version: 66.09
glider: 167
mission: 8
dive: 5
start: 6 13 111 13 33 59
data:
$ID,167
$MISSION,8
$DIVE,5
$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,-56319.465
$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,105
$R_STBD_OVSHOOT,60
$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
$GPS1,130611,132825,2129.161,12354.336,8,1.2,8,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.5
$GPS2,130611,133337,2129.112,12354.355,11,1.1,16,-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,121.9,144307,-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,16,-0.74,-194.6,0.0,0.0,0,121,0.00,0.00,-101.57,0.000,2,0.000,0.000,114,2067,3396,0,0,0,0,0,0
$GC,123,-0.74,-194.6,6.1,-11.9,13,148,9.73,1.98,-3.65,0.000,4,0.237,0.050,2609,3400,3635,0,0,0,0,0,0
$GC,206,-0.49,-194.6,43.8,-27.6,26,214,0.28,1.95,0.00,0.000,6,0.138,0.020,2700,2010,3636,0,0,0,0,0,0
$GC,282,-0.49,-194.6,56.3,-14.2,39,291,0.00,2.00,0.00,0.000,4,0.000,0.031,2701,628,3636,0,0,0,0,0,0
$GC,329,-0.56,-194.6,62.4,-13.1,46,338,0.00,2.00,0.00,0.000,6,0.000,0.026,2699,2002,3636,0,0,0,0,0,0
$GC,406,-0.56,-194.6,72.0,-13.6,59,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2003,3636,0,0,0,0,0,0
$GC,480,-0.59,-194.6,81.9,-13.0,72,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2003,3636,0,0,0,0,0,0
$GC,554,-0.63,-194.6,91.3,-13.1,85,561,0.12,0.00,0.00,0.000,6,0.092,0.000,2638,2003,3636,0,0,0,0,0,0
$GC,628,-0.49,-194.6,104.1,-19.4,98,636,0.22,2.00,0.00,0.000,4,0.149,0.026,2706,628,3635,0,0,0,0,0,0
$GC,671,-0.57,-194.6,110.6,-14.7,105,679,0.00,1.98,0.00,0.000,6,0.000,0.025,2705,1993,3635,0,0,0,0,0,0
$GC,748,-0.70,-194.6,118.1,-9.7,118,757,0.17,0.00,0.00,0.000,6,0.075,0.000,2623,1994,3635,0,0,0,0,0,0
$GC,826,-0.57,-194.6,130.2,-17.3,131,835,0.20,0.00,0.00,0.000,6,0.151,0.000,2683,1994,3635,0,0,0,0,0,0
$GC,902,-0.64,-194.6,140.1,-11.9,144,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1994,3635,0,0,0,0,0,0
$GC,976,-0.72,-194.6,148.4,-10.9,157,985,0.15,2.10,0.00,0.000,4,0.082,0.039,2614,3399,3635,0,0,0,0,0,0
$GC,1011,-0.68,-194.6,153.3,-13.2,162,1020,0.08,1.95,0.00,0.000,6,0.145,0.019,2640,1992,3635,0,0,0,0,0,0
$GC,1088,-0.63,-194.6,164.5,-14.5,175,1097,0.00,1.92,0.00,0.000,4,0.000,0.030,2640,650,3635,0,0,0,0,0,0
$GC,1124,-0.63,-194.6,169.6,-14.8,180,1133,0.00,1.95,0.00,0.000,6,0.000,0.026,2640,1997,3635,0,0,0,0,0,0
$GC,1200,-0.59,-194.6,181.2,-15.5,193,1208,0.12,0.00,0.00,0.000,6,0.174,0.000,2675,1997,3635,0,0,0,0,0,0
$GC,1275,-0.67,-194.6,190.8,-12.0,206,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1997,3635,0,0,0,0,0,0
$GC,1348,-0.77,-194.6,198.8,-10.8,219,1357,0.17,2.08,0.00,0.000,4,0.076,0.038,2597,3393,3635,0,0,0,0,0,0
$GC,1383,-0.72,-194.6,203.5,-12.8,224,1393,0.10,1.92,0.00,0.000,6,0.148,0.020,2630,2007,3634,0,0,0,0,0,0
$GC,1461,-0.67,-194.6,215.6,-16.3,237,1469,0.00,1.98,0.00,0.000,4,0.000,0.030,2630,630,3634,0,0,0,0,0,0
$GC,1548,-0.67,-194.6,229.2,-14.2,252,1556,0.00,1.98,0.00,0.000,6,0.000,0.026,2628,1994,3634,0,0,0,0,0,0
$GC,1624,-0.63,-194.6,239.7,-14.2,265,1631,0.12,0.00,0.00,0.000,6,0.174,0.000,2662,1996,3634,0,0,0,0,0,0
$GC,1698,-0.71,-194.6,248.4,-10.5,278,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1996,3634,0,0,0,0,0,0
$GC,1777,-0.81,-194.6,256.6,-10.1,286,1782,0.17,1.98,0.00,0.000,4,0.076,0.029,2585,628,3634,0,0,0,0,0,0
$GC,1821,-0.69,-194.6,262.1,-15.3,289,1826,0.20,1.98,0.00,0.000,6,0.157,0.024,2638,2019,3634,0,0,0,0,0,0
$GC,2147,-0.77,-194.6,301.8,-10.3,319,2151,0.00,1.98,0.00,0.000,4,0.000,0.028,2638,625,3633,0,0,0,0,0,0
$GC,2228,-0.85,-194.6,310.1,-11.0,326,2232,0.12,1.98,0.00,0.000,6,0.093,0.024,2580,2016,3632,0,0,0,0,0,0
$STATE,2370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2370,begin apogee
$GC,2375,-0.15,0.0,330.9,14.7,339,2526,0.70,0.00,137.98,0.793,6,0.134,0.000,2812,2016,2838,0,0,0,0,0,0
$STATE,2527,end apogee,CONTROL_FINISHED_OK
$STATE,2527,begin climb
$GC,2530,0.74,194.6,336.4,0.0,352,2683,0.77,2.00,143.38,0.778,4,0.057,0.032,3121,694,2044,0,0,0,0,0,0
$GC,2814,0.53,194.6,308.5,16.6,376,2821,0.28,1.98,0.00,0.000,6,0.158,0.025,3040,2046,2040,0,0,0,0,0,0
$GC,3141,0.50,220.8,271.6,10.0,407,3167,0.00,2.00,20.17,0.715,4,0.000,0.030,3045,690,1937,0,0,0,0,0,0
$GC,3401,0.54,256.3,245.4,9.7,434,3438,0.00,1.98,27.58,0.716,6,0.000,0.024,3045,2045,1793,0,0,0,0,0,0
$GC,3505,0.59,295.0,235.6,9.5,451,3542,0.00,0.00,30.23,0.706,6,0.000,0.000,3045,2046,1636,0,0,0,0,0,0
$GC,3609,0.61,309.0,225.0,10.5,468,3626,0.00,2.03,11.80,0.646,4,0.000,0.033,3045,691,1579,0,0,0,0,0,0
$GC,3661,0.70,337.1,219.7,9.9,476,3692,0.10,2.00,23.08,0.683,6,0.055,0.023,3103,2053,1464,0,0,0,0,0,0
$GC,3761,0.62,337.1,206.6,14.2,492,3769,0.12,0.00,0.00,0.000,6,0.162,0.000,3069,2054,1460,0,0,0,0,0,0
$GC,3836,0.62,337.1,196.4,12.6,505,3844,0.00,2.08,0.00,0.000,4,0.000,0.037,3069,3436,1459,0,0,0,0,0,0
$GC,3883,0.62,337.1,190.1,13.3,513,3891,0.00,1.98,0.00,0.000,6,0.000,0.021,3074,2080,1458,0,0,0,0,0,0
$GC,3957,0.62,337.1,179.9,14.3,526,3964,0.00,2.10,0.00,0.000,4,0.000,0.033,3081,653,1458,0,0,0,0,0,0
$GC,4010,0.62,337.1,172.6,13.9,534,4018,0.00,2.05,0.00,0.000,6,0.000,0.023,3081,2056,1458,0,0,0,0,0,0
$GC,4086,0.62,337.1,161.5,14.3,547,4094,0.00,2.05,0.00,0.000,4,0.000,0.037,3081,3434,1457,0,0,0,0,0,0
$GC,4124,0.62,337.1,156.0,15.2,553,4132,0.00,2.00,0.00,0.000,6,0.000,0.022,3089,2048,1457,0,0,0,0,0,0
$GC,4196,0.62,337.1,145.5,14.1,566,4204,0.00,2.08,0.00,0.000,4,0.000,0.034,3089,3436,1457,0,0,0,0,0,0
$GC,4230,0.62,337.1,140.6,14.6,571,4240,0.00,2.00,0.00,0.000,6,0.000,0.022,3093,2051,1457,0,0,0,0,0,0
$GC,4307,0.62,337.1,129.9,14.0,584,4315,0.00,2.05,0.00,0.000,4,0.000,0.032,3103,649,1457,0,0,0,0,0,0
$GC,4368,0.62,337.1,121.5,13.4,594,4377,0.10,2.03,0.00,0.000,6,0.132,0.024,3067,2057,1457,0,0,0,0,0,0
$GC,4444,0.69,340.9,112.7,10.9,607,4453,0.00,2.03,0.00,0.000,4,0.000,0.036,3067,3427,1457,0,0,0,0,0,0
$GC,4478,0.75,340.9,109.0,11.4,612,4486,0.08,2.00,0.00,0.000,6,0.064,0.021,3119,2019,1456,0,0,0,0,0,0
$GC,4555,0.71,340.9,98.8,14.0,625,4563,0.00,1.95,0.00,0.000,4,0.000,0.031,3129,675,1456,0,0,0,0,0,0
$GC,4613,0.65,340.9,90.9,13.1,635,4623,0.15,1.98,0.00,0.000,6,0.129,0.023,3077,2054,1456,0,0,0,0,0,0
$GC,4690,0.71,343.9,82.2,10.9,648,4698,0.00,0.00,5.40,0.485,6,0.000,0.000,3077,2055,1437,0,0,0,0,0,0
$GC,4764,0.78,359.2,74.5,10.4,661,4787,0.12,0.00,13.68,0.583,6,0.091,0.000,3135,2055,1373,0,0,0,0,0,0
$GC,4854,0.71,359.2,62.2,14.5,676,4862,0.15,2.05,0.00,0.000,4,0.153,0.031,3100,673,1372,0,0,0,0,0,0
$GC,4898,0.75,359.2,56.3,12.7,683,4908,0.00,1.98,0.00,0.000,6,0.000,0.022,3100,2042,1371,0,0,0,0,0,0
$GC,4974,0.76,363.0,48.0,10.9,696,4982,0.00,0.00,4.07,0.406,6,0.000,0.000,3100,2042,1359,0,0,0,0,0,0
$GC,5048,0.80,363.0,39.1,11.8,709,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2042,1358,0,0,0,0,0,0
$GC,5123,0.85,363.0,30.3,11.8,722,5132,0.10,2.08,0.00,0.000,4,0.109,0.037,3151,3432,1358,0,0,0,0,0,0
$GC,5186,0.77,363.0,21.7,14.1,732,5194,0.12,1.95,0.00,0.000,6,0.144,0.021,3117,2057,1358,0,0,0,0,0,0
$GC,5262,0.77,363.0,12.6,11.2,745,5269,0.00,2.00,0.00,0.000,4,0.000,0.031,3126,676,1357,0,0,0,0,0,0
$GC,5294,0.80,363.0,9.1,11.1,750,5302,0.00,1.98,0.00,0.000,6,0.000,0.021,3126,2057,1357,0,0,0,0,0,0
$STATE,5351,end climb,SURFACE_DEPTH_REACHED
$STATE,5351,begin surface coast
$FINISH,0.5,0.996583
$STATE,5374,end surface coast,CONTROL_FINISHED_OK
$STATE,5374,begin surface
$SM_CCo,5392,155.60,0.531,1,0,529,566.40
$SM_GC,1.25,0.00,0.00,155.60,0.000,0.000,0.531,114,2066,529,-8.57,1.87,566.40,0,0,0,0,1,0
$IRIDIUM_FIX,2120.26,12354.25,130611,131350
$TT8_MAMPS,0.028462,0.028462
$HUMID,33.46
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,28.50
$XPDR_PINGS,30
$24V_AH,25.0,3.001
$10V_AH,10.6,1.773
$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,22.325,88.025,417.350,155.600,0.000,0.000,0.000,0.000,7.500,0.000,16.983,1849.070,714.684,751.070,1853.717,461.438,0.000,1614.597,0.000,2080.815,0.000,0.546,0.000
$DEVICE_MAMPS,237.150,50.490,793.305,530.910,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.246,947.463,1668.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330480
$DATA_FILE_SIZE,43614,764
$CAP_FILE_SIZE,126300,0
$CFSIZE,260165632,141475840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.290,197.0,1
$GPS,130611,150754,2127.742,12354.902,42,1.0,42,-2.8