,2.95,0.143,6,0.000,0.023,3017,2260,461,0,0,0,0,0,0,28.83,26.38,26.08
$STATE,11490,end climb,SURFACE_DEPTH_REACHED
$STATE,11491,begin surface coast
$FINISH,0.8,1.021966
$STATE,11517,end surface coast,CONTROL_FINISHED_OK
$STATE,11517,begin surface
$SM_CCo,11594,0.00,0.000,0,0,468,613.25
$SM_GC,1.49,7.30,0.00,0.00,0.026,0.000,0.000,115,2261,468,-8.12,-0.40,613.25,0,0,0,0,0,0,26.40,28.83,28.83
$IRIDIUM_FIX,2230.01,12118.25,221012,121212
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.70
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,600.0,7.9
$24V_AH,24.0,16.569
$10V_AH,9.8,8.948
$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,20.100,107.950,631.350,0.000,0.000,0.000,0.000,291.875,3.000,0.000,5.836,1943.401,7354.544,693.341,1839.543,273.984,0.000,1881.445,0.000,1488.288,0.000,11.912,0.000
$DEVICE_MAMPS,231.030,61.200,1409.130,0.000,0.000,0.000,0.000,122.400,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11537.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.964,0.000,0.000,0.000
$MEM,323848
$DATA_FILE_SIZE,23351,631
$CAP_FILE_SIZE,150642,0
$CFSIZE,260165632,245469184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.205, 25.4,1
$GPS,221012,154405,2242.929,12119.066,41,0.9,41,-3.3