version: 66.11
glider: 167
mission: 14
dive: 4
start: 10 16 112 4 20 8
data:
$ID,167
$MISSION,14
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,3
$T_BOOST,0
$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,220
$T_MISSION,250
$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,250
$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,-968478.19
$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,2760
$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,1975
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,34
$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,4
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$GPS1,161012,041546,2132.296,12056.769,3,1.0,3,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.6
$GPS2,161012,041942,2132.333,12056.888,4,1.0,4,-3.0
$SPEED_LIMITS,0.173,0.326
$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,334.3,176080,-13.9,-10.000,-17.04
$D_GRID,552
$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,-0.44,-244.4,0.0,0.0,0,91,0.00,0.00,-70.10,0.000,2,0.000,0.000,113,1967,2834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.44,-244.4,3.2,-4.4,12,132,9.73,2.22,-21.45,0.000,4,0.231,0.060,2604,3383,3963,0,0,0,0,0,0,26.05,26.45,26.84
$GC,226,-0.46,-244.4,26.1,-12.2,36,232,0.00,2.03,0.00,0.000,6,0.000,0.022,2604,1961,3963,0,0,0,0,0,0,28.83,26.60,28.83
$GC,549,-0.46,-244.4,72.7,-13.8,60,555,0.00,2.15,0.00,0.000,4,0.000,0.046,2601,3386,3963,0,0,0,0,0,0,28.83,26.60,28.83
$GC,703,-0.48,-244.4,87.1,-8.7,67,708,0.00,2.00,0.00,0.000,6,0.000,0.021,2601,1965,3963,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1016,-0.50,-244.4,123.8,-12.1,83,1021,0.00,2.15,0.00,0.000,4,0.000,0.046,2601,3396,3963,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1153,-0.57,-244.4,137.1,-10.2,89,1160,0.00,2.00,0.00,0.000,6,0.000,0.021,2601,1973,3963,0,0,0,0,0,0,28.83,26.80,28.83
$GC,1460,-0.68,-244.4,164.1,-4.2,105,1466,0.15,2.12,0.00,0.000,4,0.071,0.043,2497,3386,3963,0,0,0,0,0,0,26.86,26.70,28.83
$GC,1578,-0.68,-244.4,175.2,-11.9,110,1585,0.15,2.03,0.00,0.000,6,0.134,0.023,2541,1961,3963,0,0,0,0,0,0,26.57,26.81,28.83
$GC,1885,-0.75,-244.4,198.0,-6.5,126,1890,0.00,2.15,0.00,0.000,4,0.000,0.045,2541,3391,3964,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1917,-0.83,-244.4,199.8,-6.8,127,1923,0.15,2.00,0.00,0.000,6,0.072,0.021,2453,1959,3964,0,0,0,0,0,0,26.77,26.83,28.83
$GC,2232,-0.81,-244.4,255.5,-16.9,143,2234,0.15,0.00,0.00,0.000,6,0.137,0.000,2497,1958,3964,0,0,0,0,0,0,26.65,28.83,28.83
$GC,2533,-0.86,-244.4,295.0,-10.0,158,2538,0.00,2.15,0.00,0.000,4,0.000,0.047,2497,3384,3962,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2736,-0.92,-244.4,314.1,-10.5,168,2742,0.00,2.00,0.00,0.000,6,0.000,0.028,2497,1977,3961,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3060,-0.98,-244.4,338.6,-4.9,184,3066,0.12,2.15,0.00,0.000,4,0.083,0.047,2420,3391,3958,0,0,0,0,0,0,26.88,26.66,28.83
$GC,3293,-0.95,-244.4,361.9,-11.9,195,3301,0.12,2.03,-0.08,0.000,6,0.153,0.024,2454,1964,3970,0,0,0,0,0,0,26.53,26.79,26.03
$GC,3609,-0.95,-244.4,403.9,-10.4,211,3614,0.00,2.17,0.00,0.000,4,0.000,0.050,2457,3384,3968,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3686,-0.95,-244.4,412.7,-13.5,214,3694,0.00,2.00,0.00,0.000,6,0.000,0.032,2453,1979,3967,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3993,-0.97,-244.4,455.6,-11.8,230,3999,0.00,2.15,0.00,0.000,4,0.000,0.051,2453,3381,3965,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4086,-0.99,-244.4,464.2,-10.1,234,4091,0.00,2.03,0.00,0.000,6,0.000,0.024,2453,1975,3964,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4399,-1.02,-244.4,492.7,-7.3,250,4404,0.00,2.15,0.00,0.000,4,0.000,0.051,2452,3380,3961,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4573,-1.05,-244.4,513.9,-15.2,258,4578,0.00,2.03,0.00,0.000,6,0.000,0.063,2453,1969,3960,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4845,begin apogee
$GC,4851,-0.20,0.0,552.6,-13.5,272,5059,0.70,0.00,199.15,1.583,6,0.106,0.000,2695,1968,2967,0,0,0,0,0,0,26.42,28.83,23.80
$STATE,5061,end apogee,CONTROL_FINISHED_OK
$STATE,5061,begin climb
$GC,5063,0.44,244.4,571.3,0.0,282,5286,0.55,2.42,210.18,1.546,4,0.048,0.051,2908,3377,1971,0,0,0,0,0,0,25.15,24.71,23.65
$GC,5345,0.35,244.4,555.3,14.8,296,5353,0.17,2.12,0.00,0.000,6,0.157,0.030,2872,1992,1967,0,0,0,0,0,0,25.47,25.60,28.83
$GC,5650,0.32,244.4,511.5,13.1,312,5655,0.00,2.17,0.00,0.000,4,0.000,0.050,2871,3384,1964,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5848,0.28,244.4,487.7,11.7,321,5855,0.00,2.10,0.00,0.000,6,0.000,0.031,2872,1968,1962,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6155,0.28,281.8,460.8,9.0,337,6195,0.00,2.38,33.05,1.538,4,0.000,0.050,2872,3382,1818,0,0,0,0,0,0,28.83,25.39,24.30
$GC,6240,0.27,317.5,453.1,9.0,341,6280,0.10,2.15,33.42,1.507,6,0.159,0.031,2847,1976,1671,0,0,0,0,0,0,25.78,25.89,24.01
$GC,6578,0.35,431.9,425.9,6.9,358,6687,0.00,2.35,100.95,1.521,4,0.000,0.052,2847,3380,1206,0,0,0,0,0,0,28.83,24.91,23.84
$GC,6857,0.49,613.9,409.9,5.0,371,7062,0.20,2.12,180.23,1.447,6,0.059,0.029,2945,1968,465,0,0,0,0,3,0,26.10,26.07,23.79
$GC,7362,0.51,613.9,345.6,15.6,397,7367,0.00,2.22,0.00,0.000,4,0.000,0.050,2945,3386,462,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7425,0.54,613.9,335.9,15.3,400,7430,0.00,2.12,0.00,0.000,6,0.000,0.031,2946,1963,461,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7748,0.56,613.9,288.1,11.1,416,7754,0.00,2.20,0.00,0.000,4,0.000,0.050,2947,3390,460,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7781,0.59,613.9,285.5,11.0,417,7787,0.00,2.10,0.00,0.000,6,0.000,0.032,2946,1981,460,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8095,0.62,613.9,244.8,15.6,433,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1981,459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8397,0.67,613.9,209.5,12.5,448,8403,0.00,2.10,0.00,0.000,4,0.000,0.041,2948,563,458,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8435,0.73,613.9,206.4,12.9,449,8443,0.15,2.08,0.00,0.000,6,0.075,0.027,3033,1987,458,0,0,0,0,0,0,26.64,26.66,28.83
$GC,8741,0.71,613.9,147.7,19.5,465,8747,0.12,2.08,0.00,0.000,4,0.153,0.043,2994,3378,458,0,0,0,0,0,0,26.56,26.65,28.83
$GC,8879,0.76,613.9,131.9,11.6,471,8885,0.00,2.05,0.00,0.000,6,0.000,0.025,2994,1951,457,0,0,0,0,0,0,28.83,26.72,28.83
$GC,9185,0.85,617.5,100.3,9.9,487,9191,0.12,2.17,0.00,0.000,4,0.084,0.046,3082,3379,457,0,0,0,0,0,0,26.76,26.67,28.83
$GC,9278,0.85,617.5,86.8,16.2,491,9285,0.17,2.05,0.00,0.000,6,0.129,0.031,3032,1986,457,0,0,0,0,0,0,26.58,26.73,28.83
$GC,9594,0.87,617.5,48.1,12.0,507,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1986,457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9894,0.91,617.5,14.2,11.2,546,9901,0.00,2.12,0.00,0.000,4,0.000,0.044,3032,3378,457,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9949,0.94,617.5,7.9,10.2,556,9956,0.00,2.05,0.00,0.000,6,0.000,0.029,3032,1968,456,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,9987,end climb,SURFACE_DEPTH_REACHED
$STATE,9987,begin surface coast
$FINISH,0.6,1.020345
$STATE,10010,end surface coast,CONTROL_FINISHED_OK
$STATE,10011,begin surface
$SM_CCo,10088,0.00,0.000,0,0,457,615.95
$SM_GC,1.26,7.25,0.00,0.00,0.028,0.000,0.000,119,1967,457,-8.18,-0.25,615.95,0,0,0,0,0,0,26.73,28.83,28.83
$IRIDIUM_FIX,2124.90,12057.43,161012,040401
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.93
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,26.30
$XPDR_PINGS,20
$24V_AH,23.7,8.115
$10V_AH,10.1,3.247
$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,20.125,84.875,756.975,0.000,0.000,0.000,0.000,0.000,5.000,0.000,5.879,1836.030,5864.762,742.943,1545.552,169.167,0.000,1638.445,0.000,1498.135,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,62.730,1582.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9990.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.054,0.000,0.000,0.000
$MEM,323868
$DATA_FILE_SIZE,20064,567
$CAP_FILE_SIZE,142074,0
$CFSIZE,260165632,249049088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.493, 95.3,1
$GPS,161012,070935,2133.701,12059.069,36,0.8,36,-3.1