version: 66.09
glider: 167
mission: 8
dive: 23
start: 6 16 111 8 18 3
data:
$ID,167
$MISSION,8
$DIVE,23
$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,-6
$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,-56412.73
$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,82
$R_STBD_OVSHOOT,65
$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
$GPS1,160611,080824,2052.537,12403.321,26,1.3,44,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.0
$GPS2,160611,081722,2052.498,12403.169,13,4.2,32,-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,125.1,75353,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.97,-170.3,0.0,0.0,0,89,0.00,0.00,-68.45,0.000,2,0.000,0.000,111,1864,3155,0,0,0,0,0,0
$GC,92,-0.97,-170.3,5.9,-10.3,9,117,9.52,2.12,-6.25,0.000,4,0.236,0.040,2519,3280,3535,0,0,0,0,0,0
$GC,130,-0.97,-170.3,25.6,-45.3,14,139,0.00,2.05,0.00,0.000,6,0.000,0.020,2520,1888,3536,0,0,0,0,0,0
$GC,211,-0.97,-170.3,55.1,-33.9,27,219,0.00,2.08,0.00,0.000,4,0.000,0.028,2519,484,3537,0,0,0,0,0,0
$GC,267,-0.97,-170.3,75.6,-34.5,36,275,0.00,2.03,0.00,0.000,6,0.000,0.021,2510,1868,3537,0,0,0,0,0,0
$GC,340,-0.97,-170.3,99.9,-32.9,49,348,0.00,2.10,0.00,0.000,4,0.000,0.032,2499,3270,3537,0,0,0,0,0,0
$GC,384,-0.97,-170.3,115.5,-36.0,56,393,0.10,2.03,0.00,0.000,6,0.190,0.019,2527,1857,3537,0,0,0,0,0,0
$GC,463,-0.97,-170.3,138.2,-23.7,69,471,0.00,2.00,0.00,0.000,4,0.000,0.028,2528,498,3538,0,0,0,0,0,0
$GC,517,-0.97,-170.3,151.3,-23.3,78,526,0.00,2.00,0.00,0.000,6,0.000,0.020,2520,1872,3537,0,0,0,0,0,0
$GC,593,-0.97,-170.3,170.7,-25.5,91,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1873,3538,0,0,0,0,0,0
$GC,665,-0.97,-170.3,188.6,-25.0,104,673,0.00,2.08,0.00,0.000,4,0.000,0.033,2509,3268,3539,0,0,0,0,0,0
$GC,681,-0.97,-170.3,192.5,-24.5,106,690,0.00,1.98,0.00,0.000,6,0.000,0.018,2509,1888,3539,0,0,0,0,0,0
$GC,758,-0.97,-170.3,209.8,-22.7,119,766,0.00,2.05,0.00,0.000,4,0.000,0.029,2509,488,3539,0,0,0,0,0,0
$GC,807,-0.97,-170.3,222.9,-26.8,127,816,0.10,2.03,0.00,0.000,6,0.163,0.022,2531,1876,3539,0,0,0,0,0,0
$GC,883,-0.97,-170.3,240.3,-21.8,140,891,0.00,2.05,0.00,0.000,4,0.000,0.031,2523,3263,3539,0,0,0,0,0,0
$GC,905,-0.97,-170.3,245.1,-21.7,143,913,0.00,1.98,0.00,0.000,6,0.000,0.018,2522,1884,3539,0,0,0,0,0,0
$GC,983,-0.97,-170.3,263.2,-24.8,151,987,0.00,2.03,0.00,0.000,4,0.000,0.029,2522,484,3539,0,0,0,0,0,0
$GC,1067,-0.97,-170.3,285.7,-27.2,158,1076,0.00,2.03,0.00,0.000,6,0.000,0.022,2515,1876,3539,0,0,0,0,0,0
$GC,1393,-0.97,-170.3,349.4,-18.0,189,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1876,3539,0,0,0,0,0,0
$GC,1713,-0.97,-170.3,406.8,-16.1,219,1717,0.00,2.05,0.00,0.000,4,0.000,0.030,2516,484,3538,0,0,0,0,0,0
$GC,1794,-0.97,-170.3,419.7,-15.2,226,1799,0.12,2.00,0.00,0.000,6,0.188,0.020,2538,1891,3537,0,0,0,0,0,0
$GC,2119,-0.97,-170.3,462.5,-13.4,256,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1892,3536,0,0,0,0,0,0
$GC,2443,-0.97,-170.3,504.7,-12.5,286,2447,0.00,2.05,0.00,0.000,4,0.000,0.031,2538,493,3534,0,0,0,0,0,0
$GC,2459,-0.97,-170.3,507.6,-12.6,287,2466,0.00,2.03,0.00,0.000,6,0.000,0.021,2535,1885,3534,0,0,0,0,0,0
$GC,2787,-0.97,-170.3,547.4,-12.5,318,2790,0.00,2.03,0.00,0.000,4,0.000,0.037,2534,3273,3532,0,0,0,0,0,0
$GC,2939,-0.97,-170.3,565.9,-11.7,331,2946,0.00,1.95,0.00,0.000,6,0.000,0.020,2534,1897,3531,0,0,0,0,0,0
$GC,3264,-0.97,-170.3,603.6,-12.2,361,3268,0.00,2.05,0.00,0.000,4,0.000,0.031,2534,489,3528,0,0,0,0,0,0
$GC,3427,-0.97,-170.3,625.3,-13.3,368,3431,0.00,2.03,0.00,0.000,6,0.000,0.021,2532,1896,3527,0,0,0,0,0,0
$GC,3756,-0.97,-170.3,666.1,-12.2,384,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1896,3525,0,0,0,0,0,0
$GC,4064,-0.97,-170.3,703.3,-11.7,399,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1896,3522,0,0,0,0,0,0
$GC,4375,-0.97,-170.3,740.4,-11.7,414,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1896,3520,0,0,0,0,0,0
$GC,4684,-0.97,-170.3,774.0,-10.4,429,4688,0.00,2.00,0.00,0.000,4,0.000,0.036,2521,3267,3518,0,0,0,0,0,0
$GC,4753,-0.97,-170.3,781.4,-10.4,432,4758,0.00,2.00,0.00,0.000,6,0.000,0.020,2522,1876,3517,0,0,0,0,0,0
$GC,5087,-0.97,-170.3,816.7,-10.5,448,5091,0.00,2.05,0.00,0.000,4,0.000,0.033,2521,486,3514,0,0,0,0,0,0
$GC,5165,-0.97,-170.3,825.7,-11.4,451,5169,0.00,2.00,0.00,0.000,6,0.000,0.023,2521,1873,3514,0,0,0,0,0,0
$GC,5487,-0.97,-170.3,859.1,-10.4,467,5491,0.00,2.08,0.00,0.000,4,0.000,0.037,2519,3270,3511,0,0,0,0,0,0
$GC,5550,-0.97,-170.3,865.8,-10.5,469,5557,0.00,2.00,0.00,0.000,6,0.000,0.021,2519,1865,3511,0,0,0,0,0,0
$GC,5868,-0.97,-170.3,899.8,-11.2,485,5872,0.00,2.08,0.00,0.000,4,0.000,0.036,2519,3269,3508,0,0,0,0,0,0
$GC,5895,-0.97,-170.3,903.3,-11.0,486,5900,0.00,2.00,0.00,0.000,6,0.000,0.021,2519,1881,3508,0,0,0,0,0,0
$GC,6217,-0.97,-170.3,940.7,-12.0,502,6221,0.00,2.03,0.00,0.000,4,0.000,0.033,2519,498,3507,0,0,0,0,0,0
$GC,6289,-0.97,-170.3,950.2,-13.1,505,6293,0.00,2.00,0.00,0.000,6,0.000,0.024,2519,1881,3506,0,0,0,0,0,0
$STATE,6618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6618,begin apogee
$GC,6626,-0.21,0.0,990.8,12.5,521,6764,0.77,0.00,131.82,1.379,4,0.139,0.000,2775,2014,2839,0,0,0,0,0,0
$STATE,6765,end apogee,CONTROL_FINISHED_OK
$STATE,6765,begin climb
$GC,6769,0.97,170.3,997.0,0.0,527,6919,1.02,2.28,141.93,1.332,4,0.049,0.035,3169,615,2144,0,0,0,0,0,0
$GC,7112,0.97,170.3,934.8,23.1,543,7116,0.00,2.08,0.00,0.000,6,0.000,0.026,3169,1983,2135,0,0,0,0,0,0
$GC,7440,0.97,170.3,854.8,24.3,559,7443,0.00,2.08,0.00,0.000,4,0.000,0.033,3178,619,2131,0,0,0,0,0,0
$GC,7697,0.97,170.3,792.1,23.0,570,7701,0.00,2.10,0.00,0.000,6,0.000,0.027,3178,2005,2130,0,0,0,0,0,0
$GC,8020,0.97,170.3,718.7,22.4,586,8024,0.00,2.08,0.00,0.000,4,0.000,0.039,3178,3400,2127,0,0,0,0,0,0
$GC,8276,0.97,170.3,659.8,21.5,597,8283,0.00,2.03,0.00,0.000,6,0.000,0.023,3187,2038,2126,0,0,0,0,0,0
$GC,8594,0.97,170.3,595.0,20.8,614,8598,0.00,2.12,0.00,0.000,4,0.000,0.034,3198,602,2125,0,0,0,0,0,0
$GC,8671,0.97,170.3,578.6,19.9,620,8679,0.15,2.08,0.00,0.000,6,0.210,0.025,3162,2023,2125,0,0,0,0,0,0
$GC,8998,0.97,170.3,520.5,17.9,651,9002,0.00,2.08,0.00,0.000,4,0.000,0.039,3162,3393,2125,0,0,0,0,0,0
$GC,9159,0.97,170.3,486.4,22.8,665,9163,0.00,2.03,0.00,0.000,6,0.000,0.023,3170,2010,2123,0,0,0,0,0,0
$GC,9490,0.97,170.3,416.2,20.8,696,9493,0.00,2.05,0.00,0.000,4,0.000,0.034,3180,605,2123,0,0,0,0,0,0
$GC,9750,0.97,170.3,365.7,18.7,719,9754,0.00,2.08,0.00,0.000,6,0.000,0.025,3181,2015,2123,0,0,0,0,0,0
$GC,10075,0.97,170.3,308.1,15.4,749,10079,0.00,2.05,0.00,0.000,4,0.000,0.037,3181,3394,2123,0,0,0,0,0,0
$GC,10333,0.97,170.3,261.8,18.1,772,10337,0.00,1.95,0.00,0.000,6,0.000,0.022,3189,2029,2122,0,0,0,0,0,0
$GC,10666,0.97,170.3,212.2,15.1,826,10675,0.00,2.08,0.00,0.000,4,0.000,0.037,3189,3403,2123,0,0,0,0,0,0
$GC,10917,0.97,170.3,172.0,15.4,872,10927,0.10,1.95,0.00,0.000,6,0.195,0.021,3169,2043,2123,0,0,0,0,0,0
$GC,10995,0.97,170.3,160.4,14.1,885,11003,0.00,2.05,0.00,0.000,4,0.000,0.035,3167,3400,2123,0,0,0,0,0,0
$GC,11246,0.97,170.3,123.3,13.0,931,11254,0.00,1.88,0.00,0.000,6,0.000,0.021,3175,2094,2123,0,0,0,0,0,0
$GC,11325,0.97,170.3,112.3,14.0,944,11333,0.00,1.95,0.00,0.000,4,0.000,0.034,3175,3396,2124,0,0,0,0,0,0
$GC,11580,1.00,194.8,82.3,9.9,990,11604,0.00,1.88,17.62,0.648,6,0.000,0.021,3184,2086,2043,0,0,0,0,0,0
$GC,11669,1.00,194.8,71.9,12.4,1005,11677,0.00,1.98,0.00,0.000,4,0.000,0.034,3184,3395,2041,0,0,0,0,0,0
$GC,11719,1.00,194.8,65.6,12.7,1013,11727,0.00,1.92,0.00,0.000,6,0.000,0.020,3193,2057,2041,0,0,0,0,0,0
$GC,11793,1.00,194.8,56.4,12.5,1026,11801,0.00,2.03,0.00,0.000,4,0.000,0.034,3192,3403,2041,0,0,0,0,0,0
$GC,11820,1.00,194.8,52.9,12.7,1030,11828,0.00,1.92,0.00,0.000,6,0.000,0.021,3202,2069,2041,0,0,0,0,0,0
$GC,11895,1.00,194.8,43.8,12.1,1043,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2069,2041,0,0,0,0,0,0
$GC,11969,1.00,194.8,35.0,11.4,1056,11977,0.00,2.00,0.00,0.000,4,0.000,0.033,3201,3401,2041,0,0,0,0,0,0
$GC,12037,1.00,194.8,25.7,13.0,1068,12045,0.12,1.92,0.00,0.000,6,0.178,0.019,3173,2057,2041,0,0,0,0,0,0
$GC,12112,1.07,255.1,18.7,8.4,1081,12164,0.00,0.00,47.00,0.609,6,0.000,0.000,3173,2056,1796,0,0,0,0,0,0
$GC,12234,1.10,274.0,6.8,10.2,1100,12259,0.00,2.08,15.48,0.562,4,0.000,0.031,3173,3402,1720,0,0,0,0,0,0
$STATE,12270,end climb,SURFACE_DEPTH_REACHED
$STATE,12270,begin surface coast
$FINISH,0.8,1.010136
$STATE,12298,end surface coast,CONTROL_FINISHED_OK
$STATE,12298,begin surface
$SM_CCo,12318,100.00,0.531,1,0,1208,400.08
$SM_GC,1.68,0.00,0.00,100.00,0.000,0.000,0.531,119,1888,1208,-8.52,0.37,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2043.29,12403.79,160611,040418
$TT8_MAMPS,0.028462,0.028462
$HUMID,30.39
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,27.70
$XPDR_PINGS,3
$24V_AH,24.0,5.870
$10V_AH,10.4,4.551
$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,20.050,126.050,353.850,100.000,0.000,59.705,47.925,197.507,0.750,0.000,34.005,2839.013,6058.367,576.728,2839.252,657.163,0.000,1762.517,0.000,2737.225,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,78.795,1378.530,530.910,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.199,1322.031,1258.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330076
$DATA_FILE_SIZE,63581,1110
$CAP_FILE_SIZE,146615,0
$CFSIZE,260165632,139886592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.100,302.2,1
$GPS,160611,114631,2052.199,12403.979,43,1.2,43,-2.7