version: 66.11
glider: 167
mission: 14
dive: 50
start: 10 22 112 23 51 28
data:
$ID,167
$MISSION,14
$DIVE,50
$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,-968552
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,80
$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,3
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$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
$GPS1,221012,234006,2250.955,12122.048,35,1.6,35,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-67.0
$GPS2,221012,235059,2251.298,12122.282,26,1.2,26,-3.4
$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,4.6,23576,-15.7,-10.000,-18.65
$D_GRID,664
$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,-195.5,0.0,0.0,0,85,0.00,0.00,-64.93,0.000,2,0.000,0.000,110,2318,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.47,-195.5,3.3,-6.1,11,132,9.73,2.25,-28.45,0.000,4,0.227,0.058,2575,3712,3766,0,0,0,0,0,0,25.59,26.02,26.39
$GC,201,-0.45,-195.5,20.0,-16.6,31,207,0.00,2.00,0.00,0.000,6,0.000,0.021,2575,2341,3767,0,0,0,0,0,0,28.83,26.20,28.83
$GC,520,-0.45,-195.5,73.4,-14.1,57,527,0.00,2.08,0.00,0.000,4,0.000,0.030,2574,906,3767,0,0,0,0,0,0,28.83,26.36,28.83
$GC,579,-0.48,-195.5,78.1,-12.4,59,586,0.00,2.10,0.00,0.000,6,0.000,0.032,2574,2321,3768,0,0,0,0,0,0,28.83,26.35,28.83
$GC,886,-0.57,-195.5,104.0,-8.5,75,892,0.00,2.17,0.00,0.000,4,0.000,0.047,2575,3733,3768,0,0,0,0,0,0,28.83,26.36,28.83
$GC,955,-0.68,-195.5,108.9,-7.5,78,962,0.15,2.03,0.00,0.000,6,0.069,0.021,2480,2305,3768,0,0,0,0,0,0,26.48,26.52,28.83
$GC,1275,-0.63,-195.5,159.0,-17.3,94,1281,0.17,2.00,0.00,0.000,4,0.141,0.033,2537,937,3769,0,0,0,0,0,0,26.31,26.49,28.83
$GC,1361,-0.69,-195.5,167.7,-10.1,98,1366,0.00,2.08,0.00,0.000,6,0.000,0.036,2537,2318,3768,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1685,-0.79,-195.5,193.0,-7.5,114,1691,0.12,2.17,0.00,0.000,4,0.080,0.047,2450,3748,3769,0,0,0,0,0,0,26.71,26.48,28.83
$GC,1719,-0.87,-195.5,195.2,-8.0,115,1724,0.00,2.03,0.00,0.000,6,0.000,0.019,2450,2304,3768,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2033,-0.83,-195.5,241.7,-14.0,131,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2303,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2334,-0.80,-195.5,279.1,-12.5,146,2336,0.12,0.00,0.00,0.000,6,0.155,0.000,2484,2304,3766,0,0,0,0,0,0,26.50,28.83,28.83
$GC,2634,-0.83,-195.5,312.2,-10.7,161,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2301,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2936,-0.87,-195.5,344.3,-10.6,176,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2302,3763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3234,-0.92,-195.5,375.4,-9.7,191,3241,0.12,2.22,0.00,0.000,4,0.082,0.051,2409,3736,3759,0,0,0,0,0,0,26.76,26.50,28.83
$GC,3304,-0.92,-195.5,384.6,-12.8,194,3310,0.12,2.00,0.00,0.000,6,0.155,0.020,2441,2295,3759,0,0,0,0,0,0,26.39,26.73,28.83
$GC,3622,-0.92,-195.5,427.2,-13.8,210,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2295,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3922,-0.92,-195.5,463.2,-11.0,225,3924,0.00,0.00,-0.08,0.000,6,0.000,0.000,2441,2295,3779,0,0,0,0,0,0,28.83,28.83,25.71
$GC,4223,-0.92,-195.5,496.6,-10.4,240,4228,0.00,2.25,0.00,0.000,4,0.000,0.050,2440,3735,3777,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4274,-0.92,-195.5,501.4,-10.6,242,4279,0.00,1.98,0.00,0.000,6,0.000,0.022,2440,2318,3777,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4592,-0.92,-195.5,535.9,-9.7,258,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2316,3775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4892,-0.92,-195.5,564.4,-9.7,273,4897,0.00,2.20,0.00,0.000,4,0.000,0.047,2440,3741,3772,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4955,-0.93,-195.5,570.9,-10.2,276,4960,0.00,1.98,0.00,0.000,6,0.000,0.022,2440,2320,3772,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5269,-0.95,-195.5,604.5,-10.4,291,5274,0.00,2.20,0.00,0.000,4,0.000,0.053,2439,3734,3769,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,5300,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5300,begin apogee
$GC,5308,-0.20,0.0,607.9,-10.0,292,5473,0.70,0.00,157.02,0.939,6,0.106,0.000,2678,2301,2962,0,0,0,0,0,0,26.20,28.83,24.30
$STATE,5474,end apogee,CONTROL_FINISHED_OK
$STATE,5474,begin climb
$GC,5477,0.47,195.5,614.3,0.0,297,5648,0.57,2.35,161.68,0.900,4,0.047,0.044,2902,3713,2162,0,0,0,0,0,0,25.15,24.77,24.08
$GC,5730,0.37,195.5,596.4,12.0,306,5736,0.17,2.10,0.00,0.000,6,0.151,0.025,2863,2325,2150,0,0,0,0,0,0,25.32,25.53,28.83
$GC,6049,0.34,195.5,560.6,10.0,322,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2324,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6351,0.33,230.5,532.2,8.8,337,6389,0.00,2.28,29.35,0.931,4,0.000,0.046,2863,3705,2015,0,0,0,0,0,0,28.83,25.69,25.00
$GC,6443,0.30,230.5,523.2,10.7,341,6449,0.00,2.12,0.00,0.000,6,0.000,0.026,2867,2301,2012,0,0,0,0,0,0,28.83,25.95,28.83
$GC,6757,0.31,243.5,490.2,9.6,357,6777,0.00,2.30,10.98,0.997,4,0.000,0.046,2867,3712,1966,0,0,0,0,0,0,28.83,25.97,25.20
$GC,6820,0.29,243.6,483.7,10.0,360,6826,0.12,2.12,0.00,0.000,6,0.151,0.026,2835,2285,1962,0,0,0,0,0,0,25.93,26.12,28.83
$GC,7146,0.34,296.5,458.4,8.2,376,7197,0.00,0.00,48.92,0.870,6,0.000,0.000,2835,2285,1758,0,0,0,0,0,0,28.83,28.83,24.78
$GC,7485,0.44,363.0,432.4,7.7,393,7553,0.12,2.38,59.20,0.834,4,0.078,0.050,2910,3700,1478,0,0,0,0,0,0,26.21,25.25,24.60
$GC,7591,0.41,363.0,419.6,13.1,398,7597,0.15,2.12,0.00,0.000,6,0.146,0.026,2872,2299,1474,0,0,0,0,0,0,25.47,25.63,28.83
$GC,7911,0.45,363.0,385.5,10.7,414,7916,0.00,2.10,0.00,0.000,4,0.000,0.034,2872,899,1468,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7948,0.49,363.0,383.3,10.3,415,7956,0.00,2.12,0.00,0.000,6,0.000,0.028,2872,2323,1469,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8255,0.56,397.2,355.2,8.8,431,8288,0.15,0.00,30.05,0.834,6,0.070,0.000,2951,2323,1348,0,0,0,0,0,0,26.42,28.83,25.13
$GC,8576,0.51,397.2,304.3,16.2,447,8578,0.17,0.00,0.00,0.000,6,0.137,0.000,2902,2323,1333,0,0,0,0,0,0,26.02,28.83,28.83
$GC,8878,0.52,397.2,267.9,12.8,462,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2323,1332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9177,0.55,397.2,231.0,12.2,477,9182,0.00,2.12,0.00,0.000,4,0.000,0.044,2901,3707,1331,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9215,0.58,397.2,228.0,12.0,478,9222,0.00,2.05,0.00,0.000,6,0.000,0.024,2902,2290,1330,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9522,0.61,401.4,193.9,9.9,494,9527,0.10,2.03,0.00,0.000,4,0.095,0.031,2968,914,1330,0,0,0,0,0,0,26.60,26.48,28.83
$GC,9561,0.64,401.4,191.0,10.3,495,9569,0.00,2.05,0.00,0.000,6,0.000,0.027,2970,2313,1330,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9865,0.59,401.4,142.9,14.7,511,9867,0.12,0.00,0.00,0.000,6,0.136,0.000,2934,2313,1330,0,0,0,0,0,0,26.46,28.83,28.83
$GC,10166,0.63,408.8,107.2,9.7,526,10177,0.00,2.12,3.12,0.310,4,0.000,0.030,2935,908,1304,0,0,0,0,0,0,28.83,26.53,25.60
$GC,10200,0.69,432.4,105.1,9.2,527,10215,0.00,2.03,10.68,0.355,6,0.000,0.025,2932,2302,1203,0,0,0,0,0,0,28.83,26.55,25.82
$GC,10533,0.77,469.8,77.3,8.7,544,10558,0.12,2.17,16.05,0.297,4,0.079,0.042,3020,3693,1053,0,0,0,0,0,0,26.64,26.38,25.86
$GC,10600,0.77,469.8,68.1,13.4,547,10606,0.15,2.00,0.00,0.000,6,0.145,0.022,2984,2290,1056,0,0,0,0,0,0,26.23,26.51,28.83
$GC,10909,0.84,509.9,36.0,8.6,570,10931,0.00,2.08,16.73,0.206,4,0.000,0.030,2985,918,889,0,0,0,0,0,0,28.83,26.43,25.96
$GC,10960,0.93,537.4,31.9,9.1,574,10978,0.15,2.03,11.77,0.197,6,0.065,0.024,3078,2312,773,0,0,0,0,0,0,26.45,26.45,25.95
$STATE,11131,end climb,SURFACE_DEPTH_REACHED
$STATE,11131,begin surface coast
$FINISH,0.9,1.000106
$STATE,11147,end surface coast,CONTROL_FINISHED_OK
$STATE,11148,begin surface
$SM_CCo,11225,0.00,0.000,0,0,780,536.72
$SM_GC,1.69,7.50,0.00,0.00,0.031,0.000,0.000,112,2312,780,-8.11,-0.34,536.72,0,0,0,0,0,0,26.46,28.83,28.83
$IRIDIUM_FIX,2241.69,12123.89,221012,232352
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.21
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.30
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,601.7,28.6
$24V_AH,24.1,17.093
$10V_AH,10.3,9.255
$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,20.875,80.475,555.550,0.000,0.000,0.000,0.000,403.475,5.750,0.000,27.243,1764.268,7486.591,619.865,1738.823,269.912,0.000,1759.998,0.000,1260.429,0.000,19.576,0.000
$DEVICE_MAMPS,227.205,58.140,996.795,0.000,0.000,0.000,0.000,121.635,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11169.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.604,0.000,0.000,0.000
$MEM,323832
$DATA_FILE_SIZE,23321,606
$CAP_FILE_SIZE,138851,0
$CFSIZE,260165632,245239808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.312, 44.5,1
$GPS,231012,025953,2254.622,12123.799,37,0.9,37,-3.4