version: 66.09
glider: 167
mission: 8
dive: 21
start: 6 16 111 1 6 36
data:
$ID,167
$MISSION,8
$DIVE,21
$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,-9
$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,-56410.121
$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,73
$R_STBD_OVSHOOT,68
$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
$GPS1,160611,005837,2054.687,12402.973,27,1.1,28,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.7
$GPS2,160611,010613,2054.618,12402.907,11,1.6,16,-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,122.7,79155,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.97,-170.3,0.0,0.0,0,86,0.00,0.00,-66.47,0.000,2,0.000,0.000,111,1878,3068,0,0,0,0,0,0
$GC,90,-0.97,-170.3,5.1,-7.5,9,116,9.48,2.08,-8.10,0.000,4,0.233,0.042,2516,3275,3537,0,0,0,0,0,0
$GC,155,-0.97,-170.3,34.1,-38.6,19,164,0.00,2.05,0.00,0.000,6,0.000,0.019,2516,1879,3538,0,0,0,0,0,0
$GC,230,-0.97,-170.3,62.3,-39.4,32,238,0.00,2.08,0.00,0.000,4,0.000,0.029,2516,477,3538,0,0,0,0,0,0
$GC,274,-0.97,-170.3,80.2,-39.3,39,283,0.08,2.05,0.00,0.000,6,0.190,0.020,2527,1877,3538,0,0,0,0,0,0
$GC,353,-0.97,-170.3,109.0,-37.7,52,361,0.00,2.08,0.00,0.000,4,0.000,0.028,2527,481,3538,0,0,0,0,0,0
$GC,387,-0.97,-170.3,121.0,-34.0,57,396,0.00,2.03,0.00,0.000,6,0.000,0.020,2520,1873,3539,0,0,0,0,0,0
$GC,466,-0.97,-170.3,147.6,-34.4,70,475,0.00,2.08,0.00,0.000,4,0.000,0.031,2509,3267,3539,0,0,0,0,0,0
$GC,515,-0.97,-170.3,163.1,-30.4,78,523,0.00,1.98,0.00,0.000,6,0.000,0.018,2509,1885,3539,0,0,0,0,0,0
$GC,590,-0.97,-170.3,185.3,-28.2,91,598,0.00,2.03,0.00,0.000,4,0.000,0.029,2509,507,3539,0,0,0,0,0,0
$GC,649,-0.97,-170.3,201.9,-25.5,101,658,0.10,2.00,0.00,0.000,6,0.172,0.020,2530,1884,3539,0,0,0,0,0,0
$GC,726,-0.97,-170.3,221.8,-26.6,114,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1884,3540,0,0,0,0,0,0
$GC,801,-0.97,-170.3,240.7,-24.0,127,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1884,3540,0,0,0,0,0,0
$GC,876,-0.97,-170.3,258.0,-23.2,137,879,0.00,2.03,0.00,0.000,4,0.000,0.027,2531,498,3540,0,0,0,0,0,0
$GC,943,-0.97,-170.3,273.2,-20.4,143,947,0.00,1.98,0.00,0.000,6,0.000,0.020,2523,1879,3540,0,0,0,0,0,0
$GC,1274,-0.97,-170.3,342.9,-20.5,174,1277,0.00,2.03,0.00,0.000,4,0.000,0.033,2516,3267,3540,0,0,0,0,0,0
$GC,1378,-0.97,-170.3,365.8,-20.1,183,1386,0.00,1.98,0.00,0.000,6,0.000,0.019,2515,1892,3540,0,0,0,0,0,0
$GC,1704,-0.97,-170.3,427.1,-18.8,214,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1890,3540,0,0,0,0,0,0
$GC,2025,-0.97,-170.3,481.7,-14.5,244,2028,0.00,2.03,0.00,0.000,4,0.000,0.031,2516,491,3538,0,0,0,0,0,0
$GC,2109,-0.97,-170.3,495.1,-15.2,251,2117,0.00,2.03,0.00,0.000,6,0.000,0.021,2507,1887,3538,0,0,0,0,0,0
$GC,2434,-0.97,-170.3,546.7,-15.2,282,2436,0.12,0.00,0.00,0.000,6,0.193,0.000,2537,1888,3536,0,0,0,0,0,0
$GC,2753,-0.97,-170.3,584.7,-11.1,312,2757,0.00,2.03,0.00,0.000,4,0.000,0.034,2532,3270,3534,0,0,0,0,0,0
$GC,2855,-0.97,-170.3,596.4,-10.5,321,2859,0.00,1.98,0.00,0.000,6,0.000,0.020,2533,1873,3534,0,0,0,0,0,0
$GC,3191,-0.97,-170.3,634.2,-11.6,339,3195,0.00,2.00,0.00,0.000,4,0.000,0.032,2532,494,3531,0,0,0,0,0,0
$GC,3252,-0.97,-170.3,642.4,-12.7,341,3259,0.00,2.03,0.00,0.000,6,0.000,0.023,2532,1883,3530,0,0,0,0,0,0
$GC,3571,-0.97,-170.3,681.4,-11.9,357,3574,0.00,2.03,0.00,0.000,4,0.000,0.031,2533,498,3528,0,0,0,0,0,0
$GC,3641,-0.97,-170.3,690.7,-13.0,360,3645,0.00,2.00,0.00,0.000,6,0.000,0.023,2532,1885,3527,0,0,0,0,0,0
$GC,3974,-0.97,-170.3,732.7,-12.0,376,3978,0.00,2.05,0.00,0.000,4,0.000,0.031,2532,491,3524,0,0,0,0,0,0
$GC,4003,-0.97,-170.3,736.4,-12.2,377,4006,0.00,2.00,0.00,0.000,6,0.000,0.022,2532,1876,3523,0,0,0,0,0,0
$GC,4330,-0.97,-170.3,774.6,-11.5,393,4333,0.00,2.05,0.00,0.000,4,0.000,0.037,2532,3262,3521,0,0,0,0,0,0
$GC,4357,-0.97,-170.3,778.0,-11.2,394,4361,0.00,2.00,0.00,0.000,6,0.000,0.020,2532,1874,3521,0,0,0,0,0,0
$GC,4687,-0.97,-170.3,811.8,-9.9,410,4690,0.00,2.08,0.00,0.000,4,0.000,0.036,2532,3264,3518,0,0,0,0,0,0
$GC,4705,-0.97,-170.3,813.7,-10.0,411,4709,0.00,2.00,0.00,0.000,6,0.000,0.020,2531,1875,3518,0,0,0,0,0,0
$GC,5037,-0.97,-170.3,846.0,-10.0,427,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1874,3515,0,0,0,0,0,0
$GC,5347,-0.97,-170.3,879.0,-11.2,442,5352,0.00,2.10,0.00,0.000,4,0.000,0.037,2531,3262,3513,0,0,0,0,0,0
$GC,5395,-0.97,-170.3,884.4,-11.8,444,5399,0.00,1.98,0.00,0.000,6,0.000,0.021,2531,1875,3512,0,0,0,0,0,0
$GC,5730,-0.97,-170.3,921.8,-10.9,460,5735,0.00,2.08,0.00,0.000,4,0.000,0.034,2531,489,3509,0,0,0,0,0,0
$GC,5800,-0.97,-170.3,930.0,-11.7,463,5803,0.00,2.03,0.00,0.000,6,0.000,0.024,2532,1886,3509,0,0,0,0,0,0
$GC,6133,-0.97,-170.3,965.1,-10.1,479,6137,0.00,2.05,0.00,0.000,4,0.000,0.039,2531,3265,3507,0,0,0,0,0,0
$GC,6181,-0.97,-170.3,969.9,-10.3,481,6185,0.00,1.95,0.00,0.000,6,0.000,0.021,2531,1890,3507,0,0,0,0,0,0
$STATE,6390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6390,begin apogee
$GC,6396,-0.21,0.0,990.6,9.7,491,6537,0.73,0.00,132.65,1.385,4,0.132,0.000,2773,2018,2838,0,0,0,0,0,0
$STATE,6537,end apogee,CONTROL_FINISHED_OK
$STATE,6537,begin climb
$GC,6540,0.97,170.3,994.4,0.0,497,6689,1.00,2.22,141.32,1.333,4,0.048,0.039,3166,3381,2144,0,0,0,0,0,0
$GC,6930,0.97,170.3,913.0,23.5,515,6934,0.00,2.05,0.00,0.000,6,0.000,0.022,3175,2009,2134,0,0,0,0,0,0
$GC,7260,0.97,170.3,840.7,21.5,531,7264,0.00,2.10,0.00,0.000,4,0.000,0.037,3175,3381,2132,0,0,0,0,0,0
$GC,7517,0.97,170.3,781.0,22.9,542,7524,0.00,2.08,0.00,0.000,6,0.000,0.022,3184,1976,2130,0,0,0,0,0,0
$GC,7835,0.97,170.3,706.5,23.7,558,7839,0.00,2.12,0.00,0.000,4,0.000,0.037,3185,3379,2129,0,0,0,0,0,0
$GC,7899,0.97,170.3,690.9,24.8,561,7904,0.12,2.05,0.00,0.000,6,0.223,0.023,3165,1984,2128,0,0,0,0,0,0
$GC,8226,0.97,170.3,619.0,20.8,577,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1982,2127,0,0,0,0,0,0
$GC,8541,0.97,170.3,556.7,19.0,602,8546,0.00,2.12,0.00,0.000,4,0.000,0.037,3165,3376,2126,0,0,0,0,0,0
$GC,8801,0.97,170.3,499.8,22.2,625,8805,0.00,2.03,0.00,0.000,6,0.000,0.022,3173,1982,2126,0,0,0,0,0,0
$GC,9132,0.97,170.3,433.2,19.1,656,9136,0.00,2.00,0.00,0.000,4,0.000,0.032,3184,600,2125,0,0,0,0,0,0
$GC,9171,0.97,170.3,425.4,19.2,659,9178,0.00,2.03,0.00,0.000,6,0.000,0.024,3184,1972,2124,0,0,0,0,0,0
$GC,9497,0.97,170.3,366.2,18.7,690,9501,0.00,2.10,0.00,0.000,4,0.000,0.039,3184,3396,2124,0,0,0,0,0,0
$GC,9755,0.97,170.3,312.8,21.2,712,9763,0.08,2.05,0.00,0.000,6,0.199,0.022,3162,1996,2124,0,0,0,0,0,0
$GC,10082,0.97,170.3,263.2,14.2,743,10086,0.00,2.10,0.00,0.000,4,0.000,0.035,3162,3403,2124,0,0,0,0,0,0
$GC,10253,0.97,170.3,235.4,16.3,765,10262,0.00,2.05,0.00,0.000,6,0.000,0.021,3171,1993,2124,0,0,0,0,0,0
$GC,10330,0.97,170.3,223.7,15.0,778,10339,0.00,2.05,0.00,0.000,4,0.000,0.033,3181,602,2125,0,0,0,0,0,0
$GC,10498,0.97,170.3,197.6,15.9,808,10506,0.00,1.98,0.00,0.000,6,0.000,0.023,3181,1960,2124,0,0,0,0,0,0
$GC,10574,0.97,170.3,185.8,16.1,821,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1961,2124,0,0,0,0,0,0
$GC,10650,0.97,170.3,174.0,15.0,834,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1961,2125,0,0,0,0,0,0
$GC,10724,0.97,170.3,162.7,14.8,847,10732,0.00,2.12,0.00,0.000,4,0.000,0.036,3181,3388,2125,0,0,0,0,0,0
$GC,10802,0.97,170.3,150.1,16.7,860,10811,0.00,2.12,0.00,0.000,6,0.000,0.021,3191,1921,2125,0,0,0,0,0,0
$GC,10878,0.97,170.3,138.1,15.0,873,10886,0.00,1.92,0.00,0.000,4,0.000,0.033,3201,609,2126,0,0,0,0,0,0
$GC,11007,0.97,173.8,123.3,10.8,896,11017,0.10,1.83,0.00,0.000,6,0.188,0.021,3171,1891,2126,0,0,0,0,0,0
$GC,11084,1.02,208.4,115.6,9.5,909,11124,0.00,2.28,27.95,0.693,4,0.000,0.035,3171,3387,1987,0,0,0,0,0,0
$GC,11328,1.02,208.4,83.2,16.1,952,11336,0.00,2.20,0.00,0.000,6,0.000,0.020,3180,1886,1985,0,0,0,0,0,0
$GC,11401,1.02,208.4,73.8,12.5,965,11410,0.00,1.88,0.00,0.000,4,0.000,0.032,3189,613,1985,0,0,0,0,0,0
$GC,11452,1.02,208.4,67.5,13.0,973,11461,0.00,1.88,0.00,0.000,6,0.000,0.021,3189,1905,1985,0,0,0,0,0,0
$GC,11528,1.02,208.4,57.4,13.3,986,11535,0.00,1.92,0.00,0.000,4,0.000,0.031,3197,610,1985,0,0,0,0,0,0
$GC,11585,1.02,208.4,49.7,13.6,996,11593,0.00,1.83,0.00,0.000,6,0.000,0.021,3198,1873,1985,0,0,0,0,0,0
$GC,11659,1.02,208.4,39.8,14.1,1009,11667,0.00,2.25,0.00,0.000,4,0.000,0.034,3198,3386,1984,0,0,0,0,0,0
$GC,11755,1.02,208.4,26.2,13.9,1026,11763,0.00,2.12,0.00,0.000,6,0.000,0.019,3207,1915,1985,0,0,0,0,0,0
$GC,11830,1.06,244.7,18.5,9.4,1039,11868,0.00,2.25,28.95,0.604,4,0.000,0.031,3207,3392,1840,0,0,0,0,0,0
$STATE,11956,end climb,SURFACE_DEPTH_REACHED
$STATE,11956,begin surface coast
$FINISH,0.8,1.021936
$STATE,11978,end surface coast,CONTROL_FINISHED_OK
$STATE,11978,begin surface
$SM_CCo,11998,122.15,0.547,1,0,1208,400.08
$SM_GC,1.73,0.00,0.00,122.15,0.000,0.000,0.547,118,1861,1208,-8.52,-0.42,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2052.52,12401.26,150611,202004
$TT8_MAMPS,0.029211,0.029211
$HUMID,30.66
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,27.60
$XPDR_PINGS,2
$24V_AH,24.0,5.573
$10V_AH,10.4,4.281
$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,19.875,130.975,330.875,122.150,0.000,29.777,40.881,218.752,0.500,0.000,17.559,2713.944,5954.651,599.191,2669.097,624.565,0.000,1743.320,0.000,2591.708,0.000,0.545,0.000
$DEVICE_MAMPS,233.325,64.260,1384.650,546.975,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.526,1265.426,1194.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330452
$DATA_FILE_SIZE,60376,1064
$CAP_FILE_SIZE,143882,0
$CFSIZE,260165632,140042240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.199,234.4,1
$GPS,160611,043001,2053.232,12403.209,37,1.3,37,-2.7