version: 66.09
glider: 167
mission: 8
dive: 6
start: 6 13 111 15 15 13
data:
$ID,167
$MISSION,8
$DIVE,6
$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,-56322.184
$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,87
$R_STBD_OVSHOOT,69
$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
$GPS1,130611,150754,2127.742,12354.902,42,1.0,42,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.4
$GPS2,130611,151450,2127.650,12354.926,15,1.2,15,-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,131.8,141426,-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,-101.62,0.000,2,0.000,0.000,113,2066,3428,0,0,0,0,0,0
$GC,125,-0.74,-194.6,6.5,-12.5,13,149,9.73,1.98,-3.08,0.000,4,0.234,0.048,2608,3392,3636,0,0,0,0,0,0
$GC,189,-0.30,-194.6,42.5,-36.5,23,199,0.47,1.98,0.00,0.000,6,0.140,0.018,2762,1981,3637,0,0,0,0,0,0
$GC,268,-0.52,-194.6,52.1,-8.3,36,278,0.17,1.95,0.00,0.000,4,0.070,0.029,2676,648,3637,0,0,0,0,0,0
$GC,310,-0.56,-194.6,57.0,-11.8,42,319,0.00,1.95,0.00,0.000,6,0.000,0.023,2670,1991,3637,0,0,0,0,0,0
$GC,386,-0.48,-194.6,68.6,-16.6,55,395,0.15,0.00,0.00,0.000,6,0.161,0.000,2712,1991,3637,0,0,0,0,0,0
$GC,463,-0.56,-194.6,78.5,-11.3,68,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1991,3638,0,0,0,0,0,0
$GC,538,-0.63,-194.6,87.2,-11.5,81,547,0.15,1.98,0.00,0.000,4,0.079,0.028,2642,649,3637,0,0,0,0,0,0
$GC,579,-0.56,-194.6,92.8,-14.8,87,588,0.12,1.98,0.00,0.000,6,0.135,0.025,2682,2008,3637,0,0,0,0,0,0
$GC,657,-0.56,-194.6,104.8,-14.3,100,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2008,3637,0,0,0,0,0,0
$GC,728,-0.56,-194.6,114.7,-13.9,113,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2008,3637,0,0,0,0,0,0
$GC,804,-0.60,-194.6,123.9,-12.4,126,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2008,3637,0,0,0,0,0,0
$GC,877,-0.64,-194.6,132.6,-12.4,139,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2008,3638,0,0,0,0,0,0
$GC,952,-0.69,-194.6,141.4,-11.4,152,959,0.12,0.00,0.00,0.000,6,0.090,0.000,2622,2008,3637,0,0,0,0,0,0
$GC,1026,-0.58,-194.6,153.0,-16.7,165,1034,0.17,0.00,0.00,0.000,6,0.152,0.000,2673,2009,3638,0,0,0,0,0,0
$GC,1100,-0.63,-194.6,163.1,-12.3,178,1108,0.00,2.03,0.00,0.000,4,0.000,0.036,2669,3384,3637,0,0,0,0,0,0
$GC,1141,-0.73,-194.6,167.8,-11.6,184,1150,0.08,1.92,0.00,0.000,6,0.060,0.021,2617,2010,3638,0,0,0,0,0,0
$GC,1218,-0.64,-194.6,179.0,-16.5,197,1227,0.15,2.00,0.00,0.000,4,0.162,0.030,2660,633,3637,0,0,0,0,0,0
$GC,1251,-0.64,-194.6,184.7,-17.2,202,1259,0.00,1.98,0.00,0.000,6,0.000,0.024,2657,1997,3637,0,0,0,0,0,0
$GC,1326,-0.64,-194.6,195.4,-14.0,215,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1997,3637,0,0,0,0,0,0
$GC,1401,-0.67,-194.6,205.5,-13.2,228,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1997,3638,0,0,0,0,0,0
$GC,1476,-0.71,-194.6,215.6,-13.5,241,1484,0.00,2.08,0.00,0.000,4,0.000,0.038,2657,3396,3637,0,0,0,0,0,0
$GC,1506,-0.77,-194.6,219.4,-12.9,245,1514,0.08,1.95,0.00,0.000,6,0.063,0.019,2606,2000,3637,0,0,0,0,0,0
$GC,1585,-0.68,-194.6,231.5,-16.8,258,1593,0.15,1.98,0.00,0.000,4,0.164,0.030,2648,637,3637,0,0,0,0,0,0
$GC,1645,-0.74,-194.6,240.2,-13.0,268,1653,0.00,1.98,0.00,0.000,6,0.000,0.024,2645,2002,3637,0,0,0,0,0,0
$GC,1719,-0.74,-194.6,249.7,-12.6,281,1728,0.00,2.00,0.00,0.000,4,0.000,0.029,2645,625,3637,0,0,0,0,0,0
$GC,1760,-0.77,-194.6,254.8,-12.9,285,1763,0.00,1.98,0.00,0.000,6,0.000,0.024,2643,2005,3637,0,0,0,0,0,0
$GC,2092,-0.84,-194.6,291.2,-9.5,316,2097,0.15,2.00,0.00,0.000,4,0.085,0.030,2573,626,3636,0,0,0,0,0,0
$GC,2169,-0.74,-194.6,302.2,-15.3,322,2177,0.20,1.98,0.00,0.000,6,0.152,0.025,2629,2009,3636,0,0,0,0,0,0
$STATE,2440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2440,begin apogee
$GC,2446,-0.15,0.0,330.1,9.0,348,2595,0.52,0.00,138.85,0.795,6,0.116,0.000,2815,2009,2837,0,0,0,0,0,0
$STATE,2596,end apogee,CONTROL_FINISHED_OK
$STATE,2596,begin climb
$GC,2598,0.74,194.6,336.9,0.0,361,2752,0.75,2.03,144.02,0.781,4,0.057,0.031,3115,681,2044,0,0,0,0,0,0
$GC,2913,0.53,194.6,305.9,14.3,388,2921,0.20,2.03,0.00,0.000,6,0.140,0.024,3034,2061,2040,0,0,0,0,0,0
$GC,3243,0.53,224.4,271.2,9.9,419,3271,0.00,2.08,22.83,0.724,4,0.000,0.034,3036,691,1924,0,0,0,0,0,0
$GC,3434,0.57,261.4,252.5,9.6,436,3471,0.00,1.98,29.12,0.722,6,0.000,0.024,3036,2039,1772,0,0,0,0,0,0
$GC,3792,0.60,284.3,217.6,10.1,499,3816,0.00,2.08,18.58,0.689,4,0.000,0.032,3040,676,1678,0,0,0,0,0,0
$GC,3846,0.67,292.6,211.9,10.7,507,3863,0.08,2.03,7.60,0.594,6,0.061,0.024,3093,2059,1644,0,0,0,0,0,0
$GC,3932,0.58,292.6,200.8,14.1,521,3940,0.15,2.08,0.00,0.000,4,0.148,0.037,3049,3430,1642,0,0,0,0,0,0
$GC,3982,0.58,292.6,193.9,12.1,529,3990,0.00,1.98,0.00,0.000,6,0.000,0.021,3054,2062,1641,0,0,0,0,0,0
$GC,4059,0.59,298.9,185.7,10.8,542,4075,0.00,2.08,5.88,0.546,4,0.000,0.032,3063,664,1619,0,0,0,0,0,0
$GC,4115,0.62,330.4,180.2,9.8,551,4146,0.00,2.03,25.35,0.677,6,0.000,0.023,3064,2051,1491,0,0,0,0,0,0
$GC,4215,0.67,343.1,170.3,10.5,567,4232,0.00,2.12,10.90,0.620,4,0.000,0.037,3064,3438,1439,0,0,0,0,0,0
$GC,4287,0.71,343.1,162.2,11.2,579,4296,0.00,2.03,0.00,0.000,6,0.000,0.021,3071,2044,1437,0,0,0,0,0,0
$GC,4365,0.75,343.1,153.1,11.7,592,4373,0.10,0.00,0.00,0.000,6,0.105,0.000,3118,2042,1437,0,0,0,0,0,0
$GC,4440,0.67,343.1,141.6,16.2,605,4448,0.12,0.00,0.00,0.000,6,0.157,0.000,3083,2042,1437,0,0,0,0,0,0
$GC,4514,0.67,343.1,131.1,13.1,618,4522,0.00,2.03,0.00,0.000,4,0.000,0.032,3091,664,1436,0,0,0,0,0,0
$GC,4562,0.70,343.1,125.0,13.1,626,4570,0.00,2.03,0.00,0.000,6,0.000,0.021,3091,2059,1437,0,0,0,0,0,0
$GC,4635,0.70,343.1,115.6,13.3,639,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2059,1436,0,0,0,0,0,0
$GC,4710,0.70,343.1,106.2,11.9,652,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2059,1436,0,0,0,0,0,0
$GC,4782,0.70,343.1,97.3,12.3,665,4790,0.00,2.05,0.00,0.000,4,0.000,0.031,3099,668,1436,0,0,0,0,0,0
$GC,4823,0.70,343.1,92.7,11.8,671,4832,0.00,2.00,0.00,0.000,6,0.000,0.022,3099,2053,1435,0,0,0,0,0,0
$GC,4899,0.70,343.1,83.3,12.5,684,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2054,1436,0,0,0,0,0,0
$GC,4971,0.70,343.1,74.5,11.8,697,4979,0.00,2.05,0.00,0.000,4,0.000,0.032,3099,666,1436,0,0,0,0,0,0
$GC,5016,0.70,343.1,69.5,11.3,704,5024,0.00,2.00,0.00,0.000,6,0.000,0.023,3099,2048,1436,0,0,0,0,0,0
$GC,5089,0.71,346.3,61.3,10.9,717,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2047,1435,0,0,0,0,0,0
$GC,5160,0.72,355.9,53.7,10.6,730,5177,0.00,2.08,11.02,0.560,4,0.000,0.032,3101,666,1387,0,0,0,0,0,0
$GC,5202,0.72,360.2,49.4,10.8,736,5218,0.00,2.00,4.88,0.444,6,0.000,0.022,3101,2048,1369,0,0,0,0,0,0
$GC,5285,0.76,360.2,40.1,11.4,750,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2048,1368,0,0,0,0,0,0
$GC,5357,0.79,360.2,31.6,11.8,763,5366,0.00,2.05,0.00,0.000,4,0.000,0.036,3101,3436,1367,0,0,0,0,0,0
$GC,5436,0.84,362.3,22.8,10.9,776,5445,0.00,1.98,0.00,0.000,6,0.000,0.021,3103,2053,1367,0,0,0,0,0,0
$GC,5513,0.94,401.2,15.2,9.5,789,5552,0.17,2.00,32.00,0.574,4,0.079,0.030,3198,668,1201,0,0,0,0,0,0
$STATE,5590,end climb,SURFACE_DEPTH_REACHED
$STATE,5590,begin surface coast
$FINISH,0.5,1.021957
$STATE,5604,end surface coast,CONTROL_FINISHED_OK
$STATE,5604,begin surface
$SM_CCo,5623,125.05,0.520,1,0,529,566.40
$SM_GC,1.21,0.00,0.00,125.05,0.000,0.000,0.520,114,2008,529,-8.57,0.23,566.40,0,0,0,0,1,0
$IRIDIUM_FIX,2122.58,12354.25,130611,131309
$TT8_MAMPS,0.028462,0.028462
$HUMID,32.47
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,28.50
$XPDR_PINGS,15
$24V_AH,25.0,3.128
$10V_AH,10.6,1.900
$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,21.900,84.350,451.025,125.050,0.000,29.913,45.570,206.426,3.750,0.000,18.056,1927.536,755.508,740.483,2188.022,555.836,0.000,1631.436,0.000,2169.644,0.000,0.546,0.000
$DEVICE_MAMPS,234.090,48.195,794.835,520.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.422,1001.778,1742.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43670,803
$CAP_FILE_SIZE,114399,0
$CFSIZE,260165632,141422592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.310,197.6,1
$GPS,130611,165215,2126.022,12355.328,8,2.5,27,-2.8