version: 66.11
glider: 167
mission: 14
dive: 59
start: 10 23 112 16 50 8
data:
$ID,167
$MISSION,14
$DIVE,59
$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,-968564
$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,63
$R_STBD_OVSHOOT,47
$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
$GPS1,231012,164129,2304.365,12129.913,43,1.2,43,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-57.2
$GPS2,231012,164941,2304.606,12129.918,4,1.1,4,-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,96.0,259759,-15.7,-10.000,-18.65
$D_GRID,934
$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,-195.5,0.0,0.0,0,91,0.00,0.00,-70.03,0.000,2,0.000,0.000,109,2320,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.47,-195.5,3.5,-6.8,12,133,9.50,2.12,-23.60,0.000,4,0.220,0.046,2580,937,3766,0,0,0,0,0,0,25.70,26.21,26.56
$GC,279,-0.49,-195.5,31.0,-15.5,43,284,0.00,2.08,0.00,0.000,6,0.000,0.035,2575,2320,3768,0,0,0,0,0,0,28.83,26.29,28.83
$GC,602,-0.49,-195.5,85.3,-15.7,64,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2320,3768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,-0.56,-195.5,115.9,-9.1,79,909,0.00,2.15,0.00,0.000,4,0.000,0.048,2575,3733,3769,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1019,-0.68,-195.5,124.5,-8.1,84,1026,0.15,2.00,0.00,0.000,6,0.070,0.019,2476,2314,3769,0,0,0,0,0,0,26.57,26.63,28.83
$GC,1335,-0.67,-195.5,169.2,-13.2,100,1341,0.12,2.20,0.00,0.000,4,0.148,0.047,2518,3738,3770,0,0,0,0,0,0,26.48,26.47,28.83
$GC,1379,-0.68,-195.5,174.4,-12.6,102,1385,0.00,2.00,0.00,0.000,6,0.000,0.021,2518,2332,3770,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1703,-0.75,-195.5,204.2,-10.1,118,1708,0.00,2.15,0.00,0.000,4,0.000,0.048,2518,3730,3770,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1756,-0.82,-195.5,208.6,-9.9,120,1762,0.12,2.00,0.00,0.000,6,0.076,0.021,2438,2323,3770,0,0,0,0,0,0,26.62,26.68,28.83
$GC,2070,-0.76,-195.5,257.3,-15.6,136,2072,0.20,0.00,0.00,0.000,6,0.134,0.000,2497,2320,3770,0,0,0,0,0,0,26.39,28.83,28.83
$GC,2372,-0.82,-195.5,282.6,-7.7,151,2377,0.00,2.17,0.00,0.000,4,0.000,0.049,2496,3730,3768,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2410,-0.88,-195.5,284.4,-7.6,152,2418,0.12,2.00,0.00,0.000,6,0.078,0.021,2421,2321,3768,0,0,0,0,0,0,26.63,26.70,28.83
$GC,2716,-0.84,-195.5,333.0,-16.6,168,2718,0.17,0.00,0.00,0.000,6,0.142,0.000,2471,2320,3766,0,0,0,0,0,0,26.42,28.83,28.83
$GC,3017,-0.87,-195.5,365.8,-9.9,183,3023,0.00,2.22,0.00,0.000,4,0.000,0.053,2472,3739,3763,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3091,-0.91,-195.5,372.3,-9.7,186,3097,0.00,2.03,0.00,0.000,6,0.000,0.021,2472,2324,3763,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3405,-0.95,-195.5,404.5,-10.5,202,3411,0.10,2.03,0.00,0.000,4,0.094,0.032,2409,931,3761,0,0,0,0,0,0,26.80,26.61,28.83
$GC,3478,-0.95,-195.5,413.2,-12.8,205,3484,0.00,2.10,0.00,0.000,6,0.000,0.039,2408,2327,3761,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3792,-0.91,-195.5,458.9,-13.4,221,3797,0.12,2.15,0.00,0.000,4,0.158,0.046,2440,3735,3759,0,0,0,0,0,0,26.48,26.48,28.83
$GC,3836,-0.88,-195.5,464.1,-12.4,223,3841,0.00,2.03,0.00,0.000,6,0.000,0.021,2440,2302,3759,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4159,-0.88,-195.5,498.8,-11.2,239,4161,0.00,0.00,-0.08,0.000,6,0.000,0.000,2440,2302,3780,0,0,0,0,0,0,28.83,28.83,25.65
$GC,4459,-0.88,-195.5,529.6,-9.5,254,4466,0.00,2.28,0.00,0.000,4,0.000,0.053,2440,3744,3778,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4533,-0.90,-195.5,536.3,-10.3,257,4538,0.00,2.03,0.00,0.000,6,0.000,0.022,2440,2339,3781,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,4668,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4668,begin apogee
$GC,4673,-0.20,0.0,550.9,-10.0,264,4836,0.68,0.00,156.38,0.907,6,0.106,0.000,2670,2339,2964,0,0,0,0,0,0,26.17,28.83,24.43
$STATE,4838,end apogee,CONTROL_FINISHED_OK
$STATE,4838,begin climb
$GC,4840,0.47,195.5,558.3,0.0,272,5008,0.57,2.35,159.07,0.858,4,0.041,0.039,2914,906,2162,0,0,0,0,0,0,25.27,25.01,24.31
$GC,5074,0.40,195.5,546.6,10.4,284,5080,0.15,2.17,0.00,0.000,6,0.135,0.035,2872,2306,2152,0,0,0,0,0,0,25.44,25.58,28.83
$GC,5399,0.39,230.5,516.3,8.8,300,5438,0.00,2.28,28.90,0.919,4,0.000,0.047,2871,3707,2018,0,0,0,0,0,0,28.83,25.65,24.96
$GC,5570,0.35,230.5,498.8,11.6,308,5575,0.00,2.10,0.00,0.000,6,0.000,0.025,2878,2295,2012,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5883,0.33,230.5,464.7,10.7,324,5885,0.12,0.00,0.00,0.000,6,0.142,0.000,2844,2295,2010,0,0,0,0,0,0,26.25,28.83,28.83
$GC,6185,0.37,268.7,438.3,8.7,339,6222,0.00,0.00,33.50,0.894,6,0.000,0.000,2844,2295,1867,0,0,0,0,0,0,28.83,28.83,25.13
$GC,6523,0.43,314.5,408.8,8.4,356,6573,0.10,2.35,39.88,0.856,4,0.092,0.051,2902,3704,1676,0,0,0,0,0,0,26.36,25.56,24.92
$GC,6586,0.43,314.5,401.6,10.7,359,6591,0.00,2.12,0.00,0.000,6,0.000,0.025,2908,2295,1672,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6909,0.43,314.5,359.5,12.5,375,6914,0.00,2.10,0.00,0.000,4,0.000,0.036,2908,910,1667,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6992,0.43,314.5,349.3,12.3,379,6997,0.00,2.08,0.00,0.000,6,0.000,0.029,2908,2308,1666,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7315,0.43,314.5,312.8,11.1,395,7321,0.00,2.15,0.00,0.000,4,0.000,0.047,2908,3699,1664,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7363,0.41,314.5,307.8,11.1,397,7369,0.12,2.05,0.00,0.000,6,0.154,0.024,2874,2286,1663,0,0,0,0,0,0,26.22,26.48,28.83
$GC,7682,0.47,357.9,277.1,8.5,413,7726,0.00,2.12,36.42,0.785,4,0.000,0.034,2876,918,1498,0,0,0,0,0,0,28.83,25.89,25.27
$GC,7745,0.53,408.1,271.9,8.3,416,7799,0.10,2.10,44.05,0.744,6,0.093,0.029,2941,2303,1294,0,0,0,0,0,0,25.96,25.98,24.83
$GC,8107,0.53,408.1,224.9,13.3,434,8112,0.00,2.17,0.00,0.000,4,0.000,0.047,2941,3699,1282,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8153,0.53,408.1,218.5,14.1,436,8160,0.12,2.05,0.00,0.000,6,0.160,0.023,2912,2290,1281,0,0,0,0,0,0,26.01,26.27,28.83
$GC,8474,0.57,408.2,185.5,10.0,452,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2291,1281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8775,0.63,408.2,155.2,10.3,467,8781,0.00,2.03,0.00,0.000,4,0.000,0.033,2912,917,1280,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8793,0.69,408.2,155.2,10.3,467,8802,0.15,2.05,0.00,0.000,6,0.068,0.028,2998,2304,1280,0,0,0,0,0,0,26.47,26.47,28.83
$GC,9099,0.65,408.2,110.2,14.0,483,9105,0.15,2.12,0.00,0.000,4,0.129,0.044,2948,3697,1280,0,0,0,0,0,0,26.39,26.42,28.83
$GC,9238,0.68,408.2,95.4,10.9,489,9244,0.00,2.00,0.00,0.000,6,0.000,0.021,2952,2300,1279,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9546,0.75,455.2,65.5,8.4,505,9570,0.00,2.08,16.62,0.265,4,0.000,0.031,2952,911,1114,0,0,0,0,0,0,28.83,26.49,25.95
$GC,9623,0.86,525.8,60.7,7.6,508,9659,0.17,2.08,29.30,0.258,6,0.060,0.032,3059,2310,823,0,0,0,0,0,0,26.51,26.50,25.89
$GC,9962,0.83,525.8,8.8,16.0,548,9971,0.15,2.10,1.05,0.168,4,0.133,0.041,3009,3690,824,0,0,0,0,0,0,26.29,26.38,26.13
$GC,9985,0.83,525.8,5.3,16.7,551,9991,0.00,2.00,0.00,0.000,6,0.000,0.024,3009,2321,829,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,10006,end climb,SURFACE_DEPTH_REACHED
$STATE,10007,begin surface coast
$FINISH,0.8,1.009560
$STATE,10040,end surface coast,CONTROL_FINISHED_OK
$STATE,10040,begin surface
$SM_CCo,10117,0.00,0.000,0,0,831,524.21
$SM_GC,1.58,7.28,0.00,0.00,0.028,0.000,0.000,105,2320,831,-8.12,-0.14,524.21,0,0,0,0,0,0,26.50,28.83,28.83
$IRIDIUM_FIX,2258.07,12128.77,231012,161606
$TT8_MAMPS,0.029211,0.029211
$HUMID,55.11
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,550.9,7.9
$24V_AH,24.3,17.987
$10V_AH,9.8,9.847
$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,20.500,84.375,545.175,0.000,0.000,0.000,0.000,279.875,2.500,0.000,5.878,1693.576,6486.064,582.851,1610.602,243.200,0.000,1629.469,0.000,1276.278,0.000,13.120,0.000
$DEVICE_MAMPS,220.320,52.785,918.765,0.000,0.000,0.000,0.000,123.165,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10057.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.165,0.000,0.000,0.000
$MEM,323840
$DATA_FILE_SIZE,20058,561
$CAP_FILE_SIZE,131181,0
$CFSIZE,260165632,244740096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.230, 28.2,1
$GPS,231012,194005,2305.648,12132.299,36,1.2,36,-3.5