version: 66.11
glider: 167
mission: 14
dive: 63
start: 10 24 112 5 2 0
data:
$ID,167
$MISSION,14
$DIVE,63
$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,-968569
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,49
$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,3
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$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
$GPS1,241012,045536,2308.467,12137.443,33,0.8,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.6
$GPS2,241012,050132,2308.567,12137.464,5,0.8,5,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,115.9,245306,-15.7,-10.000,-18.65
$D_GRID,1373
$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,-195.5,0.0,0.0,0,79,0.00,0.00,-59.05,0.000,2,0.000,0.000,109,2316,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.47,-195.5,3.3,-6.9,10,125,9.52,2.10,-24.30,0.000,4,0.222,0.048,2580,941,3767,0,0,0,0,0,0,25.73,26.23,26.60
$GC,271,-0.50,-195.5,31.1,-13.5,40,279,0.00,2.05,0.00,0.000,6,0.000,0.036,2575,2311,3768,0,0,0,0,0,0,28.83,26.30,28.83
$GC,576,-0.50,-195.5,78.5,-15.1,62,582,0.00,2.03,0.00,0.000,4,0.000,0.032,2575,937,3768,0,0,0,0,0,0,28.83,26.45,28.83
$GC,588,-0.50,-195.5,78.5,-15.1,62,593,0.00,2.08,0.00,0.000,6,0.000,0.037,2575,2321,3768,0,0,0,0,0,0,28.83,26.42,28.83
$GC,902,-0.59,-195.5,115.8,-10.0,78,907,0.00,2.17,0.00,0.000,4,0.000,0.050,2575,3744,3766,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1034,-0.71,-195.5,127.2,-8.8,84,1040,0.17,2.03,0.00,0.000,6,0.060,0.020,2468,2314,3769,0,0,0,0,0,0,26.59,26.63,28.83
$GC,1348,-0.65,-195.5,182.4,-17.2,100,1350,0.20,0.00,0.00,0.000,6,0.137,0.000,2530,2312,3770,0,0,0,0,0,0,26.36,28.83,28.83
$GC,1650,-0.72,-195.5,209.1,-7.7,115,1656,0.00,2.20,0.00,0.000,4,0.000,0.049,2526,3740,3770,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1698,-0.80,-195.5,212.9,-8.2,117,1705,0.12,2.00,0.00,0.000,6,0.076,0.023,2446,2342,3770,0,0,0,0,0,0,26.61,26.65,28.83
$GC,2018,-0.75,-195.5,264.2,-16.8,133,2020,0.17,0.00,0.00,0.000,6,0.140,0.000,2497,2342,3770,0,0,0,0,0,0,26.46,28.83,28.83
$GC,2321,-0.80,-195.5,292.9,-7.8,148,2326,0.00,2.15,0.00,0.000,4,0.000,0.050,2497,3729,3769,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2348,-0.86,-195.5,294.9,-7.9,149,2353,0.00,2.05,0.00,0.000,6,0.000,0.024,2497,2326,3769,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2667,-0.91,-195.5,320.9,-8.7,165,2669,0.15,0.00,0.00,0.000,6,0.071,0.000,2414,2325,3769,0,0,0,0,0,0,26.78,28.83,28.83
$GC,2969,-0.85,-195.5,365.2,-14.8,180,2974,0.15,2.20,0.00,0.000,4,0.147,0.049,2459,3736,3766,0,0,0,0,0,0,26.45,26.46,28.83
$GC,3016,-0.82,-195.5,371.2,-14.3,182,3022,0.00,2.05,0.00,0.000,6,0.000,0.025,2458,2326,3766,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3336,-0.84,-195.5,404.5,-9.8,198,3341,0.00,2.20,0.00,0.000,4,0.000,0.052,2454,3733,3764,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3388,-0.86,-195.5,409.2,-10.4,200,3394,0.00,2.05,0.00,0.000,6,0.000,0.025,2454,2324,3764,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3702,-0.86,-195.5,446.0,-11.9,216,3708,0.00,2.20,0.00,0.000,4,0.000,0.054,2453,3729,3761,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3771,-0.88,-195.5,453.7,-11.9,219,3776,0.00,2.08,0.00,0.000,6,0.000,0.026,2453,2321,3760,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4089,-0.89,-195.5,490.4,-11.7,235,4095,0.00,2.05,0.00,0.000,4,0.000,0.034,2453,908,3758,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4180,-0.92,-195.5,500.0,-11.4,239,4185,0.00,2.15,0.00,0.000,6,0.000,0.041,2450,2333,3758,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4498,-0.95,-195.5,536.7,-11.3,255,4503,0.00,2.15,0.00,0.000,4,0.000,0.049,2453,3735,3756,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4545,-0.97,-195.5,541.6,-11.3,257,4551,0.00,2.05,0.00,0.000,6,0.000,0.021,2453,2274,3755,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4864,-1.00,-195.5,575.5,-10.4,273,4870,0.10,2.28,0.00,0.000,4,0.098,0.050,2394,3728,3753,0,0,0,0,0,0,26.79,26.44,28.83
$GC,4950,-0.97,-195.5,587.5,-14.4,277,4956,0.12,2.05,0.00,0.000,6,0.158,0.019,2427,2270,3752,0,0,0,0,0,0,26.36,26.73,28.83
$STATE,5056,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5056,begin apogee
$GC,5061,-0.20,0.0,601.8,-13.4,282,5224,0.73,0.00,155.43,1.036,6,0.110,0.000,2674,2265,2966,0,0,0,0,0,0,26.15,28.83,24.24
$STATE,5226,end apogee,CONTROL_FINISHED_OK
$STATE,5226,begin climb
$GC,5228,0.47,195.5,610.2,0.0,287,5400,0.57,2.12,162.25,0.974,4,0.039,0.034,2923,896,2165,0,0,0,0,0,0,25.20,24.83,24.07
$GC,5509,0.39,195.5,595.3,11.0,297,5515,0.17,2.20,0.00,0.000,6,0.130,0.037,2870,2314,2154,0,0,0,0,0,0,25.48,25.65,28.83
$GC,5823,0.38,235.9,565.9,8.6,313,5863,0.00,2.28,33.45,0.967,4,0.000,0.045,2869,3696,1999,0,0,0,0,0,0,28.83,25.52,24.80
$GC,6021,0.35,235.9,547.5,10.6,322,6028,0.00,2.10,0.00,0.000,6,0.000,0.025,2869,2286,1993,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6327,0.35,248.6,517.2,9.6,338,6345,0.00,0.00,11.43,1.014,6,0.000,0.000,2869,2285,1947,0,0,0,0,0,0,28.83,28.83,25.26
$GC,6647,0.35,248.6,484.3,10.6,354,6652,0.00,2.08,0.00,0.000,4,0.000,0.035,2870,895,1943,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6690,0.35,248.6,479.8,10.4,356,6696,0.00,2.10,0.00,0.000,6,0.000,0.030,2869,2302,1941,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7013,0.35,248.6,445.4,10.2,372,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2306,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7315,0.36,265.2,416.8,9.4,387,7335,0.00,2.25,15.18,0.971,4,0.000,0.046,2869,3708,1881,0,0,0,0,0,0,28.83,26.16,25.41
$GC,7488,0.36,265.2,398.7,11.4,395,7493,0.00,2.08,0.00,0.000,6,0.000,0.025,2869,2290,1877,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7801,0.37,282.5,366.9,9.4,411,7825,0.00,2.12,16.17,0.938,4,0.000,0.034,2869,915,1808,0,0,0,0,0,0,28.83,26.11,25.34
$GC,7847,0.39,297.4,362.9,9.5,413,7868,0.00,2.10,14.10,0.933,6,0.000,0.030,2869,2313,1751,0,0,0,0,0,0,28.83,26.15,25.13
$GC,8188,0.43,328.4,330.9,8.9,430,8226,0.00,2.25,27.77,0.878,4,0.000,0.044,2869,3696,1621,0,0,0,0,0,0,28.83,25.72,25.03
$GC,8280,0.46,329.7,322.6,10.0,434,8285,0.00,2.10,0.00,0.000,6,0.000,0.024,2869,2291,1617,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8594,0.51,346.5,292.4,9.4,450,8614,0.10,0.00,15.75,0.881,6,0.098,0.000,2927,2290,1553,0,0,0,0,0,0,26.36,28.83,25.23
$GC,8914,0.50,346.5,250.5,12.8,466,8920,0.00,2.20,0.00,0.000,4,0.000,0.041,2928,3706,1547,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8982,0.47,346.5,241.7,13.6,469,8988,0.15,2.05,0.00,0.000,6,0.152,0.024,2894,2298,1545,0,0,0,0,0,0,26.15,26.36,28.83
$GC,9301,0.50,346.5,209.0,10.1,485,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2297,1545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9603,0.54,346.5,178.7,10.3,500,9608,0.00,2.03,0.00,0.000,4,0.000,0.033,2894,912,1545,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9667,0.61,377.3,173.1,8.9,503,9702,0.12,2.05,27.15,0.757,6,0.080,0.028,2970,2310,1424,0,0,0,0,0,0,26.49,26.50,25.42
$GC,10011,0.59,377.3,129.1,13.3,520,10016,0.12,2.12,0.00,0.000,4,0.135,0.041,2930,3700,1417,0,0,0,0,0,0,26.22,26.25,28.83
$GC,10058,0.59,377.3,123.3,13.1,522,10063,0.00,2.03,0.00,0.000,6,0.000,0.021,2930,2293,1415,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10376,0.68,482.2,95.3,6.4,538,10425,0.00,2.12,39.75,0.348,4,0.000,0.032,2930,909,1002,0,0,0,0,0,0,28.83,26.16,25.65
$GC,10454,0.80,567.5,90.9,7.1,541,10499,0.20,2.08,34.88,0.333,6,0.054,0.026,3046,2314,656,0,0,0,0,0,0,26.23,26.22,25.50
$GC,10798,0.78,567.5,35.7,14.2,563,10804,0.17,2.10,0.00,0.000,4,0.132,0.039,2989,3693,656,0,0,0,0,0,0,26.11,26.22,28.83
$GC,10833,0.80,567.5,31.4,13.5,566,10838,0.00,2.00,0.00,0.000,6,0.000,0.021,2989,2302,656,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,11127,end climb,SURFACE_DEPTH_REACHED
$STATE,11127,begin surface coast
$FINISH,0.7,0.997975
$STATE,11159,end surface coast,CONTROL_FINISHED_OK
$STATE,11159,begin surface
$SM_CCo,11236,0.00,0.000,0,0,656,566.89
$SM_GC,1.57,7.18,0.00,0.00,0.024,0.000,0.000,119,2297,656,-8.10,-0.76,566.89,0,0,0,0,0,0,26.45,28.83,28.83
$IRIDIUM_FIX,2300.41,12133.99,241012,010135
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.09
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.60
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,601.8,7.9
$24V_AH,24.1,18.554
$10V_AH,10.1,10.214
$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,20.250,92.900,553.300,0.000,0.000,0.000,0.000,198.350,3.000,0.000,5.911,1926.073,7106.324,591.983,1709.150,264.603,0.000,1638.783,0.000,1453.051,0.000,13.611,0.000
$DEVICE_MAMPS,221.850,53.550,1035.810,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11178.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.603,0.000,0.000,0.000
$MEM,323840
$DATA_FILE_SIZE,23440,623
$CAP_FILE_SIZE,143417,0
$CFSIZE,260165632,244432896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.180,  9.9,1
$GPS,241012,081036,2308.890,12139.308,37,0.9,37,-3.5