version: 66.11
glider: 167
mission: 14
dive: 27
start: 10 19 112 13 53 3
data:
$ID,167
$MISSION,14
$DIVE,27
$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,-968514.75
$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,70
$R_STBD_OVSHOOT,45
$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
$GPS1,191012,134636,2157.638,12105.956,39,1.7,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-56.3
$GPS2,191012,135236,2157.596,12105.846,4,1.2,4,-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,36.0,126899,-15.7,-10.000,-18.65
$D_GRID,1122
$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,-75.75,0.000,2,0.000,0.000,111,2264,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.47,-195.5,3.1,-4.8,13,149,9.65,1.35,-30.85,0.000,4,0.230,0.072,2583,3116,3766,0,0,0,0,0,0,25.82,26.20,26.55
$GC,176,-0.47,-195.5,12.4,-16.2,26,183,0.00,1.25,0.00,0.000,6,0.000,0.023,2582,2252,3767,0,0,0,0,0,0,28.83,26.33,28.83
$GC,498,-0.45,-195.5,65.7,-19.0,61,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2252,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,798,-0.51,-195.5,97.1,-8.4,76,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2252,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-0.58,-195.5,118.3,-5.9,91,1104,0.00,1.33,0.00,0.000,4,0.000,0.044,2582,3115,3768,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1226,-0.67,-195.5,125.8,-6.4,97,1234,0.17,1.27,0.00,0.000,6,0.061,0.021,2477,2227,3768,0,0,0,0,0,0,26.65,26.68,28.83
$GC,1536,-0.64,-195.5,172.8,-15.5,113,1544,0.17,1.40,0.00,0.000,4,0.137,0.044,2524,3125,3772,0,0,0,0,0,0,26.48,26.61,28.83
$GC,1645,-0.67,-195.5,184.0,-10.6,118,1648,0.00,1.27,0.00,0.000,6,0.000,0.022,2525,2244,3768,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1946,-0.71,-195.5,209.2,-10.0,133,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2243,3772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2248,-0.76,-195.5,236.5,-7.8,148,2253,0.00,1.35,0.00,0.000,4,0.000,0.046,2522,3117,3768,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2477,-0.82,-195.5,253.1,-7.7,159,2485,0.10,1.27,0.00,0.000,6,0.043,0.022,2441,2232,3767,0,0,0,0,0,0,26.70,26.77,28.83
$GC,2786,-0.80,-195.5,300.9,-13.9,175,2793,0.15,1.40,0.00,0.000,4,0.148,0.044,2482,3129,3765,0,0,0,0,0,0,26.55,26.66,28.83
$GC,2854,-0.80,-195.5,308.2,-13.0,178,2858,0.00,1.27,0.00,0.000,6,0.000,0.022,2482,2247,3765,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3156,-0.83,-195.5,334.4,-7.9,193,3163,0.00,1.38,0.00,0.000,4,0.000,0.045,2482,3123,3763,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3245,-0.85,-195.5,340.5,-7.7,197,3249,0.00,1.27,0.00,0.000,6,0.000,0.023,2482,2247,3763,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3546,-0.88,-195.5,368.3,-10.0,212,3549,0.00,1.25,0.00,0.000,4,0.000,0.032,2482,1392,3761,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3597,-0.92,-195.5,373.7,-10.4,215,3605,0.12,1.33,0.00,0.000,6,0.083,0.037,2411,2253,3761,0,0,0,0,0,0,26.68,26.69,28.83
$GC,3917,-0.88,-195.5,419.5,-13.8,231,3925,0.15,1.35,0.00,0.000,4,0.159,0.047,2451,3133,3758,0,0,0,0,0,0,26.51,26.67,28.83
$GC,3977,-0.87,-195.5,426.4,-11.9,234,3980,0.00,1.30,0.00,0.000,6,0.000,0.023,2451,2241,3758,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4288,-0.87,-195.5,454.2,-8.1,250,4290,0.00,0.00,-0.08,0.000,6,0.000,0.000,2451,2241,3779,0,0,0,0,0,0,28.83,28.83,25.92
$GC,4588,-0.88,-195.5,483.3,-10.2,265,4595,0.00,1.42,0.00,0.000,4,0.000,0.049,2451,3133,3777,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4637,-0.89,-195.5,487.6,-10.6,267,4640,0.00,1.30,0.00,0.000,6,0.000,0.036,2451,2252,3777,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4938,-0.91,-195.5,522.7,-11.3,282,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2252,3775,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5201,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5201,begin apogee
$GC,5208,-0.20,0.0,551.6,-11.3,295,5369,0.65,0.00,157.38,0.891,6,0.122,0.000,2674,2131,2967,0,0,0,0,0,0,26.44,28.83,24.41
$STATE,5373,end apogee,CONTROL_FINISHED_OK
$STATE,5373,begin climb
$GC,5375,0.47,195.5,560.2,0.0,303,5544,0.57,1.50,161.00,0.850,4,0.047,0.041,2902,3029,2165,0,0,0,0,0,0,25.23,24.95,24.31
$GC,5773,0.42,195.5,524.0,13.4,322,5781,0.00,1.30,0.00,0.000,6,0.000,0.024,2902,2156,2148,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6083,0.38,195.5,487.0,11.0,338,6090,0.15,1.38,0.00,0.000,4,0.149,0.041,2860,3032,2146,0,0,0,0,0,0,26.16,26.28,28.83
$GC,6323,0.37,218.0,464.3,9.2,350,6345,0.00,1.33,18.17,0.846,6,0.000,0.024,2862,2132,2078,0,0,0,0,0,0,28.83,26.46,25.34
$GC,6653,0.37,218.0,428.2,11.1,367,6656,0.00,1.42,0.00,0.000,4,0.000,0.041,2862,3037,2060,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6884,0.36,218.0,402.3,10.6,379,6891,0.00,1.33,0.00,0.000,6,0.000,0.025,2862,2144,2060,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7204,0.37,257.9,373.8,8.6,395,7244,0.00,1.33,29.52,1.128,4,0.000,0.035,2862,1290,1917,0,0,0,0,1,0,28.83,25.75,24.73
$GC,7473,0.42,341.6,354.0,7.1,408,7564,0.00,1.35,76.10,1.336,6,0.000,0.036,2862,2165,1576,0,0,0,0,1,0,28.83,26.21,23.95
$GC,7865,0.46,380.3,324.9,8.7,428,7912,0.00,1.38,35.80,1.155,4,0.000,0.042,2862,3020,1417,0,0,0,0,1,0,28.83,25.27,24.27
$GC,8124,0.50,380.3,298.4,12.4,441,8132,0.12,1.30,0.00,0.000,6,0.078,0.023,2934,2132,1420,0,0,0,0,0,0,26.06,26.10,28.83
$GC,8444,0.48,380.3,251.8,13.5,457,8452,0.15,1.40,0.00,0.000,4,0.137,0.039,2891,3033,1420,0,0,0,0,0,0,26.22,26.32,28.83
$GC,8484,0.48,380.3,246.8,13.1,459,8491,0.00,1.30,0.00,0.000,6,0.000,0.024,2891,2151,1419,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8804,0.53,408.9,214.7,9.0,475,8843,0.00,0.00,27.15,1.019,6,0.000,0.000,2891,2151,1300,0,0,0,0,1,0,28.83,28.83,24.85
$GC,9144,0.59,464.6,188.7,8.1,492,9205,0.12,1.35,51.85,0.678,4,0.080,0.045,2965,3025,1065,0,0,0,0,0,0,26.34,25.56,24.98
$GC,9324,0.58,464.6,161.5,15.6,501,9332,0.15,1.30,0.00,0.000,6,0.138,0.022,2929,2145,1061,0,0,0,0,0,0,25.89,26.05,28.83
$GC,9644,0.64,508.2,126.8,8.5,517,9684,0.00,1.42,34.20,0.638,4,0.000,0.038,2930,3034,888,0,0,0,0,0,0,28.83,25.81,25.24
$GC,9815,0.72,546.2,113.4,8.7,525,9834,0.10,1.27,14.43,0.380,6,0.039,0.021,3008,2151,739,0,0,0,0,0,0,26.13,26.17,25.48
$GC,10135,0.76,553.9,76.7,9.7,541,10143,0.00,1.38,3.65,0.281,4,0.000,0.037,3008,3028,710,0,0,0,0,0,0,28.83,26.29,25.78
$GC,10265,0.82,626.2,66.3,7.5,547,10298,0.00,1.25,27.73,0.269,6,0.000,0.021,3008,2158,457,0,0,0,0,0,0,28.83,26.42,25.77
$GC,10596,0.89,650.4,35.9,9.2,572,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2158,451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10898,1.00,752.8,9.9,6.5,620,10905,0.12,0.00,0.00,0.000,6,0.077,0.000,3110,2158,448,0,0,0,0,0,0,26.60,28.83,28.83
$STATE,10960,end climb,SURFACE_DEPTH_REACHED
$STATE,10960,begin surface coast
$FINISH,0.9,1.021991
$STATE,10977,end surface coast,CONTROL_FINISHED_OK
$STATE,10977,begin surface
$SM_CCo,11055,0.00,0.000,0,0,447,618.40
$SM_GC,1.56,7.50,0.12,0.00,0.028,0.077,0.000,110,2275,447,-8.10,-1.44,618.40,0,0,0,0,0,0,26.56,26.60,28.83
$IRIDIUM_FIX,2148.09,12100.22,191012,101056
$TT8_MAMPS,0.028462,0.028462
$HUMID,51.85
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,551.6,8.0
$24V_AH,24.0,13.031
$10V_AH,10.1,6.927
$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,20.175,48.275,636.975,0.000,0.000,0.000,0.000,209.900,2.000,0.000,5.838,1755.234,7186.889,776.579,1465.234,238.780,0.000,1661.364,0.000,1207.215,0.000,7.276,0.000
$DEVICE_MAMPS,229.500,86.445,1335.690,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10991.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.114,0.000,0.000,0.000
$MEM,323856
$DATA_FILE_SIZE,23368,635
$CAP_FILE_SIZE,130459,0
$CFSIZE,260165632,247033856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.241,241.4,1
$GPS,191012,165836,2158.166,12105.121,35,1.2,35,-3.2