version: 66.11
glider: 167
mission: 14
dive: 60
start: 10 23 112 19 50 26
data:
$ID,167
$MISSION,14
$DIVE,60
$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,-968565.25
$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,50
$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
$GPS1,231012,194005,2305.648,12132.299,36,1.2,36,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.8
$GPS2,231012,194957,2305.896,12132.269,4,1.1,5,-3.5
$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,106.8,255220,-15.7,-10.000,-18.65
$D_GRID,1225
$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,-64.12,0.000,2,0.000,0.000,104,2316,2558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.47,-195.5,3.3,-6.3,11,132,9.75,2.15,-26.70,0.000,4,0.229,0.047,2579,916,3767,0,0,0,0,0,0,25.69,26.20,26.41
$GC,296,-0.50,-195.5,32.5,-13.2,45,301,0.00,2.10,0.00,0.000,6,0.000,0.035,2579,2312,3769,0,0,0,0,0,0,28.83,26.28,28.83
$GC,619,-0.52,-195.5,78.0,-13.0,67,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2312,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,921,-0.59,-195.5,110.2,-10.4,82,927,0.00,2.17,0.00,0.000,4,0.000,0.050,2579,3729,3770,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1021,-0.71,-195.5,115.7,-6.5,86,1028,0.20,2.03,0.00,0.000,6,0.055,0.020,2465,2297,3770,0,0,0,0,0,0,26.58,26.62,28.83
$GC,1325,-0.66,-195.5,165.0,-15.3,102,1331,0.17,2.25,0.00,0.000,4,0.135,0.048,2520,3735,3770,0,0,0,0,0,0,26.39,26.45,28.83
$GC,1373,-0.66,-195.5,170.1,-13.6,104,1378,0.00,2.00,0.00,0.000,6,0.000,0.021,2519,2327,3770,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1692,-0.71,-195.5,199.1,-9.0,120,1697,0.00,2.17,0.00,0.000,4,0.000,0.048,2519,3729,3770,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1750,-0.78,-195.5,203.3,-9.3,122,1757,0.00,2.00,0.00,0.000,6,0.000,0.021,2519,2324,3770,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2056,-0.85,-195.5,232.8,-9.2,138,2062,0.12,2.17,0.00,0.000,4,0.079,0.047,2433,3729,3769,0,0,0,0,0,0,26.77,26.48,28.83
$GC,2090,-0.90,-195.5,235.6,-9.7,139,2095,0.00,2.00,0.00,0.000,6,0.000,0.021,2432,2331,3770,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2403,-0.85,-195.5,283.7,-14.5,155,2409,0.12,2.17,0.00,0.000,4,0.158,0.054,2467,3733,3768,0,0,0,0,0,0,26.48,24.97,28.83
$GC,2509,-0.85,-195.5,296.8,-12.1,160,2514,0.00,2.03,0.00,0.000,6,0.000,0.021,2467,2323,3767,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2832,-0.86,-195.5,333.6,-11.0,176,2837,0.00,2.03,0.00,0.000,4,0.000,0.035,2467,935,3766,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2916,-0.90,-195.5,342.7,-10.9,180,2921,0.00,2.08,0.00,0.000,6,0.000,0.037,2467,2324,3766,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3240,-0.92,-195.5,377.2,-10.4,196,3245,0.00,2.17,0.00,0.000,4,0.000,0.053,2467,3733,3763,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3327,-0.95,-195.5,385.9,-10.4,200,3332,0.00,2.03,0.00,0.000,6,0.000,0.022,2467,2323,3763,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3646,-0.99,-195.5,415.4,-8.3,216,3652,0.12,2.03,0.00,0.000,4,0.083,0.030,2389,922,3760,0,0,0,0,0,0,26.77,26.62,28.83
$GC,3724,-0.96,-195.5,423.5,-11.4,219,3732,0.15,2.12,0.00,0.000,6,0.150,0.040,2426,2329,3760,0,0,0,0,0,0,26.28,26.53,28.83
$GC,4030,-0.94,-195.5,463.2,-12.7,235,4036,0.00,2.17,0.00,0.000,4,0.000,0.050,2426,3749,3755,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4123,-0.93,-195.5,474.3,-13.3,239,4129,0.00,2.08,-0.08,0.000,6,0.000,0.022,2426,2323,3780,0,0,0,0,0,0,28.83,26.67,25.51
$GC,4437,-0.93,-195.5,515.9,-12.7,255,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2323,3779,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4740,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4740,begin apogee
$GC,4746,-0.20,0.0,551.7,-11.9,270,4911,0.73,0.00,158.68,0.986,6,0.110,0.000,2671,2320,2965,0,0,0,0,0,0,26.15,28.83,24.31
$STATE,4913,end apogee,CONTROL_FINISHED_OK
$STATE,4913,begin climb
$GC,4915,0.47,195.5,558.8,0.0,278,5084,0.57,2.33,161.12,0.916,4,0.044,0.050,2902,3714,2163,0,0,0,0,0,0,25.20,24.89,24.19
$GC,5312,0.38,195.5,525.8,12.7,298,5318,0.17,2.12,0.00,0.000,6,0.148,0.026,2859,2294,2150,0,0,0,0,0,0,25.78,26.01,28.83
$GC,5626,0.40,255.0,499.1,8.0,314,5686,0.00,2.40,48.62,0.854,4,0.000,0.051,2859,3716,1917,0,0,0,0,0,0,28.83,25.48,24.83
$GC,5773,0.40,255.0,484.8,10.9,321,5779,0.00,2.12,0.00,0.000,6,0.000,0.024,2862,2290,1911,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6091,0.40,255.0,450.5,10.4,337,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2290,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6393,0.41,268.8,421.0,9.5,352,6411,0.00,0.00,11.70,0.942,6,0.000,0.000,2862,2290,1861,0,0,0,0,0,0,28.83,28.83,25.44
$GC,6712,0.44,315.2,393.2,8.4,368,6760,0.00,2.15,40.42,0.843,4,0.000,0.035,2862,923,1676,0,0,0,0,0,0,28.83,25.67,25.02
$GC,6810,0.50,364.1,386.4,8.3,372,6862,0.12,2.12,43.03,0.821,6,0.079,0.029,2932,2315,1476,0,0,0,0,0,0,25.89,25.90,24.72
$GC,7176,0.47,364.1,334.9,13.7,391,7182,0.12,2.15,0.00,0.000,4,0.143,0.045,2891,3699,1467,0,0,0,0,0,0,26.07,26.11,28.83
$GC,7240,0.47,364.1,326.5,13.2,394,7246,0.00,2.10,0.00,0.000,6,0.000,0.024,2894,2288,1465,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7564,0.50,364.1,290.5,11.5,410,7570,0.00,2.05,0.00,0.000,4,0.000,0.035,2894,907,1464,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7629,0.54,364.1,282.9,11.7,413,7635,0.00,2.08,0.00,0.000,6,0.000,0.029,2894,2311,1464,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7955,0.57,364.1,246.3,10.8,429,7960,0.00,2.12,0.00,0.000,4,0.000,0.046,2894,3697,1463,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8028,0.59,364.1,238.6,11.7,432,8034,0.10,2.03,0.00,0.000,6,0.098,0.024,2953,2290,1462,0,0,0,0,0,0,26.46,26.55,28.83
$GC,8342,0.55,364.1,193.0,14.0,448,8347,0.12,2.03,0.00,0.000,4,0.145,0.032,2921,908,1462,0,0,0,0,0,0,26.41,26.50,28.83
$GC,8360,0.52,364.1,193.0,14.0,448,8367,0.00,2.05,0.00,0.000,6,0.000,0.028,2921,2307,1462,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8666,0.54,364.1,160.5,10.5,464,8672,0.00,2.12,0.00,0.000,4,0.000,0.046,2921,3691,1461,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8690,0.57,364.1,158.2,10.4,465,8695,0.00,2.00,0.00,0.000,6,0.000,0.023,2921,2300,1461,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9014,0.60,364.1,125.4,11.3,481,9020,0.00,2.15,0.00,0.000,4,0.000,0.048,2921,3690,1461,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9038,0.64,364.1,122.4,11.6,482,9044,0.00,2.00,0.00,0.000,6,0.000,0.022,2921,2285,1461,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9363,0.73,441.4,93.6,7.3,498,9397,0.12,2.20,28.42,0.339,4,0.082,0.041,3005,3698,1167,0,0,0,0,0,0,26.73,26.37,25.89
$GC,9435,0.73,441.4,86.0,10.9,501,9441,0.12,2.03,0.00,0.000,6,0.152,0.028,2975,2318,1170,0,0,0,0,0,0,26.22,26.42,28.83
$GC,9749,0.77,442.9,52.2,9.9,517,9755,0.00,2.08,1.00,0.216,4,0.000,0.030,2978,897,1162,0,0,0,0,0,0,28.83,26.48,26.03
$GC,9835,0.85,486.0,44.7,8.5,524,9861,0.10,2.05,18.30,0.223,6,0.091,0.028,3052,2299,983,0,0,0,0,0,0,26.46,26.50,25.98
$STATE,10122,end climb,SURFACE_DEPTH_REACHED
$STATE,10122,begin surface coast
$FINISH,1.1,1.022130
$STATE,10141,end surface coast,CONTROL_FINISHED_OK
$STATE,10141,begin surface
$SM_CCo,10219,0.00,0.000,0,0,988,485.69
$SM_GC,1.63,7.40,0.00,0.00,0.029,0.000,0.000,115,2300,988,-8.11,-0.71,485.69,0,0,0,0,0,0,26.48,28.83,28.83
$IRIDIUM_FIX,2255.72,12139.21,231012,191918
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.67
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,551.7,7.8
$24V_AH,24.2,18.121
$10V_AH,9.8,9.937
$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,20.350,88.425,511.300,0.000,0.000,0.000,0.000,317.350,2.500,0.000,5.863,1780.071,6511.108,552.704,1728.343,247.059,0.000,1665.559,0.000,1348.355,0.000,16.873,0.000
$DEVICE_MAMPS,228.735,53.550,986.085,0.000,0.000,0.000,0.000,123.930,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10161.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.546,0.000,0.000,0.000
$MEM,323824
$DATA_FILE_SIZE,20088,570
$CAP_FILE_SIZE,133668,0
$CFSIZE,260165632,244670464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.287, 15.7,1
$GPS,231012,224205,2306.946,12134.242,38,0.9,38,-3.5