version: 66.11
glider: 167
mission: 14
dive: 30
start: 10 20 112 0 18 15
data:
$ID,167
$MISSION,14
$DIVE,30
$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,-968518.5
$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,96
$R_STBD_OVSHOOT,50
$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
$GPS1,201012,001129,2203.962,12107.972,39,0.9,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-60.3
$GPS2,201012,001748,2203.961,12107.965,5,0.9,5,-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,19.3,114575,-15.7,-10.000,-18.65
$D_GRID,1259
$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,-195.5,0.0,0.0,0,91,0.00,0.00,-69.95,0.000,2,0.000,0.000,111,2323,2483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.47,-195.5,3.0,-5.5,12,143,9.60,1.25,-30.45,0.000,4,0.226,0.073,2581,3113,3767,0,0,0,0,0,0,25.79,26.22,26.55
$GC,177,-0.47,-195.5,14.3,-15.2,26,184,0.00,1.23,0.00,0.000,6,0.000,0.021,2581,2264,3768,0,0,0,0,0,0,28.83,26.35,28.83
$GC,502,-0.44,-195.5,72.9,-18.5,57,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2264,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,804,-0.50,-195.5,104.3,-6.4,72,810,0.00,1.30,0.00,0.000,4,0.000,0.044,2581,3109,3769,0,0,0,0,0,0,28.83,26.51,28.83
$GC,964,-0.58,-195.5,115.8,-6.4,80,970,0.00,1.23,0.00,0.000,6,0.000,0.022,2581,2245,3769,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1282,-0.67,-195.5,139.6,-7.1,96,1290,0.17,1.35,0.00,0.000,4,0.063,0.042,2476,3116,3770,0,0,0,0,0,0,26.71,26.59,28.83
$GC,1362,-0.67,-195.5,150.4,-13.6,100,1366,0.17,1.25,0.00,0.000,6,0.130,0.021,2528,2240,3770,0,0,0,0,0,0,26.44,26.70,28.83
$GC,1674,-0.72,-195.5,184.1,-8.2,116,1681,0.00,1.23,0.00,0.000,4,0.000,0.031,2528,1384,3770,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1743,-0.77,-195.5,189.4,-8.7,119,1747,0.12,1.30,0.00,0.000,6,0.078,0.031,2446,2253,3770,0,0,0,0,0,0,26.65,26.67,28.83
$GC,2044,-0.74,-195.5,230.1,-12.3,134,2051,0.17,1.33,0.00,0.000,4,0.141,0.047,2493,3116,3769,0,0,0,0,0,0,26.49,26.63,28.83
$GC,2104,-0.74,-195.5,235.4,-9.6,137,2111,0.00,1.25,0.00,0.000,6,0.000,0.021,2493,2248,3773,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2425,-0.78,-195.5,262.9,-9.5,153,2431,0.00,1.35,0.00,0.000,4,0.000,0.044,2493,3114,3768,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2553,-0.81,-195.5,275.4,-10.5,159,2556,0.00,1.25,0.00,0.000,6,0.000,0.021,2493,2251,3767,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2855,-0.85,-195.5,306.6,-10.8,174,2861,0.00,1.35,0.00,0.000,4,0.000,0.045,2493,3113,3766,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2935,-0.89,-195.5,314.5,-10.0,178,2942,0.10,1.25,0.00,0.000,6,0.094,0.022,2422,2249,3765,0,0,0,0,0,0,26.70,26.77,28.83
$GC,3254,-0.86,-195.5,360.1,-14.6,194,3262,0.15,1.25,0.00,0.000,4,0.152,0.031,2464,1393,3763,0,0,0,0,0,0,26.52,26.70,28.83
$GC,3405,-0.88,-195.5,375.0,-9.5,201,3413,0.00,1.27,0.00,0.000,6,0.000,0.037,2463,2238,3762,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3714,-0.90,-195.5,407.8,-10.8,217,3721,0.00,1.38,0.00,0.000,4,0.000,0.047,2464,3130,3760,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3923,-0.92,-195.5,431.6,-12.0,227,3926,0.00,1.27,0.00,0.000,6,0.000,0.023,2464,2237,3758,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4224,-0.95,-195.5,473.5,-13.4,242,4231,0.00,1.42,-0.08,0.000,4,0.000,0.071,2464,3123,3780,0,0,0,0,0,0,28.83,26.63,25.86
$GC,4284,-0.98,-195.5,481.4,-13.2,245,4291,0.12,1.25,0.00,0.000,6,0.082,0.023,2396,2265,3780,0,0,0,0,0,0,26.68,26.76,28.83
$GC,4604,-0.94,-195.5,534.2,-16.0,261,4606,0.15,0.00,0.00,0.000,6,0.153,0.000,2436,2264,3777,0,0,0,0,0,0,26.51,28.83,28.83
$STATE,4744,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4744,begin apogee
$GC,4751,-0.20,0.0,552.2,-12.4,268,4913,0.68,0.00,158.00,0.898,6,0.108,0.000,2669,2104,2967,0,0,0,0,0,0,26.39,28.83,24.43
$STATE,4916,end apogee,CONTROL_FINISHED_OK
$STATE,4916,begin climb
$GC,4918,0.47,195.5,561.2,0.0,276,5084,0.57,0.00,161.57,0.855,6,0.043,0.000,2903,2103,2168,0,0,0,0,0,0,25.25,28.83,24.32
$GC,5385,0.43,198.4,525.9,9.9,299,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2103,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5686,0.39,213.3,497.8,9.5,314,5712,0.12,1.48,13.00,0.857,4,0.145,0.042,2869,3030,2087,0,0,0,0,1,0,26.25,26.10,24.85
$GC,5944,0.37,220.2,473.5,9.8,327,5952,0.00,1.27,1.75,0.185,6,0.000,0.024,2869,2165,2068,0,0,0,0,0,0,28.83,26.38,26.04
$GC,6264,0.36,220.2,440.3,11.1,343,6270,0.00,1.35,0.00,0.000,4,0.000,0.041,2869,3031,2076,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6466,0.34,220.2,418.9,10.5,353,6471,0.00,1.27,0.00,0.000,6,0.000,0.026,2869,2153,2076,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6784,0.35,244.5,388.7,9.2,369,6815,0.00,1.42,22.60,1.029,4,0.000,0.042,2869,3037,1970,0,0,0,0,1,0,28.83,26.01,24.96
$GC,7043,0.36,253.8,364.7,9.7,381,7065,0.00,1.33,13.00,0.903,6,0.000,0.025,2869,2146,1931,0,0,0,0,1,0,28.83,26.34,24.79
$GC,7364,0.37,276.2,334.2,9.2,397,7391,0.00,0.00,20.25,0.977,6,0.000,0.000,2869,2144,1840,0,0,0,0,1,0,28.83,28.83,24.84
$GC,7685,0.40,319.9,305.6,8.5,413,7736,0.00,1.48,41.30,1.227,4,0.000,0.041,2869,3027,1661,0,0,0,0,1,0,28.83,25.25,24.28
$GC,7805,0.43,361.2,296.1,8.6,418,7854,0.00,1.35,38.50,1.168,6,0.000,0.024,2869,2138,1495,0,0,0,0,1,0,28.83,25.81,24.13
$GC,8154,0.48,388.6,264.7,9.1,436,8193,0.00,1.42,26.33,1.035,4,0.000,0.041,2869,3021,1383,0,0,0,0,1,0,28.83,25.53,24.52
$GC,8276,0.53,415.9,254.0,9.1,442,8314,0.10,1.27,26.42,1.021,6,0.045,0.024,2941,2143,1271,0,0,0,0,1,0,25.90,25.94,24.39
$GC,8614,0.52,415.9,214.3,10.4,459,8621,0.12,1.40,0.00,0.000,4,0.145,0.039,2907,3035,1274,0,0,0,0,0,0,26.08,26.16,28.83
$GC,8834,0.53,415.9,192.3,11.4,470,8837,0.00,1.30,0.00,0.000,6,0.000,0.034,2908,2155,1273,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9145,0.57,415.9,159.2,10.7,486,9152,0.00,1.38,0.00,0.000,4,0.000,0.038,2908,3043,1272,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9245,0.59,415.9,148.2,11.3,491,9252,0.00,1.30,0.00,0.000,6,0.000,0.022,2908,2148,1272,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9565,0.69,514.7,120.2,6.6,507,9654,0.15,1.45,83.20,0.608,4,0.070,0.039,3000,3038,862,0,0,0,0,0,0,26.63,25.55,25.02
$GC,9675,0.67,514.7,108.3,13.1,512,9683,0.17,1.35,0.00,0.000,6,0.132,0.023,2952,2147,854,0,0,0,0,0,0,25.60,25.75,28.83
$GC,9986,0.77,567.4,79.9,8.2,528,10014,0.12,1.40,19.33,0.303,4,0.077,0.038,3036,3030,656,0,0,0,0,0,0,26.31,26.10,25.64
$GC,10126,0.77,567.4,58.9,16.5,535,10133,0.15,1.30,0.00,0.000,6,0.141,0.022,2990,2142,661,0,0,0,0,0,0,26.10,26.29,28.83
$GC,10435,0.85,605.0,34.1,8.7,561,10454,0.00,0.00,16.38,0.200,6,0.000,0.000,2990,2141,498,0,0,0,0,0,0,28.83,28.83,25.97
$GC,10757,0.97,673.5,8.9,7.6,613,10764,0.15,0.00,3.90,0.149,6,0.066,0.000,3095,2142,455,0,0,0,0,0,0,26.58,28.83,26.19
$STATE,10799,end climb,SURFACE_DEPTH_REACHED
$STATE,10799,begin surface coast
$FINISH,1.1,1.021965
$STATE,10818,end surface coast,CONTROL_FINISHED_OK
$STATE,10818,begin surface
$SM_CCo,10896,0.00,0.000,0,0,457,615.95
$SM_GC,1.45,7.47,0.17,0.00,0.027,0.063,0.000,106,2279,457,-8.12,-0.93,615.95,0,0,0,0,0,0,26.52,26.53,28.83
$IRIDIUM_FIX,2152.74,12108.59,191012,202020
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.44
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,27.10
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,552.2,8.0
$24V_AH,24.1,13.559
$10V_AH,10.2,7.219
$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,20.600,50.575,645.525,0.000,0.000,0.000,0.000,226.575,2.500,0.000,5.930,1730.137,7041.530,797.763,1468.198,243.755,0.000,1701.953,0.000,1187.797,0.000,7.275,0.000
$DEVICE_MAMPS,225.675,75.735,1227.060,0.000,0.000,0.000,0.000,122.400,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10829.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.452,0.000,0.000,0.000
$MEM,323820
$DATA_FILE_SIZE,23431,624
$CAP_FILE_SIZE,131506,0
$CFSIZE,260165632,246808576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$CURRENT,0.137,219.7,1
$GPS,201012,032106,2205.083,12107.710,32,0.8,32,-3.2