version: 66.11
glider: 167
mission: 14
dive: 58
start: 10 23 112 13 47 17
data:
$ID,167
$MISSION,14
$DIVE,58
$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,-968562.75
$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,48
$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,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
$GPS1,231012,134105,2303.549,12127.927,36,0.9,36,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-56.8
$GPS2,231012,134650,2303.688,12128.011,5,0.9,5,-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,88.5,263368,-15.7,-10.000,-18.65
$D_GRID,835
$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,-75.80,0.000,2,0.000,0.000,109,2322,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.47,-195.5,3.1,-4.5,13,144,9.45,2.15,-28.80,0.000,4,0.220,0.046,2580,906,3766,0,0,0,0,0,0,25.79,26.30,26.64
$GC,275,-0.51,-195.5,24.2,-12.8,45,282,0.00,2.12,0.00,0.000,6,0.000,0.035,2576,2320,3766,0,0,0,0,0,0,28.83,26.34,28.83
$GC,590,-0.51,-195.5,74.9,-12.8,69,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2320,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.61,-195.5,104.9,-8.0,84,897,0.00,2.15,0.00,0.000,4,0.000,0.045,2576,3743,3767,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1056,-0.74,-195.5,114.0,-5.1,92,1062,0.20,2.10,0.00,0.000,6,0.075,0.034,2496,2323,3769,0,0,0,0,0,0,26.51,26.57,28.83
$GC,1381,-0.74,-195.5,150.1,-11.5,108,1386,0.00,2.17,0.00,0.000,4,0.000,0.049,2496,3729,3768,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1445,-0.77,-195.5,157.5,-11.4,111,1450,0.00,2.05,0.00,0.000,6,0.000,0.020,2495,2283,3769,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1768,-0.80,-195.5,194.8,-10.4,127,1774,0.00,2.22,0.00,0.000,4,0.000,0.048,2496,3730,3769,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1908,-0.86,-195.5,206.2,-8.7,133,1915,0.00,2.00,0.00,0.000,6,0.000,0.021,2495,2316,3769,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2214,-0.91,-195.5,239.2,-9.9,149,2220,0.12,2.00,0.00,0.000,4,0.080,0.032,2415,937,3769,0,0,0,0,0,0,26.79,26.62,28.83
$GC,2287,-0.91,-195.5,248.4,-13.6,152,2293,0.12,2.08,0.00,0.000,6,0.157,0.037,2447,2332,3768,0,0,0,0,0,0,26.36,26.58,28.83
$GC,2601,-0.91,-195.5,292.2,-13.8,168,2606,0.00,2.15,0.00,0.000,4,0.000,0.050,2440,3739,3769,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2628,-0.91,-195.5,295.1,-13.4,169,2633,0.00,2.03,0.00,0.000,6,0.000,0.021,2440,2314,3766,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2946,-0.89,-195.5,335.2,-11.7,185,2952,0.00,2.22,0.00,0.000,4,0.000,0.050,2440,3735,3764,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3003,-0.89,-195.5,340.6,-11.9,187,3011,0.00,2.03,0.00,0.000,6,0.000,0.021,2440,2314,3764,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3310,-0.89,-195.5,379.6,-11.9,203,3316,0.00,2.03,0.00,0.000,4,0.000,0.034,2440,930,3762,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3367,-0.89,-195.5,384.9,-11.8,205,3374,0.00,2.10,0.00,0.000,6,0.000,0.038,2440,2324,3762,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3674,-0.89,-195.5,425.2,-12.8,221,3679,0.00,2.15,0.00,0.000,4,0.000,0.049,2437,3733,3760,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3716,-0.89,-195.5,431.1,-13.1,223,3722,0.00,2.03,0.00,0.000,6,0.000,0.022,2437,2323,3760,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4040,-0.89,-195.5,469.9,-11.4,239,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2322,3757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4340,-0.89,-195.5,503.4,-11.1,254,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2322,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4642,-0.89,-195.5,536.8,-11.5,269,4648,0.00,2.22,0.00,0.000,4,0.000,0.054,2437,3737,3753,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4710,-0.89,-195.5,544.7,-11.9,272,4716,0.00,2.03,0.00,0.000,6,0.000,0.022,2437,2327,3752,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4769,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4769,begin apogee
$GC,4775,-0.20,0.0,551.9,-11.7,275,4935,0.70,0.00,151.43,0.907,6,0.107,0.000,2675,2324,2963,0,0,0,0,0,0,26.17,28.83,24.46
$STATE,4936,end apogee,CONTROL_FINISHED_OK
$STATE,4937,begin climb
$GC,4939,0.47,195.5,560.5,0.0,283,5110,0.57,2.28,159.32,0.864,4,0.047,0.041,2902,905,2158,0,0,0,0,0,0,25.33,25.04,24.34
$GC,5279,0.43,219.3,541.5,9.2,300,5304,0.00,2.17,19.65,0.916,6,0.000,0.038,2902,2310,2071,0,0,0,0,0,0,28.83,25.91,24.84
$GC,5618,0.38,219.3,503.9,11.7,317,5624,0.12,2.17,0.00,0.000,4,0.142,0.044,2862,3719,2056,0,0,0,0,0,0,26.13,26.18,28.83
$GC,5724,0.35,219.3,492.2,10.8,322,5730,0.00,2.10,0.00,0.000,6,0.000,0.026,2862,2303,2055,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6048,0.37,257.3,464.2,8.7,338,6088,0.00,2.12,32.62,0.900,4,0.000,0.034,2861,901,1909,0,0,0,0,0,0,28.83,25.83,25.14
$GC,6111,0.38,287.4,458.6,9.0,341,6144,0.00,2.15,26.85,0.894,6,0.000,0.030,2861,2310,1791,0,0,0,0,0,0,28.83,25.93,24.83
$GC,6452,0.43,332.4,426.6,8.5,358,6496,0.00,2.28,38.53,0.862,4,0.000,0.045,2862,3698,1603,0,0,0,0,0,0,28.83,25.59,24.91
$GC,6530,0.48,363.9,421.0,8.9,361,6563,0.00,2.12,28.20,0.865,6,0.000,0.026,2861,2294,1483,0,0,0,0,0,0,28.83,25.81,24.75
$GC,6877,0.55,391.7,387.5,9.0,379,6910,0.12,2.17,24.02,0.869,4,0.082,0.037,2947,905,1362,0,0,0,0,0,0,26.29,25.77,25.11
$GC,6969,0.55,391.7,376.5,13.4,383,6975,0.12,2.12,0.00,0.000,6,0.132,0.031,2913,2301,1358,0,0,0,0,0,0,25.84,25.96,28.83
$GC,7283,0.55,391.7,336.7,11.9,399,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2305,1355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7585,0.55,391.7,300.9,11.9,414,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2305,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7885,0.55,391.7,263.9,12.8,429,7890,0.00,2.17,0.00,0.000,4,0.000,0.044,2913,3713,1353,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7922,0.55,391.7,260.5,13.2,430,7929,0.00,2.08,0.00,0.000,6,0.000,0.024,2913,2290,1352,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8229,0.57,391.7,224.3,10.7,446,8234,0.00,2.08,0.00,0.000,4,0.000,0.036,2913,893,1352,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8293,0.61,413.4,218.6,9.3,449,8317,0.00,2.10,17.92,0.810,6,0.000,0.031,2909,2314,1278,0,0,0,0,0,0,28.83,26.53,25.58
$GC,8635,0.65,413.4,178.8,12.7,466,8642,0.10,2.12,0.00,0.000,4,0.093,0.048,2975,3703,1270,0,0,0,0,0,0,26.53,26.34,28.83
$GC,8709,0.63,413.4,168.9,14.9,469,8715,0.12,2.05,0.00,0.000,6,0.151,0.025,2943,2305,1269,0,0,0,0,0,0,26.22,26.46,28.83
$GC,9023,0.64,413.4,128.0,12.1,485,9028,0.00,2.08,0.00,0.000,4,0.000,0.034,2950,895,1269,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9050,0.66,413.4,125.4,11.6,486,9056,0.00,2.08,0.00,0.000,6,0.000,0.030,2950,2301,1269,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9370,0.71,423.9,94.6,9.6,502,9379,0.00,2.17,3.15,0.301,4,0.000,0.044,2950,3727,1238,0,0,0,0,0,0,28.83,26.48,25.77
$GC,9493,0.75,423.9,81.5,10.4,508,9498,0.00,2.08,0.00,0.000,6,0.000,0.022,2950,2287,1244,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9817,0.88,545.5,60.5,5.8,524,9877,0.17,2.10,48.83,0.259,4,0.062,0.036,3065,906,744,0,0,0,0,0,0,26.71,26.32,25.91
$GC,10046,0.88,545.5,28.4,12.6,542,10053,0.15,2.08,0.00,0.000,6,0.118,0.031,3020,2310,749,0,0,0,0,0,0,26.23,26.41,28.83
$STATE,10261,end climb,SURFACE_DEPTH_REACHED
$STATE,10261,begin surface coast
$FINISH,0.9,1.010837
$STATE,10288,end surface coast,CONTROL_FINISHED_OK
$STATE,10288,begin surface
$SM_CCo,10366,0.00,0.000,0,0,745,545.30
$SM_GC,1.55,7.32,0.00,0.00,0.030,0.000,0.000,113,2313,745,-8.11,-0.34,545.30,0,0,0,0,0,0,26.46,28.83,28.83
$IRIDIUM_FIX,2255.72,12127.55,231012,111125
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.92
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,551.9,8.0
$24V_AH,24.3,17.853
$10V_AH,10.4,9.759
$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,19.425,88.900,550.525,0.000,0.000,0.000,0.000,191.925,3.500,0.000,6.892,1818.903,6398.135,588.842,1662.323,251.313,0.000,1613.585,0.000,1410.683,0.000,13.108,0.000
$DEVICE_MAMPS,220.320,53.550,915.705,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10302.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.776,0.000,0.000,0.000
$MEM,323900
$DATA_FILE_SIZE,20097,588
$CAP_FILE_SIZE,133060,0
$CFSIZE,260165632,244813824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135, 17.6,1
$GPS,231012,164129,2304.365,12129.913,43,1.2,43,-3.4