version: 66.11
glider: 167
mission: 14
dive: 221
start: 12 3 112 4 59 57
data:
$ID,167
$MISSION,14
$DIVE,221
$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,-969014.44
$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,68
$R_STBD_OVSHOOT,30
$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
$GPS1,031212,045354,2303.814,12126.515,40,0.9,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-59.9
$GPS2,031212,045928,2303.916,12126.581,3,0.9,3,-3.4
$SPEED_LIMITS,0.139,0.259
$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,63.9,265522,-13.8,-8.049,-17.28
$D_GRID,471
$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,-171.1,0.0,0.0,0,93,0.00,0.00,-71.80,0.000,2,0.000,0.000,112,2436,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.53,-171.1,3.6,-4.3,7,139,9.60,2.05,-24.90,0.000,4,0.223,0.046,2521,1053,3666,0,0,0,0,0,0,25.31,26.31,26.74
$GC,184,-0.49,-171.1,18.5,-18.0,15,190,0.00,2.12,0.00,0.000,6,0.000,0.040,2521,2458,3671,0,0,0,0,0,0,28.83,26.29,28.83
$GC,508,-0.46,-171.1,75.7,-14.5,39,515,0.12,1.98,0.00,0.000,4,0.150,0.046,2561,3760,3667,0,0,0,0,0,0,26.38,26.36,28.83
$GC,587,-0.47,-171.1,83.3,-12.7,42,594,0.00,1.88,0.00,0.000,6,0.000,0.019,2561,2427,3668,0,0,0,0,0,0,28.83,26.60,28.83
$GC,894,-0.52,-171.1,107.1,-8.2,58,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2427,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1195,-0.63,-171.1,122.5,-4.7,73,1201,0.15,2.05,0.00,0.000,4,0.072,0.045,2476,3765,3670,0,0,0,0,0,0,26.69,26.41,28.83
$GC,1285,-0.67,-171.1,128.6,-7.2,77,1291,0.00,1.85,0.00,0.000,6,0.000,0.018,2476,2421,3671,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1604,-0.67,-171.1,161.9,-9.8,93,1609,0.00,1.90,0.00,0.000,4,0.000,0.028,2476,1086,3670,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1718,-0.67,-171.1,171.8,-9.5,98,1723,0.00,2.03,0.00,0.000,6,0.000,0.035,2476,2460,3670,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2031,-0.67,-171.1,201.6,-8.7,114,2037,0.00,1.95,0.00,0.000,4,0.000,0.046,2476,3751,3670,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2095,-0.68,-171.1,207.0,-8.4,117,2102,0.00,1.80,0.00,0.000,6,0.000,0.017,2475,2431,3668,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2420,-0.69,-171.1,233.7,-7.9,133,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2431,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2722,-0.70,-171.1,256.1,-7.7,148,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2431,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,-0.71,-171.1,282.6,-8.8,163,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2427,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3322,-0.72,-171.1,309.4,-8.5,178,3328,0.00,1.92,0.00,0.000,4,0.000,0.028,2476,1084,3662,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3366,-0.74,-171.1,313.4,-8.5,180,3372,0.00,2.03,0.00,0.000,6,0.000,0.035,2476,2449,3661,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3690,-0.75,-171.1,341.4,-8.6,196,3695,0.00,1.98,0.00,0.000,4,0.000,0.046,2477,3751,3661,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3733,-0.77,-171.1,345.0,-8.2,198,3738,0.00,1.80,0.00,0.000,6,0.000,0.018,2476,2441,3660,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4057,-0.79,-171.1,368.1,-7.4,214,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2441,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4359,-0.81,-171.1,393.2,-9.1,229,4362,0.12,0.00,-0.10,0.000,6,0.082,0.000,2406,2442,3677,0,0,0,0,0,0,26.71,28.83,25.99
$GC,4656,-0.77,-171.1,435.0,-14.4,244,4658,0.15,0.00,0.00,0.000,6,0.148,0.000,2446,2439,3676,0,0,0,0,0,0,26.38,28.83,28.83
$STATE,4956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4956,begin apogee
$GC,4963,-0.27,0.0,471.3,-11.0,259,5112,0.47,0.00,140.32,0.889,6,0.109,0.000,2607,2301,2961,0,0,0,0,0,0,26.06,28.83,24.07
$STATE,5113,end apogee,CONTROL_FINISHED_OK
$STATE,5113,begin climb
$GC,5116,0.53,171.1,479.1,0.0,266,5268,0.73,2.10,141.57,0.960,4,0.072,0.032,2872,949,2264,0,0,0,0,0,0,25.44,25.21,23.96
$GC,5296,0.52,246.7,475.8,5.7,275,5366,0.00,2.08,64.03,0.948,6,0.000,0.031,2872,2304,1960,0,0,0,0,0,0,28.83,25.67,24.06
$GC,5684,0.51,246.7,435.6,10.2,295,5690,0.00,2.15,0.00,0.000,4,0.000,0.045,2871,3696,1944,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5722,0.49,246.7,433.1,10.2,296,5729,0.00,1.98,0.00,0.000,6,0.000,0.023,2875,2329,1943,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6028,0.48,265.6,404.0,7.4,312,6049,0.00,2.20,15.80,0.913,4,0.000,0.034,2874,909,1881,0,0,0,0,0,0,28.83,26.15,24.73
$GC,6146,0.49,272.2,395.7,7.8,317,6154,0.00,2.10,1.70,0.216,6,0.000,0.031,2874,2308,1858,0,0,0,0,0,0,28.83,26.29,25.19
$GC,6453,0.48,272.2,368.7,8.2,333,6459,0.00,2.12,0.00,0.000,4,0.000,0.044,2874,3688,1865,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6501,0.46,272.2,364.2,9.5,335,6507,0.00,2.03,0.00,0.000,6,0.000,0.023,2874,2288,1865,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6820,0.45,272.2,332.9,9.2,351,6826,0.00,2.03,0.00,0.000,4,0.000,0.034,2874,920,1865,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6864,0.45,272.2,329.1,8.8,353,6869,0.00,2.08,0.00,0.000,6,0.000,0.030,2874,2308,1865,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7187,0.45,272.2,301.5,8.9,369,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2308,1863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7490,0.45,272.2,272.1,10.1,384,7495,0.00,2.08,0.00,0.000,4,0.000,0.032,2874,907,1863,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7553,0.45,272.2,265.5,10.0,387,7558,0.00,2.08,0.00,0.000,6,0.000,0.029,2874,2311,1863,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7876,0.45,272.2,234.5,9.2,403,7881,0.00,2.12,0.00,0.000,4,0.000,0.044,2874,3705,1862,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7919,0.44,272.2,230.4,9.4,405,7925,0.12,2.03,0.00,0.000,6,0.145,0.022,2839,2298,1863,0,0,0,0,0,0,26.28,26.60,28.83
$GC,8244,0.50,346.6,209.1,5.7,421,8314,0.00,0.00,68.25,0.733,6,0.000,0.000,2839,2298,1557,0,0,0,0,0,0,28.83,28.83,24.44
$GC,8603,0.60,346.6,183.7,8.4,439,8609,0.12,2.17,0.00,0.000,4,0.080,0.041,2911,3693,1538,0,0,0,0,0,0,26.45,26.20,28.83
$GC,8703,0.61,346.6,174.2,11.3,443,8709,0.00,2.03,0.00,0.000,6,0.000,0.023,2913,2298,1537,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9007,0.61,346.6,141.4,10.9,459,9012,0.00,2.05,0.00,0.000,4,0.000,0.034,2913,910,1537,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9079,0.61,346.6,135.2,10.0,462,9085,0.00,2.05,0.00,0.000,6,0.000,0.029,2913,2305,1537,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9394,0.61,347.2,106.3,8.0,478,9399,0.00,2.12,0.00,0.000,4,0.000,0.044,2912,3700,1536,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9437,0.61,347.2,102.2,8.5,480,9443,0.00,2.03,0.00,0.000,6,0.000,0.022,2913,2286,1535,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9761,0.64,349.5,80.4,8.0,496,9767,0.00,2.00,0.00,0.000,4,0.000,0.033,2912,916,1535,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9805,0.67,383.6,77.6,7.0,498,9825,0.00,2.05,13.88,0.292,6,0.000,0.028,2914,2312,1403,0,0,0,0,0,0,28.83,26.50,25.13
$GC,10125,0.80,454.9,55.9,5.8,514,10165,0.12,2.12,30.80,0.248,4,0.080,0.043,2981,3691,1112,0,0,0,0,0,0,26.63,26.21,25.37
$GC,10273,0.81,454.9,44.7,8.1,524,10280,0.00,2.00,0.00,0.000,6,0.000,0.021,2981,2293,1117,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10580,0.86,486.5,23.2,7.0,555,10602,0.00,2.08,13.60,0.174,4,0.000,0.034,2981,925,984,0,0,0,0,0,0,28.83,26.33,25.47
$GC,10651,0.95,555.7,19.5,5.9,561,10688,0.00,2.03,29.52,0.164,6,0.000,0.028,2981,2302,700,0,0,0,0,0,0,28.83,26.44,25.55
$STATE,10884,end climb,SURFACE_DEPTH_REACHED
$STATE,10884,begin surface coast
$FINISH,0.8,1.021969
$STATE,10928,end surface coast,CONTROL_FINISHED_OK
$STATE,10928,begin surface
$SM_CCo,11007,0.00,0.000,0,0,704,555.60
$SM_GC,1.62,7.15,0.20,0.00,0.022,0.059,0.000,113,2470,704,-7.98,-1.27,555.60,0,0,0,0,0,0,26.48,26.58,28.83
$IRIDIUM_FIX,2253.38,12126.33,031212,020257
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.94
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.50
$XPDR_PINGS,3
$24V_AH,24.0,50.222
$10V_AH,10.2,32.696
$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,18.875,81.500,519.475,0.000,0.000,0.000,0.000,183.750,0.750,0.000,4.773,1785.760,7166.962,569.818,1549.672,281.657,0.000,1533.868,0.000,1323.551,0.000,0.544,0.000
$DEVICE_MAMPS,222.615,74.205,960.075,0.000,0.000,0.000,0.000,117.810,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10940.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.961,0.000,0.000,0.000
$MEM,323816
$DATA_FILE_SIZE,20081,589
$CAP_FILE_SIZE,132230,0
$CFSIZE,260165632,227905536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119, 22.7,1
$GPS,031212,080435,2305.201,12128.372,28,1.2,28,-3.4