version: 66.11
glider: 167
mission: 14
dive: 57
start: 10 23 112 11 8 26
data:
$ID,167
$MISSION,14
$DIVE,57
$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,-968561.5
$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,0.015
$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,73
$R_STBD_OVSHOOT,40
$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
$GPS1,231012,110205,2303.401,12126.170,31,1.9,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.6
$GPS2,231012,110757,2303.582,12126.266,21,1.9,21,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,113.2,266228,-15.7,-10.000,-18.65
$D_GRID,471
$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,-195.5,0.0,0.0,0,72,0.00,0.00,-51.72,0.000,2,0.000,0.000,110,2291,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.47,-195.5,3.1,-4.0,9,119,9.43,2.03,-24.65,0.000,4,0.220,0.047,2583,945,3766,0,0,0,0,0,0,25.84,26.35,26.70
$GC,214,-0.49,-195.5,23.0,-13.2,34,221,0.00,2.05,0.00,0.000,6,0.000,0.035,2583,2320,3767,0,0,0,0,0,0,28.83,26.39,28.83
$GC,529,-0.54,-195.5,67.8,-9.8,59,534,0.00,2.15,0.00,0.000,4,0.000,0.049,2581,3733,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,654,-0.67,-195.5,78.5,-8.6,65,660,0.17,1.98,0.00,0.000,6,0.060,0.018,2480,2313,3768,0,0,0,0,0,0,26.63,26.67,28.83
$GC,979,-0.67,-195.5,127.3,-10.7,81,985,0.12,2.20,0.00,0.000,4,0.148,0.047,2520,3739,3770,0,0,0,0,0,0,26.53,26.51,28.83
$GC,1107,-0.74,-195.5,139.6,-9.4,87,1112,0.00,2.00,0.00,0.000,6,0.000,0.020,2519,2333,3770,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1425,-0.80,-195.5,171.1,-10.3,103,1432,0.12,2.17,0.00,0.000,4,0.079,0.047,2425,3736,3770,0,0,0,0,0,0,26.82,26.53,28.83
$GC,1495,-0.78,-195.5,181.8,-15.1,106,1501,0.20,2.00,0.00,0.000,6,0.141,0.021,2482,2314,3770,0,0,0,0,0,0,26.34,26.73,28.83
$GC,1814,-0.80,-195.5,222.8,-11.3,122,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2314,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2117,-0.83,-195.5,257.6,-10.0,137,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2313,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2416,-0.87,-195.5,290.7,-10.8,152,2421,0.00,2.20,0.00,0.000,4,0.000,0.051,2483,3731,3767,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2474,-0.91,-195.5,295.1,-10.4,154,2482,0.12,2.00,0.00,0.000,6,0.079,0.021,2413,2320,3767,0,0,0,0,0,0,26.67,26.74,28.83
$GC,2780,-0.85,-195.5,340.7,-15.5,170,2782,0.17,0.00,0.00,0.000,6,0.145,0.000,2462,2320,3766,0,0,0,0,0,0,26.44,28.83,28.83
$GC,3082,-0.87,-195.5,373.3,-10.2,185,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2320,3764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3383,-0.90,-195.5,401.7,-9.4,200,3389,0.00,2.20,0.00,0.000,4,0.000,0.052,2462,3726,3762,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3436,-0.93,-195.5,406.5,-9.9,202,3442,0.00,2.00,0.00,0.000,6,0.000,0.021,2462,2328,3760,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3751,-0.96,-195.5,440.7,-10.3,218,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2328,3759,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4011,begin apogee
$GC,4016,-0.20,0.0,471.1,-11.9,231,4176,0.60,0.00,151.30,0.845,6,0.103,0.000,2671,2326,2961,0,0,0,0,0,0,26.27,28.83,24.60
$STATE,4178,end apogee,CONTROL_FINISHED_OK
$STATE,4178,begin climb
$GC,4180,0.47,195.5,482.0,0.0,239,4346,0.57,2.30,156.38,0.806,4,0.041,0.047,2908,3716,2164,0,0,0,0,0,0,25.46,25.18,24.53
$GC,4404,0.37,195.5,472.6,11.5,250,4410,0.17,2.12,0.00,0.000,6,0.145,0.025,2861,2308,2154,0,0,0,0,0,0,25.57,25.75,28.83
$GC,4718,0.39,223.9,440.9,9.0,266,4743,0.00,0.00,22.95,0.862,6,0.000,0.000,2861,2308,2054,0,0,0,0,0,0,28.83,28.83,25.20
$GC,5038,0.40,252.3,411.5,9.0,282,5068,0.00,2.33,24.12,0.866,4,0.000,0.053,2861,3702,1932,0,0,0,0,0,0,28.83,25.86,25.25
$GC,5121,0.40,256.3,403.3,9.9,286,5126,0.00,2.12,0.00,0.000,6,0.000,0.028,2861,2310,1925,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5445,0.41,291.3,372.8,8.8,302,5483,0.00,0.00,33.85,0.832,6,0.000,0.000,2861,2310,1771,0,0,0,0,0,0,28.83,28.83,25.17
$GC,5785,0.45,318.3,341.8,9.1,319,5818,0.00,2.22,23.50,0.840,4,0.000,0.038,2867,887,1659,0,0,0,0,0,0,28.83,25.91,25.26
$GC,5841,0.50,350.9,338.2,8.9,321,5875,0.10,2.17,28.38,0.809,6,0.093,0.034,2930,2315,1536,0,0,0,0,0,0,26.00,26.01,24.97
$GC,6189,0.46,350.9,287.0,14.6,339,6195,0.12,2.15,0.00,0.000,4,0.143,0.043,2889,3716,1518,0,0,0,0,0,0,26.17,26.23,28.83
$GC,6267,0.45,350.9,278.5,13.4,342,6276,0.00,2.10,0.00,0.000,6,0.000,0.025,2894,2284,1516,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6573,0.45,350.9,244.2,10.7,358,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2285,1516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6877,0.47,350.9,212.0,10.6,373,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2285,1513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7175,0.49,350.9,181.7,10.2,388,7181,0.00,2.22,0.00,0.000,4,0.000,0.050,2894,3710,1514,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7233,0.51,350.9,176.8,10.6,390,7240,0.00,2.05,0.00,0.000,6,0.000,0.024,2894,2289,1514,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7540,0.55,372.5,144.0,9.3,406,7559,0.00,0.00,17.42,0.749,6,0.000,0.000,2894,2289,1447,0,0,0,0,0,0,28.83,28.83,25.72
$GC,7860,0.63,422.6,117.0,8.3,422,7884,0.12,2.22,18.25,0.389,4,0.078,0.048,2978,3711,1244,0,0,0,0,0,0,26.58,26.29,25.78
$GC,8007,0.58,422.6,97.9,14.5,429,8013,0.20,2.08,0.00,0.000,6,0.133,0.027,2928,2307,1250,0,0,0,0,0,0,26.17,26.41,28.83
$GC,8327,0.73,538.6,72.5,6.0,445,8380,0.12,2.22,46.47,0.290,4,0.076,0.048,3019,3707,773,0,0,0,0,0,0,26.63,26.18,25.81
$GC,8468,0.73,538.6,52.9,15.6,452,8475,0.15,2.10,0.00,0.000,6,0.135,0.025,2976,2288,780,0,0,0,0,0,0,26.13,26.33,28.83
$GC,8784,0.86,609.6,28.2,7.6,481,8823,0.12,2.10,30.00,0.184,4,0.076,0.034,3072,881,477,0,0,0,0,0,0,26.59,26.35,25.98
$GC,8901,0.86,609.6,11.9,15.1,500,8909,0.17,2.10,0.00,0.000,6,0.116,0.030,3017,2313,478,0,0,0,0,0,0,26.20,26.42,28.83
$STATE,8975,end climb,SURFACE_DEPTH_REACHED
$STATE,8975,begin surface coast
$FINISH,0.7,1.000070
$STATE,9003,end surface coast,CONTROL_FINISHED_OK
$STATE,9003,begin surface
$SM_CCo,9081,0.00,0.000,0,0,472,612.27
$SM_GC,1.48,7.28,0.00,0.00,0.025,0.000,0.000,112,2318,472,-8.11,-0.23,612.27,0,0,0,0,0,0,26.47,28.83,28.83
$IRIDIUM_FIX,2253.38,12124.33,231012,090941
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.94
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,24.5,17.719
$10V_AH,9.9,9.668
$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,20.100,59.600,552.625,0.000,0.000,0.000,0.000,193.225,1.000,0.000,22.212,1518.382,5757.391,552.542,1399.407,221.567,0.000,1430.459,0.000,1141.024,0.000,6.982,0.000
$DEVICE_MAMPS,220.320,52.785,865.980,0.000,0.000,0.000,0.000,119.340,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9014.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.838,0.000,0.000,0.000
$MEM,323840
$DATA_FILE_SIZE,20093,519
$CAP_FILE_SIZE,114263,0
$CFSIZE,260165632,244899840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107, 29.0,1
$GPS,231012,134105,2303.549,12127.927,36,0.9,36,-3.4