version: 66.09
glider: 167
mission: 8
dive: 8
start: 6 13 111 18 44 9
data:
$ID,167
$MISSION,8
$DIVE,8
$N_DIVES,10
$D_SURF,3
$D_FLARE,5
$D_TGT,330
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,4
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,566.20972
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56326.258
$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,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-16.233358
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,130611,183706,2124.426,12355.465,29,0.9,29,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.5
$GPS2,130611,184346,2124.357,12355.410,14,99.0,33,-2.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$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,119.4,135369,-17.0,-11.000
$D_GRID,5000
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.74,-194.6,0.0,0.0,0,121,0.00,0.00,-101.57,0.000,2,0.000,0.000,111,1997,3445,0,0,0,0,0,0
$GC,125,-0.74,-194.6,7.3,-14.7,13,149,9.73,2.10,-2.72,0.000,4,0.234,0.042,2605,3428,3636,0,0,0,0,0,0
$GC,205,-0.34,-194.6,48.9,-32.5,26,213,0.45,2.05,0.00,0.000,6,0.142,0.018,2750,1976,3637,0,0,0,0,0,0
$GC,283,-0.51,-194.6,60.1,-9.8,39,294,0.15,1.98,0.00,0.000,4,0.076,0.028,2677,627,3638,0,0,0,0,0,0
$GC,341,-0.54,-194.6,67.0,-12.8,48,349,0.00,2.03,0.00,0.000,6,0.000,0.022,2670,2016,3638,0,0,0,0,0,0
$GC,418,-0.45,-194.6,79.3,-17.4,61,426,0.17,2.05,0.00,0.000,4,0.158,0.028,2720,631,3638,0,0,0,0,0,0
$GC,452,-0.50,-194.6,84.1,-14.8,66,460,0.00,2.00,0.00,0.000,6,0.000,0.024,2718,2005,3638,0,0,0,0,0,0
$GC,527,-0.61,-194.6,91.9,-10.4,79,535,0.15,0.00,0.00,0.000,6,0.080,0.000,2646,2006,3637,0,0,0,0,0,0
$GC,602,-0.51,-194.6,103.4,-16.7,92,610,0.17,0.00,0.00,0.000,6,0.148,0.000,2698,2006,3637,0,0,0,0,0,0
$GC,677,-0.56,-194.6,114.3,-13.5,105,685,0.00,2.00,0.00,0.000,4,0.000,0.029,2698,638,3637,0,0,0,0,0,0
$GC,720,-0.67,-194.6,119.7,-13.0,112,728,0.10,1.98,0.00,0.000,6,0.050,0.024,2638,2007,3637,0,0,0,0,0,0
$GC,797,-0.55,-194.6,131.6,-18.0,125,805,0.17,0.00,0.00,0.000,6,0.155,0.000,2689,2007,3637,0,0,0,0,0,0
$GC,872,-0.62,-194.6,141.7,-11.8,138,880,0.00,2.05,0.00,0.000,4,0.000,0.037,2686,3392,3637,0,0,0,0,0,0
$GC,901,-0.73,-194.6,144.6,-10.5,142,910,0.12,1.95,0.00,0.000,6,0.050,0.018,2615,1996,3637,0,0,0,0,0,0
$GC,976,-0.57,-194.6,156.8,-18.9,155,985,0.22,1.98,0.00,0.000,4,0.155,0.028,2682,630,3637,0,0,0,0,0,0
$GC,1000,-0.47,-194.6,161.3,-18.4,158,1010,0.08,1.98,0.00,0.000,6,0.132,0.024,2710,1996,3637,0,0,0,0,0,0
$GC,1078,-0.64,-194.6,169.4,-9.2,171,1088,0.15,2.08,0.00,0.000,4,0.081,0.037,2637,3390,3637,0,0,0,0,0,0
$GC,1122,-0.70,-194.6,174.2,-11.1,177,1132,0.00,1.95,0.00,0.000,6,0.000,0.018,2637,2005,3637,0,0,0,0,0,0
$GC,1199,-0.64,-194.6,185.3,-15.7,190,1207,0.00,2.00,0.00,0.000,4,0.000,0.031,2637,618,3637,0,0,0,0,0,0
$GC,1290,-0.64,-194.6,199.3,-14.9,206,1298,0.00,2.00,0.00,0.000,6,0.000,0.024,2636,2001,3638,0,0,0,0,0,0
$GC,1365,-0.59,-194.6,209.9,-14.4,219,1374,0.12,0.00,0.00,0.000,6,0.177,0.000,2670,2001,3637,0,0,0,0,0,0
$GC,1441,-0.68,-194.6,218.8,-10.7,232,1449,0.00,2.00,0.00,0.000,4,0.000,0.028,2670,623,3637,0,0,0,0,0,0
$GC,1518,-0.82,-194.6,226.8,-10.2,245,1526,0.15,2.00,0.00,0.000,6,0.050,0.024,2590,2019,3637,0,0,0,0,0,0
$GC,1592,-0.69,-194.6,236.9,-15.4,258,1600,0.17,0.00,0.00,0.000,6,0.157,0.000,2640,2020,3637,0,0,0,0,0,0
$GC,1667,-0.69,-194.6,246.6,-12.7,271,1675,0.00,2.03,0.00,0.000,4,0.000,0.028,2640,627,3637,0,0,0,0,0,0
$GC,1707,-0.73,-194.6,252.3,-12.9,276,1716,0.00,1.98,0.00,0.000,6,0.000,0.024,2640,1992,3638,0,0,0,0,0,0
$GC,2035,-0.79,-194.6,288.4,-11.0,307,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1992,3636,0,0,0,0,0,0
$GC,2362,-0.88,-194.6,324.1,-10.4,338,2367,0.15,2.00,0.00,0.000,4,0.084,0.029,2569,612,3635,0,0,0,0,0,0
$GC,2384,-0.88,-194.6,327.3,-11.5,339,2392,0.00,2.00,0.00,0.000,6,0.000,0.023,2562,2014,3635,0,0,0,0,0,0
$STATE,2410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2410,begin apogee
$GC,2415,-0.15,0.0,331.5,15.7,342,2561,0.75,0.00,139.23,0.797,6,0.138,0.000,2809,2015,2839,0,0,0,0,0,0
$STATE,2561,end apogee,CONTROL_FINISHED_OK
$STATE,2561,begin climb
$GC,2565,0.74,194.6,339.0,0.0,354,2724,0.77,2.28,144.35,0.780,4,0.054,0.036,3108,3451,2043,0,0,0,0,0,0
$GC,2863,0.48,194.6,309.0,16.8,380,2868,0.32,2.03,0.00,0.000,6,0.159,0.021,3021,2047,2038,0,0,0,0,0,0
$GC,3189,0.57,263.8,278.1,8.4,410,3251,0.00,2.10,52.10,0.746,4,0.000,0.034,3029,669,1762,0,0,0,0,0,0
$GC,3499,0.67,297.9,249.6,9.7,437,3532,0.15,2.00,26.65,0.715,6,0.083,0.024,3100,2057,1624,0,0,0,0,0,0
$GC,3601,0.57,297.9,234.8,17.0,453,3612,0.17,2.08,0.00,0.000,4,0.150,0.035,3048,3424,1619,0,0,0,0,0,0
$GC,3631,0.57,297.9,229.5,16.6,457,3641,0.00,2.00,0.00,0.000,6,0.000,0.021,3055,2051,1619,0,0,0,0,0,0
$GC,3710,0.57,297.9,219.3,12.7,470,3718,0.00,2.05,0.00,0.000,4,0.000,0.031,3065,660,1619,0,0,0,0,0,0
$GC,3764,0.57,297.9,212.4,12.4,479,3772,0.00,2.03,0.00,0.000,6,0.000,0.021,3065,2054,1618,0,0,0,0,0,0
$GC,3842,0.57,297.9,202.5,12.8,492,3850,0.00,2.05,0.00,0.000,4,0.000,0.031,3073,666,1617,0,0,0,0,0,0
$GC,3882,0.57,297.9,197.6,12.7,498,3890,0.00,2.00,0.00,0.000,6,0.000,0.022,3073,2044,1617,0,0,0,0,0,0
$GC,3962,0.53,297.9,187.5,13.0,511,3969,0.12,0.00,0.00,0.000,6,0.161,0.000,3038,2046,1617,0,0,0,0,0,0
$GC,4041,0.64,335.4,179.2,9.6,524,4080,0.10,2.10,29.00,0.682,4,0.104,0.031,3101,662,1470,0,0,0,0,0,0
$GC,4102,0.60,335.4,171.7,12.9,532,4110,0.10,2.05,0.00,0.000,6,0.131,0.023,3066,2063,1469,0,0,0,0,0,0
$GC,4176,0.60,335.4,162.0,11.7,545,4185,0.00,2.05,0.00,0.000,4,0.000,0.037,3066,3430,1466,0,0,0,0,0,0
$GC,4218,0.60,335.4,157.3,11.8,551,4226,0.00,2.00,0.00,0.000,6,0.000,0.021,3073,2050,1466,0,0,0,0,0,0
$GC,4293,0.60,335.4,148.1,12.0,564,4301,0.00,2.05,0.00,0.000,4,0.000,0.032,3083,670,1466,0,0,0,0,0,0
$GC,4330,0.60,335.4,143.9,11.6,570,4338,0.00,2.00,0.00,0.000,6,0.000,0.021,3083,2048,1466,0,0,0,0,0,0
$GC,4407,0.60,335.4,134.9,12.4,583,4415,0.00,2.05,0.00,0.000,4,0.000,0.035,3084,3429,1465,0,0,0,0,0,0
$GC,4507,0.60,335.4,121.3,13.6,601,4516,0.00,2.00,0.00,0.000,6,0.000,0.022,3090,2045,1465,0,0,0,0,0,0
$GC,4583,0.60,335.4,111.8,12.6,614,4591,0.00,2.03,0.00,0.000,4,0.000,0.032,3098,659,1464,0,0,0,0,0,0
$GC,4626,0.60,335.4,106.5,12.8,621,4635,0.10,2.00,0.00,0.000,6,0.126,0.022,3064,2056,1465,0,0,0,0,0,0
$GC,4703,0.70,350.7,98.3,10.4,634,4718,0.00,0.00,12.45,0.598,6,0.000,0.000,3063,2057,1409,0,0,0,0,0,0
$GC,4785,0.81,364.3,89.8,10.5,648,4803,0.17,2.12,11.77,0.587,4,0.075,0.032,3147,654,1353,0,0,0,0,0,0
$GC,4866,0.73,364.3,78.0,16.0,661,4877,0.12,2.03,0.00,0.000,6,0.135,0.023,3104,2057,1352,0,0,0,0,0,0
$GC,4945,0.73,364.3,67.1,13.2,674,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2058,1351,0,0,0,0,0,0
$GC,5020,0.73,364.3,57.1,13.4,687,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2057,1351,0,0,0,0,0,0
$GC,5095,0.73,364.3,47.2,13.2,700,5104,0.00,2.05,0.00,0.000,4,0.000,0.031,3112,665,1350,0,0,0,0,0,0
$GC,5152,0.77,364.3,39.8,13.1,709,5161,0.00,1.98,0.00,0.000,6,0.000,0.022,3112,2035,1350,0,0,0,0,0,0
$GC,5228,0.77,364.3,30.3,11.8,722,5237,0.00,2.08,0.00,0.000,4,0.000,0.035,3112,3437,1350,0,0,0,0,0,0
$GC,5322,0.81,364.3,19.2,12.3,738,5330,0.00,2.00,0.00,0.000,6,0.000,0.022,3113,2056,1349,0,0,0,0,0,0
$GC,5398,0.85,364.3,10.6,11.7,751,5407,0.00,2.05,0.00,0.000,4,0.000,0.033,3118,651,1349,0,0,0,0,0,0
$GC,5439,0.92,364.3,5.8,11.5,757,5450,0.08,2.03,0.00,0.000,6,0.065,0.021,3169,2062,1349,0,0,0,0,0,0
$STATE,5467,end climb,SURFACE_DEPTH_REACHED
$STATE,5468,begin surface coast
$FINISH,0.6,1.001204
$STATE,5497,end surface coast,CONTROL_FINISHED_OK
$STATE,5497,begin surface
$SM_CCo,5514,151.25,0.534,1,0,530,566.40
$SM_GC,1.25,0.00,0.00,151.25,0.000,0.000,0.534,114,2071,530,-8.58,2.01,566.40,0,0,0,0,1,0
$IRIDIUM_FIX,2120.26,12356.17,130611,161612
$TT8_MAMPS,0.028462,0.028462
$HUMID,32.04
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,28.50
$XPDR_PINGS,6
$24V_AH,24.9,3.382
$10V_AH,10.6,2.145
$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,22.975,101.400,415.550,151.250,0.000,27.254,22.169,197.712,1.500,0.000,36.840,1857.660,798.280,765.182,2111.062,537.006,0.000,1636.641,0.000,2076.727,0.000,0.546,0.000
$DEVICE_MAMPS,234.090,42.075,797.130,533.970,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.420,923.172,1633.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330496
$DATA_FILE_SIZE,43619,766
$CAP_FILE_SIZE,116034,0
$CFSIZE,260165632,141295616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.412,221.8,1
$GPS,130611,201952,2122.936,12355.438,12,3.0,31,-2.8