version: 66.11
glider: 167
mission: 14
dive: 472
start: 2 4 113 15 46 10
data:
$ID,167
$MISSION,14
$DIVE,472
$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,310
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-11
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,300
$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,1
$N_NOCOMM,2
$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,-971478
$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,2665
$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,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,20.5
$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
$GPS1,040213,153835,2400.412,12143.295,29,0.8,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.9
$GPS2,040213,154525,2400.425,12143.373,5,0.8,5,-3.7
$SPEED_LIMITS,0.184,0.303
$TGT_NAME,HEADING
$TGT_LATLONG,2405.824,12133.128
$TGT_RADIUS,1852.000
$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,303.7,20000,-16.5,-10.645,-19.38
$D_GRID,305
$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,20,-0.79,-195.5,0.0,0.0,0,72,0.00,0.00,-50.60,0.000,2,0.000,0.000,113,2471,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.79,-195.5,3.2,-4.9,5,130,9.10,2.22,-35.42,0.000,4,0.222,0.044,2402,1040,3767,0,0,0,0,0,0,25.15,25.88,26.65
$GC,164,-0.71,-195.5,12.9,-15.9,13,172,0.15,2.12,0.00,0.000,6,0.158,0.034,2436,2436,3768,0,0,0,0,0,0,25.34,25.73,28.83
$GC,350,-0.71,-195.5,38.3,-12.5,32,355,0.00,2.10,0.00,0.000,4,0.000,0.048,2429,3769,3768,0,0,0,0,0,0,28.83,25.45,28.83
$GC,434,-0.71,-195.5,48.8,-12.2,40,439,0.00,1.92,0.00,0.000,6,0.000,0.019,2429,2436,3769,0,0,0,0,0,0,28.83,26.10,28.83
$GC,627,-0.71,-195.5,72.2,-11.6,50,632,0.00,2.03,0.00,0.000,4,0.000,0.031,2429,1064,3770,0,0,0,0,0,0,28.83,25.76,28.83
$GC,664,-0.71,-195.5,74.7,-11.1,51,671,0.00,2.15,0.00,0.000,6,0.000,0.035,2424,2471,3770,0,0,0,0,0,0,28.83,25.62,28.83
$GC,851,-0.71,-195.5,97.3,-11.0,61,857,0.00,2.03,0.00,0.000,4,0.000,0.048,2424,3760,3775,0,0,0,0,0,0,28.83,25.39,28.83
$GC,895,-0.71,-195.5,102.4,-11.2,63,900,0.00,1.85,0.00,0.000,6,0.000,0.019,2424,2474,3768,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1099,-0.71,-195.5,125.0,-11.3,73,1104,0.00,2.10,0.00,0.000,4,0.000,0.031,2424,1055,3771,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1131,-0.71,-195.5,127.9,-11.6,74,1136,0.00,2.17,0.00,0.000,6,0.000,0.036,2424,2474,3768,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1325,-0.71,-195.5,150.4,-10.3,84,1330,0.00,2.03,0.00,0.000,4,0.000,0.048,2424,3762,3771,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1390,-0.71,-195.5,157.0,-10.2,87,1395,0.00,1.88,0.00,0.000,6,0.000,0.020,2424,2465,3771,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1596,-0.71,-195.5,176.9,-9.8,97,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2465,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1774,-0.71,-195.5,195.3,-10.4,106,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2465,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1953,-0.72,-195.5,214.6,-10.8,115,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2465,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2135,-0.73,-195.5,233.4,-10.3,124,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2465,3771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2314,-0.74,-195.5,250.3,-9.6,133,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2465,3767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,-0.76,-195.5,267.4,-9.4,142,2499,0.00,2.08,0.00,0.000,4,0.000,0.031,2424,1064,3770,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2539,-0.78,-195.5,271.6,-9.5,144,2544,0.00,2.20,0.00,0.000,6,0.000,0.035,2424,2489,3769,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2745,-0.80,-195.5,291.3,-9.8,154,2751,0.00,2.00,0.00,0.000,4,0.000,0.049,2424,3759,3768,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2799,-0.82,-195.5,296.1,-10.1,156,2805,0.00,1.85,0.00,0.000,6,0.000,0.020,2424,2469,3768,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,2890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2890,begin apogee
$GC,2897,-0.27,0.0,306.5,-9.9,161,3059,0.45,0.00,151.27,0.772,4,0.108,0.000,2571,2178,2961,0,0,0,0,0,0,25.22,28.83,24.69
$STATE,3061,end apogee,CONTROL_FINISHED_OK
$STATE,3061,begin climb
$GC,3063,0.79,195.5,314.9,0.0,169,3224,1.02,2.33,150.57,0.739,4,0.086,0.045,2917,3616,2165,0,0,0,0,0,0,25.27,25.52,24.77
$GC,3379,0.75,205.8,294.7,10.3,185,3389,0.00,2.08,2.20,0.287,6,0.000,0.026,2926,2242,2128,0,0,0,0,0,0,28.83,25.98,24.35
$GC,3586,0.79,265.0,276.8,8.5,195,3646,0.00,2.20,54.72,0.731,4,0.000,0.036,2937,795,1881,0,0,0,0,0,0,28.83,25.86,24.84
$GC,3775,0.82,296.8,260.1,9.5,204,3808,0.00,2.15,26.40,0.750,6,0.000,0.032,2937,2214,1750,0,0,0,0,0,0,28.83,25.88,24.84
$GC,4007,0.89,354.1,238.4,8.6,216,4065,0.00,2.28,48.12,0.749,4,0.000,0.047,2937,3610,1511,0,0,0,0,0,0,28.83,25.83,24.83
$GC,4138,0.90,359.8,226.2,10.4,222,4144,0.00,2.10,0.00,0.000,6,0.000,0.025,2937,2200,1505,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4335,0.93,375.0,206.2,10.1,232,4358,0.00,2.12,17.67,0.757,4,0.000,0.036,2937,792,1431,0,0,0,0,0,0,28.83,25.97,24.88
$GC,4377,0.96,381.2,201.5,10.4,234,4384,0.12,2.15,1.27,0.177,6,0.078,0.029,3007,2217,1413,0,0,0,0,0,0,25.94,25.96,25.39
$GC,4584,0.93,381.2,174.4,13.3,244,4589,0.12,2.17,0.00,0.000,4,0.137,0.044,2967,3605,1419,0,0,0,0,0,0,26.06,25.65,28.83
$GC,4652,0.91,381.2,166.3,12.6,247,4657,0.00,2.05,0.00,0.000,6,0.000,0.025,2975,2226,1419,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4851,0.91,381.2,143.9,11.2,257,4856,0.00,2.20,0.00,0.000,4,0.000,0.044,2974,3607,1419,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4874,0.91,381.2,140.9,11.6,258,4880,0.00,2.10,0.00,0.000,6,0.000,0.026,2976,2226,1418,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5079,0.91,381.2,117.9,11.2,268,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2226,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5259,0.91,381.2,97.1,11.5,277,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2226,1421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5438,0.91,381.2,77.7,10.8,286,5444,0.00,2.17,0.00,0.000,4,0.000,0.037,2976,791,1417,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5476,0.91,381.2,75.1,10.9,287,5482,0.00,2.20,0.00,0.000,6,0.000,0.030,2975,2247,1417,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5665,0.95,402.4,54.8,9.9,297,5684,0.00,2.17,10.02,0.233,4,0.000,0.045,2976,3606,1328,0,0,0,0,0,0,28.83,25.77,25.07
$GC,5717,0.98,429.5,50.4,9.7,299,5738,0.00,2.05,13.18,0.226,6,0.000,0.025,2977,2243,1218,0,0,0,0,0,0,28.83,25.92,25.20
$GC,5918,1.11,476.4,30.5,8.9,319,5949,0.12,2.20,21.75,0.186,4,0.076,0.037,3076,792,1024,0,0,0,0,0,0,26.39,25.99,25.37
$GC,6053,1.11,476.4,13.7,13.2,332,6060,0.17,2.20,0.00,0.000,6,0.118,0.030,3025,2243,1032,0,0,0,0,0,0,25.41,25.75,28.83
$STATE,6155,end climb,SURFACE_DEPTH_REACHED
$STATE,6155,begin surface coast
$FINISH,0.9,1.021655
$STATE,6187,end surface coast,CONTROL_FINISHED_OK
$STATE,6187,begin surface
$SM_CCo,6267,0.00,0.000,0,0,1031,475.15
$SM_GC,1.81,7.55,0.30,0.00,0.027,0.050,0.000,105,2460,1031,-7.89,-1.16,475.15,0,0,0,0,0,0,25.82,26.20,28.83
$IRIDIUM_FIX,2349.77,12142.32,040213,141413
$TT8_MAMPS,0.028462,0.028462
$HUMID,62.24
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,23.90
$XPDR_PINGS,56
$24V_AH,24.4,102.404
$10V_AH,9.8,64.133
$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,18.825,72.275,497.200,0.000,0.000,0.000,0.000,242.250,14.000,0.000,6.560,1087.236,3645.746,504.387,1177.782,290.554,0.000,1359.772,0.000,905.881,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,50.490,771.885,0.000,0.000,0.000,0.000,115.515,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6196.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.829,0.000,0.000,0.000
$MEM,324788
$DATA_FILE_SIZE,13462,345
$CAP_FILE_SIZE,99629,0
$CFSIZE,260165632,202547200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040213,173206,2400.615,12142.886,44,0.8,44,-3.7