version: 66.11
glider: 167
mission: 14
dive: 23
start: 10 18 112 23 24 55
data:
$ID,167
$MISSION,14
$DIVE,23
$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,-968502.06
$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,77
$R_STBD_OVSHOOT,54
$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
$GPS1,181012,231729,2156.908,12107.599,39,0.8,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-57.7
$GPS2,181012,232428,2156.774,12107.628,5,0.8,5,-3.2
$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,352.7,127594,-15.7,-10.000,-18.65
$D_GRID,923
$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,-75.70,0.000,2,0.000,0.000,112,2271,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-195.5,3.1,-5.3,13,149,9.82,1.33,-30.52,0.000,4,0.236,0.073,2583,3106,3767,0,0,0,0,0,0,25.82,26.20,26.55
$GC,272,-0.45,-195.5,31.6,-19.1,42,276,0.00,1.25,0.00,0.000,6,0.000,0.023,2583,2255,3767,0,0,0,0,0,0,28.83,26.40,28.83
$GC,583,-0.48,-195.5,77.1,-13.0,63,586,0.00,1.27,0.00,0.000,4,0.000,0.031,2583,1386,3767,0,0,0,0,0,0,28.83,26.50,28.83
$GC,654,-0.52,-195.5,86.5,-13.5,67,658,0.00,1.33,0.00,0.000,6,0.000,0.035,2583,2250,3768,0,0,0,0,0,0,28.83,26.51,28.83
$GC,966,-0.57,-195.5,114.0,-5.3,83,973,0.00,1.35,0.00,0.000,4,0.000,0.045,2583,3128,3768,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1187,-0.66,-195.5,127.8,-6.4,94,1194,0.15,1.27,0.00,0.000,6,0.069,0.021,2489,2245,3769,0,0,0,0,0,0,26.64,26.69,28.83
$GC,1505,-0.66,-195.5,165.6,-10.5,110,1509,0.12,1.25,0.00,0.000,4,0.145,0.031,2524,1387,3769,0,0,0,0,0,0,26.57,26.66,28.83
$GC,1607,-0.71,-195.5,171.2,-5.8,115,1610,0.00,1.33,0.00,0.000,6,0.000,0.035,2524,2255,3769,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1909,-0.76,-195.5,199.1,-9.6,130,1915,0.00,1.33,0.00,0.000,4,0.000,0.047,2524,3128,3769,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2017,-0.81,-195.5,207.7,-8.5,135,2021,0.12,1.27,0.00,0.000,6,0.079,0.021,2447,2241,3769,0,0,0,0,0,0,26.70,26.76,28.83
$GC,2318,-0.79,-195.5,247.8,-13.4,150,2325,0.15,1.38,0.00,0.000,4,0.145,0.044,2487,3126,3768,0,0,0,0,0,0,26.55,26.66,28.83
$GC,2518,-0.82,-195.5,266.1,-9.1,160,2525,0.00,1.27,0.00,0.000,6,0.000,0.023,2486,2247,3767,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2838,-0.85,-195.5,295.0,-9.6,176,2844,0.00,1.25,0.00,0.000,4,0.000,0.034,2486,1393,3765,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2878,-0.87,-195.5,298.8,-9.6,178,2884,0.00,1.33,0.00,0.000,6,0.000,0.037,2486,2255,3765,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3198,-0.90,-195.5,325.8,-8.3,194,3200,0.10,0.00,0.00,0.000,6,0.096,0.000,2425,2256,3762,0,0,0,0,0,0,26.82,28.83,28.83
$GC,3499,-0.87,-195.5,364.5,-14.5,209,3505,0.12,1.33,0.00,0.000,4,0.162,0.046,2454,3133,3761,0,0,0,0,0,0,26.58,26.69,28.83
$GC,3627,-0.87,-195.5,375.8,-8.4,215,3630,0.00,1.30,0.00,0.000,6,0.000,0.026,2454,2246,3759,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3929,-0.87,-195.5,398.1,-6.9,230,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2246,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4231,-0.87,-195.5,417.6,-6.6,245,4237,0.00,1.38,-0.08,0.000,4,0.000,0.068,2453,3146,3783,0,0,0,0,0,0,28.83,26.65,26.10
$GC,4379,-0.88,-195.5,430.3,-9.5,252,4387,0.00,1.30,0.00,0.000,6,0.000,0.024,2453,2254,3782,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4687,-0.90,-195.5,464.9,-11.1,268,4694,0.00,1.40,0.00,0.000,4,0.000,0.050,2453,3128,3780,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4808,-0.91,-195.5,478.9,-11.8,274,4815,0.00,1.30,0.00,0.000,6,0.000,0.024,2453,2242,3779,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5128,-0.92,-195.5,512.2,-10.8,290,5134,0.00,1.40,0.00,0.000,4,0.000,0.049,2453,3125,3777,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5177,-0.93,-195.5,517.2,-11.6,292,5180,0.00,1.30,0.00,0.000,6,0.000,0.036,2453,2246,3777,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,5460,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5461,begin apogee
$GC,5467,-0.20,0.0,551.6,-11.6,306,5646,0.62,0.00,168.82,1.065,6,0.107,0.000,2667,2130,2967,0,0,0,0,1,0,26.39,28.83,23.84
$STATE,5649,end apogee,CONTROL_FINISHED_OK
$STATE,5649,begin climb
$GC,5651,0.47,195.5,566.0,0.0,315,5841,0.60,1.52,171.07,1.470,4,0.047,0.045,2900,3019,2170,0,0,0,0,1,0,25.05,24.44,23.47
$GC,6069,0.41,195.5,550.1,10.0,336,6079,0.15,1.33,0.00,0.000,6,0.149,0.024,2865,2142,2167,0,0,0,0,0,0,25.72,25.92,28.83
$GC,6379,0.43,287.3,525.9,6.8,352,6468,0.00,1.40,82.38,0.860,4,0.000,0.040,2865,3027,1788,0,0,0,0,0,0,28.83,25.18,24.51
$GC,6699,0.43,287.3,495.1,11.1,368,6702,0.00,1.33,0.00,0.000,6,0.000,0.024,2862,2136,1781,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7010,0.43,287.3,462.6,10.5,384,7013,0.00,1.42,0.00,0.000,4,0.000,0.041,2867,3038,1779,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7202,0.43,287.3,442.7,10.0,394,7209,0.00,1.30,0.00,0.000,6,0.000,0.026,2867,2155,1778,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7522,0.48,370.2,417.8,7.2,410,7601,0.00,1.45,74.32,0.806,4,0.000,0.041,2867,3032,1450,0,0,0,0,0,0,28.83,25.37,24.74
$GC,7672,0.52,425.2,407.0,8.1,417,7731,0.08,1.33,49.10,0.789,6,0.054,0.025,2926,2149,1226,0,0,0,0,0,0,25.79,25.84,24.63
$GC,8042,0.51,425.2,353.9,15.1,436,8048,0.00,1.40,0.00,0.000,4,0.000,0.041,2925,3033,1216,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8090,0.50,425.2,347.5,15.3,438,8094,0.00,1.33,0.00,0.000,6,0.000,0.025,2928,2147,1216,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8392,0.48,425.2,302.1,15.2,453,8399,0.12,1.40,0.00,0.000,4,0.154,0.040,2895,3038,1215,0,0,0,0,0,0,26.27,26.36,28.83
$GC,8451,0.48,425.2,294.4,13.4,456,8454,0.00,1.33,0.00,0.000,6,0.000,0.025,2895,2147,1214,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8763,0.52,447.4,263.2,9.2,472,8790,0.00,1.40,15.40,0.736,4,0.000,0.041,2895,3036,1145,0,0,0,0,1,0,28.83,26.22,25.21
$GC,8851,0.56,477.2,256.0,9.0,476,8890,0.00,1.33,27.92,1.044,6,0.000,0.024,2895,2143,1019,0,0,0,0,1,0,28.83,26.34,24.63
$GC,9202,0.64,538.4,226.1,7.9,494,9271,0.15,1.48,56.47,1.204,4,0.073,0.041,2977,3033,773,0,0,0,0,1,0,26.29,25.03,24.10
$GC,9502,0.60,538.4,174.2,18.4,509,9509,0.15,1.33,0.00,0.000,6,0.143,0.024,2939,2150,778,0,0,0,0,0,0,25.91,26.09,28.83
$GC,9822,0.64,538.4,141.4,10.5,525,9828,0.00,1.38,0.00,0.000,4,0.000,0.039,2939,3033,777,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9851,0.67,538.4,139.1,11.0,526,9854,0.00,1.30,0.00,0.000,6,0.000,0.023,2939,2142,777,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10153,0.73,545.0,108.6,9.8,541,10161,0.10,1.40,3.28,0.344,4,0.093,0.039,3001,3034,745,0,0,0,0,0,0,26.53,26.42,25.83
$GC,10241,0.73,545.0,95.7,16.4,545,10244,0.00,1.30,0.00,0.000,6,0.000,0.023,2999,2146,751,0,0,0,0,0,0,28.83,26.51,28.83
$GC,10543,0.78,585.3,57.1,8.6,560,10565,0.00,1.40,17.17,0.260,4,0.000,0.039,3002,3038,578,0,0,0,0,0,0,28.83,26.41,25.98
$GC,10684,0.82,585.3,44.0,10.2,570,10692,0.00,1.27,0.00,0.000,6,0.000,0.023,3002,2149,582,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10993,0.88,585.3,14.4,10.5,611,11000,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2148,581,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11106,end climb,SURFACE_DEPTH_REACHED
$STATE,11107,begin surface coast
$FINISH,1.0,1.021929
$STATE,11138,end surface coast,CONTROL_FINISHED_OK
$STATE,11138,begin surface
$SM_CCo,11216,0.00,0.000,0,0,581,585.53
$SM_GC,1.33,7.25,0.15,0.00,0.030,0.076,0.000,111,2265,581,-8.12,-1.24,585.53,0,0,0,0,0,0,26.59,26.62,28.83
$IRIDIUM_FIX,2145.77,12104.20,181012,202006
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.68
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.70
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,551.6,8.1
$24V_AH,23.5,12.292
$10V_AH,10.4,6.541
$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,19.825,59.250,665.950,0.000,0.000,0.000,0.000,253.600,4.000,0.000,5.939,1782.821,7247.149,816.319,1544.035,253.445,0.000,1765.441,0.000,1232.841,0.000,10.099,0.000
$DEVICE_MAMPS,236.385,86.445,1469.565,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11172.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.257,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,23374,639
$CAP_FILE_SIZE,135662,0
$CFSIZE,260165632,247328768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.262,191.4,1
$GPS,191012,023306,2156.850,12106.771,31,1.2,31,-3.2