version: 66.11
glider: 167
mission: 14
dive: 16
start: 10 18 112 0 3 26
data:
$ID,167
$MISSION,14
$DIVE,16
$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,-968493.31
$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,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,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,67
$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
$GPS1,171012,235529,2150.585,12106.706,40,0.9,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.0
$GPS2,181012,000259,2150.448,12106.744,5,0.9,5,-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,343.2,139330,-15.7,-10.000,-18.65
$D_GRID,773
$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,-58.92,0.000,2,0.000,0.000,109,2285,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.47,-195.5,3.0,-3.5,10,126,9.98,2.17,-27.77,0.000,4,0.241,0.063,2574,3629,3766,0,0,0,0,0,0,25.73,26.10,26.46
$GC,196,-0.45,-195.5,21.4,-13.9,30,203,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2245,3767,0,0,0,0,0,0,28.83,26.27,28.83
$GC,506,-0.46,-195.5,84.7,-13.5,53,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2244,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,807,-0.49,-195.5,123.5,-12.4,68,813,0.00,2.12,0.00,0.000,4,0.000,0.048,2574,3619,3769,0,0,0,0,0,0,28.83,26.46,28.83
$GC,865,-0.55,-195.5,126.5,-8.6,70,871,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,2235,3769,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1171,-0.68,-195.5,146.9,-9.3,86,1177,0.12,2.12,0.00,0.000,4,0.089,0.044,2517,3623,3770,0,0,0,0,0,0,26.63,26.53,28.83
$GC,1216,-0.82,-195.5,151.9,-10.6,88,1222,0.12,1.98,0.00,0.000,6,0.076,0.021,2435,2234,3770,0,0,0,0,0,0,26.60,26.65,28.83
$GC,1540,-0.79,-195.5,206.9,-15.2,104,1542,0.17,0.00,0.00,0.000,6,0.146,0.000,2485,2231,3771,0,0,0,0,0,0,26.46,28.83,28.83
$GC,1842,-0.81,-195.5,238.8,-10.7,119,1847,0.00,2.15,0.00,0.000,4,0.000,0.049,2481,3618,3770,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1930,-0.84,-195.5,246.7,-9.3,123,1936,0.00,1.95,0.00,0.000,6,0.000,0.021,2481,2251,3770,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2249,-0.86,-195.5,279.8,-11.6,139,2254,0.00,2.12,0.00,0.000,4,0.000,0.050,2480,3627,3769,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2321,-0.89,-195.5,287.3,-11.7,142,2327,0.00,1.98,0.00,0.000,6,0.000,0.022,2479,2241,3769,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2636,-0.93,-195.5,321.6,-9.1,158,2642,0.12,2.15,0.00,0.000,4,0.084,0.049,2406,3630,3766,0,0,0,0,0,0,26.78,26.61,28.83
$GC,2689,-0.93,-195.5,326.8,-10.4,160,2695,0.12,2.00,0.00,0.000,6,0.158,0.022,2438,2240,3766,0,0,0,0,0,0,26.49,26.74,28.83
$GC,3003,-0.93,-195.5,362.9,-10.3,176,3009,0.00,2.00,0.00,0.000,4,0.000,0.036,2439,859,3764,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3067,-0.93,-195.5,369.7,-10.8,179,3073,0.00,2.05,0.00,0.000,6,0.000,0.037,2438,2228,3764,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3391,-0.93,-195.5,401.4,-10.0,195,3396,0.00,2.17,0.00,0.000,4,0.000,0.049,2438,3659,3761,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3474,-0.93,-195.5,410.4,-11.0,199,3479,0.00,2.03,0.00,0.000,6,0.000,0.021,2438,2224,3761,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3797,-0.93,-195.5,441.7,-8.6,215,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2223,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4099,-0.93,-195.5,468.5,-9.5,230,4104,0.00,2.20,0.00,0.000,4,0.000,0.050,2438,3652,3756,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4183,-0.93,-195.5,477.0,-9.9,234,4189,0.00,2.00,-0.08,0.000,6,0.000,0.024,2438,2274,3779,0,0,0,0,0,0,28.83,26.74,25.85
$GC,4507,-0.93,-195.5,513.6,-12.4,250,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2274,3778,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4790,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4790,begin apogee
$GC,4797,-0.20,0.0,551.4,-13.0,264,4962,0.68,0.00,156.73,0.897,6,0.108,0.000,2671,2110,2962,0,0,0,0,0,0,26.45,28.83,24.37
$STATE,4963,end apogee,CONTROL_FINISHED_OK
$STATE,4964,begin climb
$GC,4966,0.47,195.5,561.6,0.0,272,5137,0.57,2.17,160.57,0.855,4,0.044,0.044,2915,799,2162,0,0,0,0,0,0,25.20,24.89,24.25
$GC,5171,0.42,199.9,556.9,9.8,283,5177,0.15,2.15,0.00,0.000,6,0.140,0.037,2872,2148,2153,0,0,0,0,0,0,25.25,25.34,28.83
$GC,5495,0.39,199.9,518.9,11.9,299,5501,0.00,2.20,0.00,0.000,4,0.000,0.048,2872,3567,2148,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5715,0.35,199.9,487.9,15.5,309,5722,0.00,2.08,0.00,0.000,6,0.000,0.026,2877,2173,2148,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6021,0.32,199.9,450.9,10.5,325,6026,0.12,2.17,0.00,0.000,4,0.155,0.049,2838,3567,2145,0,0,0,0,0,0,26.29,26.36,28.83
$GC,6078,0.30,199.9,446.6,10.3,327,6085,0.00,2.10,0.00,0.000,6,0.000,0.026,2841,2146,2145,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6384,0.30,199.9,414.6,10.7,343,6389,0.00,2.22,0.00,0.000,4,0.000,0.050,2841,3570,2143,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6476,0.29,199.9,404.8,11.8,347,6483,0.00,2.08,0.00,0.000,6,0.000,0.025,2842,2140,2143,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6791,0.29,199.9,370.0,10.6,363,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2140,2142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7092,0.29,199.9,337.1,12.3,378,7098,0.00,2.20,0.00,0.000,4,0.000,0.046,2841,3564,2142,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7202,0.28,199.9,321.9,14.8,383,7207,0.00,2.05,0.00,0.000,6,0.000,0.024,2841,2140,2140,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7520,0.33,332.4,290.8,5.4,399,7646,0.00,2.38,111.15,1.366,4,0.000,0.045,2841,3560,1614,0,0,0,0,1,0,28.83,24.79,23.84
$GC,7786,0.40,413.9,274.3,7.2,412,7873,0.00,2.10,73.10,1.262,6,0.000,0.024,2841,2155,1279,0,0,0,0,1,0,28.83,25.83,23.85
$GC,8187,0.50,451.9,243.6,8.7,432,8231,0.15,2.25,38.50,0.716,4,0.070,0.042,2934,3558,1118,0,0,0,0,0,0,26.12,25.46,24.89
$GC,8275,0.51,451.9,230.9,15.5,436,8281,0.00,2.12,0.00,0.000,6,0.000,0.025,2934,2151,1113,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8594,0.51,451.9,184.0,12.2,452,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2150,1107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8895,0.52,451.9,141.0,15.7,467,8901,0.00,2.17,0.00,0.000,4,0.000,0.044,2934,3561,1110,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9021,0.53,451.9,127.3,10.2,473,9027,0.00,2.08,0.00,0.000,6,0.000,0.024,2934,2134,1109,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9346,0.61,497.4,99.3,8.4,489,9370,0.00,2.25,17.00,0.366,4,0.000,0.043,2935,3555,939,0,0,0,0,0,0,28.83,26.29,25.80
$GC,9418,0.66,498.3,92.9,10.0,492,9424,0.00,2.08,0.00,0.000,6,0.000,0.024,2935,2136,941,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9732,0.81,631.4,71.0,5.4,508,9784,0.17,0.00,48.42,0.295,6,0.064,0.000,3040,2135,457,0,0,0,0,0,0,26.55,28.83,25.73
$GC,10072,0.82,631.4,27.2,13.1,533,10078,0.12,2.05,0.00,0.000,4,0.130,0.033,2997,754,449,0,0,0,0,0,0,26.29,26.36,28.83
$GC,10107,0.88,640.6,23.9,9.7,537,10114,0.00,2.10,0.00,0.000,6,0.000,0.034,2997,2161,448,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,10341,end climb,SURFACE_DEPTH_REACHED
$STATE,10342,begin surface coast
$FINISH,1.1,1.021903
$STATE,10381,end surface coast,CONTROL_FINISHED_OK
$STATE,10381,begin surface
$SM_CCo,10459,0.00,0.000,0,0,446,618.65
$SM_GC,1.62,7.28,0.12,0.00,0.031,0.085,0.000,118,2258,446,-8.12,-1.05,618.65,0,0,0,0,0,0,26.48,26.53,28.83
$IRIDIUM_FIX,2138.81,12106.19,171012,202034
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,551.4,7.9
$24V_AH,23.8,10.913
$10V_AH,10.1,5.197
$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,19.900,80.450,605.475,0.000,0.000,0.000,0.000,276.950,1.750,0.000,5.928,1812.130,6497.730,620.736,1736.951,244.284,0.000,1719.213,0.000,1379.584,0.000,11.630,0.000
$DEVICE_MAMPS,240.975,84.915,1366.290,0.000,0.000,0.000,0.000,125.460,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10416.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,40.541,0.000,0.000,0.000
$MEM,323900
$DATA_FILE_SIZE,20108,590
$CAP_FILE_SIZE,132418,0
$CFSIZE,260165632,247914496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.428,193.0,1
$GPS,181012,025905,2149.651,12105.429,37,1.0,37,-3.1