version: 66.09
glider: 167
mission: 8
dive: 22
start: 6 16 111 4 36 57
data:
$ID,167
$MISSION,8
$DIVE,22
$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,-56411.473
$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,41
$R_STBD_OVSHOOT,64
$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
$GPS1,160611,043001,2053.232,12403.209,37,1.3,37,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.3
$GPS2,160611,043632,2053.177,12403.136,14,1.0,14,-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,118.0,76536,-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,16,-0.97,-170.3,0.0,0.0,0,89,0.00,0.00,-70.68,0.000,2,0.000,0.000,111,1861,3250,0,0,0,0,0,0
$GC,93,-0.97,-170.3,6.2,-11.1,9,117,9.57,2.12,-4.53,0.000,4,0.236,0.041,2519,3281,3537,0,0,0,0,0,0
$GC,165,-0.97,-170.3,43.7,-43.9,20,174,0.00,2.10,0.00,0.000,6,0.000,0.019,2519,1850,3539,0,0,0,0,0,0
$GC,241,-0.97,-170.3,71.3,-35.7,33,249,0.00,2.03,0.00,0.000,4,0.000,0.029,2518,480,3539,0,0,0,0,0,0
$GC,296,-0.97,-170.3,91.6,-35.6,42,304,0.00,2.00,0.00,0.000,6,0.000,0.021,2509,1842,3540,0,0,0,0,0,0
$GC,371,-0.97,-170.3,115.3,-32.9,55,381,0.00,2.12,0.00,0.000,4,0.000,0.034,2498,3261,3540,0,0,0,0,0,0
$GC,442,-0.97,-170.3,139.8,-34.2,67,451,0.10,2.03,0.00,0.000,6,0.177,0.020,2527,1860,3540,0,0,0,0,0,0
$GC,517,-0.97,-170.3,155.9,-20.3,80,525,0.00,2.00,0.00,0.000,4,0.000,0.030,2527,502,3541,0,0,0,0,0,0
$GC,578,-0.97,-170.3,169.3,-22.3,90,587,0.00,1.95,0.00,0.000,6,0.000,0.021,2520,1840,3541,0,0,0,0,0,0
$GC,654,-0.97,-170.3,186.8,-23.5,103,663,0.00,2.00,0.00,0.000,4,0.000,0.028,2520,489,3541,0,0,0,0,0,0
$GC,672,-0.97,-170.3,191.1,-23.7,105,680,0.00,1.92,0.00,0.000,6,0.000,0.021,2511,1820,3541,0,0,0,0,0,0
$GC,748,-0.97,-170.3,209.5,-24.4,118,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1820,3541,0,0,0,0,0,0
$GC,821,-0.97,-170.3,227.4,-25.2,131,830,0.00,1.95,0.00,0.000,4,0.000,0.028,2511,497,3541,0,0,0,0,0,0
$GC,877,-0.97,-170.3,241.5,-25.9,140,886,0.10,1.88,0.00,0.000,6,0.168,0.021,2532,1797,3541,0,0,0,0,0,0
$GC,958,-0.97,-170.3,260.0,-21.7,150,963,0.00,2.17,0.00,0.000,4,0.000,0.032,2523,3262,3541,0,0,0,0,0,0
$GC,1014,-0.97,-170.3,272.4,-22.5,155,1018,0.00,2.05,0.00,0.000,6,0.000,0.019,2523,1827,3541,0,0,0,0,0,0
$GC,1347,-0.97,-170.3,342.8,-17.7,186,1350,0.00,1.95,0.00,0.000,4,0.000,0.031,2523,474,3541,0,0,0,0,0,0
$GC,1476,-0.97,-170.3,366.3,-17.0,197,1483,0.00,1.92,0.00,0.000,6,0.000,0.021,2516,1833,3541,0,0,0,0,0,0
$GC,1802,-0.97,-170.3,421.3,-17.3,228,1805,0.00,2.08,0.00,0.000,4,0.000,0.031,2506,3251,3541,0,0,0,0,0,0
$GC,1930,-0.97,-170.3,442.7,-16.2,239,1939,0.12,2.05,0.00,0.000,6,0.177,0.020,2538,1802,3541,0,0,0,0,0,0
$GC,2256,-0.97,-170.3,486.6,-13.9,270,2259,0.00,1.90,0.00,0.000,4,0.000,0.032,2538,483,3539,0,0,0,0,0,0
$GC,2318,-0.97,-170.3,495.6,-14.4,275,2326,0.00,1.90,0.00,0.000,6,0.000,0.021,2534,1822,3539,0,0,0,0,0,0
$GC,2644,-0.97,-170.3,538.3,-13.0,306,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1822,3537,0,0,0,0,0,0
$GC,2966,-0.97,-170.3,578.0,-11.2,336,2970,0.00,2.12,0.00,0.000,4,0.000,0.034,2532,3254,3535,0,0,0,0,0,0
$GC,3161,-0.97,-170.3,600.3,-10.6,353,3168,0.00,2.05,0.00,0.000,6,0.000,0.020,2532,1823,3533,0,0,0,0,0,0
$GC,3478,-0.97,-170.3,635.5,-11.3,369,3482,0.00,1.95,0.00,0.000,4,0.000,0.031,2532,474,3531,0,0,0,0,0,0
$GC,3549,-0.97,-170.3,644.3,-11.9,372,3553,0.00,1.95,0.00,0.000,6,0.000,0.021,2531,1826,3530,0,0,0,0,0,0
$GC,3880,-0.97,-170.3,681.1,-11.2,388,3884,0.00,2.12,0.00,0.000,4,0.000,0.036,2531,3264,3528,0,0,0,0,0,0
$GC,3900,-0.97,-170.3,683.4,-10.9,389,3903,0.00,2.05,0.00,0.000,6,0.000,0.019,2532,1823,3528,0,0,0,0,0,0
$GC,4233,-0.97,-170.3,720.6,-11.0,405,4236,0.00,1.92,0.00,0.000,4,0.000,0.031,2531,484,3525,0,0,0,0,0,0
$GC,4304,-0.97,-170.3,728.2,-11.1,408,4307,0.00,1.95,0.00,0.000,6,0.000,0.021,2527,1848,3525,0,0,0,0,0,0
$GC,4638,-0.97,-170.3,763.5,-10.6,424,4642,0.00,2.10,0.00,0.000,4,0.000,0.037,2521,3268,3522,0,0,0,0,0,0
$GC,4695,-0.97,-170.3,769.7,-10.8,426,4702,0.00,2.05,0.00,0.000,6,0.000,0.020,2521,1829,3521,0,0,0,0,0,0
$GC,5013,-0.97,-170.3,803.6,-10.9,442,5017,0.00,1.95,0.00,0.000,4,0.000,0.031,2521,487,3519,0,0,0,0,0,0
$GC,5149,-0.97,-170.3,819.5,-11.4,448,5153,0.00,1.95,0.00,0.000,6,0.000,0.023,2521,1840,3518,0,0,0,0,0,0
$GC,5484,-0.97,-170.3,854.7,-10.4,464,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1841,3516,0,0,0,0,0,0
$GC,5792,-0.97,-170.3,888.1,-11.0,479,5796,0.00,2.12,0.00,0.000,4,0.000,0.038,2520,3268,3514,0,0,0,0,0,0
$GC,5910,-0.97,-170.3,900.8,-10.4,484,5914,0.00,2.03,0.00,0.000,6,0.000,0.021,2519,1849,3513,0,0,0,0,0,0
$GC,6234,-0.97,-170.3,935.9,-10.9,500,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1849,3510,0,0,0,0,0,0
$GC,6541,-0.97,-170.3,968.9,-10.6,515,6545,0.00,2.00,0.00,0.000,4,0.000,0.033,2520,480,3508,0,0,0,0,0,0
$GC,6588,-0.97,-170.3,974.2,-11.4,517,6592,0.00,2.00,0.00,0.000,6,0.000,0.024,2520,1861,3508,0,0,0,0,0,0
$STATE,6734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6734,begin apogee
$GC,6740,-0.21,0.0,990.2,10.7,524,6879,0.77,0.00,132.85,1.385,4,0.138,0.000,2775,2025,2838,0,0,0,0,0,0
$STATE,6880,end apogee,CONTROL_FINISHED_OK
$STATE,6880,begin climb
$GC,6883,0.97,170.3,994.1,0.0,530,7032,1.02,2.28,141.62,1.333,4,0.047,0.033,3174,618,2144,0,0,0,0,0,0
$GC,7242,0.97,170.3,928.3,21.8,547,7246,0.00,2.08,0.00,0.000,6,0.000,0.024,3174,1988,2134,0,0,0,0,0,0
$GC,7571,0.97,170.3,855.5,22.0,563,7574,0.00,2.08,0.00,0.000,4,0.000,0.032,3183,621,2131,0,0,0,0,0,0
$GC,7777,0.97,170.3,808.6,22.8,572,7782,0.00,2.10,0.00,0.000,6,0.000,0.025,3184,2028,2129,0,0,0,0,0,0
$GC,8107,0.97,170.3,734.1,22.8,588,8111,0.00,2.05,0.00,0.000,4,0.000,0.039,3183,3402,2127,0,0,0,0,0,0
$GC,8157,0.97,170.3,721.0,24.7,590,8161,0.00,2.03,0.00,0.000,6,0.000,0.023,3192,2032,2127,0,0,0,0,0,0
$GC,8481,0.97,170.3,648.6,22.3,606,8485,0.00,2.10,0.00,0.000,4,0.000,0.033,3203,601,2126,0,0,0,0,0,0
$GC,8554,0.97,170.3,632.0,22.3,609,8559,0.12,2.10,0.00,0.000,6,0.197,0.024,3167,2022,2126,0,0,0,0,0,0
$GC,8882,0.97,170.3,568.2,19.2,632,8886,0.00,2.12,0.00,0.000,4,0.000,0.032,3176,596,2125,0,0,0,0,0,0
$GC,8910,0.97,170.3,562.3,19.6,634,8914,0.00,2.08,0.00,0.000,6,0.000,0.024,3176,2005,2125,0,0,0,0,0,0
$GC,9236,0.97,170.3,496.7,20.7,664,9239,0.00,2.08,0.00,0.000,4,0.000,0.038,3176,3391,2124,0,0,0,0,0,0
$GC,9496,0.97,170.3,443.2,19.1,687,9499,0.00,1.95,0.00,0.000,6,0.000,0.022,3185,2035,2123,0,0,0,0,0,0
$GC,9828,0.97,170.3,379.0,18.0,718,9831,0.00,2.03,0.00,0.000,4,0.000,0.036,3185,3396,2123,0,0,0,0,0,0
$GC,10086,0.97,170.3,328.4,19.8,741,10091,0.12,1.98,0.00,0.000,6,0.215,0.022,3165,2010,2122,0,0,0,0,0,0
$GC,10412,0.97,170.3,277.3,14.6,771,10415,0.00,2.05,0.00,0.000,4,0.000,0.032,3174,609,2122,0,0,0,0,0,0
$GC,10459,0.97,170.3,270.2,15.6,775,10463,0.00,2.05,0.00,0.000,6,0.000,0.023,3174,2022,2122,0,0,0,0,0,0
$GC,10790,0.97,170.3,221.2,14.3,823,10798,0.00,2.05,0.00,0.000,4,0.000,0.037,3174,3393,2122,0,0,0,0,0,0
$GC,11041,0.97,170.3,180.2,16.3,869,11049,0.00,1.98,0.00,0.000,6,0.000,0.020,3183,2024,2123,0,0,0,0,0,0
$GC,11115,0.97,170.3,169.9,12.7,882,11123,0.00,2.05,0.00,0.000,4,0.000,0.034,3183,3392,2123,0,0,0,0,0,0
$GC,11179,0.97,170.3,160.3,16.2,893,11187,0.00,1.98,0.00,0.000,6,0.000,0.021,3192,2020,2123,0,0,0,0,0,0
$GC,11253,0.97,170.3,148.4,15.7,906,11261,0.00,2.05,0.00,0.000,4,0.000,0.031,3203,620,2123,0,0,0,0,0,0
$GC,11457,0.97,170.3,121.7,11.2,943,11466,0.12,2.05,0.00,0.000,6,0.184,0.021,3165,2054,2124,0,0,0,0,0,0
$GC,11535,1.01,201.8,114.1,9.6,956,11565,0.00,1.98,22.27,0.683,4,0.000,0.034,3165,3393,2018,0,0,0,0,0,0
$GC,11772,1.01,201.8,80.9,15.1,999,11780,0.00,1.92,0.00,0.000,6,0.000,0.020,3173,2066,2015,0,0,0,0,0,0
$GC,11846,1.01,201.8,70.6,14.1,1012,11853,0.00,2.12,0.00,0.000,4,0.000,0.031,3184,622,2015,0,0,0,0,0,0
$GC,11887,1.01,201.8,65.4,13.3,1018,11895,0.00,2.10,0.00,0.000,6,0.000,0.021,3184,2061,2015,0,0,0,0,0,0
$GC,11962,1.01,201.8,55.3,13.2,1031,11970,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2061,2015,0,0,0,0,0,0
$GC,12037,1.01,201.8,45.5,13.0,1044,12045,0.00,2.15,0.00,0.000,4,0.000,0.029,3193,608,2015,0,0,0,0,0,0
$GC,12067,1.01,201.8,41.7,13.7,1048,12075,0.00,2.10,0.00,0.000,6,0.000,0.021,3194,2048,2015,0,0,0,0,0,0
$GC,12142,1.05,230.9,32.9,9.7,1061,12173,0.00,2.10,24.17,0.611,4,0.000,0.028,3203,614,1895,0,0,0,0,0,0
$GC,12332,1.05,230.9,10.5,11.1,1094,12342,0.00,2.05,0.00,0.000,6,0.000,0.021,3203,2015,1894,0,0,0,0,0,0
$GC,12409,1.09,264.4,3.1,9.5,1107,12418,0.00,0.00,7.88,0.517,2,0.000,0.000,3203,2015,1856,0,0,0,0,0,0
$STATE,12419,end climb,SURFACE_DEPTH_REACHED
$STATE,12419,begin surface coast
$FINISH,0.8,0.997622
$STATE,12452,end surface coast,CONTROL_FINISHED_OK
$STATE,12452,begin surface
$SM_CCo,12472,125.18,0.545,1,0,1207,400.08
$SM_GC,1.63,0.00,0.00,125.18,0.000,0.000,0.545,113,1865,1207,-8.53,-0.28,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2045.60,12403.79,160611,010104
$TT8_MAMPS,0.029211,0.029211
$HUMID,30.19
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,27.70
$XPDR_PINGS,1
$24V_AH,24.0,5.720
$10V_AH,10.4,4.416
$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,20.175,134.575,328.800,125.175,0.000,27.841,22.612,191.577,0.250,0.000,15.569,2856.813,6144.260,583.369,2754.030,648.489,0.000,1774.102,0.000,2742.261,0.000,0.542,0.000
$DEVICE_MAMPS,236.385,63.495,1385.415,544.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.580,1332.664,1255.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63574,1114
$CAP_FILE_SIZE,149373,0
$CFSIZE,260165632,139960320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.170,261.4,1
$GPS,160611,080824,2052.537,12403.321,26,1.3,44,-2.7