version: 66.11
glider: 167
mission: 14
dive: 46
start: 10 22 112 9 22 5
data:
$ID,167
$MISSION,14
$DIVE,46
$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,-968547
$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,67
$R_STBD_OVSHOOT,53
$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
$GPS1,221012,091536,2237.130,12116.761,32,0.8,32,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.4
$GPS2,221012,092136,2237.243,12116.751,5,0.8,5,-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,19.1,51211,-15.7,-10.000,-18.65
$D_GRID,967
$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,-69.43,0.000,2,0.000,0.000,117,2265,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.47,-195.5,3.2,-5.5,12,142,9.68,2.22,-29.42,0.000,4,0.230,0.063,2575,3666,3769,0,0,0,0,0,0,25.77,26.23,26.58
$GC,268,-0.46,-195.5,29.4,-16.6,42,273,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,2229,3769,0,0,0,0,0,0,28.83,26.46,28.83
$GC,591,-0.47,-195.5,79.0,-12.4,64,597,0.00,1.88,0.00,0.000,4,0.000,0.024,2574,907,3769,0,0,0,0,0,0,28.83,26.53,28.83
$GC,615,-0.50,-195.5,81.6,-11.5,65,620,0.00,1.98,0.00,0.000,6,0.000,0.026,2574,2275,3770,0,0,0,0,0,0,28.83,26.51,28.83
$GC,939,-0.56,-195.5,106.8,-8.3,81,944,0.00,2.10,0.00,0.000,4,0.000,0.043,2574,3670,3771,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1117,-0.64,-195.5,120.2,-8.2,89,1125,0.12,1.95,0.00,0.000,6,0.075,0.020,2490,2265,3771,0,0,0,0,0,0,26.61,26.70,28.83
$GC,1422,-0.61,-195.5,164.8,-14.7,105,1429,0.15,1.92,0.00,0.000,4,0.146,0.024,2538,896,3771,0,0,0,0,0,0,26.46,26.66,28.83
$GC,1514,-0.64,-195.5,173.4,-9.9,109,1519,0.00,2.00,0.00,0.000,6,0.000,0.028,2535,2279,3771,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1833,-0.69,-195.5,201.5,-9.4,125,1838,0.00,2.10,0.00,0.000,4,0.000,0.046,2534,3673,3771,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1917,-0.75,-195.5,208.0,-7.7,129,1923,0.12,1.95,0.00,0.000,6,0.077,0.019,2452,2271,3771,0,0,0,0,0,0,26.67,26.75,28.83
$GC,2241,-0.72,-195.5,254.6,-14.8,145,2247,0.15,2.15,0.00,0.000,4,0.145,0.044,2499,3676,3771,0,0,0,0,0,0,26.49,26.60,28.83
$GC,2280,-0.71,-195.5,258.0,-14.8,146,2287,0.00,1.92,0.00,0.000,6,0.000,0.018,2499,2281,3771,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2586,-0.74,-195.5,287.8,-8.3,162,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2281,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2888,-0.78,-195.5,313.1,-8.2,177,2894,0.00,2.15,0.00,0.000,4,0.000,0.050,2498,3675,3768,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2961,-0.83,-195.5,318.6,-8.3,180,2967,0.00,1.95,0.00,0.000,6,0.000,0.019,2498,2247,3771,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3275,-0.87,-195.5,346.8,-8.5,196,3281,0.12,2.17,0.00,0.000,4,0.080,0.041,2414,3674,3766,0,0,0,0,0,0,26.80,26.59,28.83
$GC,3314,-0.90,-195.5,349.4,-9.0,197,3321,0.12,1.92,0.00,0.000,6,0.156,0.019,2447,2271,3766,0,0,0,0,0,0,26.45,26.78,28.83
$GC,3619,-0.90,-195.5,386.1,-11.0,213,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2272,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3921,-0.90,-195.5,421.6,-11.1,228,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2271,3762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4220,-0.90,-195.5,451.4,-10.2,243,4226,0.00,2.15,0.00,0.000,4,0.000,0.047,2447,3672,3760,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4324,-0.90,-195.5,462.2,-10.2,248,4330,0.00,1.95,0.00,0.000,6,0.000,0.021,2447,2275,3759,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4648,-0.90,-195.5,499.3,-11.9,264,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2272,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4950,-0.90,-195.5,533.8,-11.3,279,4955,0.00,2.15,0.00,0.000,4,0.000,0.045,2446,3676,3755,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5038,-0.91,-195.5,543.2,-11.0,283,5043,0.00,1.95,0.00,0.000,6,0.000,0.021,2446,2268,3754,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,5117,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5117,begin apogee
$GC,5123,-0.20,0.0,552.1,-10.8,287,5282,0.65,0.00,151.90,0.894,6,0.107,0.000,2669,2264,2966,0,0,0,0,0,0,26.31,28.83,24.45
$STATE,5284,end apogee,CONTROL_FINISHED_OK
$STATE,5284,begin climb
$GC,5286,0.47,195.5,559.6,0.0,295,5457,0.57,2.28,158.68,0.857,4,0.041,0.044,2905,3651,2160,0,0,0,0,0,0,25.30,25.00,24.34
$GC,5656,0.41,195.5,528.0,14.5,313,5665,0.15,2.05,0.00,0.000,6,0.156,0.026,2872,2282,2153,0,0,0,0,0,0,25.78,26.03,28.83
$GC,5963,0.39,207.3,494.3,9.6,329,5974,0.00,2.17,3.55,0.815,4,0.000,0.045,2871,3645,2123,0,0,0,0,0,0,28.83,26.22,25.04
$GC,6036,0.37,208.8,487.7,9.9,332,6047,0.00,2.05,3.47,0.822,6,0.000,0.024,2875,2238,2118,0,0,0,0,0,0,28.83,26.35,25.03
$GC,6347,0.35,223.8,458.1,9.5,348,6375,0.00,2.22,16.67,0.944,4,0.000,0.044,2875,3649,2056,0,0,0,0,1,0,28.83,26.04,24.98
$GC,6422,0.33,223.8,451.8,10.0,351,6429,0.00,2.08,0.00,0.000,6,0.000,0.032,2875,2250,2059,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6728,0.33,258.8,421.8,8.8,367,6772,0.00,2.33,33.53,1.248,4,0.000,0.044,2875,3650,1912,0,0,0,0,1,0,28.83,25.46,24.47
$GC,6845,0.32,273.1,412.1,9.5,372,6872,0.12,2.10,15.65,0.871,6,0.150,0.026,2842,2245,1853,0,0,0,0,1,0,25.74,25.91,24.60
$GC,7171,0.38,355.3,388.2,7.2,389,7254,0.00,2.33,75.07,0.802,4,0.000,0.043,2842,3643,1511,0,0,0,0,0,0,28.83,25.27,24.65
$GC,7302,0.46,428.0,378.8,7.5,395,7373,0.15,2.12,62.78,0.775,6,0.068,0.024,2921,2225,1218,0,0,0,0,0,0,25.72,25.73,24.57
$GC,7673,0.46,428.0,333.1,12.4,414,7679,0.12,2.03,0.00,0.000,4,0.139,0.032,2881,869,1207,0,0,0,0,0,0,26.05,26.14,28.83
$GC,7712,0.48,428.0,330.4,12.2,415,7720,0.00,2.05,0.00,0.000,6,0.000,0.026,2881,2254,1206,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8018,0.54,483.2,302.8,8.1,431,8076,0.10,2.25,47.53,0.745,4,0.093,0.042,2947,3643,987,0,0,0,0,0,0,26.45,25.63,25.03
$GC,8110,0.54,483.2,292.4,12.8,435,8116,0.12,2.05,0.00,0.000,6,0.145,0.023,2914,2262,983,0,0,0,0,0,0,25.72,25.88,28.83
$GC,8424,0.58,483.2,255.1,11.3,451,8429,0.00,2.08,0.00,0.000,4,0.000,0.033,2915,864,981,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8471,0.62,483.2,250.6,10.8,453,8478,0.00,2.05,0.00,0.000,6,0.000,0.025,2915,2259,981,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8791,0.66,483.2,216.8,10.2,469,8793,0.12,0.00,0.00,0.000,6,0.077,0.000,2990,2259,980,0,0,0,0,0,0,26.53,28.83,28.83
$GC,9093,0.64,483.2,163.7,18.1,484,9095,0.15,0.00,0.00,0.000,6,0.128,0.000,2946,2260,980,0,0,0,0,0,0,26.40,28.83,28.83
$GC,9392,0.65,483.2,126.1,12.4,499,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2259,980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9693,0.70,512.5,94.5,9.0,514,9707,0.00,0.00,10.10,0.329,6,0.000,0.000,2947,2260,878,0,0,0,0,0,0,28.83,28.83,25.89
$GC,10015,0.78,533.6,66.3,9.3,530,10031,0.12,2.17,9.48,0.265,4,0.078,0.041,3039,3654,791,0,0,0,0,0,0,26.69,26.47,25.95
$GC,10054,0.84,552.1,63.8,9.4,531,10070,0.12,2.03,8.05,0.259,6,0.148,0.021,3008,2234,716,0,0,0,0,0,0,26.34,26.58,25.95
$GC,10375,0.87,552.1,25.8,10.5,559,10380,0.00,1.98,0.00,0.000,4,0.000,0.030,3007,866,723,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10440,0.95,587.2,19.8,8.8,570,10460,0.12,2.00,14.60,0.166,6,0.074,0.023,3094,2259,572,0,0,0,0,0,0,26.56,26.58,26.13
$STATE,10536,end climb,SURFACE_DEPTH_REACHED
$STATE,10536,begin surface coast
$FINISH,0.7,0.999862
$STATE,10553,end surface coast,CONTROL_FINISHED_OK
$STATE,10553,begin surface
$SM_CCo,10631,0.00,0.000,0,0,577,586.27
$SM_GC,1.55,7.45,0.00,0.00,0.026,0.000,0.000,116,2259,577,-8.12,-0.45,586.27,0,0,0,0,0,0,26.53,28.83,28.83
$IRIDIUM_FIX,2230.01,12109.84,221012,060605
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.64
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.50
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,552.1,7.9
$24V_AH,24.3,16.399
$10V_AH,10.0,8.848
$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,20.575,82.975,611.050,0.000,0.000,0.000,0.000,209.500,2.250,0.000,5.995,1774.398,6695.730,644.996,1633.731,252.529,0.000,1680.201,0.000,1364.383,0.000,7.273,0.000
$DEVICE_MAMPS,230.265,62.730,1248.480,0.000,0.000,0.000,0.000,121.635,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10566.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.357,0.000,0.000,0.000
$MEM,323840
$DATA_FILE_SIZE,20119,591
$CAP_FILE_SIZE,136332,0
$CFSIZE,260165632,245563392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.164, 18.8,1
$GPS,221012,122035,2239.770,12117.745,36,1.0,36,-3.3