version: 66.11
glider: 167
mission: 14
dive: 64
start: 10 24 112 8 17 26
data:
$ID,167
$MISSION,14
$DIVE,64
$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,-968570.25
$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,0.015
$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,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,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
$GPS1,241012,081036,2308.890,12139.308,37,0.9,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.0
$GPS2,241012,081659,2309.017,12139.306,5,0.7,5,-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,107.6,242082,-15.7,-10.000,-18.65
$D_GRID,1587
$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,-195.5,0.0,0.0,0,89,0.00,0.00,-68.85,0.000,2,0.000,0.000,110,2297,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.47,-195.5,3.1,-5.9,12,142,9.38,2.05,-30.55,0.000,4,0.215,0.048,2580,946,3766,0,0,0,0,0,0,25.68,26.21,26.55
$GC,246,-0.51,-195.5,20.7,-11.6,40,253,0.00,2.05,0.00,0.000,6,0.000,0.036,2580,2309,3765,0,0,0,0,0,0,28.83,26.25,28.83
$GC,565,-0.51,-195.5,66.8,-13.7,69,571,0.00,2.17,0.00,0.000,4,0.000,0.046,2574,3733,3767,0,0,0,0,0,0,28.83,26.34,28.83
$GC,613,-0.51,-195.5,72.7,-13.3,71,618,0.00,2.00,0.00,0.000,6,0.000,0.020,2574,2330,3767,0,0,0,0,0,0,28.83,26.52,28.83
$GC,932,-0.58,-195.5,113.0,-9.8,87,937,0.00,2.17,0.00,0.000,4,0.000,0.051,2574,3726,3768,0,0,0,0,0,0,28.83,26.39,28.83
$GC,961,-0.67,-195.5,115.1,-9.2,88,968,0.15,2.00,0.00,0.000,6,0.067,0.021,2478,2320,3768,0,0,0,0,0,0,26.55,26.60,28.83
$GC,1281,-0.62,-195.5,167.6,-16.6,104,1287,0.17,2.03,0.00,0.000,4,0.138,0.033,2534,936,3769,0,0,0,0,0,0,26.36,26.53,28.83
$GC,1345,-0.64,-195.5,175.4,-13.3,107,1350,0.00,2.08,0.00,0.000,6,0.000,0.038,2534,2326,3770,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1669,-0.73,-195.5,202.0,-8.1,123,1674,0.00,2.17,0.00,0.000,4,0.000,0.054,2534,3730,3770,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1702,-0.83,-195.5,203.9,-7.9,124,1708,0.17,2.00,0.00,0.000,6,0.060,0.018,2435,2272,3770,0,0,0,0,0,0,26.65,26.72,28.83
$GC,2016,-0.76,-195.5,255.3,-16.8,140,2023,0.17,2.25,0.00,0.000,4,0.147,0.044,2490,3735,3770,0,0,0,0,0,0,26.39,26.51,28.83
$GC,2070,-0.73,-195.5,260.5,-14.1,142,2075,0.00,2.03,0.00,0.000,6,0.000,0.024,2490,2335,3770,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2383,-0.78,-195.5,290.2,-9.4,158,2389,0.00,2.17,0.00,0.000,4,0.000,0.053,2492,3736,3768,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2421,-0.82,-195.5,292.6,-9.8,159,2427,0.00,2.03,0.00,0.000,6,0.000,0.019,2490,2277,3768,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2727,-0.87,-195.5,324.2,-9.8,175,2732,0.00,2.28,0.00,0.000,4,0.000,0.047,2490,3743,3766,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2800,-0.93,-195.5,330.3,-9.6,178,2806,0.15,1.98,0.00,0.000,6,0.069,0.018,2410,2317,3766,0,0,0,0,0,0,26.66,26.76,28.83
$GC,3116,-0.87,-195.5,380.7,-15.7,194,3122,0.15,1.95,0.00,0.000,4,0.151,0.027,2457,958,3764,0,0,0,0,0,0,26.43,26.63,28.83
$GC,3144,-0.83,-195.5,384.5,-15.4,195,3149,0.00,2.05,0.00,0.000,6,0.000,0.037,2456,2332,3764,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3462,-0.84,-195.5,420.3,-10.4,211,3468,0.00,2.12,0.00,0.000,4,0.000,0.047,2452,3736,3762,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3573,-0.86,-195.5,431.5,-10.6,216,3578,0.00,1.98,0.00,0.000,6,0.000,0.021,2453,2323,3761,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3892,-0.88,-195.5,463.5,-9.7,232,3897,0.00,1.95,0.00,0.000,4,0.000,0.028,2453,952,3759,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3925,-0.90,-195.5,465.7,-9.8,233,3930,0.00,2.05,0.00,0.000,6,0.000,0.031,2453,2340,3763,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4239,-0.92,-195.5,498.4,-10.1,249,4244,0.00,2.15,-0.08,0.000,4,0.000,0.060,2453,3741,3785,0,0,0,0,0,0,28.83,26.48,25.84
$GC,4294,-0.94,-195.5,503.0,-10.2,251,4300,0.00,2.00,0.00,0.000,6,0.000,0.022,2453,2325,3785,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4609,-0.96,-195.5,535.8,-9.6,267,4614,0.00,2.17,0.00,0.000,4,0.000,0.052,2452,3730,3784,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4673,-0.99,-195.5,542.3,-10.0,270,4678,0.00,2.00,0.00,0.000,6,0.000,0.021,2453,2305,3783,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,4758,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4758,begin apogee
$GC,4764,-0.20,0.0,550.3,-9.6,274,4931,0.65,0.00,159.70,0.989,6,0.103,0.000,2676,2302,2964,0,0,0,0,0,0,26.23,28.83,24.27
$STATE,4932,end apogee,CONTROL_FINISHED_OK
$STATE,4932,begin climb
$GC,4935,0.47,195.5,557.3,0.0,282,5106,0.57,2.35,161.82,0.935,4,0.038,0.045,2916,3711,2163,0,0,0,0,0,0,25.21,24.84,24.11
$GC,5337,0.36,195.5,523.7,12.6,302,5345,0.25,2.08,0.00,0.000,6,0.142,0.025,2850,2325,2154,0,0,0,0,0,0,25.74,26.01,28.83
$GC,5641,0.39,255.9,497.5,7.9,318,5701,0.00,2.28,49.80,0.884,4,0.000,0.045,2850,3696,1916,0,0,0,0,0,0,28.83,25.44,24.77
$GC,5785,0.39,262.7,484.4,9.8,325,5795,0.00,2.08,2.47,0.574,6,0.000,0.026,2853,2302,1898,0,0,0,0,0,0,28.83,25.92,24.63
$GC,6108,0.42,282.7,455.5,9.3,341,6137,0.00,2.10,22.38,0.931,4,0.000,0.031,2853,910,1808,0,0,0,0,0,0,28.83,25.82,25.09
$GC,6192,0.47,305.3,447.9,9.2,345,6222,0.12,2.15,19.58,0.931,6,0.080,0.028,2924,2319,1721,0,0,0,0,0,0,25.98,25.98,24.91
$GC,6535,0.43,305.3,401.5,13.4,362,6541,0.12,2.12,0.00,0.000,4,0.143,0.043,2884,3697,1714,0,0,0,0,0,0,26.10,26.16,28.83
$GC,6634,0.43,305.3,391.0,12.4,366,6640,0.00,2.05,0.00,0.000,6,0.000,0.026,2885,2301,1713,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6940,0.43,305.3,355.3,11.5,382,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2300,1712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7241,0.43,305.3,321.6,10.8,397,7247,0.00,2.17,0.00,0.000,4,0.000,0.044,2885,3702,1711,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7273,0.43,305.3,318.9,10.7,398,7279,0.00,2.05,0.00,0.000,6,0.000,0.025,2885,2290,1711,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7586,0.44,305.3,286.6,10.2,414,7592,0.00,2.20,0.00,0.000,4,0.000,0.044,2885,3697,1710,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7659,0.44,305.3,279.4,11.1,417,7664,0.00,2.03,0.00,0.000,6,0.000,0.025,2892,2291,1709,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7973,0.45,312.8,246.3,9.7,433,7982,0.00,2.17,3.28,0.797,4,0.000,0.043,2892,3700,1694,0,0,0,0,0,0,28.83,26.51,25.20
$GC,8004,0.45,325.3,244.2,9.6,434,8029,0.00,2.03,16.15,0.851,6,0.000,0.025,2894,2301,1634,0,0,0,0,0,0,28.83,26.57,25.50
$GC,8338,0.48,330.3,211.3,9.8,451,8344,0.00,2.17,1.00,0.249,4,0.000,0.041,2894,3704,1620,0,0,0,0,0,0,28.83,26.32,25.75
$GC,8386,0.50,334.8,206.6,9.8,453,8403,0.00,2.05,8.05,0.874,6,0.000,0.024,2895,2285,1598,0,0,0,0,0,0,28.83,26.46,25.49
$GC,8703,0.55,353.9,177.7,9.3,469,8728,0.00,2.05,18.08,0.786,4,0.000,0.029,2894,911,1519,0,0,0,0,0,0,28.83,26.11,25.44
$GC,8766,0.60,375.6,171.9,9.3,472,8792,0.12,2.08,19.62,0.762,6,0.076,0.026,2970,2307,1432,0,0,0,0,0,0,26.16,26.17,25.22
$GC,9110,0.58,375.6,124.4,13.5,489,9116,0.12,2.12,0.00,0.000,4,0.137,0.041,2930,3693,1425,0,0,0,0,0,0,26.16,26.21,28.83
$GC,9129,0.55,375.6,124.4,13.5,489,9136,0.00,2.03,0.00,0.000,6,0.000,0.022,2935,2295,1424,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9435,0.64,446.3,91.8,7.6,505,9468,0.00,0.00,26.95,0.340,6,0.000,0.000,2935,2295,1147,0,0,0,0,0,0,28.83,28.83,25.70
$GC,9776,0.77,528.5,68.2,7.2,522,9818,0.12,2.25,33.47,0.278,4,0.077,0.041,3032,3698,812,0,0,0,0,0,0,26.51,26.17,25.73
$GC,9856,0.80,528.5,60.2,11.1,525,9865,0.12,2.03,0.00,0.000,6,0.148,0.023,2996,2301,819,0,0,0,0,0,0,26.07,26.29,28.83
$GC,10163,0.84,528.5,22.2,11.2,555,10169,0.00,2.00,0.00,0.000,4,0.000,0.029,2996,911,815,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10235,0.95,579.6,15.8,8.2,568,10261,0.15,2.03,20.27,0.154,6,0.065,0.024,3089,2310,600,0,0,0,0,0,0,26.44,26.45,26.00
$STATE,10307,end climb,SURFACE_DEPTH_REACHED
$STATE,10307,begin surface coast
$FINISH,0.8,1.012470
$STATE,10318,end surface coast,CONTROL_FINISHED_OK
$STATE,10319,begin surface
$SM_CCo,10396,0.00,0.000,0,0,602,580.38
$SM_GC,1.56,7.45,0.00,0.00,0.024,0.000,0.000,119,2314,602,-8.10,-0.31,580.38,0,0,0,0,0,0,26.40,28.83,28.83
$IRIDIUM_FIX,2300.41,12139.21,241012,040409
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.99
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,550.3,7.9
$24V_AH,24.1,18.694
$10V_AH,9.7,10.304
$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,20.175,104.525,562.625,0.000,0.000,0.000,0.000,226.275,2.250,0.000,5.896,1790.173,6458.000,619.768,1657.245,259.920,0.000,1681.678,0.000,1371.586,0.000,11.572,0.000
$DEVICE_MAMPS,214.965,59.670,989.145,0.000,0.000,0.000,0.000,123.165,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10341.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.334,0.000,0.000,0.000
$MEM,323840
$DATA_FILE_SIZE,20133,583
$CAP_FILE_SIZE,141427,0
$CFSIZE,260165632,244367360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.311,  3.7,1
$GPS,241012,111206,2310.359,12141.127,41,1.3,41,-3.5