version: 66.11
glider: 167
mission: 14
dive: 24
start: 10 19 112 2 39 58
data:
$ID,167
$MISSION,14
$DIVE,24
$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,10
$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,-968503.31
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,25
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,53
$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,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$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
$GPS1,191012,023306,2156.850,12106.771,31,1.2,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-60.6
$GPS2,191012,023931,2156.652,12106.557,5,1.0,5,-3.2
$SPEED_LIMITS,0.173,0.296
$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,15.0,128268,-15.7,-10.000,-18.65
$D_GRID,923
$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,-70.20,0.000,2,0.000,0.000,110,2266,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.47,-195.5,3.2,-6.6,12,143,9.73,1.33,-30.58,0.000,4,0.233,0.071,2578,3111,3767,0,0,0,0,0,0,25.82,26.23,26.58
$GC,257,-0.45,-195.5,28.7,-16.9,40,261,0.00,1.25,0.00,0.000,6,0.000,0.021,2578,2254,3767,0,0,0,0,0,0,28.83,26.41,28.83
$GC,570,-0.47,-195.5,66.2,-8.4,62,576,0.00,1.33,0.00,0.000,4,0.000,0.044,2574,3106,3767,0,0,0,0,0,0,28.83,26.46,28.83
$GC,618,-0.51,-195.5,69.6,-8.0,64,621,0.00,1.25,0.00,0.000,6,0.000,0.021,2574,2243,3767,0,0,0,0,0,0,28.83,26.58,28.83
$GC,921,-0.58,-195.5,103.3,-11.1,79,926,0.00,1.23,0.00,0.000,4,0.000,0.031,2574,1396,3768,0,0,0,0,0,0,28.83,26.59,28.83
$GC,968,-0.64,-195.5,107.1,-10.1,81,972,0.12,1.30,0.00,0.000,6,0.079,0.034,2490,2251,3768,0,0,0,0,0,0,26.58,26.58,28.83
$GC,1269,-0.64,-195.5,149.7,-10.9,96,1276,0.15,1.35,0.00,0.000,4,0.140,0.045,2534,3119,3768,0,0,0,0,0,0,26.50,26.58,28.83
$GC,1451,-0.70,-195.5,161.9,-6.9,105,1456,0.00,1.23,0.00,0.000,6,0.000,0.022,2534,2253,3769,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1769,-0.76,-195.5,189.9,-9.4,121,1777,0.12,1.35,0.00,0.000,4,0.078,0.044,2451,3122,3769,0,0,0,0,0,0,26.77,26.64,28.83
$GC,1858,-0.76,-195.5,200.4,-13.1,125,1862,0.15,1.27,0.00,0.000,6,0.138,0.022,2494,2231,3769,0,0,0,0,0,0,26.49,26.74,28.83
$GC,2159,-0.79,-195.5,231.2,-7.3,140,2167,0.00,1.40,0.00,0.000,4,0.000,0.044,2493,3125,3768,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2279,-0.82,-195.5,239.6,-7.0,146,2286,0.00,1.25,0.00,0.000,6,0.000,0.023,2494,2263,3768,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2600,-0.85,-195.5,266.7,-7.5,162,2606,0.00,1.35,0.00,0.000,4,0.000,0.045,2494,3125,3766,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2740,-0.90,-195.5,276.2,-6.3,169,2747,0.12,1.27,0.00,0.000,6,0.080,0.022,2423,2244,3766,0,0,0,0,0,0,26.71,26.77,28.83
$GC,3059,-0.86,-195.5,315.7,-13.4,185,3066,0.15,1.25,0.00,0.000,4,0.151,0.032,2465,1387,3763,0,0,0,0,0,0,26.53,26.71,28.83
$GC,3099,-0.84,-195.5,320.2,-12.3,187,3106,0.00,1.33,0.00,0.000,6,0.000,0.037,2465,2250,3762,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3420,-0.85,-195.5,349.3,-8.9,203,3426,0.00,1.35,0.00,0.000,4,0.000,0.046,2465,3130,3761,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3540,-0.87,-195.5,358.9,-7.9,209,3546,0.00,1.30,0.00,0.000,6,0.000,0.030,2465,2245,3760,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3859,-0.89,-195.5,386.6,-8.6,225,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2245,3758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4161,-0.90,-195.5,408.7,-7.3,240,4167,0.00,1.38,-0.08,0.000,4,0.000,0.068,2465,3144,3783,0,0,0,0,0,0,28.83,26.64,26.09
$GC,4248,-0.92,-195.5,414.9,-7.8,244,4251,0.00,1.33,0.00,0.000,6,0.000,0.024,2465,2245,3783,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4549,-0.95,-195.5,438.8,-7.8,259,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2245,3781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4851,-0.98,-195.5,465.0,-9.2,274,4858,0.12,1.35,0.00,0.000,4,0.085,0.047,2391,3132,3779,0,0,0,0,0,0,26.80,26.63,28.83
$GC,4929,-0.95,-195.5,475.9,-13.8,278,4937,0.15,1.30,0.00,0.000,6,0.153,0.024,2431,2241,3779,0,0,0,0,0,0,26.43,26.76,28.83
$STATE,5131,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5131,begin apogee
$GC,5137,-0.20,0.0,501.6,-12.9,288,5298,0.70,0.00,156.90,0.868,6,0.113,0.000,2670,2142,2966,0,0,0,0,0,0,26.38,28.83,24.45
$STATE,5302,end apogee,CONTROL_FINISHED_OK
$STATE,5302,begin climb
$GC,5304,0.47,195.5,513.1,0.0,296,5473,0.57,1.50,160.95,0.825,4,0.044,0.043,2902,3030,2164,0,0,0,0,0,0,25.25,24.98,24.34
$GC,5703,0.42,195.5,493.0,10.5,315,5711,0.08,1.33,0.00,0.000,6,0.138,0.024,2882,2137,2148,0,0,0,0,0,0,25.85,26.06,28.83
$GC,6013,0.42,255.9,464.6,7.9,331,6071,0.00,1.40,51.75,0.814,4,0.000,0.040,2882,3032,1913,0,0,0,0,0,0,28.83,25.47,24.80
$GC,6300,0.41,255.9,435.5,11.7,345,6304,0.00,1.33,0.00,0.000,6,0.000,0.024,2881,2145,1903,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6602,0.42,285.9,405.7,9.0,360,6631,0.00,1.42,20.05,0.911,4,0.000,0.042,2882,3026,1801,0,0,0,0,1,0,28.83,25.90,24.85
$GC,6773,0.41,285.9,386.1,12.3,368,6779,0.00,1.30,0.00,0.000,6,0.000,0.025,2882,2151,1810,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7091,0.41,299.0,351.7,9.5,384,7115,0.00,1.40,14.30,0.815,4,0.000,0.041,2882,3028,1750,0,0,0,0,1,0,28.83,26.11,25.43
$GC,7192,0.41,299.0,342.4,10.3,389,7195,0.00,1.33,0.00,0.000,6,0.000,0.024,2882,2140,1754,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7493,0.42,309.7,311.5,9.6,404,7515,0.00,1.42,13.00,0.870,4,0.000,0.041,2882,3032,1701,0,0,0,0,1,0,28.83,26.13,25.27
$GC,7583,0.42,309.7,301.8,11.0,409,7590,0.00,1.33,0.00,0.000,6,0.000,0.024,2882,2136,1701,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7903,0.44,366.6,273.1,8.0,425,7964,0.00,1.50,49.75,1.245,4,0.000,0.041,2882,3037,1472,0,0,0,0,1,0,28.83,25.17,24.22
$GC,8164,0.48,414.4,252.3,8.4,438,8215,0.00,1.33,46.95,0.728,6,0.000,0.024,2882,2153,1277,0,0,0,0,0,0,28.83,26.08,24.81
$GC,8514,0.54,463.8,224.2,8.3,455,8564,0.10,1.45,44.08,0.697,4,0.097,0.047,2945,3038,1069,0,0,0,0,0,0,26.23,25.53,24.94
$GC,8693,0.53,463.8,197.2,16.3,464,8701,0.15,1.35,0.00,0.000,6,0.143,0.025,2909,2147,1060,0,0,0,0,0,0,25.85,26.03,28.83
$GC,9014,0.58,463.8,156.7,10.4,480,9020,0.00,1.40,0.00,0.000,4,0.000,0.040,2909,3037,1058,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9103,0.64,467.7,148.9,9.9,484,9107,0.12,1.33,0.00,0.000,6,0.079,0.023,2984,2130,1058,0,0,0,0,0,0,26.36,26.41,28.83
$GC,9403,0.63,467.7,108.0,12.2,499,9411,0.15,1.40,0.00,0.000,4,0.125,0.038,2941,3037,1057,0,0,0,0,0,0,26.36,26.46,28.83
$GC,9504,0.67,521.2,99.2,8.2,504,9532,0.00,1.30,21.40,0.360,6,0.000,0.024,2941,2149,841,0,0,0,0,0,0,28.83,26.55,25.76
$GC,9844,0.77,566.1,74.3,8.5,521,9867,0.15,1.40,18.73,0.298,4,0.070,0.039,3036,3038,657,0,0,0,0,0,0,26.53,26.32,25.83
$GC,9924,0.77,566.1,63.9,14.7,525,9928,0.17,1.30,0.00,0.000,6,0.137,0.022,2990,2149,664,0,0,0,0,0,0,26.20,26.43,28.83
$GC,10226,0.84,600.6,31.3,8.8,550,10245,0.00,0.00,14.93,0.197,6,0.000,0.000,2990,2149,515,0,0,0,0,0,0,28.83,28.83,26.05
$GC,10551,0.94,659.4,7.4,8.0,605,10566,0.12,1.35,5.75,0.144,4,0.076,0.038,3086,3026,454,0,0,0,0,0,0,26.60,26.49,26.25
$STATE,10582,end climb,SURFACE_DEPTH_REACHED
$STATE,10582,begin surface coast
$FINISH,0.8,1.021930
$STATE,10603,end surface coast,CONTROL_FINISHED_OK
$STATE,10603,begin surface
$SM_CCo,10682,0.00,0.000,0,0,456,616.44
$SM_GC,1.50,7.45,1.12,0.00,0.028,0.022,0.000,113,2243,456,-8.11,2.18,616.44,0,0,0,0,0,0,26.54,26.60,28.83
$IRIDIUM_FIX,2148.09,12110.58,181012,232316
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.33
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.60
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,501.6,7.9
$24V_AH,24.2,12.439
$10V_AH,10.0,6.628
$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,20.600,58.775,618.525,0.000,0.000,0.000,0.000,231.200,2.250,0.000,5.861,1722.059,6894.369,759.246,1459.035,239.458,0.000,1657.732,0.000,1169.165,0.000,7.337,0.000
$DEVICE_MAMPS,232.560,104.805,1245.420,0.000,0.000,0.000,0.000,123.165,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10618.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.515,0.000,0.000,0.000
$MEM,323844
$DATA_FILE_SIZE,23403,614
$CAP_FILE_SIZE,132215,0
$CFSIZE,260165632,247263232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.379,213.7,1
$GPS,191012,053923,2156.354,12105.434,39,0.8,39,-3.1