version: 66.11
glider: 167
mission: 11
dive: 3
start: 8 1 112 18 7 9
data:
$ID,167
$MISSION,11
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,30
$T_BOOST,0
$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,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52158
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-967555.75
$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,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2290
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2575
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.405235
$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,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$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,33
$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
$GPS1,010812,180223,4743.804,-12224.869,21,0.9,38,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.1
$GPS2,010812,180612,4743.792,-12224.863,10,1.3,15,18.2
$SPEED_LIMITS,0.084,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.023,0.081
$KALMAN_X,118.3,123.9,118.4,-641.4,114.8
$KALMAN_Y,80.1,76.3,80.1,624.5,66.6
$MHEAD_RNG_PITCHd_Wd,325.9,215,-48.7,-10.000
$D_GRID,176
$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,17,-1.88,-21.6,0.0,0.0,0,60,0.00,0.00,-40.72,0.000,2,0.000,0.000,121,2294,2609,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.89,-32.8,3.3,-6.5,4,80,8.30,2.17,-2.20,0.000,4,0.252,0.057,2162,3703,2709,0,0,0,0,0,0,26.01,26.37,26.67
$GC,98,-1.89,-32.8,12.8,-21.3,7,103,0.00,2.10,0.00,0.000,6,0.000,0.028,2162,2271,2710,0,0,0,0,0,0,28.83,26.46,28.83
$GC,141,-1.89,-32.8,25.5,-29.6,11,146,0.00,2.22,0.00,0.000,4,0.000,0.045,2151,3712,2710,0,0,0,0,0,0,28.83,26.44,28.83
$GC,163,-1.89,-32.8,32.1,-29.4,13,169,0.00,1.77,0.00,0.000,6,0.000,0.028,2151,2520,2710,0,0,0,0,0,0,28.83,26.51,28.83
$GC,206,-1.89,-32.8,44.0,-28.4,17,211,0.00,1.83,0.00,0.000,4,0.000,0.046,2142,3710,2710,0,0,0,0,0,0,28.83,26.43,28.83
$GC,233,-1.89,-32.8,50.2,-27.5,19,240,0.12,1.55,0.00,0.000,6,0.225,0.028,2167,2621,2710,0,0,0,0,0,0,26.14,26.53,28.83
$GC,269,-1.89,-32.8,60.0,-24.3,23,270,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2621,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,299,-1.89,-32.8,66.8,-23.0,26,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2622,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,329,-1.89,-32.8,74.0,-23.8,29,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2622,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,359,-1.89,-32.8,82.0,-26.3,32,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2622,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,389,-1.89,-32.8,90.0,-26.9,35,394,0.00,2.58,0.00,0.000,4,0.000,0.031,2167,881,2710,0,0,0,0,0,0,28.83,26.52,28.83
$GC,426,-1.89,-32.8,98.4,-25.6,38,433,0.00,2.67,0.00,0.000,6,0.000,0.038,2156,2642,2710,0,0,0,0,0,0,28.83,26.48,28.83
$GC,462,-1.89,-32.8,108.9,-26.1,42,467,0.00,2.60,0.00,0.000,4,0.000,0.031,2156,886,2710,0,0,0,0,0,0,28.83,26.54,28.83
$GC,474,-1.89,-32.8,112.1,-25.7,43,480,0.12,2.62,0.00,0.000,6,0.228,0.037,2168,2610,2710,0,0,0,0,0,0,26.17,26.50,28.83
$GC,518,-1.89,-32.8,123.1,-25.7,47,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2611,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,551,-1.89,-32.8,130.7,-25.1,50,556,0.00,1.65,0.00,0.000,4,0.000,0.047,2162,3701,2710,0,0,0,0,0,0,28.83,26.51,28.83
$GC,613,-1.89,-32.8,148.5,-27.9,56,618,0.00,1.55,0.00,0.000,6,0.000,0.029,2162,2627,2710,0,0,0,0,0,0,28.83,26.62,28.83
$GC,656,-1.89,-32.8,160.0,-27.3,60,661,0.00,1.65,0.00,0.000,4,0.000,0.047,2153,3710,2710,0,0,0,0,0,0,28.83,26.53,28.83
$GC,724,-1.89,-32.8,175.6,-24.9,66,731,0.00,1.52,0.00,0.000,6,0.000,0.028,2153,2634,2710,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,737,begin apogee
$GC,743,-0.31,0.0,180.4,-24.5,68,777,1.85,0.00,28.08,1.420,4,0.206,0.000,2673,2214,2573,0,0,0,0,0,0,26.11,28.83,24.53
$STATE,778,end apogee,CONTROL_FINISHED_OK
$STATE,778,begin climb
$GC,781,1.89,32.8,185.1,0.0,71,819,2.10,2.33,29.90,1.384,4,0.101,0.055,3376,3633,2439,0,0,0,0,0,0,25.63,25.66,24.05
$GC,854,1.90,54.3,182.5,3.3,78,884,0.00,2.15,20.27,1.353,6,0.000,0.031,3387,2237,2351,0,0,0,0,0,0,28.83,25.60,24.06
$GC,912,1.91,94.0,183.9,-2.3,84,956,0.00,2.28,36.45,1.385,4,0.000,0.039,3397,835,2190,0,0,0,0,0,0,28.83,24.94,23.91
$GC,1150,1.91,94.0,157.0,16.3,107,1157,0.00,1.95,0.00,0.000,6,0.000,0.041,3397,2096,2187,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1185,1.91,94.0,151.0,15.2,111,1190,0.00,2.42,0.00,0.000,4,0.000,0.050,3397,3639,2187,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1238,1.91,94.0,143.2,14.5,116,1243,0.00,2.12,0.00,0.000,6,0.000,0.033,3408,2237,2187,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1281,1.91,94.0,137.4,13.5,120,1286,0.00,2.12,0.00,0.000,4,0.000,0.038,3418,829,2187,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1314,1.91,94.0,133.1,13.1,123,1319,0.00,2.00,0.00,0.000,6,0.000,0.040,3418,2126,2186,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1356,1.91,94.0,127.7,13.0,127,1362,0.00,2.38,0.00,0.000,4,0.000,0.050,3418,3647,2186,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1591,1.91,94.0,94.5,14.8,150,1596,0.15,2.15,0.00,0.000,6,0.256,0.034,3401,2220,2186,0,0,0,0,0,0,26.08,26.44,28.83
$GC,1634,1.91,94.0,88.7,13.4,154,1639,0.00,2.22,0.00,0.000,4,0.000,0.052,3400,3641,2186,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1870,1.91,100.0,62.6,8.1,177,1881,0.00,2.22,1.83,0.340,6,0.000,0.033,3409,2154,2166,0,0,0,0,0,0,28.83,26.54,26.05
$GC,1909,1.92,105.3,59.2,8.4,181,1920,0.00,2.35,2.22,0.442,4,0.000,0.052,3409,3634,2143,0,0,0,0,0,0,28.83,26.46,25.37
$GC,2148,1.92,105.3,33.8,10.4,204,2155,0.00,1.92,0.00,0.000,6,0.000,0.034,3419,2339,2143,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2185,1.92,108.0,30.0,9.2,208,2191,0.00,2.03,1.17,0.288,4,0.000,0.050,3419,3642,2129,0,0,0,0,0,0,28.83,26.51,26.23
$GC,2422,1.92,127.6,9.7,4.0,231,2438,0.15,2.12,8.15,0.171,6,0.257,0.034,3400,2219,2048,0,0,0,0,0,0,26.22,26.63,26.32
$GC,2476,1.93,144.8,7.4,4.7,236,2488,0.00,2.28,6.82,0.159,4,0.000,0.052,3397,3640,1979,0,0,0,0,0,0,28.83,26.51,26.32
$STATE,2518,end climb,SURFACE_DEPTH_REACHED
$STATE,2518,begin surface coast
$FINISH,0.5,1.020838
$STATE,2541,end surface coast,CONTROL_FINISHED_OK
$STATE,2541,begin surface
$SM_CCo,2563,41.95,0.143,0,0,1554,250.21
$SM_GC,2.64,9.20,2.08,41.95,0.088,0.034,0.143,122,2282,1554,-8.24,1.22,250.21,0,0,0,0,0,0,26.53,26.60,26.20
$IRIDIUM_FIX,4726.11,-12223.37,010812,171736
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.77
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,130.7,73.9
$24V_AH,23.9,6.257
$10V_AH,10.1,1.075
$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,22.000,68.200,134.900,41.950,0.000,0.000,0.000,0.000,3.250,0.000,17.806,851.498,785.625,273.322,681.933,99.361,31.297,670.368,0.000,641.662,0.000,7.214,0.000
$DEVICE_MAMPS,257.040,57.375,1419.840,143.055,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2521.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.001,0.000,0.000,0.000
$MEM,323376
$DATA_FILE_SIZE,6828,242
$CAP_FILE_SIZE,92826,0
$CFSIZE,260165632,252751872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,185151,4743.899,-12224.961,10,2.2,29,18.2