version: 66.11
glider: 167
mission: 14
dive: 37
start: 10 21 112 5 13 32
data:
$ID,167
$MISSION,14
$DIVE,37
$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,-968535.12
$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,2275
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$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
$GPS1,211012,050229,2216.428,12109.926,41,0.9,41,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.7
$GPS2,211012,051303,2216.402,12109.732,5,0.9,5,-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,38.6,91620,-15.7,-10.000,-18.65
$D_GRID,655
$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,-195.5,0.0,0.0,0,90,0.00,0.00,-70.20,0.000,2,0.000,0.000,111,2264,2396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.47,-195.5,3.0,-5.5,12,143,9.55,0.00,-34.65,0.000,6,0.223,0.000,2580,2265,3766,0,0,0,0,0,0,25.66,28.83,26.46
$GC,453,-0.46,-195.5,59.3,-15.0,58,458,0.00,2.15,0.00,0.000,4,0.000,0.044,2574,3672,3767,0,0,0,0,0,0,28.83,26.30,28.83
$GC,525,-0.46,-195.5,68.3,-14.4,61,530,0.00,1.98,0.00,0.000,6,0.000,0.021,2575,2292,3767,0,0,0,0,0,0,28.83,26.44,28.83
$GC,838,-0.53,-195.5,91.5,-6.6,77,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2292,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1140,-0.60,-195.5,114.0,-7.7,92,1145,0.00,2.05,0.00,0.000,4,0.000,0.031,2574,865,3768,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1184,-0.68,-195.5,117.9,-8.2,94,1190,0.15,2.08,0.00,0.000,6,0.067,0.034,2476,2272,3768,0,0,0,0,0,0,26.58,26.55,28.83
$GC,1508,-0.67,-195.5,174.9,-15.3,110,1514,0.12,2.12,0.00,0.000,4,0.149,0.041,2507,3682,3768,0,0,0,0,0,0,26.46,26.55,28.83
$GC,1609,-0.69,-195.5,185.0,-11.9,114,1615,0.00,2.00,0.00,0.000,6,0.000,0.021,2507,2277,3768,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1913,-0.73,-195.5,217.0,-9.6,130,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2277,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2215,-0.76,-195.5,247.0,-11.4,145,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2277,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2515,-0.80,-195.5,272.4,-7.1,160,2520,0.00,2.17,0.00,0.000,4,0.000,0.057,2507,3680,3765,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2602,-0.86,-195.5,277.9,-6.6,164,2609,0.12,2.03,0.00,0.000,6,0.080,0.021,2433,2264,3765,0,0,0,0,0,0,26.67,26.72,28.83
$GC,2922,-0.84,-195.5,322.0,-15.2,180,2924,0.12,0.00,0.00,0.000,6,0.149,0.000,2467,2263,3763,0,0,0,0,0,0,26.57,28.83,28.83
$GC,3225,-0.86,-195.5,353.2,-9.6,195,3230,0.00,2.17,0.00,0.000,4,0.000,0.050,2467,3670,3761,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3262,-0.88,-195.5,355.7,-9.5,196,3270,0.00,2.00,0.00,0.000,6,0.000,0.022,2467,2276,3761,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3568,-0.91,-195.5,386.0,-9.2,212,3575,0.00,2.17,0.00,0.000,4,0.000,0.050,2467,3670,3759,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3642,-0.93,-195.5,391.9,-9.3,215,3647,0.00,2.00,0.00,0.000,6,0.000,0.022,2467,2276,3758,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3956,-0.95,-195.5,423.3,-10.8,231,3961,0.00,2.17,-0.08,0.000,4,0.000,0.063,2467,3670,3783,0,0,0,0,0,0,28.83,26.56,26.05
$GC,4003,-0.98,-195.5,428.1,-10.9,233,4010,0.15,2.03,0.00,0.000,6,0.073,0.023,2390,2261,3784,0,0,0,0,0,0,26.67,26.72,28.83
$GC,4324,-0.94,-195.5,475.7,-13.9,249,4330,0.12,2.03,0.00,0.000,4,0.161,0.033,2429,866,3782,0,0,0,0,0,0,26.51,26.67,28.83
$GC,4412,-0.94,-195.5,485.8,-11.7,253,4417,0.00,2.12,0.00,0.000,6,0.000,0.037,2429,2275,3781,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4730,-0.94,-195.5,527.4,-12.4,269,4735,0.00,2.15,0.00,0.000,4,0.000,0.047,2427,3688,3778,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4822,-0.94,-195.5,537.7,-12.4,273,4828,0.00,2.03,0.00,0.000,6,0.000,0.021,2427,2248,3778,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,4918,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4918,begin apogee
$GC,4923,-0.20,0.0,550.3,-12.5,278,5086,0.73,0.00,156.75,0.907,6,0.112,0.000,2672,2245,2965,0,0,0,0,0,0,26.35,28.83,24.37
$STATE,5088,end apogee,CONTROL_FINISHED_OK
$STATE,5088,begin climb
$GC,5090,0.47,195.5,559.1,0.0,286,5262,0.57,2.38,160.68,0.864,4,0.043,0.044,2903,3650,2160,0,0,0,0,0,0,25.20,24.89,24.22
$GC,5489,0.40,195.5,522.8,13.6,306,5495,0.15,2.05,0.00,0.000,6,0.159,0.026,2870,2278,2150,0,0,0,0,0,0,25.76,25.98,28.83
$GC,5804,0.39,203.5,488.7,9.7,322,5810,0.00,2.15,0.00,0.000,4,0.000,0.046,2870,3664,2147,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5963,0.36,203.5,472.8,10.8,329,5970,0.00,2.08,0.00,0.000,6,0.000,0.025,2875,2245,2146,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6269,0.35,237.4,442.4,8.8,345,6313,0.00,2.33,35.03,0.855,4,0.000,0.044,2875,3669,1990,0,0,0,0,0,0,28.83,25.77,25.12
$GC,6416,0.33,237.4,428.6,10.3,352,6422,0.00,2.10,0.00,0.000,6,0.000,0.025,2876,2250,1985,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6735,0.33,283.6,400.5,8.4,368,6783,0.00,2.30,36.35,1.232,4,0.000,0.046,2874,3657,1810,0,0,0,0,1,0,28.83,25.35,24.36
$GC,6839,0.32,283.6,390.5,10.0,373,6845,0.12,2.12,0.00,0.000,6,0.150,0.025,2843,2245,1814,0,0,0,0,0,0,25.65,25.79,28.83
$GC,7164,0.37,337.8,365.5,8.1,389,7225,0.00,2.40,49.38,1.272,4,0.000,0.044,2843,3663,1589,0,0,0,0,1,0,28.83,25.08,24.11
$GC,7311,0.41,337.8,351.7,10.1,396,7316,0.00,2.12,0.00,0.000,6,0.000,0.024,2843,2248,1592,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7630,0.50,438.5,326.5,6.5,412,7730,0.17,2.42,89.20,1.294,4,0.063,0.047,2934,3666,1179,0,0,0,0,1,0,26.28,24.84,23.93
$GC,7759,0.49,438.5,311.4,13.0,418,7766,0.15,2.17,0.00,0.000,6,0.142,0.026,2894,2251,1181,0,0,0,0,0,0,25.24,25.35,28.83
$GC,8079,0.53,454.7,279.7,9.4,434,8099,0.00,0.00,18.10,0.800,6,0.000,0.000,2894,2250,1113,0,0,0,0,0,0,28.83,28.83,25.11
$GC,8399,0.57,463.0,250.9,9.7,450,8409,0.00,0.00,7.43,0.876,6,0.000,0.000,2894,2250,1081,0,0,0,0,0,0,28.83,28.83,25.35
$GC,8700,0.63,483.1,220.9,9.3,465,8725,0.12,2.17,19.60,0.755,4,0.081,0.034,2976,854,992,0,0,0,0,0,0,26.40,25.96,25.33
$GC,8744,0.65,483.1,215.1,11.2,467,8749,0.00,2.12,0.00,0.000,6,0.000,0.028,2976,2264,988,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9068,0.63,483.1,164.5,15.4,483,9074,0.12,2.12,0.00,0.000,4,0.132,0.042,2937,3655,988,0,0,0,0,0,0,26.24,26.28,28.83
$GC,9132,0.63,483.1,155.6,14.0,486,9138,0.00,2.08,0.00,0.000,6,0.000,0.023,2937,2229,987,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9456,0.68,540.6,123.1,8.0,502,9509,0.00,2.12,45.53,0.634,4,0.000,0.033,2937,855,752,0,0,0,0,0,0,28.83,25.82,25.26
$GC,9565,0.77,604.3,114.7,7.8,507,9600,0.15,2.08,24.88,0.392,6,0.067,0.025,3023,2254,503,0,0,0,0,0,0,26.01,26.00,25.34
$GC,9898,0.77,604.3,60.6,13.7,524,9903,0.12,2.12,0.00,0.000,4,0.132,0.041,2980,3649,504,0,0,0,0,0,0,26.17,26.21,28.83
$GC,10032,0.84,629.4,47.7,9.1,531,10045,0.00,2.03,4.50,0.231,6,0.000,0.021,2980,2237,459,0,0,0,0,0,0,28.83,26.39,25.89
$GC,10345,0.97,738.5,27.9,6.2,562,10352,0.17,2.00,0.47,0.230,4,0.061,0.029,3090,862,458,0,0,0,0,0,0,26.53,26.45,26.22
$GC,10390,0.97,738.5,22.2,14.1,567,10399,0.12,2.03,0.47,0.291,6,0.119,0.025,3052,2255,456,0,0,0,0,0,0,26.35,26.47,26.22
$STATE,10511,end climb,SURFACE_DEPTH_REACHED
$STATE,10511,begin surface coast
$FINISH,0.7,1.013288
$STATE,10534,end surface coast,CONTROL_FINISHED_OK
$STATE,10534,begin surface
$SM_CCo,10612,0.00,0.000,0,0,462,614.72
$SM_GC,1.47,7.30,0.00,0.00,0.023,0.000,0.000,115,2257,462,-8.10,-0.51,614.72,0,0,0,0,0,0,26.53,28.83,28.83
$IRIDIUM_FIX,2209.02,12110.21,211012,050520
$TT8_MAMPS,0.029211,0.029211
$HUMID,53.38
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.50
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,550.3,7.9
$24V_AH,23.9,14.986
$10V_AH,9.9,8.016
$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,20.375,84.950,648.350,0.000,0.000,0.000,0.000,405.125,2.250,0.000,5.924,1853.798,6550.767,684.423,1886.979,270.943,0.000,1938.498,0.000,1423.979,0.000,7.272,0.000
$DEVICE_MAMPS,222.615,63.495,1293.615,0.000,0.000,0.000,0.000,126.225,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10556.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.352,0.000,0.000,0.000
$MEM,323836
$DATA_FILE_SIZE,20071,594
$CAP_FILE_SIZE,141227,0
$CFSIZE,260165632,246218752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.204,279.2,1
$GPS,211012,081136,2217.948,12109.360,30,1.0,30,-3.2