version: 66.11
glider: 167
mission: 14
dive: 12
start: 10 17 112 8 14 45
data:
$ID,167
$MISSION,14
$DIVE,12
$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,-968488.31
$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,2760
$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,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,48
$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,3
$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
$GPS1,171012,080654,2142.772,12104.097,42,1.1,42,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.6
$GPS2,171012,081418,2142.954,12104.360,4,1.1,4,-3.1
$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,351.6,153777,-15.7,-10.000,-18.65
$D_GRID,717
$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,-59.15,0.000,2,0.000,0.000,110,2046,2533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.47,-195.5,3.2,-5.9,10,126,9.68,2.33,-27.62,0.000,4,0.228,0.061,2600,3494,3768,0,0,0,0,0,0,25.86,26.15,26.51
$GC,338,-0.47,-195.5,45.3,-17.1,47,345,0.00,2.05,0.00,0.000,6,0.000,0.022,2601,2073,3769,0,0,0,0,0,0,28.83,26.41,28.83
$GC,645,-0.52,-195.5,94.9,-11.1,64,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2072,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,947,-0.62,-195.5,116.4,-8.6,79,949,0.12,0.00,0.00,0.000,6,0.081,0.000,2515,2070,3770,0,0,0,0,0,0,26.66,28.83,28.83
$GC,1247,-0.62,-195.5,155.3,-12.5,94,1253,0.12,1.98,0.00,0.000,4,0.145,0.033,2556,707,3770,0,0,0,0,0,0,26.54,26.63,28.83
$GC,1274,-0.64,-195.5,157.7,-11.3,95,1280,0.00,2.05,0.00,0.000,6,0.000,0.033,2557,2105,3771,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1593,-0.74,-195.5,171.1,-2.7,111,1599,0.00,2.10,0.00,0.000,4,0.000,0.048,2557,3500,3771,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1709,-0.86,-195.5,176.7,-5.4,116,1714,0.20,2.00,0.00,0.000,6,0.056,0.021,2448,2082,3771,0,0,0,0,0,0,26.72,26.73,28.83
$GC,2023,-0.80,-195.5,222.6,-14.3,132,2024,0.17,0.00,0.00,0.000,6,0.142,0.000,2499,2082,3770,0,0,0,0,0,0,26.54,28.83,28.83
$GC,2325,-0.83,-195.5,248.7,-6.9,147,2330,0.00,2.17,0.00,0.000,4,0.000,0.047,2499,3513,3770,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2434,-0.89,-195.5,257.2,-8.3,152,2439,0.00,2.03,0.00,0.000,6,0.000,0.021,2500,2094,3769,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2753,-0.95,-195.5,298.6,-14.0,168,2759,0.12,2.15,0.00,0.000,4,0.083,0.047,2424,3500,3767,0,0,0,0,0,0,26.82,26.66,28.83
$GC,2860,-0.90,-195.5,319.0,-20.4,173,2866,0.15,2.00,0.00,0.000,6,0.145,0.022,2466,2095,3767,0,0,0,0,0,0,26.55,26.77,28.83
$GC,3184,-0.92,-195.5,366.9,-12.4,189,3190,0.00,2.15,0.00,0.000,4,0.000,0.056,2466,3498,3763,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3222,-0.94,-195.5,369.6,-12.0,190,3229,0.00,2.00,0.00,0.000,6,0.000,0.024,2460,2097,3765,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3529,-0.96,-195.5,400.2,-9.2,206,3534,0.00,2.15,0.00,0.000,4,0.000,0.050,2466,3497,3762,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3634,-0.99,-195.5,408.8,-8.1,211,3639,0.00,2.03,0.00,0.000,6,0.000,0.022,2466,2085,3762,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3958,-1.02,-195.5,431.1,-7.2,227,3963,0.00,2.20,0.00,0.000,4,0.000,0.050,2466,3501,3760,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4057,-1.05,-195.5,437.6,-7.8,231,4065,0.12,2.00,0.00,0.000,6,0.084,0.022,2404,2098,3759,0,0,0,0,0,0,26.72,26.78,28.83
$GC,4361,-1.01,-195.5,486.5,-17.2,247,4367,0.12,2.17,0.00,0.000,4,0.163,0.050,2440,3495,3756,0,0,0,0,0,0,26.58,26.65,28.83
$GC,4522,-1.01,-195.5,508.6,-14.5,254,4529,0.00,2.00,0.00,0.000,6,0.000,0.023,2439,2099,3755,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4828,-1.01,-195.5,546.0,-10.0,270,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2098,3753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5129,-1.01,-195.5,575.7,-10.5,285,5135,0.00,2.17,0.00,0.000,4,0.000,0.054,2439,3498,3750,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5212,-1.01,-195.5,585.7,-11.9,289,5218,0.00,2.03,0.00,0.000,6,0.000,0.024,2439,2096,3750,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5545,-1.01,-195.5,624.6,-11.6,302,5550,0.00,2.17,0.00,0.000,4,0.000,0.054,2435,3497,3747,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5647,-1.01,-195.5,634.7,-10.9,305,5652,0.00,2.03,0.00,0.000,6,0.000,0.030,2440,2094,3747,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5972,-1.01,-195.5,672.3,-12.1,316,5978,0.00,2.20,0.00,0.000,4,0.000,0.056,2441,3504,3744,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6079,-1.01,-195.5,684.3,-12.5,319,6084,0.00,2.03,0.00,0.000,6,0.000,0.024,2440,2100,3743,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,6365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6365,begin apogee
$GC,6371,-0.20,0.0,719.3,-11.1,329,6537,0.73,0.00,157.45,1.013,6,0.110,0.000,2687,2097,2961,0,0,0,0,0,0,26.45,28.83,24.22
$STATE,6539,end apogee,CONTROL_FINISHED_OK
$STATE,6539,begin climb
$GC,6541,0.47,195.5,727.1,0.0,334,6716,0.57,0.00,168.18,0.956,6,0.037,0.000,2933,2097,2169,0,0,0,0,0,0,25.17,28.83,24.09
$GC,6998,0.38,195.5,679.7,14.1,350,7004,0.15,2.15,0.00,0.000,4,0.151,0.050,2888,3450,2145,0,0,0,0,0,0,25.84,25.95,28.83
$GC,7136,0.32,195.5,663.3,13.2,354,7142,0.12,2.08,0.00,0.000,6,0.170,0.025,2862,2041,2143,0,0,0,0,0,0,25.98,26.19,28.83
$GC,7457,0.32,218.4,630.3,9.2,365,7485,0.00,2.22,14.80,0.862,4,0.000,0.045,2862,3452,2074,0,0,0,0,1,0,28.83,26.02,25.25
$GC,7652,0.30,218.4,608.7,12.3,371,7658,0.00,2.08,0.00,0.000,6,0.000,0.025,2868,2037,2081,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7970,0.30,218.4,565.6,13.4,386,7976,0.00,2.20,0.00,0.000,4,0.000,0.044,2868,3463,2080,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8054,0.27,218.4,553.7,14.3,390,8059,0.00,2.08,0.00,0.000,6,0.000,0.027,2875,2048,2080,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8377,0.28,229.3,518.0,9.6,406,8401,0.00,2.22,13.12,0.978,4,0.000,0.044,2875,3462,2028,0,0,0,0,1,0,28.83,26.16,25.44
$GC,8471,0.26,245.0,510.2,9.5,410,8496,0.00,2.08,14.23,0.911,6,0.000,0.027,2875,2054,1965,0,0,0,0,1,0,28.83,26.31,25.21
$GC,8805,0.28,288.1,482.4,8.5,427,8857,0.00,2.33,38.70,1.334,4,0.000,0.045,2875,3444,1795,0,0,0,0,1,0,28.83,25.17,24.08
$GC,9041,0.28,288.1,456.7,12.5,438,9048,0.00,2.08,0.00,0.000,6,0.000,0.025,2875,2048,1801,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9347,0.30,288.1,417.0,12.6,454,9353,0.00,2.17,0.00,0.000,4,0.000,0.044,2875,3452,1801,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9431,0.30,288.1,405.9,13.3,458,9438,0.00,2.08,0.00,0.000,6,0.000,0.025,2875,2042,1800,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9756,0.34,336.2,372.3,8.3,474,9815,0.00,2.35,45.15,1.309,4,0.000,0.045,2875,3447,1600,0,0,0,0,1,0,28.83,25.13,24.10
$GC,10000,0.37,346.0,351.7,9.7,486,10024,0.00,2.10,13.00,0.902,6,0.000,0.024,2875,2038,1552,0,0,0,0,1,0,28.83,26.01,24.56
$GC,10342,0.41,346.0,317.6,10.5,503,10347,0.00,2.20,0.00,0.000,4,0.000,0.044,2875,3457,1552,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10429,0.45,346.0,307.9,11.8,507,10434,0.00,2.08,0.00,0.000,6,0.000,0.024,2874,2036,1550,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10748,0.51,367.2,274.2,9.3,523,10781,0.12,2.28,19.38,0.932,4,0.080,0.043,2953,3454,1470,0,0,0,0,1,0,26.46,25.91,24.84
$GC,10865,0.47,367.2,260.3,14.2,528,10873,0.17,2.08,0.00,0.000,6,0.149,0.025,2912,2041,1473,0,0,0,0,0,0,25.96,26.14,28.83
$GC,11172,0.49,367.2,221.6,13.5,544,11178,0.00,2.17,0.00,0.000,4,0.000,0.042,2909,3458,1473,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11225,0.51,367.2,215.3,13.8,546,11230,0.00,2.05,0.00,0.000,6,0.000,0.024,2914,2046,1472,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11539,0.58,460.1,182.6,6.8,562,11629,0.00,0.00,82.80,1.258,6,0.000,0.000,2914,2046,1090,0,0,0,0,1,0,28.83,28.83,23.89
$GC,11919,0.66,474.2,156.2,9.5,581,11943,0.12,2.28,16.52,0.727,4,0.076,0.043,2993,3449,1027,0,0,0,0,0,0,26.10,25.72,25.17
$GC,12036,0.63,474.2,138.5,18.0,586,12044,0.12,2.12,0.00,0.000,6,0.151,0.032,2963,2068,1028,0,0,0,0,0,0,25.86,25.98,28.83
$GC,12342,0.67,474.2,96.6,12.1,602,12348,0.00,2.15,0.00,0.000,4,0.000,0.039,2963,638,1023,0,0,0,0,0,0,28.83,26.25,28.83
$GC,12407,0.74,474.2,88.6,12.3,605,12413,0.12,2.12,0.00,0.000,6,0.079,0.027,3035,2058,1022,0,0,0,0,0,0,26.31,26.32,28.83
$GC,12721,0.76,520.4,41.6,8.4,624,12747,0.00,2.15,18.08,0.228,4,0.000,0.040,3036,3445,844,0,0,0,0,0,0,28.83,26.31,25.98
$GC,12845,0.78,520.4,26.2,12.8,636,12851,0.00,2.08,0.00,0.000,6,0.000,0.024,3039,2027,846,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,13032,end climb,SURFACE_DEPTH_REACHED
$STATE,13032,begin surface coast
$FINISH,1.0,1.021821
$STATE,13054,end surface coast,CONTROL_FINISHED_OK
$STATE,13054,begin surface
$SM_CCo,13132,0.00,0.000,0,0,844,521.02
$SM_GC,1.63,7.38,0.10,0.00,0.031,0.093,0.000,125,2088,844,-8.16,-1.33,521.02,0,0,0,0,0,0,26.45,26.52,28.83
$IRIDIUM_FIX,2134.17,12104.99,171012,040405
$TT8_MAMPS,0.029211,0.029211
$HUMID,56.14
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.20
$XPDR_PINGS,13
$24V_AH,23.9,10.093
$10V_AH,10.1,4.343
$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,20.450,106.225,601.400,0.000,0.000,0.000,0.000,263.750,4.500,0.000,5.858,2297.924,8172.442,687.868,2127.927,292.911,0.000,1956.031,0.000,1771.287,0.000,10.092,0.000
$DEVICE_MAMPS,227.970,92.565,1334.160,0.000,0.000,0.000,0.000,132.345,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13095.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.896,0.000,0.000,0.000
$MEM,323780
$DATA_FILE_SIZE,26739,676
$CAP_FILE_SIZE,162390,0
$CFSIZE,260165632,248266752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.193,193.2,1
$GPS,171012,115459,2143.537,12103.481,39,1.1,39,-3.1