version: 66.11
glider: 167
mission: 14
dive: 471
start: 2 4 113 14 15 25
data:
$ID,167
$MISSION,14
$DIVE,471
$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,-971476.75
$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,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,86
$R_STBD_OVSHOOT,35
$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
$GPS1,040213,140824,2359.978,12143.639,40,1.5,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.1
$GPS2,040213,141500,2400.023,12143.706,5,1.6,6,-3.7
$SPEED_LIMITS,0.184,0.303
$TGT_NAME,HEADING
$TGT_LATLONG,2405.423,12133.461
$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,-60.53,0.000,2,0.000,0.000,112,2456,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.79,-195.5,3.2,-3.7,6,127,8.98,0.00,-27.83,0.000,6,0.217,0.000,2402,2456,3766,0,0,0,0,0,0,25.17,28.83,26.60
$GC,307,-0.75,-195.5,34.5,-13.6,28,312,0.00,2.08,0.00,0.000,4,0.000,0.031,2403,1065,3768,0,0,0,0,0,0,28.83,25.79,28.83
$GC,380,-0.73,-195.5,44.4,-12.4,35,386,0.12,2.12,0.00,0.000,6,0.155,0.034,2429,2449,3769,0,0,0,0,0,0,25.34,25.64,28.83
$GC,577,-0.73,-195.5,64.8,-10.1,47,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2449,3769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,755,-0.73,-195.5,82.4,-10.1,56,760,0.00,2.05,0.00,0.000,4,0.000,0.031,2430,1075,3767,0,0,0,0,0,0,28.83,25.72,28.83
$GC,812,-0.73,-195.5,87.1,-10.2,58,819,0.00,2.12,0.00,0.000,6,0.000,0.035,2427,2460,3770,0,0,0,0,0,0,28.83,25.58,28.83
$GC,999,-0.73,-195.5,108.8,-11.2,68,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2465,3770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1178,-0.73,-195.5,128.6,-10.6,77,1183,0.00,2.05,0.00,0.000,4,0.000,0.049,2426,3762,3771,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1211,-0.73,-195.5,131.1,-10.8,78,1216,0.00,1.90,0.00,0.000,6,0.000,0.019,2426,2453,3771,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1407,-0.74,-195.5,152.0,-10.3,88,1412,0.00,2.12,0.00,0.000,4,0.000,0.049,2424,3765,3771,0,0,0,0,0,0,28.83,25.20,28.83
$GC,1445,-0.75,-195.5,154.7,-10.2,89,1452,0.00,1.90,0.00,0.000,6,0.000,0.018,2424,2439,3770,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1632,-0.76,-195.5,176.5,-11.0,99,1637,0.00,2.05,0.00,0.000,4,0.000,0.031,2424,1059,3770,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1659,-0.77,-195.5,179.2,-11.0,100,1664,0.00,2.15,0.00,0.000,6,0.000,0.035,2424,2459,3770,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1861,-0.78,-195.5,200.3,-10.2,110,1866,0.00,2.05,0.00,0.000,4,0.000,0.049,2424,3761,3770,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1904,-0.78,-195.5,205.5,-10.7,112,1910,0.00,1.90,0.00,0.000,6,0.000,0.019,2424,2446,3770,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2111,-0.80,-195.5,225.0,-9.4,122,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2446,3770,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2185,begin apogee
$GC,2192,-0.27,0.0,232.2,-8.9,126,2350,0.45,0.00,150.23,0.711,4,0.107,0.000,2571,2177,2964,0,0,0,0,0,0,25.21,28.83,24.77
$STATE,2352,end apogee,CONTROL_FINISHED_OK
$STATE,2352,begin climb
$GC,2355,0.79,195.5,240.6,0.0,134,2513,1.00,2.03,149.18,0.682,4,0.081,0.033,2915,839,2165,0,0,0,0,0,0,25.41,25.74,24.81
$GC,2617,0.88,280.1,229.5,7.6,147,2692,0.00,2.10,67.78,0.682,6,0.000,0.034,2915,2216,1816,0,0,0,0,0,0,28.83,25.88,24.82
$GC,2874,0.99,351.1,208.5,8.0,160,2941,0.15,2.17,57.72,0.675,4,0.067,0.037,3012,839,1524,0,0,0,0,0,0,26.33,25.86,24.86
$GC,2999,0.95,351.1,194.2,12.0,166,3005,0.15,2.08,0.00,0.000,6,0.129,0.032,2973,2211,1517,0,0,0,0,0,0,25.68,25.95,28.83
$GC,3202,0.95,355.8,172.1,10.5,176,3207,0.00,2.17,0.00,0.000,4,0.000,0.046,2972,3604,1515,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3259,0.94,355.8,166.6,11.2,178,3266,0.00,2.00,0.00,0.000,6,0.000,0.025,2976,2261,1513,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3446,0.93,355.8,144.3,11.3,188,3452,0.00,2.15,0.00,0.000,4,0.000,0.037,2976,835,1512,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3490,0.92,355.8,139.3,11.2,190,3495,0.00,2.10,0.00,0.000,6,0.000,0.031,2976,2221,1512,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3694,0.92,355.8,116.5,11.1,200,3699,0.00,2.15,0.00,0.000,4,0.000,0.045,2977,3601,1510,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3741,0.90,355.8,111.2,11.5,202,3746,0.00,2.00,0.00,0.000,6,0.000,0.025,2983,2253,1510,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3941,0.89,355.8,88.7,10.9,212,3947,0.12,2.12,0.00,0.000,4,0.143,0.034,2953,847,1509,0,0,0,0,0,0,26.05,25.65,28.83
$GC,3979,0.89,356.0,86.1,10.6,213,3986,0.00,2.05,0.00,0.000,6,0.000,0.030,2953,2206,1509,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4166,0.94,379.8,66.4,9.8,223,4185,0.00,2.22,10.02,0.248,4,0.000,0.045,2953,3603,1423,0,0,0,0,0,0,28.83,25.91,25.13
$GC,4223,0.98,398.6,62.1,10.0,225,4239,0.00,2.03,9.85,0.241,6,0.000,0.024,2961,2236,1341,0,0,0,0,0,0,28.83,25.96,25.18
$GC,4424,1.08,428.9,41.8,9.5,239,4445,0.12,2.22,14.98,0.207,4,0.076,0.036,3060,802,1220,0,0,0,0,0,0,26.39,26.02,25.32
$GC,4484,1.06,428.9,35.1,12.5,244,4492,0.20,2.08,0.00,0.000,6,0.132,0.030,3005,2181,1227,0,0,0,0,0,0,25.33,25.80,28.83
$GC,4670,1.09,451.8,15.7,9.8,263,4691,0.00,2.25,11.20,0.157,4,0.000,0.044,3005,3599,1126,0,0,0,0,0,0,28.83,25.91,25.39
$GC,4781,1.13,469.4,4.9,10.0,273,4798,0.00,2.05,8.32,0.138,6,0.000,0.024,3005,2212,1050,0,0,0,0,0,0,28.83,25.92,25.39
$STATE,4804,end climb,SURFACE_DEPTH_REACHED
$STATE,4804,begin surface coast
$FINISH,0.9,1.009784
$STATE,4835,end surface coast,CONTROL_FINISHED_OK
$STATE,4835,begin surface
$SM_CCo,4917,0.00,0.000,0,0,1054,469.50
$SM_GC,1.84,7.53,0.38,0.00,0.031,0.041,0.000,121,2461,1054,-7.87,-1.13,469.50,0,0,0,0,0,0,25.79,26.20,28.83
$IRIDIUM_FIX,2352.12,12142.32,040213,121215
$TT8_MAMPS,0.028462,0.028462
$HUMID,62.32
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,23.70
$XPDR_PINGS,51
$24V_AH,24.8,102.296
$10V_AH,9.8,64.084
$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,18.825,63.150,479.275,0.000,0.000,0.000,0.000,227.350,12.750,0.000,7.401,859.274,2727.722,493.272,983.317,257.490,0.000,1237.936,0.000,732.153,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,48.960,711.450,0.000,0.000,0.000,0.000,117.045,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4840.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.508,0.000,0.000,0.000
$MEM,323816
$DATA_FILE_SIZE,10150,279
$CAP_FILE_SIZE,84977,0
$CFSIZE,260165632,202608640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040213,153835,2400.412,12143.295,29,0.8,29,-3.7