version: 66.09
glider: 167
mission: 8
dive: 4
start: 6 13 111 12 21 26
data:
$ID,167
$MISSION,8
$DIVE,4
$N_DIVES,10
$D_SURF,3
$D_FLARE,5
$D_TGT,180
$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,50
$T_MISSION,65
$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,225
$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,-56294.668
$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,2100
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,111
$R_STBD_OVSHOOT,65
$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
$GPS1,130611,121213,2130.033,12353.964,13,1.9,13,-2.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.1
$GPS2,130611,122102,2129.972,12353.975,14,1.7,14,-2.8
$SPEED_LIMITS,0.208,0.332
$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,119.8,146026,-17.3,-12.000
$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,-0.78,-219.0,0.0,0.0,0,120,0.00,0.00,-100.88,0.000,2,0.000,0.000,114,2058,3361,0,0,0,0,0,0
$GC,124,-0.78,-219.0,6.1,-12.5,14,148,9.75,2.12,-5.57,0.000,4,0.239,0.049,2593,3502,3734,0,0,0,0,0,0
$GC,196,-0.48,-219.0,39.9,-33.0,25,204,0.32,1.95,0.00,0.000,6,0.140,0.020,2701,2107,3734,0,0,0,0,0,0
$GC,273,-0.54,-219.0,52.9,-13.5,38,282,0.00,1.98,0.00,0.000,4,0.000,0.030,2700,734,3734,0,0,0,0,0,0
$GC,342,-0.68,-219.0,61.2,-10.9,49,351,0.10,1.98,0.00,0.000,6,0.053,0.026,2637,2090,3734,0,0,0,0,0,0
$GC,422,-0.56,-219.0,74.3,-19.8,62,430,0.15,0.00,0.00,0.000,6,0.158,0.000,2679,2090,3734,0,0,0,0,0,0
$GC,497,-0.56,-219.0,86.4,-14.5,75,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2090,3734,0,0,0,0,0,0
$GC,572,-0.56,-219.0,97.4,-14.6,88,581,0.00,1.98,0.00,0.000,4,0.000,0.029,2679,726,3734,0,0,0,0,0,0
$GC,632,-0.64,-219.0,105.7,-13.4,98,640,0.00,2.00,0.00,0.000,6,0.000,0.033,2673,2089,3734,0,0,0,0,0,0
$GC,706,-0.64,-219.0,116.3,-15.2,111,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2090,3734,0,0,0,0,0,0
$GC,786,-0.68,-219.0,127.7,-13.9,124,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2090,3734,0,0,0,0,0,0
$GC,861,-0.72,-219.0,137.8,-13.0,137,870,0.12,0.00,0.00,0.000,6,0.092,0.000,2613,2090,3733,0,0,0,0,0,0
$GC,938,-0.60,-219.0,151.5,-19.5,150,947,0.20,1.98,0.00,0.000,4,0.155,0.026,2672,728,3733,0,0,0,0,0,0
$GC,956,-0.50,-219.0,154.7,-19.0,152,966,0.08,2.00,0.00,0.000,6,0.128,0.037,2698,2095,3733,0,0,0,0,0,0
$GC,1034,-0.70,-219.0,162.8,-9.3,165,1042,0.17,2.10,0.00,0.000,4,0.072,0.040,2616,3506,3733,0,0,0,0,0,0
$GC,1064,-0.79,-219.0,166.0,-9.9,169,1072,0.00,1.95,0.00,0.000,6,0.000,0.019,2616,2109,3733,0,0,0,0,0,0
$GC,1140,-0.70,-219.0,178.3,-16.6,182,1148,0.00,1.98,0.00,0.000,4,0.000,0.028,2616,723,3732,0,0,0,0,0,0
$STATE,1154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1154,begin apogee
$GC,1163,-0.15,0.0,181.2,17.2,184,1326,0.60,0.00,152.73,0.672,6,0.132,0.000,2814,2215,2838,0,0,0,0,0,0
$STATE,1326,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1329,0.78,219.0,190.9,0.0,204,1499,0.77,2.10,158.95,0.664,4,0.057,0.035,3117,3597,1944,0,0,0,0,0,0
$GC,1513,0.57,236.8,186.4,11.3,228,1537,0.22,2.05,14.88,0.598,6,0.138,0.021,3052,2194,1872,0,0,0,0,0,0
$GC,1605,0.63,287.7,176.4,10.1,243,1651,0.00,2.03,38.25,0.636,4,0.000,0.037,3061,818,1668,0,0,0,0,0,0
$GC,1693,0.73,319.7,166.8,10.8,256,1727,0.08,2.05,25.35,0.618,6,0.062,0.024,3108,2208,1534,0,0,0,0,0,0
$GC,1797,0.68,319.7,152.2,15.0,272,1806,0.00,2.10,0.00,0.000,4,0.000,0.038,3108,3589,1531,0,0,0,0,0,0
$GC,1868,0.64,319.7,141.2,15.5,284,1877,0.10,2.00,0.00,0.000,6,0.142,0.021,3077,2207,1531,0,0,0,0,0,0
$GC,1946,0.71,327.9,131.7,11.7,297,1963,0.00,2.05,7.22,0.516,4,0.000,0.031,3083,813,1500,0,0,0,0,0,0
$GC,2046,0.80,357.9,120.4,10.9,314,2079,0.08,2.03,24.33,0.603,6,0.069,0.024,3131,2209,1377,0,0,0,0,0,0
$GC,2150,0.74,357.9,105.6,15.0,330,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2210,1375,0,0,0,0,0,0
$GC,2224,0.69,357.9,93.5,15.4,343,2233,0.15,2.08,0.00,0.000,4,0.157,0.041,3097,817,1374,0,0,0,0,0,0
$GC,2278,0.75,368.0,86.5,11.6,352,2294,0.00,2.00,8.45,0.519,6,0.000,0.024,3096,2194,1337,0,0,0,0,0,0
$GC,2361,0.78,368.0,76.5,12.1,366,2369,0.00,2.03,0.00,0.000,4,0.000,0.035,3099,822,1336,0,0,0,0,0,0
$GC,2395,0.83,368.3,72.4,12.0,371,2405,0.00,2.03,0.00,0.000,6,0.000,0.024,3099,2221,1336,0,0,0,0,0,0
$GC,2473,0.87,368.3,62.9,12.3,384,2481,0.12,0.00,0.00,0.000,6,0.096,0.000,3159,2221,1336,0,0,0,0,0,0
$GC,2547,0.77,368.3,50.9,16.4,397,2556,0.15,2.08,0.00,0.000,4,0.157,0.031,3125,820,1335,0,0,0,0,0,0
$GC,2587,0.77,368.3,44.9,15.0,403,2596,0.00,2.00,0.00,0.000,6,0.000,0.024,3124,2204,1335,0,0,0,0,0,0
$GC,2664,0.77,368.3,34.1,13.6,416,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2204,1335,0,0,0,0,0,0
$GC,2736,0.77,368.3,24.7,12.7,429,2744,0.00,2.03,0.00,0.000,4,0.000,0.031,3128,822,1334,0,0,0,0,0,0
$GC,2782,0.83,383.7,19.5,11.4,436,2807,0.00,1.98,13.02,0.526,6,0.000,0.024,3128,2196,1273,0,0,0,0,0,0
$GC,2873,0.83,383.7,8.3,12.1,451,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2195,1272,0,0,0,0,0,0
$STATE,2913,end climb,SURFACE_DEPTH_REACHED
$STATE,2913,begin surface coast
$FINISH,0.3,1.011802
$STATE,2936,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,2954,136.45,0.515,1,0,528,566.40
$SM_GC,1.12,0.00,0.00,136.45,0.000,0.000,0.515,114,2067,528,-8.59,-0.93,566.40,0,0,0,0,1,0
$IRIDIUM_FIX,2120.26,12354.25,130611,121224
$TT8_MAMPS,0.028462,0.028462
$HUMID,31.80
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,28.80
$XPDR_PINGS,54
$24V_AH,25.2,2.856
$10V_AH,10.6,1.647
$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,20.825,56.850,443.175,136.450,0.000,0.000,0.000,0.000,13.500,0.000,15.207,1048.754,47.697,644.314,1133.623,299.338,0.000,1247.856,0.000,1284.639,0.000,0.548,0.000
$DEVICE_MAMPS,238.680,97.155,671.670,514.845,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.995,574.654,1165.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330472
$DATA_FILE_SIZE,23651,462
$CAP_FILE_SIZE,94927,0
$CFSIZE,260165632,141570048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.296,206.6,1
$GPS,130611,131406,2129.290,12354.290,13,1.3,23,-2.8