version: 66.11
glider: 167
mission: 14
dive: 42
start: 10 21 112 21 42 26
data:
$ID,167
$MISSION,14
$DIVE,42
$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,-968541.62
$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,68
$R_STBD_OVSHOOT,52
$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
$GPS1,211012,213600,2225.540,12112.828,38,1.6,38,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.0
$GPS2,211012,214158,2225.683,12112.814,4,1.6,4,-3.3
$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,29.3,73647,-15.7,-10.000,-18.65
$D_GRID,517
$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,-75.80,0.000,2,0.000,0.000,105,2257,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.47,-195.5,3.2,-5.8,13,143,9.62,0.00,-29.17,0.000,6,0.225,0.000,2582,2257,3766,0,0,0,0,0,0,25.77,28.83,26.57
$GC,446,-0.46,-195.5,59.6,-15.4,57,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2257,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,749,-0.51,-195.5,92.7,-7.5,72,754,0.00,2.15,0.00,0.000,4,0.000,0.047,2582,3670,3768,0,0,0,0,0,0,28.83,26.46,28.83
$GC,942,-0.60,-195.5,104.3,-6.3,81,948,0.12,2.00,0.00,0.000,6,0.076,0.023,2494,2271,3769,0,0,0,0,0,0,26.57,26.61,28.83
$GC,1256,-0.58,-195.5,149.5,-12.9,97,1262,0.17,2.15,0.00,0.000,4,0.137,0.046,2547,3669,3770,0,0,0,0,0,0,26.43,26.54,28.83
$GC,1294,-0.58,-195.5,152.3,-12.4,98,1301,0.00,1.98,0.00,0.000,6,0.000,0.020,2547,2248,3769,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1601,-0.64,-195.5,180.4,-7.4,114,1606,0.00,2.17,0.00,0.000,4,0.000,0.047,2547,3673,3769,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1694,-0.72,-195.5,185.5,-6.1,118,1700,0.12,1.95,0.00,0.000,6,0.078,0.018,2469,2253,3769,0,0,0,0,0,0,26.66,26.75,28.83
$GC,2008,-0.70,-195.5,229.2,-12.4,134,2014,0.15,2.15,0.00,0.000,4,0.140,0.041,2512,3667,3769,0,0,0,0,0,0,26.51,26.59,28.83
$GC,2077,-0.73,-195.5,234.7,-9.3,137,2082,0.00,1.95,0.00,0.000,6,0.000,0.021,2512,2281,3769,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2396,-0.77,-195.5,260.0,-7.4,153,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2281,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2697,-0.82,-195.5,283.7,-7.9,168,2699,0.12,0.00,0.00,0.000,6,0.078,0.000,2435,2281,3767,0,0,0,0,0,0,26.80,28.83,28.83
$GC,2998,-0.80,-195.5,322.0,-13.9,183,3003,0.12,2.12,0.00,0.000,4,0.151,0.047,2470,3662,3766,0,0,0,0,0,0,26.55,26.58,28.83
$GC,3081,-0.80,-195.5,333.6,-13.4,187,3087,0.00,1.95,0.00,0.000,6,0.000,0.020,2470,2246,3765,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3405,-0.81,-195.5,365.9,-8.4,203,3410,0.00,2.15,0.00,0.000,4,0.000,0.042,2469,3663,3763,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3469,-0.83,-195.5,371.2,-8.1,206,3474,0.00,1.90,0.00,0.000,6,0.000,0.020,2468,2260,3763,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3793,-0.86,-195.5,406.4,-10.3,222,3798,0.00,2.12,0.00,0.000,4,0.000,0.041,2470,3668,3762,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3879,-0.89,-195.5,415.4,-10.7,226,3885,0.00,1.92,0.00,0.000,6,0.000,0.021,2469,2276,3761,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4198,-0.92,-195.5,444.3,-8.6,242,4204,0.00,2.12,0.00,0.000,4,0.000,0.044,2469,3668,3759,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4272,-0.95,-195.5,450.5,-9.3,245,4278,0.10,1.92,0.00,0.000,6,0.095,0.021,2411,2268,3758,0,0,0,0,0,0,26.67,26.80,28.83
$GC,4587,-0.93,-195.5,492.8,-13.9,261,4590,0.12,0.00,-0.10,0.000,6,0.155,0.000,2444,2265,3781,0,0,0,0,0,0,26.56,28.83,26.13
$STATE,4646,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4647,begin apogee
$GC,4652,-0.20,0.0,500.2,-12.7,264,4817,0.65,0.00,156.88,0.851,6,0.107,0.000,2668,2264,2965,0,0,0,0,0,0,26.34,28.83,24.49
$STATE,4818,end apogee,CONTROL_FINISHED_OK
$STATE,4818,begin climb
$GC,4821,0.47,195.5,506.2,0.0,272,4989,0.57,2.33,158.80,0.818,4,0.045,0.043,2898,3644,2161,0,0,0,0,0,0,25.30,25.01,24.37
$GC,5216,0.41,195.5,473.2,12.2,292,5221,0.12,2.00,0.00,0.000,6,0.161,0.024,2874,2283,2149,0,0,0,0,0,0,25.84,26.09,28.83
$GC,5535,0.40,214.9,441.3,9.3,308,5555,0.00,2.20,14.80,0.848,4,0.000,0.044,2874,3640,2087,0,0,0,0,0,0,28.83,26.03,25.33
$GC,5608,0.38,236.3,435.4,9.3,311,5637,0.00,2.08,19.67,0.851,6,0.000,0.024,2881,2242,1993,0,0,0,0,0,0,28.83,26.20,25.10
$GC,5939,0.37,236.3,401.5,10.7,328,5944,0.00,2.20,0.00,0.000,4,0.000,0.050,2881,3647,1985,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5982,0.35,236.3,396.8,10.6,330,5988,0.12,2.05,0.00,0.000,6,0.160,0.024,2855,2241,1983,0,0,0,0,0,0,26.12,26.36,28.83
$GC,6307,0.39,313.6,374.1,7.3,346,6380,0.00,2.28,61.35,1.299,4,0.000,0.042,2855,3637,1689,0,0,0,0,1,0,28.83,25.08,24.16
$GC,6453,0.41,314.4,360.7,10.0,353,6458,0.00,2.08,0.00,0.000,6,0.000,0.024,2855,2244,1694,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6772,0.48,401.9,336.1,7.0,369,6858,0.12,0.00,77.78,1.268,6,0.080,0.000,2926,2241,1327,0,0,0,0,1,0,26.33,28.83,24.04
$GC,7151,0.48,401.9,284.4,16.5,388,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2241,1335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7453,0.48,401.9,244.1,14.7,403,7458,0.00,2.15,0.00,0.000,4,0.000,0.047,2926,3638,1330,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7505,0.48,401.9,237.1,15.2,405,7511,0.15,2.03,0.00,0.000,6,0.145,0.023,2892,2237,1329,0,0,0,0,0,0,26.21,26.43,28.83
$GC,7820,0.52,413.5,205.0,9.6,421,7840,0.00,2.20,13.52,0.785,4,0.000,0.041,2893,3646,1275,0,0,0,0,0,0,28.83,26.21,25.59
$GC,7905,0.56,413.5,195.9,10.8,425,7910,0.00,2.03,0.00,0.000,6,0.000,0.023,2892,2243,1272,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8229,0.66,542.4,168.5,5.6,441,8349,0.15,0.00,111.70,0.632,6,0.070,0.000,2986,2238,744,0,0,0,0,0,0,26.54,28.83,24.82
$GC,8648,0.66,542.4,97.8,16.1,462,8655,0.12,2.17,0.00,0.000,4,0.129,0.039,2946,3649,733,0,0,0,0,0,0,26.10,26.14,28.83
$GC,8718,0.68,542.4,88.1,15.8,465,8723,0.00,2.03,0.00,0.000,6,0.000,0.022,2945,2246,736,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9036,0.81,646.0,64.3,6.4,481,9067,0.15,0.00,28.25,0.265,6,0.069,0.000,3043,2245,457,0,0,0,0,0,0,26.50,28.83,25.80
$GC,9356,0.82,646.0,19.4,14.0,510,9364,0.12,0.00,0.00,0.000,6,0.127,0.000,2998,2245,454,0,0,0,0,0,0,26.35,28.83,28.83
$STATE,9526,end climb,SURFACE_DEPTH_REACHED
$STATE,9526,begin surface coast
$FINISH,0.8,1.014033
$STATE,9553,end surface coast,CONTROL_FINISHED_OK
$STATE,9553,begin surface
$SM_CCo,9630,0.00,0.000,0,0,452,617.17
$SM_GC,1.40,7.25,0.00,0.00,0.027,0.000,0.000,103,2241,452,-8.12,-0.96,617.17,0,0,0,0,0,0,26.49,28.83,28.83
$IRIDIUM_FIX,2216.01,12109.42,211012,181816
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.56
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,500.2,6.7
$24V_AH,24.0,15.820
$10V_AH,10.5,8.488
$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,20.225,62.525,642.750,0.000,0.000,0.000,0.000,207.425,1.750,0.000,5.946,1657.229,5911.492,657.550,1546.054,224.254,0.000,1627.430,0.000,1280.746,0.000,5.452,0.000
$DEVICE_MAMPS,224.910,49.725,1298.970,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9568.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.101,0.000,0.000,0.000
$MEM,323820
$DATA_FILE_SIZE,20113,548
$CAP_FILE_SIZE,122087,0
$CFSIZE,260165632,245862400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.343, 11.9,1
$GPS,221012,002405,2228.837,12113.950,27,1.3,27,-3.3