version: 66.11
glider: 167
mission: 14
dive: 470
start: 2 4 113 12 44 22
data:
$ID,167
$MISSION,14
$DIVE,470
$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,-8
$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,-971475.5
$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,62
$R_STBD_OVSHOOT,38
$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
$GPS1,040213,123724,2359.479,12144.062,42,0.9,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-69.3
$GPS2,040213,124355,2359.504,12144.080,5,0.8,5,-3.7
$SPEED_LIMITS,0.184,0.303
$TGT_NAME,HEADING
$TGT_LATLONG,2404.904,12133.836
$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,231
$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,-60.90,0.000,2,0.000,0.000,111,2464,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.79,-195.5,3.2,-3.4,6,137,9.02,2.15,-30.40,0.000,4,0.216,0.042,2404,1052,3767,0,0,0,0,0,0,25.10,25.94,26.38
$GC,202,-0.74,-195.5,20.3,-15.6,17,207,0.00,2.12,0.00,0.000,6,0.000,0.032,2398,2446,3768,0,0,0,0,0,0,28.83,25.70,28.83
$GC,396,-0.70,-195.5,47.1,-12.6,36,402,0.12,2.12,0.00,0.000,4,0.164,0.029,2435,1042,3769,0,0,0,0,0,0,25.96,25.69,28.83
$GC,470,-0.70,-195.5,54.7,-11.8,41,475,0.00,2.15,0.00,0.000,6,0.000,0.035,2437,2442,3770,0,0,0,0,0,0,28.83,25.55,28.83
$GC,664,-0.70,-195.5,75.7,-10.0,51,669,0.00,2.10,0.00,0.000,4,0.000,0.033,2435,1052,3770,0,0,0,0,0,0,28.83,25.63,28.83
$GC,716,-0.70,-195.5,80.2,-10.1,53,721,0.00,2.12,0.00,0.000,6,0.000,0.037,2436,2432,3770,0,0,0,0,0,0,28.83,25.56,28.83
$GC,910,-0.70,-195.5,99.8,-9.3,63,916,0.00,2.10,0.00,0.000,4,0.000,0.048,2429,3764,3771,0,0,0,0,0,0,28.83,25.31,28.83
$GC,963,-0.70,-195.5,103.9,-9.0,65,968,0.00,1.98,0.00,0.000,6,0.000,0.022,2429,2417,3770,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1158,-0.70,-195.5,123.3,-9.8,75,1163,0.00,2.00,0.00,0.000,4,0.000,0.031,2429,1060,3770,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1210,-0.70,-195.5,127.8,-9.9,77,1215,0.00,2.08,0.00,0.000,6,0.000,0.034,2427,2422,3770,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1405,-0.70,-195.5,147.3,-9.5,87,1410,0.00,2.12,0.00,0.000,4,0.000,0.049,2427,3762,3771,0,0,0,0,0,0,28.83,25.23,28.83
$GC,1472,-0.70,-195.5,153.8,-10.0,90,1478,0.00,1.95,0.00,0.000,6,0.000,0.020,2427,2422,3770,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1672,-0.70,-195.5,173.5,-9.9,100,1677,0.00,2.00,0.00,0.000,4,0.000,0.030,2426,1062,3770,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1716,-0.71,-195.5,178.2,-10.3,102,1721,0.00,2.10,0.00,0.000,6,0.000,0.034,2427,2424,3767,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1921,-0.71,-195.5,199.1,-10.4,112,1927,0.00,2.12,0.00,0.000,4,0.000,0.049,2422,3761,3770,0,0,0,0,0,0,28.83,25.20,28.83
$GC,1975,-0.71,-195.5,204.0,-10.5,114,1980,0.00,1.95,0.00,0.000,6,0.000,0.019,2427,2414,3769,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2169,-0.71,-195.5,225.4,-10.7,124,2174,0.00,2.03,0.00,0.000,4,0.000,0.030,2427,1062,3769,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2213,-0.73,-195.5,230.2,-11.1,126,2218,0.00,2.12,0.00,0.000,6,0.000,0.034,2427,2421,3769,0,0,0,0,0,0,28.83,25.43,28.83
$STATE,2233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2234,begin apogee
$GC,2240,-0.27,0.0,232.7,-10.8,127,2403,0.47,0.00,153.60,0.703,4,0.116,0.000,2576,2178,2962,0,0,0,0,0,0,24.34,28.83,24.70
$STATE,2404,end apogee,CONTROL_FINISHED_OK
$STATE,2404,begin climb
$GC,2407,0.79,195.5,242.3,0.0,135,2567,1.00,2.05,149.43,0.680,4,0.079,0.033,2921,821,2162,0,0,0,0,0,0,25.38,25.70,24.72
$GC,2676,0.83,249.3,230.0,8.7,148,2725,0.00,2.10,43.38,0.678,6,0.000,0.031,2921,2211,1947,0,0,0,0,0,0,28.83,25.87,24.78
$GC,2924,0.85,263.9,203.8,10.1,161,2934,0.00,2.10,4.43,0.640,4,0.000,0.033,2929,826,1898,0,0,0,0,0,0,28.83,25.96,24.91
$GC,3042,0.87,276.3,193.3,10.2,166,3067,0.00,2.10,19.15,0.692,6,0.000,0.031,2926,2221,1836,0,0,0,0,0,0,28.83,25.89,24.84
$GC,3251,0.92,323.0,172.8,8.9,177,3296,0.00,2.17,39.67,0.682,4,0.000,0.045,2929,3609,1641,0,0,0,0,0,0,28.83,25.86,24.87
$GC,3370,0.94,341.2,161.1,10.0,183,3390,0.00,2.00,15.23,0.704,6,0.000,0.024,2935,2262,1575,0,0,0,0,0,0,28.83,26.05,24.85
$GC,3573,1.01,367.0,142.1,9.7,193,3605,0.12,2.20,22.60,0.689,4,0.077,0.035,3025,828,1460,0,0,0,0,0,0,26.33,25.97,24.90
$GC,3637,1.01,367.0,134.7,11.2,196,3643,0.12,2.15,0.00,0.000,6,0.131,0.030,2992,2240,1454,0,0,0,0,0,0,25.75,25.96,28.83
$GC,3839,0.99,367.0,111.4,11.3,206,3844,0.00,2.15,0.00,0.000,4,0.000,0.047,2992,3604,1452,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3883,0.97,367.0,105.7,11.8,208,3888,0.00,2.03,0.00,0.000,6,0.000,0.024,2999,2261,1451,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4089,0.95,367.0,82.2,11.6,218,4094,0.00,2.20,0.00,0.000,4,0.000,0.041,3009,821,1450,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4127,0.93,367.0,79.2,11.4,219,4134,0.17,2.12,0.00,0.000,6,0.123,0.029,2961,2232,1450,0,0,0,0,0,0,25.42,25.78,28.83
$GC,4316,0.99,403.0,60.9,9.3,229,4335,0.00,2.20,13.50,0.243,4,0.000,0.033,2968,826,1324,0,0,0,0,0,0,28.83,26.01,25.19
$GC,4363,1.06,448.5,56.9,9.0,231,4392,0.12,2.10,21.58,0.243,6,0.076,0.028,3035,2227,1136,0,0,0,0,0,0,25.81,25.84,25.22
$GC,4581,1.03,448.5,30.2,11.4,250,4583,0.15,0.00,0.00,0.000,6,0.131,0.000,2993,2227,1147,0,0,0,0,0,0,26.03,28.83,28.83
$GC,4762,1.12,487.5,12.7,9.2,268,4788,0.10,2.17,17.48,0.146,4,0.091,0.034,3068,832,977,0,0,0,0,0,0,26.37,26.00,25.39
$STATE,4855,end climb,SURFACE_DEPTH_REACHED
$STATE,4855,begin surface coast
$FINISH,0.9,1.011983
$STATE,4876,end surface coast,CONTROL_FINISHED_OK
$STATE,4876,begin surface
$SM_CCo,4958,0.00,0.000,0,0,984,486.92
$SM_GC,1.73,7.72,2.53,0.00,0.031,0.030,0.000,118,2447,984,-7.87,-1.19,486.92,0,0,0,0,0,0,25.81,25.69,28.83
$IRIDIUM_FIX,2352.12,12145.57,040213,111128
$TT8_MAMPS,0.028462,0.028462
$HUMID,60.12
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,74
$24V_AH,24.3,102.201
$10V_AH,9.8,64.042
$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,19.150,72.000,500.025,0.000,0.000,0.000,0.000,223.000,18.500,0.000,6.591,916.795,2626.463,500.057,1069.467,247.432,0.000,1281.525,0.000,805.854,0.000,0.542,0.000
$DEVICE_MAMPS,216.495,48.960,703.800,0.000,0.000,0.000,0.000,117.045,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4884.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.635,0.000,0.000,0.000
$MEM,323816
$DATA_FILE_SIZE,10146,279
$CAP_FILE_SIZE,87235,0
$CFSIZE,260165632,202649600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040213,140824,2359.978,12143.639,40,1.5,40,-3.7