version: 66.11
glider: 167
mission: 14
dive: 18
start: 10 18 112 7 8 22
data:
$ID,167
$MISSION,14
$DIVE,18
$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,-968495.81
$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,67
$R_STBD_OVSHOOT,51
$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
$GPS1,181012,065305,2149.913,12105.794,27,1.1,27,-3.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-55.3
$GPS2,181012,070753,2150.163,12105.872,41,1.1,41,-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,4.9,140196,-15.7,-10.000,-18.65
$D_GRID,777
$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,-195.5,0.0,0.0,0,96,0.00,0.00,-75.30,0.000,2,0.000,0.000,109,2271,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-195.5,3.5,-5.8,13,138,9.55,2.15,-21.50,0.000,4,0.223,0.061,2574,3642,3763,0,0,0,0,0,0,25.70,26.08,26.46
$GC,162,-0.43,-195.5,16.2,-20.5,23,168,0.00,2.03,0.00,0.000,6,0.000,0.021,2574,2242,3764,0,0,0,0,0,0,28.83,26.22,28.83
$GC,487,-0.37,-195.5,83.2,-21.0,51,492,0.12,2.03,0.00,0.000,4,0.164,0.029,2612,840,3764,0,0,0,0,0,0,26.25,26.41,28.83
$GC,514,-0.33,-195.5,88.0,-21.0,52,520,0.00,2.10,0.00,0.000,6,0.000,0.036,2611,2237,3764,0,0,0,0,0,0,28.83,26.38,28.83
$GC,834,-0.40,-195.5,119.2,-5.7,68,839,0.00,2.03,0.00,0.000,4,0.000,0.034,2612,859,3764,0,0,0,0,0,0,28.83,26.51,28.83
$GC,881,-0.49,-195.5,120.4,-3.4,70,886,0.00,2.05,0.00,0.000,6,0.000,0.033,2612,2251,3764,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1199,-0.68,-195.5,144.1,-7.8,86,1205,0.22,2.12,0.00,0.000,4,0.084,0.044,2522,3663,3764,0,0,0,0,0,0,26.54,26.54,28.83
$GC,1253,-0.86,-195.5,147.5,-7.4,88,1259,0.17,2.03,0.00,0.000,6,0.070,0.021,2424,2236,3764,0,0,0,0,0,0,26.60,26.65,28.83
$GC,1567,-0.80,-195.5,209.7,-19.4,104,1573,0.17,2.00,0.00,0.000,4,0.151,0.033,2478,849,3765,0,0,0,0,0,0,26.43,26.63,28.83
$GC,1677,-0.82,-195.5,220.7,-9.1,109,1684,0.00,2.08,0.00,0.000,6,0.000,0.034,2479,2256,3765,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1997,-0.83,-195.5,250.0,-8.6,125,2002,0.00,2.10,0.00,0.000,4,0.000,0.047,2478,3656,3765,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2140,-0.86,-195.5,263.3,-9.0,132,2146,0.00,2.00,0.00,0.000,6,0.000,0.021,2478,2244,3763,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2464,-0.88,-195.5,296.8,-10.3,148,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2244,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2765,-0.91,-195.5,336.7,-14.2,163,2771,0.00,2.17,0.00,0.000,4,0.000,0.050,2479,3656,3759,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2830,-0.95,-195.5,345.8,-14.1,166,2837,0.12,2.00,0.00,0.000,6,0.080,0.022,2412,2250,3758,0,0,0,0,0,0,26.70,26.74,28.83
$GC,3155,-0.92,-195.5,397.5,-13.6,182,3161,0.12,2.05,0.00,0.000,4,0.158,0.033,2451,848,3757,0,0,0,0,0,0,26.55,26.70,28.83
$GC,3188,-0.90,-195.5,400.7,-13.5,183,3194,0.00,2.08,-0.08,0.000,6,0.000,0.036,2451,2247,3778,0,0,0,0,0,0,28.83,26.67,25.88
$GC,3503,-0.92,-195.5,436.1,-10.8,199,3508,0.00,2.15,0.00,0.000,4,0.000,0.047,2451,3660,3776,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3540,-0.93,-195.5,438.6,-10.7,200,3547,0.00,2.03,0.00,0.000,6,0.000,0.021,2451,2213,3775,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3847,-0.95,-195.5,471.7,-9.7,216,3852,0.00,2.25,0.00,0.000,4,0.000,0.052,2451,3662,3773,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3911,-0.97,-195.5,477.6,-9.4,219,3916,0.00,1.98,0.00,0.000,6,0.000,0.022,2451,2281,3772,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4235,-0.99,-195.5,510.6,-10.4,235,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2281,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4536,-1.01,-195.5,545.3,-12.0,250,4542,0.12,2.12,0.00,0.000,4,0.086,0.047,2377,3659,3766,0,0,0,0,0,0,26.80,26.62,28.83
$GC,4610,-0.99,-195.5,556.3,-15.7,253,4616,0.15,2.03,0.00,0.000,6,0.154,0.021,2417,2213,3766,0,0,0,0,0,0,26.44,26.78,28.83
$STATE,4886,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4886,begin apogee
$GC,4892,-0.20,0.0,601.1,-15.8,267,5054,0.73,0.00,155.32,0.920,6,0.117,0.000,2664,2209,2966,0,0,0,0,0,0,26.39,28.83,24.37
$STATE,5056,end apogee,CONTROL_FINISHED_OK
$STATE,5056,begin climb
$GC,5058,0.47,195.5,612.9,0.0,272,5224,0.60,0.00,161.85,0.880,6,0.044,0.000,2903,2208,2170,0,0,0,0,0,0,25.20,28.83,24.25
$GC,5514,0.43,209.7,586.2,9.5,290,5525,0.00,2.15,4.43,0.822,4,0.000,0.045,2904,3562,2115,0,0,0,0,0,0,28.83,25.96,25.11
$GC,5605,0.38,226.7,578.4,9.4,294,5639,0.17,2.05,18.27,0.964,6,0.154,0.025,2861,2174,2044,0,0,0,0,1,0,25.94,26.14,24.62
$GC,5939,0.40,268.5,551.3,8.6,311,5984,0.00,0.00,43.38,0.897,6,0.000,0.000,2861,2172,1873,0,0,0,0,0,0,28.83,28.83,24.75
$GC,6279,0.43,364.4,525.0,6.7,328,6372,0.00,2.30,81.60,1.457,4,0.000,0.044,2861,3557,1484,0,0,0,0,1,0,28.83,24.80,23.78
$GC,6451,0.47,401.2,512.4,8.7,336,6503,0.00,2.12,35.22,1.248,6,0.000,0.025,2866,2156,1333,0,0,0,0,1,0,28.83,25.65,23.94
$GC,6802,0.52,452.3,486.3,8.2,354,6862,0.12,2.38,48.08,1.327,4,0.082,0.043,2937,3560,1122,0,0,0,0,1,0,26.16,24.98,23.94
$GC,6896,0.52,452.3,475.2,13.3,358,6901,0.00,2.17,0.00,0.000,6,0.000,0.027,2937,2148,1125,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7209,0.50,452.3,426.6,15.0,374,7215,0.12,2.10,0.00,0.000,4,0.158,0.033,2906,741,1124,0,0,0,0,0,0,26.06,26.17,28.83
$GC,7233,0.50,452.3,423.4,14.7,375,7239,0.00,2.12,0.00,0.000,6,0.000,0.025,2906,2157,1124,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7557,0.52,452.3,382.5,13.5,391,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2161,1123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7860,0.53,452.3,340.1,14.9,406,7866,0.00,2.10,0.00,0.000,4,0.000,0.043,2906,3549,1123,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7975,0.55,452.3,323.6,15.5,411,7980,0.00,2.05,0.00,0.000,6,0.000,0.024,2909,2135,1122,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8288,0.56,452.3,284.1,10.5,427,8293,0.00,2.17,0.00,0.000,4,0.000,0.043,2908,3554,1122,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8327,0.58,452.3,281.6,10.5,428,8333,0.00,2.05,0.00,0.000,6,0.000,0.025,2908,2146,1121,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8631,0.60,452.3,246.9,10.6,444,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2143,1121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8934,0.63,452.3,211.8,12.1,459,8939,0.00,2.15,0.00,0.000,4,0.000,0.043,2909,3558,1120,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9048,0.65,452.3,198.8,12.2,464,9054,0.12,2.03,0.00,0.000,6,0.081,0.024,2978,2142,1120,0,0,0,0,0,0,26.64,26.68,28.83
$GC,9362,0.63,452.3,152.0,14.3,480,9369,0.12,2.00,0.00,0.000,4,0.136,0.029,2947,759,1120,0,0,0,0,0,0,26.56,26.66,28.83
$GC,9381,0.60,452.3,152.0,14.3,480,9388,0.00,2.05,0.00,0.000,6,0.000,0.028,2947,2164,1121,0,0,0,0,0,0,28.83,26.66,28.83
$GC,9687,0.66,525.8,118.3,7.5,496,9726,0.00,2.15,29.10,0.421,4,0.000,0.031,2948,763,824,0,0,0,0,0,0,28.83,26.37,25.79
$GC,9791,0.77,624.6,111.7,6.6,501,9840,0.12,2.05,39.62,0.401,6,0.078,0.024,3029,2167,459,0,0,0,0,0,0,26.43,26.44,25.53
$GC,10153,0.77,624.6,58.6,14.6,519,10159,0.12,2.08,0.00,0.000,4,0.144,0.040,2989,3542,451,0,0,0,0,0,0,26.26,26.33,28.83
$GC,10197,0.79,624.6,52.6,14.3,521,10202,0.00,2.03,0.00,0.000,6,0.000,0.021,2989,2135,449,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10508,0.90,692.0,21.9,7.7,554,10514,0.12,0.00,0.00,0.000,6,0.078,0.000,3082,2135,446,0,0,0,0,0,0,26.59,28.83,28.83
$STATE,10627,end climb,SURFACE_DEPTH_REACHED
$STATE,10627,begin surface coast
$FINISH,0.9,1.022049
$STATE,10643,end surface coast,CONTROL_FINISHED_OK
$STATE,10643,begin surface
$SM_CCo,10721,0.00,0.000,0,0,443,619.38
$SM_GC,1.33,7.50,0.15,0.00,0.032,0.068,0.000,111,2246,443,-8.12,-1.67,619.38,0,0,0,0,0,0,26.54,26.59,28.83
$IRIDIUM_FIX,2138.81,12049.47,181012,060609
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.60
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.50
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,601.1,8.1
$24V_AH,23.8,11.319
$10V_AH,9.6,5.784
$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,20.650,88.000,616.875,0.000,0.000,0.000,0.000,556.875,2.500,0.000,42.281,1765.811,6913.802,681.471,1986.869,265.715,0.000,2034.660,0.000,1316.928,0.000,9.089,0.000
$DEVICE_MAMPS,223.380,68.085,1457.325,0.000,0.000,0.000,0.000,128.520,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10675.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,95.419,0.000,0.000,0.000
$MEM,323760
$DATA_FILE_SIZE,20075,580
$CAP_FILE_SIZE,139504,0
$CFSIZE,260165632,247734272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$CURRENT,0.139,221.7,1
$GPS,181012,100823,2151.625,12105.424,37,1.1,37,-3.1