version: 66.11
glider: 167
mission: 14
dive: 67
start: 10 24 112 19 25 53
data:
$ID,167
$MISSION,14
$DIVE,67
$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,-968574
$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,75
$R_STBD_OVSHOOT,47
$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
$GPS1,241012,191905,2311.728,12144.966,32,0.8,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-65.5
$GPS2,241012,192526,2311.788,12145.053,5,0.9,5,-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,120.7,231235,-15.7,-10.000,-18.65
$D_GRID,2914
$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,-195.5,0.0,0.0,0,85,0.00,0.00,-64.50,0.000,2,0.000,0.000,112,2310,2635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.47,-195.5,3.3,-5.8,11,132,9.68,2.00,-24.95,0.000,4,0.226,0.046,2584,931,3765,0,0,0,0,0,0,25.66,26.24,26.56
$GC,236,-0.50,-195.5,25.5,-13.5,38,241,0.00,2.08,0.00,0.000,6,0.000,0.030,2584,2321,3766,0,0,0,0,0,0,28.83,26.26,28.83
$GC,549,-0.50,-195.5,70.1,-14.0,62,554,0.00,2.15,0.00,0.000,4,0.000,0.046,2583,3730,3766,0,0,0,0,0,0,28.83,26.32,28.83
$GC,607,-0.52,-195.5,76.0,-13.9,64,614,0.00,2.03,0.00,0.000,6,0.000,0.020,2584,2328,3766,0,0,0,0,0,0,28.83,26.50,28.83
$GC,915,-0.61,-195.5,107.1,-8.8,80,921,0.12,2.03,0.00,0.000,4,0.078,0.029,2495,924,3767,0,0,0,0,0,0,26.65,26.52,28.83
$GC,949,-0.67,-195.5,110.4,-9.9,81,955,0.12,2.10,0.00,0.000,6,0.148,0.037,2527,2322,3764,0,0,0,0,0,0,26.27,26.45,28.83
$GC,1264,-0.70,-195.5,154.0,-12.0,97,1270,0.00,2.15,0.00,0.000,4,0.000,0.045,2527,3745,3767,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1353,-0.74,-195.5,163.5,-11.1,101,1358,0.00,2.03,0.00,0.000,6,0.000,0.020,2527,2322,3767,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1671,-0.80,-195.5,192.9,-8.7,117,1677,0.12,2.22,0.00,0.000,4,0.080,0.047,2438,3743,3768,0,0,0,0,0,0,26.74,26.45,28.83
$GC,1706,-0.83,-195.5,195.8,-9.4,118,1712,0.12,2.05,0.00,0.000,6,0.153,0.018,2471,2289,3767,0,0,0,0,0,0,26.36,26.69,28.83
$GC,2020,-0.81,-195.5,238.4,-12.5,134,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2288,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2322,-0.81,-195.5,276.6,-12.7,149,2327,0.00,2.25,0.00,0.000,4,0.000,0.049,2469,3740,3768,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2399,-0.81,-195.5,284.1,-11.8,152,2406,0.00,1.98,0.00,0.000,6,0.000,0.019,2469,2305,3767,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2704,-0.81,-195.5,320.7,-11.0,168,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2303,3766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3007,-0.81,-195.5,355.7,-11.3,183,3012,0.00,2.20,0.00,0.000,4,0.000,0.044,2467,3741,3764,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3074,-0.83,-195.5,362.8,-10.9,186,3080,0.00,1.95,0.00,0.000,6,0.000,0.019,2467,2334,3768,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3393,-0.85,-195.5,397.8,-11.1,202,3398,0.00,2.17,0.00,0.000,4,0.000,0.048,2465,3744,3762,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3441,-0.88,-195.5,402.6,-11.0,204,3447,0.00,1.98,0.00,0.000,6,0.000,0.021,2465,2313,3761,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3760,-0.91,-195.5,434.8,-10.0,220,3765,0.00,2.17,0.00,0.000,4,0.000,0.044,2466,3736,3759,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3813,-0.95,-195.5,439.3,-10.2,222,3818,0.00,1.95,0.00,0.000,6,0.000,0.021,2467,2317,3758,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4126,-0.98,-195.5,471.8,-9.8,238,4133,0.12,2.17,0.00,0.000,4,0.083,0.042,2391,3735,3757,0,0,0,0,0,0,26.77,26.48,28.83
$GC,4222,-0.94,-195.5,483.9,-14.2,242,4229,0.17,1.95,-0.10,0.000,6,0.147,0.020,2439,2317,3780,0,0,0,0,0,0,26.27,26.75,25.92
$GC,4537,-0.94,-195.5,520.8,-11.0,258,4542,0.00,2.20,0.00,0.000,4,0.000,0.053,2439,3740,3779,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4569,-0.94,-195.5,523.3,-10.8,259,4574,0.00,1.98,0.00,0.000,6,0.000,0.022,2439,2337,3778,0,0,0,0,0,0,28.83,25.04,28.83
$STATE,4824,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4824,begin apogee
$GC,4830,-0.20,0.0,551.4,-10.8,272,4996,0.68,0.00,158.93,0.978,6,0.106,0.000,2670,2333,2963,0,0,0,0,0,0,26.17,28.83,24.27
$STATE,4998,end apogee,CONTROL_FINISHED_OK
$STATE,4998,begin climb
$GC,5001,0.47,195.5,560.0,0.0,280,5170,0.57,2.30,161.77,0.943,4,0.041,0.043,2909,3719,2166,0,0,0,0,0,0,25.22,24.84,24.10
$GC,5278,0.38,195.5,543.4,13.0,294,5284,0.20,2.08,0.00,0.000,6,0.145,0.024,2860,2337,2155,0,0,0,0,0,0,25.46,25.71,28.83
$GC,5592,0.39,231.1,513.4,8.8,310,5632,0.00,2.28,29.70,0.926,4,0.000,0.044,2860,3712,2016,0,0,0,0,0,0,28.83,25.61,24.91
$GC,5644,0.40,255.6,509.8,9.2,312,5674,0.00,2.12,21.92,0.932,6,0.000,0.025,2867,2290,1917,0,0,0,0,0,0,28.83,25.79,24.70
$GC,5975,0.41,272.0,476.3,9.4,329,5995,0.00,2.33,14.25,0.959,4,0.000,0.044,2867,3710,1852,0,0,0,0,0,0,28.83,25.86,25.11
$GC,6098,0.41,272.0,462.9,11.1,335,6103,0.00,2.12,0.00,0.000,6,0.000,0.025,2873,2290,1846,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6421,0.41,272.0,429.3,10.8,351,6426,0.00,2.25,0.00,0.000,4,0.000,0.044,2873,3722,1841,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6508,0.41,272.0,419.4,12.0,355,6513,0.00,2.08,0.00,0.000,6,0.000,0.026,2872,2302,1842,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6827,0.42,300.4,388.0,9.0,371,6860,0.00,2.12,24.40,0.917,4,0.000,0.033,2873,920,1736,0,0,0,0,0,0,28.83,25.98,25.25
$GC,6892,0.46,353.1,383.1,8.2,374,6949,0.00,2.10,46.03,0.881,6,0.000,0.028,2873,2322,1520,0,0,0,0,0,0,28.83,26.06,24.70
$GC,7249,0.52,398.5,353.0,8.4,392,7294,0.10,2.25,38.90,0.853,4,0.094,0.044,2934,3693,1336,0,0,0,0,0,0,26.26,25.51,24.84
$GC,7342,0.52,398.5,342.6,12.5,396,7348,0.00,2.10,0.00,0.000,6,0.000,0.025,2935,2303,1331,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7655,0.52,398.5,298.4,13.5,412,7661,0.00,2.10,0.00,0.000,4,0.000,0.034,2935,908,1329,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7738,0.52,398.5,287.9,12.7,416,7744,0.00,2.08,0.00,0.000,6,0.000,0.027,2935,2306,1327,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8061,0.52,398.5,244.5,13.1,432,8067,0.00,2.12,0.00,0.000,4,0.000,0.044,2934,3698,1326,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8085,0.51,398.5,241.2,13.2,433,8091,0.12,2.08,0.00,0.000,6,0.156,0.023,2901,2282,1325,0,0,0,0,0,0,26.22,26.48,28.83
$GC,8409,0.55,398.5,205.9,10.1,449,8414,0.00,2.00,0.00,0.000,4,0.000,0.031,2905,915,1326,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8447,0.60,402.0,203.7,9.9,450,8454,0.00,2.03,0.00,0.000,6,0.000,0.025,2904,2304,1325,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8752,0.64,402.0,170.0,10.8,466,8759,0.12,2.12,0.00,0.000,4,0.079,0.041,2987,3694,1325,0,0,0,0,0,0,26.65,26.46,28.83
$GC,8806,0.64,402.0,162.8,13.3,468,8812,0.17,2.00,0.00,0.000,6,0.143,0.023,2945,2296,1324,0,0,0,0,0,0,26.27,26.60,28.83
$GC,9119,0.64,402.0,123.4,11.1,484,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2296,1324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9422,0.67,402.0,92.4,10.2,499,9427,0.00,2.00,0.00,0.000,4,0.000,0.029,2949,908,1324,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9469,0.72,402.0,87.8,10.4,501,9474,0.00,2.03,0.00,0.000,6,0.000,0.024,2949,2311,1324,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9788,0.80,471.4,62.4,7.6,517,9822,0.12,2.17,27.52,0.263,4,0.078,0.041,3034,3700,1044,0,0,0,0,0,0,26.74,26.42,25.95
$GC,9876,0.78,471.4,51.2,13.6,521,9882,0.17,2.00,0.00,0.000,6,0.141,0.021,2993,2294,1047,0,0,0,0,0,0,26.23,26.53,28.83
$GC,10187,0.81,471.4,15.0,10.4,560,10194,0.00,1.98,0.00,0.000,4,0.000,0.030,2996,925,1047,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10243,0.87,499.2,9.8,9.0,570,10262,0.00,1.98,11.43,0.150,6,0.000,0.024,2996,2304,929,0,0,0,0,0,0,28.83,26.57,26.12
$STATE,10311,end climb,SURFACE_DEPTH_REACHED
$STATE,10311,begin surface coast
$FINISH,0.8,1.022372
$STATE,10336,end surface coast,CONTROL_FINISHED_OK
$STATE,10336,begin surface
$SM_CCo,10414,0.00,0.000,0,0,932,499.19
$SM_GC,1.79,7.20,0.00,0.00,0.027,0.000,0.000,117,2305,932,-8.10,-0.57,499.19,0,0,0,0,0,0,26.53,28.83,28.83
$IRIDIUM_FIX,2302.75,12145.66,241012,161650
$TT8_MAMPS,0.029211,0.029211
$HUMID,53.30
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,551.4,7.9
$24V_AH,24.1,19.181
$10V_AH,9.9,10.614
$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,19.950,100.575,534.850,0.000,0.000,0.000,0.000,226.025,3.250,0.000,6.929,1786.860,6544.141,579.455,1634.389,256.271,0.000,1619.917,0.000,1353.441,0.000,13.232,0.000
$DEVICE_MAMPS,226.440,52.785,978.435,0.000,0.000,0.000,0.000,122.400,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10357.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.506,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,20123,587
$CAP_FILE_SIZE,136938,0
$CFSIZE,260165632,244125696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.317, 10.3,1
$GPS,241012,222036,2312.656,12146.938,25,1.5,25,-3.5