version: 66.11
glider: 167
mission: 14
dive: 473
start: 2 4 113 17 40 37
data:
$ID,167
$MISSION,14
$DIVE,473
$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,-971479.25
$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,54
$R_STBD_OVSHOOT,47
$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
$GPS1,040213,173206,2400.615,12142.886,44,0.8,44,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.8
$GPS2,040213,174010,2400.563,12142.921,5,0.8,5,-3.7
$SPEED_LIMITS,0.184,0.303
$TGT_NAME,HEADING
$TGT_LATLONG,2405.963,12132.676
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.79,-195.5,0.0,0.0,0,83,0.00,0.00,-60.70,0.000,2,0.000,0.000,105,2463,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.79,-195.5,3.5,-4.5,6,128,9.02,2.22,-25.55,0.000,4,0.215,0.045,2407,1045,3764,0,0,0,0,0,0,25.18,25.85,26.63
$GC,184,-0.73,-195.5,18.8,-17.4,15,190,0.12,2.12,0.00,0.000,6,0.159,0.035,2429,2437,3768,0,0,0,0,0,0,25.41,25.73,28.83
$GC,380,-0.71,-195.5,45.0,-11.5,34,385,0.00,2.08,0.00,0.000,4,0.000,0.048,2425,3759,3769,0,0,0,0,0,0,28.83,25.46,28.83
$GC,509,-0.70,-195.5,58.8,-10.9,42,515,0.00,1.88,0.00,0.000,6,0.000,0.020,2424,2456,3769,0,0,0,0,0,0,28.83,26.06,28.83
$GC,709,-0.70,-195.5,81.5,-11.4,52,714,0.00,2.10,0.00,0.000,4,0.000,0.040,2424,1061,3770,0,0,0,0,0,0,28.83,25.65,28.83
$GC,746,-0.70,-195.5,84.2,-11.3,53,752,0.00,2.20,0.00,0.000,6,0.000,0.036,2424,2496,3770,0,0,0,0,0,0,28.83,25.60,28.83
$GC,932,-0.70,-195.5,107.8,-11.7,63,937,0.00,2.15,0.00,0.000,4,0.000,0.033,2424,1067,3769,0,0,0,0,0,0,28.83,25.69,28.83
$GC,965,-0.70,-195.5,110.4,-11.5,64,970,0.00,2.20,0.00,0.000,6,0.000,0.036,2424,2493,3770,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1159,-0.70,-195.5,133.3,-11.3,74,1164,0.00,1.98,0.00,0.000,4,0.000,0.047,2424,3759,3771,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1222,-0.70,-195.5,140.7,-11.5,77,1227,0.00,1.83,0.00,0.000,6,0.000,0.019,2424,2490,3770,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1426,-0.70,-195.5,162.9,-10.8,87,1432,0.00,2.12,0.00,0.000,4,0.000,0.033,2424,1068,3768,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1493,-0.70,-195.5,169.8,-10.6,90,1499,0.00,2.17,0.00,0.000,6,0.000,0.036,2424,2487,3770,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1693,-0.70,-195.5,189.5,-9.8,100,1698,0.00,2.03,0.00,0.000,4,0.000,0.053,2424,3764,3770,0,0,0,0,0,0,28.83,25.23,28.83
$GC,1725,-0.70,-195.5,192.0,-10.0,101,1731,0.00,1.88,0.00,0.000,6,0.000,0.019,2424,2474,3770,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1922,-0.71,-195.5,212.4,-10.1,111,1928,0.00,2.10,0.00,0.000,4,0.000,0.033,2423,1069,3770,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1967,-0.72,-195.5,217.2,-10.2,113,1972,0.00,2.20,0.00,0.000,6,0.000,0.036,2424,2488,3770,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2174,-0.73,-195.5,235.6,-8.6,123,2179,0.00,2.00,0.00,0.000,4,0.000,0.047,2424,3761,3770,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2218,-0.75,-195.5,240.0,-8.8,125,2223,0.00,1.88,0.00,0.000,6,0.000,0.019,2424,2466,3770,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2425,-0.77,-195.5,258.9,-9.7,135,2431,0.00,2.12,0.00,0.000,4,0.000,0.037,2423,1072,3770,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2474,-0.78,-195.5,263.7,-10.0,137,2479,0.00,2.20,0.00,0.000,6,0.000,0.036,2424,2481,3766,0,0,0,0,0,0,28.83,25.40,28.83
$GC,2675,-0.80,-195.5,283.1,-9.1,147,2681,0.00,2.03,0.00,0.000,4,0.000,0.047,2423,3754,3769,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2709,-0.81,-195.5,285.4,-9.1,148,2715,0.00,1.83,0.00,0.000,6,0.000,0.018,2424,2463,3771,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2905,-0.83,-195.5,302.9,-8.3,158,2911,0.00,2.05,0.00,0.000,4,0.000,0.032,2424,1086,3767,0,0,0,0,0,0,28.83,25.65,28.83
$STATE,2926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2926,begin apogee
$GC,2936,-0.27,0.0,305.3,-8.5,159,3095,0.45,0.00,151.80,0.797,4,0.112,0.000,2569,2215,2967,0,0,0,0,0,0,25.15,28.83,24.66
$STATE,3096,end apogee,CONTROL_FINISHED_OK
$STATE,3096,begin climb
$GC,3099,0.79,195.5,315.2,0.0,167,3256,0.98,0.00,150.30,0.735,6,0.080,0.000,2914,2215,2166,0,0,0,0,0,0,25.37,28.83,24.78
$GC,3457,0.86,275.2,297.5,7.7,185,3527,0.00,2.17,63.85,0.736,4,0.000,0.044,2914,3601,1837,0,0,0,0,0,0,28.83,25.78,24.82
$GC,3564,0.94,342.0,289.3,8.2,190,3625,0.15,2.05,54.55,0.731,6,0.070,0.031,2993,2231,1574,0,0,0,0,0,0,25.91,25.96,24.79
$GC,3818,0.91,342.0,258.8,11.9,203,3824,0.12,2.17,0.00,0.000,4,0.139,0.037,2963,799,1554,0,0,0,0,0,0,26.06,25.87,28.83
$GC,3846,0.87,342.0,256.0,12.0,204,3852,0.00,2.15,0.00,0.000,6,0.000,0.033,2963,2220,1551,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4048,0.86,342.0,233.0,11.2,214,4054,0.00,2.17,0.00,0.000,4,0.000,0.046,2963,3606,1552,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4141,0.84,342.0,221.7,13.1,218,4147,0.15,2.05,0.00,0.000,6,0.140,0.025,2933,2231,1550,0,0,0,0,0,0,25.57,25.96,28.83
$GC,4339,0.89,362.4,200.4,9.9,228,4362,0.00,2.17,16.98,0.747,4,0.000,0.037,2933,801,1482,0,0,0,0,0,0,28.83,25.96,24.87
$GC,4410,0.95,383.2,193.9,9.9,231,4439,0.12,2.17,19.12,0.748,6,0.075,0.031,3003,2234,1392,0,0,0,0,0,0,25.92,25.94,24.83
$GC,4621,0.93,383.2,167.9,11.9,242,4626,0.12,2.15,0.00,0.000,4,0.138,0.043,2964,3609,1388,0,0,0,0,0,0,26.06,25.70,28.83
$GC,4687,0.91,383.2,160.1,11.9,245,4692,0.00,2.05,0.00,0.000,6,0.000,0.024,2971,2236,1387,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4892,0.91,383.2,136.9,11.2,255,4897,0.00,2.20,0.00,0.000,4,0.000,0.038,2981,794,1389,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4915,0.91,383.2,134.1,11.3,256,4920,0.00,2.22,0.00,0.000,6,0.000,0.032,2981,2251,1385,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5119,0.91,383.2,112.1,10.8,266,5124,0.00,2.12,0.00,0.000,4,0.000,0.044,2981,3606,1384,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5197,0.90,383.2,104.5,11.4,269,5204,0.12,2.00,0.00,0.000,6,0.145,0.024,2957,2269,1384,0,0,0,0,0,0,25.58,25.93,28.83
$GC,5386,1.02,449.9,87.0,8.2,279,5423,0.12,2.28,26.75,0.309,4,0.077,0.037,3043,802,1136,0,0,0,0,0,0,26.37,25.94,25.16
$GC,5506,1.00,449.9,72.1,13.0,285,5517,0.20,2.20,1.50,0.177,6,0.122,0.031,2987,2248,1131,0,0,0,0,0,0,25.41,25.81,25.20
$GC,5710,1.01,449.9,48.6,11.8,295,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2249,1140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5892,1.09,484.2,29.6,9.4,313,5913,0.00,2.17,15.95,0.185,4,0.000,0.044,2987,3603,993,0,0,0,0,0,0,28.83,25.88,25.30
$GC,5936,1.13,496.4,24.9,10.2,317,5949,0.12,2.03,6.38,0.177,6,0.078,0.024,3061,2243,941,0,0,0,0,0,0,25.86,25.96,25.22
$GC,6127,1.13,496.4,3.2,10.9,336,6133,0.12,2.20,0.00,0.000,4,0.133,0.034,3028,796,951,0,0,0,0,0,0,26.10,25.64,28.83
$STATE,6137,end climb,SURFACE_DEPTH_REACHED
$STATE,6138,begin surface coast
$FINISH,0.9,0.999905
$STATE,6159,end surface coast,CONTROL_FINISHED_OK
$STATE,6159,begin surface
$SM_CCo,6241,0.00,0.000,0,0,950,495.02
$SM_GC,1.77,7.60,2.60,0.00,0.030,0.032,0.000,121,2450,950,-7.86,-1.16,495.02,0,0,0,0,0,0,25.77,25.61,28.83
$IRIDIUM_FIX,2352.12,12142.32,040213,151523
$TT8_MAMPS,0.029211,0.029211
$HUMID,63.34
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,59
$24V_AH,24.7,102.516
$10V_AH,9.7,64.183
$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,19.550,92.475,507.175,0.000,0.000,0.000,0.000,304.450,14.750,0.000,6.534,1107.482,3530.150,521.920,1256.558,319.225,0.000,1463.320,0.000,925.153,0.000,0.541,0.000
$DEVICE_MAMPS,214.965,52.785,797.130,0.000,0.000,0.000,0.000,113.985,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6170.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.848,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,13455,339
$CAP_FILE_SIZE,106525,0
$CFSIZE,260165632,202477568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040213,192606,2400.290,12142.358,42,0.9,42,-3.7