version: 66.09
glider: 167
mission: 8
dive: 26
start: 6 16 111 19 7 0
data:
$ID,167
$MISSION,8
$DIVE,26
$N_DIVES,35
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$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,300
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,400
$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,-56416.508
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,1875
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,160611,185907,2049.346,12405.858,28,1.4,28,-2.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.3
$GPS2,160611,190636,2049.348,12405.904,10,1.5,14,-2.7
$SPEED_LIMITS,0.191,0.288
$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,170.1,68165,-18.3,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.97,-170.3,0.0,0.0,0,90,0.00,0.00,-68.85,0.000,2,0.000,0.000,110,1808,3177,0,0,0,0,0,0
$GC,93,-0.97,-170.3,5.9,-10.5,9,117,9.43,1.98,-5.93,0.000,4,0.231,0.044,2530,481,3537,0,0,0,0,0,0
$GC,138,-0.97,-170.3,28.4,-50.2,15,146,0.00,2.05,0.00,0.000,6,0.000,0.019,2522,1878,3538,0,0,0,0,0,0
$GC,214,-0.97,-170.3,55.9,-35.9,28,222,0.00,2.08,0.00,0.000,4,0.000,0.031,2512,3266,3538,0,0,0,0,0,0
$GC,249,-0.97,-170.3,68.4,-35.0,33,258,0.00,1.98,0.00,0.000,6,0.000,0.019,2512,1913,3539,0,0,0,0,0,0
$GC,325,-0.97,-170.3,93.1,-34.5,46,334,0.00,2.10,0.00,0.000,4,0.000,0.027,2512,486,3539,0,0,0,0,0,0
$GC,344,-0.97,-170.3,99.3,-35.7,48,352,0.10,2.12,0.00,0.000,6,0.181,0.021,2530,1927,3539,0,0,0,0,0,0
$GC,420,-0.97,-170.3,126.0,-34.7,61,428,0.00,2.15,0.00,0.000,4,0.000,0.028,2530,481,3539,0,0,0,0,0,0
$GC,451,-0.97,-170.3,135.7,-30.8,66,460,0.00,2.10,0.00,0.000,6,0.000,0.020,2523,1923,3539,0,0,0,0,0,0
$GC,528,-0.97,-170.3,159.4,-32.9,79,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1923,3540,0,0,0,0,0,0
$GC,603,-0.97,-170.3,178.9,-24.5,92,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1923,3540,0,0,0,0,0,0
$GC,677,-0.97,-170.3,198.4,-26.3,105,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1923,3540,0,0,0,0,0,0
$GC,750,-0.97,-170.3,217.3,-25.3,118,759,0.00,2.00,0.00,0.000,4,0.000,0.032,2513,3273,3541,0,0,0,0,0,0
$GC,795,-0.97,-170.3,228.4,-25.0,125,803,0.00,2.00,0.00,0.000,6,0.000,0.018,2513,1875,3541,0,0,0,0,0,0
$GC,870,-0.97,-170.3,247.8,-26.6,138,878,0.00,2.05,0.00,0.000,4,0.000,0.029,2513,490,3541,0,0,0,0,0,0
$GC,900,-0.97,-170.3,256.1,-25.3,141,907,0.12,1.98,0.00,0.000,6,0.197,0.020,2535,1872,3540,0,0,0,0,0,0
$GC,1225,-0.97,-170.3,324.0,-19.3,172,1230,0.00,2.03,0.00,0.000,4,0.000,0.028,2535,498,3541,0,0,0,0,0,0
$GC,1330,-0.97,-170.3,344.5,-18.8,181,1337,0.00,1.95,0.00,0.000,6,0.000,0.020,2529,1856,3541,0,0,0,0,0,0
$GC,1658,-0.97,-170.3,402.1,-17.2,212,1661,0.00,2.05,0.00,0.000,4,0.000,0.031,2519,3260,3541,0,0,0,0,0,0
$GC,1718,-0.97,-170.3,412.9,-16.2,217,1725,0.00,2.00,0.00,0.000,6,0.000,0.019,2520,1861,3540,0,0,0,0,0,0
$GC,2046,-0.97,-170.3,465.0,-15.9,248,2049,0.00,1.98,0.00,0.000,4,0.000,0.030,2520,489,3540,0,0,0,0,0,0
$GC,2151,-0.97,-170.3,482.7,-14.9,257,2158,0.00,1.98,0.00,0.000,6,0.000,0.021,2519,1850,3539,0,0,0,0,0,0
$GC,2478,-0.97,-170.3,528.1,-13.7,288,2482,0.00,2.08,0.00,0.000,4,0.000,0.035,2519,3278,3537,0,0,0,0,0,0
$GC,2534,-0.97,-170.3,536.1,-13.7,292,2541,0.00,2.03,0.00,0.000,6,0.000,0.019,2519,1861,3537,0,0,0,0,0,0
$GC,2860,-0.97,-170.3,582.1,-14.3,323,2864,0.00,2.00,0.00,0.000,4,0.000,0.031,2519,480,3535,0,0,0,0,0,0
$GC,2983,-0.97,-170.3,601.8,-15.5,333,2987,0.00,2.00,0.00,0.000,6,0.000,0.022,2519,1855,3534,0,0,0,0,0,0
$GC,3308,-0.97,-170.3,644.2,-13.0,349,3312,0.00,2.10,0.00,0.000,4,0.000,0.036,2519,3280,3532,0,0,0,0,0,0
$GC,3374,-0.97,-170.3,654.6,-14.3,352,3378,0.00,2.05,0.00,0.000,6,0.000,0.021,2519,1861,3531,0,0,0,0,0,0
$GC,3703,-0.97,-170.3,699.0,-13.0,368,3706,0.00,2.00,0.00,0.000,4,0.000,0.033,2519,484,3529,0,0,0,0,0,0
$GC,3786,-0.97,-170.3,710.6,-13.6,371,3793,0.00,2.00,0.00,0.000,6,0.000,0.024,2519,1858,3528,0,0,0,0,0,0
$GC,4105,-0.97,-170.3,745.9,-10.7,387,4108,0.00,2.05,0.00,0.000,4,0.000,0.036,2509,3264,3525,0,0,0,0,0,0
$GC,4152,-0.97,-170.3,751.1,-10.6,389,4156,0.00,2.00,0.00,0.000,6,0.000,0.020,2509,1846,3524,0,0,0,0,0,0
$GC,4486,-0.97,-170.3,785.9,-10.4,405,4489,0.00,1.98,0.00,0.000,4,0.000,0.033,2509,484,3522,0,0,0,0,0,0
$GC,4572,-0.97,-170.3,795.4,-11.2,408,4580,0.12,1.98,0.00,0.000,6,0.189,0.023,2538,1855,3521,0,0,0,0,0,0
$GC,4889,-0.97,-170.3,825.2,-9.5,424,4893,0.00,2.08,0.00,0.000,4,0.000,0.037,2533,3270,3518,0,0,0,0,0,0
$GC,4929,-0.97,-170.3,829.2,-9.8,426,4933,0.00,2.00,0.00,0.000,6,0.000,0.020,2533,1854,3518,0,0,0,0,0,0
$GC,5264,-0.97,-170.3,863.8,-10.6,442,5267,0.00,2.00,0.00,0.000,4,0.000,0.033,2533,480,3515,0,0,0,0,0,0
$GC,5297,-0.97,-170.3,867.8,-11.0,443,5300,0.00,1.98,0.00,0.000,6,0.000,0.023,2532,1861,3515,0,0,0,0,0,0
$GC,5622,-0.97,-170.3,900.2,-10.0,459,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1860,3513,0,0,0,0,0,0
$GC,5928,-0.97,-170.3,928.8,-9.2,474,5932,0.00,2.08,0.00,0.000,4,0.000,0.039,2532,3270,3511,0,0,0,0,0,0
$GC,5950,-0.97,-170.3,931.0,-9.3,475,5954,0.00,2.03,0.00,0.000,6,0.000,0.020,2532,1841,3510,0,0,0,0,0,0
$GC,6279,-0.97,-170.3,962.0,-9.7,491,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1839,3508,0,0,0,0,0,0
$STATE,6584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6584,begin apogee
$GC,6591,-0.21,0.0,991.3,9.4,506,6730,0.75,0.00,132.38,1.382,4,0.135,0.000,2779,1999,2839,0,0,0,0,0,0
$STATE,6733,end apogee,CONTROL_FINISHED_OK
$STATE,6733,begin climb
$GC,6735,0.97,170.3,994.2,0.0,512,6882,1.00,0.00,141.35,1.329,6,0.047,0.000,3166,1999,2143,0,0,0,0,0,0
$GC,7212,0.97,170.3,890.8,24.9,535,7216,0.00,2.12,0.00,0.000,4,0.000,0.038,3166,3390,2132,0,0,0,0,0,0
$GC,7378,0.97,170.3,848.2,25.0,542,7382,0.00,2.03,0.00,0.000,6,0.000,0.022,3175,2013,2130,0,0,0,0,0,0
$GC,7701,0.97,170.3,770.6,23.6,558,7705,0.00,2.10,0.00,0.000,4,0.000,0.034,3186,606,2129,0,0,0,0,0,0
$GC,7764,0.97,170.3,756.0,22.5,561,7768,0.00,2.05,0.00,0.000,6,0.000,0.024,3186,2004,2129,0,0,0,0,0,0
$GC,8093,0.97,170.3,680.8,22.4,577,8098,0.00,2.12,0.00,0.000,4,0.000,0.039,3186,3396,2128,0,0,0,0,0,0
$GC,8252,0.97,170.3,641.9,23.7,584,8257,0.12,2.03,0.00,0.000,6,0.226,0.022,3167,2005,2127,0,0,0,0,0,0
$GC,8577,0.97,170.3,568.7,23.9,605,8581,0.00,2.10,0.00,0.000,4,0.000,0.036,3167,3397,2125,0,0,0,0,0,0
$GC,8651,0.97,170.3,550.3,22.5,611,8655,0.00,1.98,0.00,0.000,6,0.000,0.023,3175,2025,2125,0,0,0,0,0,0
$GC,8982,0.97,170.3,482.9,21.0,642,8986,0.00,2.08,0.00,0.000,4,0.000,0.037,3175,3402,2124,0,0,0,0,0,0
$GC,9238,0.97,170.3,428.9,21.1,664,9246,0.00,1.98,0.00,0.000,6,0.000,0.022,3184,2040,2123,0,0,0,0,0,0
$GC,9563,0.97,170.3,366.6,20.7,695,9567,0.00,2.10,0.00,0.000,4,0.000,0.032,3195,602,2124,0,0,0,0,0,0
$GC,9619,0.97,170.3,355.9,17.8,699,9627,0.08,2.12,0.00,0.000,6,0.191,0.024,3171,2058,2123,0,0,0,0,0,0
$GC,9944,0.97,170.3,300.7,17.4,730,9948,0.00,2.00,0.00,0.000,4,0.000,0.038,3171,3403,2123,0,0,0,0,0,0
$GC,10204,0.97,170.3,254.7,15.8,753,10208,0.00,1.95,0.00,0.000,6,0.000,0.021,3179,2039,2123,0,0,0,0,0,0
$GC,10535,0.97,170.3,204.2,14.6,811,10544,0.00,2.05,0.00,0.000,4,0.000,0.034,3179,3397,2123,0,0,0,0,0,0
$GC,10736,0.97,170.3,171.7,17.1,846,10744,0.00,1.95,0.00,0.000,6,0.000,0.021,3188,2049,2124,0,0,0,0,0,0
$GC,10815,0.97,170.3,159.7,15.3,859,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2049,2124,0,0,0,0,0,0
$GC,10891,0.97,170.3,148.5,14.7,872,10900,0.00,2.03,0.00,0.000,4,0.000,0.034,3188,3396,2124,0,0,0,0,0,0
$GC,11049,0.97,170.3,128.3,13.5,900,11059,0.10,1.95,0.00,0.000,6,0.187,0.021,3166,2039,2124,0,0,0,0,0,0
$GC,11126,1.02,206.4,120.1,9.4,913,11159,0.00,2.15,26.20,0.691,4,0.000,0.031,3176,614,1996,0,0,0,0,0,0
$GC,11273,1.02,206.4,102.6,12.4,938,11281,0.00,2.10,0.00,0.000,6,0.000,0.021,3176,2046,1994,0,0,0,0,0,0
$GC,11349,1.02,210.7,94.1,10.8,951,11358,0.00,2.05,4.57,0.489,4,0.000,0.035,3176,3392,1980,0,0,0,0,0,0
$GC,11439,1.02,210.7,82.6,12.9,967,11447,0.00,1.92,0.00,0.000,6,0.000,0.020,3185,2065,1979,0,0,0,0,0,0
$GC,11512,1.02,210.7,73.0,14.1,980,11521,0.00,2.12,0.00,0.000,4,0.000,0.031,3196,623,1979,0,0,0,0,0,0
$GC,11583,1.02,210.7,62.8,13.9,992,11591,0.00,2.08,0.00,0.000,6,0.000,0.021,3196,2044,1979,0,0,0,0,0,0
$GC,11659,1.02,210.7,52.7,12.9,1005,11668,0.00,2.00,0.00,0.000,4,0.000,0.034,3196,3390,1979,0,0,0,0,0,0
$GC,11694,1.02,210.7,48.2,12.8,1010,11702,0.00,1.92,0.00,0.000,6,0.000,0.019,3205,2046,1979,0,0,0,0,0,0
$GC,11769,1.02,210.7,39.2,11.8,1023,11777,0.00,2.03,0.00,0.000,4,0.000,0.033,3206,3395,1979,0,0,0,0,0,0
$GC,12019,1.02,210.7,7.9,11.6,1069,12028,0.10,1.90,0.00,0.000,6,0.183,0.019,3184,2068,1979,0,0,0,0,0,0
$STATE,12067,end climb,SURFACE_DEPTH_REACHED
$STATE,12067,begin surface coast
$FINISH,1.0,1.021943
$STATE,12096,end surface coast,CONTROL_FINISHED_OK
$STATE,12099,begin surface
$SM_CCo,12116,154.25,0.552,1,0,1207,400.08
$SM_GC,1.61,0.00,0.00,154.25,0.000,0.000,0.552,111,1853,1207,-8.54,-0.59,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2040.99,12403.79,160611,151522
$TT8_MAMPS,0.028462,0.028462
$HUMID,29.95
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,27.90
$XPDR_PINGS,1
$24V_AH,24.0,6.315
$10V_AH,10.3,4.950
$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,19.700,130.350,304.500,154.250,0.000,27.988,38.924,229.365,0.250,0.000,15.727,2772.585,5998.993,611.336,2699.420,632.992,0.000,1746.391,0.000,2612.412,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,48.195,1381.590,552.330,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.892,1275.860,1227.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329940
$DATA_FILE_SIZE,60192,1082
$CAP_FILE_SIZE,146313,0
$CFSIZE,260165632,139657216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.197,166.2,1
$GPS,160611,223255,2046.619,12407.000,38,1.4,38,-2.7