version: 66.11
glider: 167
mission: 14
dive: 220
start: 12 3 112 2 58 44
data:
$ID,167
$MISSION,14
$DIVE,220
$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,410
$T_MISSION,430
$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,175
$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,400
$N_FILEKB,4
$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,-969013.06
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,39
$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,21
$MINV_10V,9
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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,48
$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
$GPS1,031212,025106,2303.391,12127.357,34,1.2,34,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-64.7
$GPS2,031212,025817,2303.478,12127.423,5,1.2,5,-3.4
$SPEED_LIMITS,0.139,0.259
$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,286.6,2707,-13.8,-8.049,-17.28
$D_GRID,297
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.53,-171.1,0.0,0.0,0,73,0.00,0.00,-51.55,0.000,2,0.000,0.000,110,2457,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.53,-171.1,3.3,-4.7,5,123,9.60,2.05,-31.30,0.000,4,0.221,0.063,2520,3760,3665,0,0,0,0,0,0,25.16,26.01,26.65
$GC,263,-0.47,-171.1,33.9,-18.6,23,268,0.00,1.88,0.00,0.000,6,0.000,0.021,2519,2430,3667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,586,-0.45,-171.1,88.7,-12.6,43,593,0.12,1.95,0.00,0.000,4,0.144,0.026,2561,1073,3669,0,0,0,0,0,0,26.36,26.42,28.83
$GC,655,-0.46,-171.1,95.9,-11.1,46,661,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,2457,3669,0,0,0,0,0,0,28.83,26.41,28.83
$GC,974,-0.58,-171.1,113.9,-5.6,62,980,0.12,1.98,0.00,0.000,4,0.080,0.044,2492,3762,3670,0,0,0,0,0,0,26.67,26.32,28.83
$GC,1058,-0.64,-171.1,121.3,-8.9,66,1064,0.00,1.88,0.00,0.000,6,0.000,0.018,2491,2407,3670,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1382,-0.66,-171.1,147.6,-8.9,82,1387,0.00,1.90,0.00,0.000,4,0.000,0.028,2492,1086,3671,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1460,-0.67,-171.1,152.9,-8.4,85,1466,0.00,2.03,0.00,0.000,6,0.000,0.033,2491,2457,3668,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1766,-0.69,-171.1,180.1,-9.1,101,1771,0.00,1.98,0.00,0.000,4,0.000,0.047,2492,3756,3669,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1798,-0.71,-171.1,182.1,-9.0,102,1804,0.00,1.83,0.00,0.000,6,0.000,0.018,2491,2456,3670,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2112,-0.72,-171.1,208.7,-8.3,118,2117,0.00,1.95,0.00,0.000,4,0.000,0.026,2492,1086,3669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2185,-0.74,-171.1,214.0,-8.2,121,2190,0.00,2.03,0.00,0.000,6,0.000,0.032,2492,2462,3668,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2498,-0.76,-171.1,240.9,-8.2,137,2504,0.12,1.98,0.00,0.000,4,0.081,0.045,2410,3759,3667,0,0,0,0,0,0,26.71,26.32,28.83
$GC,2536,-0.77,-171.1,243.4,-8.9,138,2544,0.15,1.80,0.00,0.000,6,0.143,0.018,2452,2429,3666,0,0,0,0,0,0,26.24,26.68,28.83
$GC,2842,-0.76,-171.1,276.5,-9.1,154,2847,0.00,1.88,0.00,0.000,4,0.000,0.028,2452,1111,3665,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2934,-0.75,-171.1,284.2,-9.3,158,2941,0.00,1.98,0.00,0.000,6,0.000,0.033,2452,2447,3665,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,3066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3066,begin apogee
$GC,3073,-0.27,0.0,298.9,-10.7,165,3215,0.45,0.00,133.25,0.724,6,0.106,0.000,2606,2334,2962,0,0,0,0,0,0,26.09,28.83,24.30
$STATE,3217,end apogee,CONTROL_FINISHED_OK
$STATE,3217,begin climb
$GC,3219,0.53,171.1,307.0,0.0,172,3365,0.73,2.22,135.98,0.724,4,0.071,0.044,2869,3707,2263,0,0,0,0,0,0,25.49,25.32,24.23
$GC,3383,0.55,342.6,307.0,2.6,180,3535,0.00,2.10,140.18,0.780,6,0.000,0.021,2871,2310,1564,0,0,0,0,0,0,28.83,25.72,24.12
$GC,3836,0.59,368.9,275.2,7.2,203,3864,0.00,2.10,22.52,0.783,4,0.000,0.032,2871,918,1458,0,0,0,0,0,0,28.83,25.95,24.69
$GC,3923,0.65,444.7,270.4,5.6,207,3998,0.12,2.08,65.40,0.809,6,0.077,0.031,2947,2306,1148,0,0,0,0,0,0,26.12,26.13,24.36
$GC,4298,0.64,444.7,221.1,13.3,226,4304,0.12,2.08,0.00,0.000,4,0.137,0.033,2911,920,1139,0,0,0,0,0,0,26.24,26.29,28.83
$GC,4350,0.64,444.7,216.2,12.1,228,4356,0.00,2.08,0.00,0.000,6,0.000,0.028,2911,2308,1140,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4664,0.67,444.7,183.1,8.9,244,4670,0.00,2.08,0.00,0.000,4,0.000,0.031,2911,914,1138,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4738,0.70,444.7,177.7,8.4,247,4743,0.00,2.05,0.00,0.000,6,0.000,0.028,2911,2311,1137,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5051,0.73,444.7,147.3,9.4,263,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2311,1136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5353,0.79,508.1,124.6,6.0,278,5412,0.12,2.12,50.58,0.694,4,0.079,0.031,3003,920,886,0,0,0,0,0,0,26.68,25.84,24.60
$GC,5550,0.78,508.1,104.9,9.7,287,5557,0.17,2.05,0.00,0.000,6,0.115,0.028,2951,2301,877,0,0,0,0,0,0,26.01,26.22,28.83
$GC,5856,0.84,539.6,81.5,7.0,303,5876,0.00,2.08,10.95,0.291,4,0.000,0.031,2951,913,773,0,0,0,0,0,0,28.83,26.32,25.18
$GC,5914,0.90,581.5,78.6,6.7,305,5941,0.12,2.05,19.02,0.294,6,0.077,0.026,3029,2312,597,0,0,0,0,0,0,26.36,26.37,25.26
$GC,6239,0.93,581.5,44.9,10.7,324,6245,0.00,2.08,0.00,0.000,4,0.000,0.032,3029,908,605,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6334,0.97,581.5,36.1,9.0,333,6340,0.00,2.03,0.00,0.000,6,0.000,0.027,3029,2297,604,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6648,0.99,581.5,7.4,9.2,364,6655,0.00,2.08,0.00,0.000,4,0.000,0.034,3029,900,604,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6693,1.03,582.0,3.8,8.0,368,6701,0.00,2.05,1.02,0.203,6,0.000,0.026,3029,2302,591,0,0,0,0,0,0,28.83,26.51,25.89
$STATE,6706,end climb,SURFACE_DEPTH_REACHED
$STATE,6706,begin surface coast
$FINISH,1.0,1.015297
$STATE,6748,end surface coast,CONTROL_FINISHED_OK
$STATE,6748,begin surface
$SM_CCo,6827,0.00,0.000,0,0,598,581.36
$SM_GC,1.63,7.38,0.20,0.00,0.030,0.075,0.000,108,2434,598,-8.00,-1.41,581.36,0,0,0,0,0,0,26.51,26.55,28.83
$IRIDIUM_FIX,2253.38,12130.77,021212,222213
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.74
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.40
$XPDR_PINGS,4
$24V_AH,24.1,50.102
$10V_AH,10.2,32.621
$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,19.350,64.700,578.900,0.000,0.000,0.000,0.000,259.775,1.000,0.000,6.638,1191.792,4016.622,569.324,1258.981,222.113,0.000,1449.942,0.000,959.982,0.000,0.542,0.000
$DEVICE_MAMPS,221.085,74.970,809.370,0.000,0.000,0.000,0.000,121.635,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6757.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.398,0.000,0.000,0.000
$MEM,323808
$DATA_FILE_SIZE,13418,373
$CAP_FILE_SIZE,97156,0
$CFSIZE,260165632,228003840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,131.7,1
$GPS,031212,045354,2303.814,12126.515,40,0.9,40,-3.4