version: 66.11
glider: 167
mission: 14
dive: 21
start: 10 18 112 16 52 8
data:
$ID,167
$MISSION,14
$DIVE,21
$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,10
$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,-968499.56
$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,25
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,71
$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
$GPS1,181012,164435,2152.477,12105.203,37,1.2,37,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-60.9
$GPS2,181012,165140,2152.495,12104.977,5,1.2,5,-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,41.2,136400,-15.7,-10.000,-18.65
$D_GRID,775
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.47,-195.5,0.0,0.0,0,102,0.00,0.00,-81.80,0.000,2,0.000,0.000,111,2289,2678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.47,-195.5,3.3,-5.4,14,142,9.77,0.00,-22.05,0.000,6,0.234,0.000,2579,2289,3767,0,0,0,0,0,0,25.79,28.83,26.51
$GC,462,-0.44,-195.5,72.0,-20.4,54,468,0.00,1.27,0.00,0.000,4,0.000,0.047,2576,3103,3769,0,0,0,0,0,0,28.83,26.39,28.83
$GC,590,-0.42,-195.5,94.6,-18.1,60,593,0.00,1.25,0.00,0.000,6,0.000,0.022,2576,2244,3769,0,0,0,0,0,0,28.83,26.53,28.83
$GC,894,-0.48,-195.5,125.0,-7.5,75,899,0.00,1.30,0.00,0.000,4,0.000,0.044,2576,3086,3769,0,0,0,0,0,0,28.83,26.53,28.83
$GC,952,-0.56,-195.5,130.5,-8.9,78,958,0.00,1.23,0.00,0.000,6,0.000,0.022,2577,2241,3769,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1271,-0.64,-195.5,154.9,-4.9,94,1279,0.12,1.33,0.00,0.000,4,0.083,0.043,2493,3095,3770,0,0,0,0,0,0,26.70,26.58,28.83
$GC,1371,-0.64,-195.5,164.7,-10.7,99,1375,0.15,1.23,0.00,0.000,6,0.133,0.021,2536,2236,3771,0,0,0,0,0,0,26.47,26.70,28.83
$GC,1683,-0.70,-195.5,189.5,-7.1,115,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2235,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1985,-0.76,-195.5,215.8,-10.1,130,1991,0.12,1.33,0.00,0.000,4,0.079,0.042,2458,3094,3770,0,0,0,0,0,0,26.78,26.65,28.83
$GC,2223,-0.74,-195.5,251.5,-15.3,142,2230,0.15,1.20,0.00,0.000,6,0.140,0.022,2500,2249,3769,0,0,0,0,0,0,26.50,26.76,28.83
$GC,2543,-0.78,-195.5,283.5,-9.6,158,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2249,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2845,-0.82,-195.5,315.0,-11.0,173,2851,0.00,1.30,0.00,0.000,4,0.000,0.046,2500,3087,3765,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2932,-0.87,-195.5,323.2,-10.2,177,2936,0.12,1.20,0.00,0.000,6,0.079,0.022,2428,2258,3766,0,0,0,0,0,0,26.71,26.78,28.83
$GC,3234,-0.84,-195.5,370.2,-13.5,192,3236,0.15,0.00,0.00,0.000,6,0.151,0.000,2470,2251,3763,0,0,0,0,0,0,26.54,28.83,28.83
$GC,3535,-0.86,-195.5,398.4,-8.7,207,3541,0.00,1.30,0.00,0.000,4,0.000,0.048,2470,3090,3761,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3663,-0.89,-195.5,408.5,-8.3,213,3671,0.00,1.23,0.00,0.000,6,0.000,0.022,2469,2246,3761,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3974,-0.92,-195.5,434.9,-8.2,229,3980,0.00,1.35,0.00,0.000,4,0.000,0.047,2470,3105,3759,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4054,-0.95,-195.5,441.0,-7.7,233,4061,0.12,1.25,0.00,0.000,6,0.082,0.024,2405,2252,3758,0,0,0,0,0,0,26.70,26.77,28.83
$GC,4373,-0.91,-195.5,483.5,-16.3,249,4381,0.15,1.35,-0.10,0.000,4,0.155,0.066,2442,3101,3780,0,0,0,0,0,0,26.53,26.67,26.23
$GC,4422,-0.89,-195.5,489.6,-16.1,251,4425,0.00,1.25,0.00,0.000,6,0.000,0.021,2441,2206,3780,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4722,-0.89,-195.5,533.6,-14.0,266,4725,0.00,1.40,0.00,0.000,4,0.000,0.043,2440,3104,3779,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4802,-0.89,-195.5,543.9,-14.5,270,4805,0.00,1.20,0.00,0.000,6,0.000,0.031,2441,2243,3778,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5104,-0.89,-195.5,587.1,-13.7,285,5110,0.00,1.33,0.00,0.000,4,0.000,0.044,2440,3095,3776,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5192,-0.89,-195.5,598.0,-13.7,289,5195,0.00,1.17,0.00,0.000,6,0.000,0.022,2440,2247,3775,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,5214,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5214,begin apogee
$GC,5220,-0.20,0.0,601.9,-13.4,290,5384,0.68,0.00,160.05,0.918,6,0.110,0.000,2670,2243,2967,0,0,0,0,0,0,26.40,28.83,24.38
$STATE,5387,end apogee,CONTROL_FINISHED_OK
$STATE,5387,begin climb
$GC,5390,0.47,195.5,611.4,0.0,295,5558,0.57,1.27,162.23,0.881,4,0.042,0.041,2905,2999,2165,0,0,0,0,0,0,25.22,24.93,24.28
$GC,5787,0.42,195.5,579.4,13.5,310,5791,0.12,1.23,0.00,0.000,6,0.162,0.024,2876,2180,2146,0,0,0,0,0,0,25.82,26.05,28.83
$GC,6088,0.39,196.2,547.6,10.0,325,6095,0.00,1.30,0.00,0.000,4,0.000,0.041,2876,3002,2144,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6329,0.38,244.9,525.0,8.3,337,6376,0.00,1.27,42.38,0.859,6,0.000,0.024,2880,2132,1963,0,0,0,0,0,0,28.83,26.47,24.92
$GC,6688,0.40,327.8,500.9,7.2,355,6768,0.00,1.33,65.30,1.369,4,0.000,0.033,2884,1290,1632,0,0,0,0,1,0,28.83,24.91,23.89
$GC,6977,0.40,335.6,475.7,9.7,369,6996,0.00,1.30,12.65,0.920,6,0.000,0.028,2885,2136,1593,0,0,0,0,0,0,28.83,26.03,25.03
$GC,7308,0.40,335.6,433.7,13.7,386,7311,0.00,1.38,0.00,0.000,4,0.000,0.041,2884,3018,1585,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7539,0.40,335.6,401.6,13.4,398,7546,0.00,1.27,0.00,0.000,6,0.000,0.026,2884,2155,1583,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7859,0.41,360.7,370.3,9.1,414,7888,0.00,1.40,20.08,0.983,4,0.000,0.040,2884,3026,1496,0,0,0,0,1,0,28.83,25.98,24.94
$GC,8010,0.41,360.7,355.2,11.1,421,8018,0.00,1.30,0.00,0.000,6,0.000,0.024,2885,2146,1502,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8319,0.43,360.7,318.9,12.2,437,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2146,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8621,0.44,360.7,283.5,11.5,452,8627,0.00,1.33,0.00,0.000,4,0.000,0.040,2884,3010,1501,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8859,0.46,360.7,257.5,10.2,464,8866,0.00,1.25,0.00,0.000,6,0.000,0.023,2885,2143,1501,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9179,0.48,360.7,224.7,10.8,480,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2143,1501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9482,0.52,394.8,197.9,8.8,495,9528,0.00,1.42,31.67,1.065,4,0.000,0.040,2884,3025,1360,0,0,0,0,1,0,28.83,25.79,24.84
$GC,9579,0.58,428.4,189.0,8.8,500,9621,0.12,1.30,31.80,1.044,6,0.080,0.022,2955,2139,1220,0,0,0,0,1,0,26.01,26.06,24.42
$GC,9929,0.58,428.4,141.0,11.7,518,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2139,1224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10232,0.62,461.1,112.2,8.9,533,10250,0.00,1.40,13.73,0.394,4,0.000,0.038,2955,3024,1085,0,0,0,0,0,0,28.83,26.24,25.70
$GC,10380,0.66,468.9,98.9,9.7,540,10390,0.00,1.25,3.45,0.327,6,0.000,0.021,2955,2148,1054,0,0,0,0,0,0,28.83,26.41,25.74
$GC,10690,0.76,567.3,78.9,6.6,556,10732,0.00,0.00,40.00,0.314,6,0.000,0.000,2954,2148,652,0,0,0,0,0,0,28.83,28.83,25.71
$GC,11030,0.93,717.8,60.2,4.8,573,11053,0.22,0.00,20.15,0.265,6,0.054,0.000,3068,2148,457,0,0,0,0,0,0,26.46,28.83,25.84
$GC,11350,0.92,717.8,12.9,18.7,606,11357,0.12,1.33,0.00,0.000,4,0.131,0.035,3025,3018,450,0,0,0,0,0,0,26.36,26.45,28.83
$GC,11385,0.94,717.8,6.8,15.8,612,11393,0.00,1.23,0.00,0.000,6,0.000,0.023,3025,2151,450,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,11414,end climb,SURFACE_DEPTH_REACHED
$STATE,11414,begin surface coast
$FINISH,0.7,1.005788
$STATE,11436,end surface coast,CONTROL_FINISHED_OK
$STATE,11438,begin surface
$SM_CCo,11516,0.00,0.000,0,0,449,617.91
$SM_GC,1.44,7.30,0.15,0.00,0.028,0.068,0.000,116,2286,449,-8.10,-1.30,617.91,0,0,0,0,0,0,26.48,26.53,28.83
$IRIDIUM_FIX,2143.45,12107.39,181012,131325
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.61
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.20
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,601.9,8.1
$24V_AH,23.9,11.889
$10V_AH,10.2,6.285
$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,20.025,49.150,603.475,0.000,0.000,0.000,0.000,260.275,4.000,0.000,5.851,1762.737,7667.535,741.475,1526.776,248.875,0.000,1674.398,0.000,1200.841,0.000,11.914,0.000
$DEVICE_MAMPS,234.090,68.085,1369.350,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11453.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,39.188,0.000,0.000,0.000
$MEM,323856
$DATA_FILE_SIZE,23404,621
$CAP_FILE_SIZE,131913,0
$CFSIZE,260165632,247488512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.137, 25.1,1
$GPS,181012,200524,2154.615,12106.330,37,1.7,37,-3.1