version: 66.11
glider: 167
mission: 14
dive: 38
start: 10 21 112 8 18 9
data:
$ID,167
$MISSION,14
$DIVE,38
$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,-968536.5
$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,40
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$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
$GPS1,211012,081136,2217.948,12109.360,30,1.0,30,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.4
$GPS2,211012,081740,2217.929,12109.189,4,1.0,5,-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,64.5,89214,-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,-195.5,0.0,0.0,0,96,0.00,0.00,-75.55,0.000,2,0.000,0.000,113,2265,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-195.5,3.1,-5.1,13,144,9.68,2.10,-28.75,0.000,4,0.230,0.044,2584,879,3767,0,0,0,0,0,0,25.79,26.26,26.55
$GC,217,-0.50,-195.5,18.7,-12.0,34,224,0.00,2.05,0.00,0.000,6,0.000,0.030,2585,2266,3767,0,0,0,0,0,0,28.83,26.29,28.83
$GC,532,-0.50,-195.5,69.8,-15.8,63,538,0.00,2.15,0.00,0.000,4,0.000,0.047,2585,3676,3768,0,0,0,0,0,0,28.83,26.41,28.83
$GC,596,-0.52,-195.5,78.6,-14.2,66,602,0.00,2.00,0.00,0.000,6,0.000,0.021,2584,2287,3768,0,0,0,0,0,0,28.83,26.53,28.83
$GC,921,-0.60,-195.5,102.8,-6.9,82,926,0.12,2.05,0.00,0.000,4,0.078,0.032,2495,871,3769,0,0,0,0,0,0,26.65,26.56,28.83
$GC,948,-0.66,-195.5,105.3,-7.8,83,955,0.12,2.08,0.00,0.000,6,0.142,0.036,2531,2269,3769,0,0,0,0,0,0,26.36,26.16,28.83
$GC,1269,-0.67,-195.5,144.8,-13.3,99,1274,0.00,2.15,0.00,0.000,4,0.000,0.047,2531,3696,3770,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1308,-0.69,-195.5,147.6,-13.0,100,1315,0.00,2.05,0.00,0.000,6,0.000,0.020,2531,2261,3770,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1613,-0.74,-195.5,177.5,-9.2,116,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2260,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,-0.80,-195.5,201.5,-7.7,131,1921,0.12,2.17,0.00,0.000,4,0.079,0.046,2440,3678,3769,0,0,0,0,0,0,26.77,26.59,28.83
$GC,2014,-0.80,-195.5,212.3,-12.5,135,2022,0.15,2.00,0.00,0.000,6,0.142,0.021,2483,2272,3769,0,0,0,0,0,0,26.47,26.72,28.83
$GC,2319,-0.82,-195.5,249.5,-10.5,151,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2271,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2621,-0.83,-195.5,283.0,-11.5,166,2626,0.00,2.17,0.00,0.000,4,0.000,0.048,2482,3678,3767,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2659,-0.85,-195.5,285.9,-11.7,167,2665,0.00,2.00,0.00,0.000,6,0.000,0.021,2482,2272,3767,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2965,-0.88,-195.5,316.4,-9.3,183,2970,0.00,2.17,0.00,0.000,4,0.000,0.049,2482,3683,3765,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3009,-0.90,-195.5,320.8,-9.9,185,3015,0.00,2.00,0.00,0.000,6,0.000,0.021,2482,2278,3765,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3333,-0.93,-195.5,351.3,-8.4,201,3335,0.12,0.00,0.00,0.000,6,0.082,0.000,2411,2278,3763,0,0,0,0,0,0,26.80,28.83,28.83
$GC,3635,-0.90,-195.5,390.1,-14.0,216,3641,0.12,2.17,0.00,0.000,4,0.157,0.047,2446,3683,3761,0,0,0,0,0,0,26.53,26.60,28.83
$GC,3702,-0.90,-195.5,398.4,-12.9,219,3709,0.00,2.03,0.00,0.000,6,0.000,0.022,2446,2268,3761,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4021,-0.90,-195.5,436.9,-11.0,235,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2268,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4323,-0.90,-195.5,471.5,-12.8,250,4329,0.00,2.17,0.00,0.000,4,0.000,0.049,2446,3679,3756,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4350,-0.90,-195.5,474.8,-12.9,251,4356,0.00,2.03,-0.08,0.000,6,0.000,0.022,2447,2244,3779,0,0,0,0,0,0,28.83,26.77,25.78
$GC,4669,-0.92,-195.5,517.7,-12.4,267,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2244,3778,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4952,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4952,begin apogee
$GC,4958,-0.20,0.0,550.7,-11.6,281,5122,0.65,0.00,156.48,0.902,6,0.106,0.000,2670,2242,2961,0,0,0,0,0,0,26.41,28.83,24.46
$STATE,5124,end apogee,CONTROL_FINISHED_OK
$STATE,5124,begin climb
$GC,5127,0.47,195.5,561.0,0.0,289,5299,0.57,2.38,160.60,0.864,4,0.044,0.044,2900,3653,2159,0,0,0,0,0,0,25.26,24.96,24.30
$GC,5327,0.43,256.8,556.4,7.9,299,5386,0.00,2.12,51.65,0.850,6,0.000,0.025,2909,2263,1913,0,0,0,0,0,0,28.83,25.42,24.35
$GC,5695,0.40,256.8,510.4,11.5,318,5701,0.12,2.20,0.00,0.000,4,0.151,0.044,2869,3663,1899,0,0,0,0,0,0,25.98,26.07,28.83
$GC,5768,0.38,256.8,503.6,10.7,321,5774,0.00,2.10,0.00,0.000,6,0.000,0.025,2874,2248,1897,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6082,0.38,256.8,469.7,11.7,337,6088,0.00,2.08,0.00,0.000,4,0.000,0.036,2875,855,1896,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6120,0.38,256.8,467.1,11.6,338,6126,0.00,2.10,0.00,0.000,6,0.000,0.029,2875,2269,1894,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6426,0.40,316.2,437.5,8.0,354,6485,0.00,2.28,45.30,1.298,4,0.000,0.046,2874,3651,1681,0,0,0,0,1,0,28.83,25.27,24.30
$GC,6588,0.40,316.2,419.3,12.6,362,6594,0.00,2.12,0.00,0.000,6,0.000,0.026,2874,2252,1685,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6911,0.40,316.2,382.4,11.4,378,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2251,1683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,0.41,316.2,351.4,10.0,393,7220,0.00,2.17,0.00,0.000,4,0.000,0.044,2875,3660,1682,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7347,0.41,316.2,337.1,11.4,399,7353,0.00,2.08,0.00,0.000,6,0.000,0.025,2874,2244,1682,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7661,0.43,326.5,309.2,9.6,415,7686,0.00,2.20,13.00,0.858,4,0.000,0.043,2874,3661,1627,0,0,0,0,1,0,28.83,26.26,24.94
$GC,7755,0.45,326.5,300.0,11.0,419,7760,0.00,2.08,0.00,0.000,6,0.000,0.024,2874,2244,1626,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8069,0.48,347.7,267.7,9.3,435,8098,0.00,2.22,17.40,0.848,4,0.000,0.042,2874,3659,1550,0,0,0,0,1,0,28.83,26.10,25.08
$GC,8141,0.50,356.2,261.5,9.7,438,8165,0.00,2.08,13.00,0.824,6,0.000,0.024,2874,2245,1503,0,0,0,0,1,0,28.83,26.23,24.78
$GC,8473,0.56,404.1,229.4,8.4,455,8522,0.12,2.25,42.50,0.711,4,0.084,0.041,2954,3658,1314,0,0,0,0,0,0,26.37,25.65,25.08
$GC,8544,0.56,404.1,221.6,11.4,458,8551,0.15,2.10,0.00,0.000,6,0.149,0.025,2923,2255,1308,0,0,0,0,0,0,25.66,25.84,28.83
$GC,8859,0.56,404.1,180.9,10.7,474,8864,0.00,2.17,0.00,0.000,4,0.000,0.044,2923,3652,1305,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8906,0.57,404.1,176.0,10.7,476,8911,0.00,2.05,0.00,0.000,6,0.000,0.024,2923,2246,1303,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9224,0.62,453.5,149.1,8.3,492,9273,0.00,2.10,41.42,0.649,4,0.000,0.034,2923,858,1108,0,0,0,0,0,0,28.83,25.84,25.27
$GC,9312,0.69,521.1,142.8,7.7,496,9380,0.12,2.10,58.17,0.614,6,0.078,0.026,2997,2264,831,0,0,0,0,0,0,25.98,25.98,24.89
$GC,9687,0.69,521.1,90.8,13.9,515,9693,0.12,2.12,0.00,0.000,4,0.133,0.041,2956,3656,821,0,0,0,0,0,0,26.11,26.15,28.83
$GC,9837,0.77,572.8,78.3,8.2,522,9862,0.00,2.05,17.95,0.295,6,0.000,0.021,2955,2236,631,0,0,0,0,0,0,28.83,26.36,25.68
$GC,10175,0.93,714.1,56.8,5.1,539,10200,0.20,2.03,17.62,0.247,4,0.057,0.030,3071,854,458,0,0,0,0,0,0,26.47,26.29,25.84
$GC,10249,0.96,714.1,48.1,12.2,543,10257,0.00,2.08,1.23,0.188,6,0.000,0.026,3071,2260,456,0,0,0,0,0,0,28.83,26.34,26.07
$STATE,10504,end climb,SURFACE_DEPTH_REACHED
$STATE,10504,begin surface coast
$FINISH,0.8,1.011057
$STATE,10520,end surface coast,CONTROL_FINISHED_OK
$STATE,10521,begin surface
$SM_CCo,10598,0.00,0.000,0,0,466,613.74
$SM_GC,1.50,7.35,0.00,0.00,0.021,0.000,0.000,101,2261,466,-8.12,-0.40,613.74,0,0,0,0,0,0,26.50,28.83,28.83
$IRIDIUM_FIX,2209.02,12107.01,211012,050501
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.87
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.00
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,550.7,7.8
$24V_AH,24.3,15.140
$10V_AH,10.0,8.108
$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,19.875,88.800,636.325,0.000,0.000,0.000,0.000,211.950,2.500,0.000,5.953,1732.507,6703.757,682.862,1599.268,252.113,0.000,1703.428,0.000,1329.323,0.000,11.311,0.000
$DEVICE_MAMPS,229.500,48.960,1298.205,0.000,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10541.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.671,0.000,0.000,0.000
$MEM,323808
$DATA_FILE_SIZE,20094,582
$CAP_FILE_SIZE,132942,0
$CFSIZE,260165632,246153216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.149,295.5,1
$GPS,211012,111606,2219.119,12109.920,36,1.3,36,-3.2