version: 66.09
glider: 167
mission: 8
dive: 24
start: 6 16 111 11 53 21
data:
$ID,167
$MISSION,8
$DIVE,24
$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,-56413.988
$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,43
$R_STBD_OVSHOOT,55
$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
$GPS1,160611,114631,2052.199,12403.979,43,1.2,43,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.1
$GPS2,160611,115256,2052.252,12403.862,13,1.1,13,-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,149.0,74472,-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,-170.3,0.0,0.0,0,87,0.00,0.00,-68.20,0.000,2,0.000,0.000,111,1888,3143,0,0,0,0,0,0
$GC,91,-0.97,-170.3,6.0,-10.8,9,116,9.52,2.08,-6.38,0.000,4,0.236,0.041,2509,3283,3537,0,0,0,0,0,0
$GC,129,-0.97,-170.3,26.4,-46.1,14,137,0.00,2.12,0.00,0.000,6,0.000,0.019,2509,1841,3537,0,0,0,0,0,0
$GC,203,-0.97,-170.3,55.1,-37.5,27,212,0.00,2.03,0.00,0.000,4,0.000,0.027,2509,472,3538,0,0,0,0,0,0
$GC,227,-0.97,-170.3,64.0,-36.7,30,236,0.10,2.08,0.00,0.000,6,0.177,0.021,2528,1875,3538,0,0,0,0,0,0
$GC,303,-0.97,-170.3,88.7,-30.9,43,312,0.00,2.08,0.00,0.000,4,0.000,0.028,2529,482,3538,0,0,0,0,0,0
$GC,325,-0.97,-170.3,95.8,-31.7,46,333,0.00,2.00,0.00,0.000,6,0.000,0.022,2522,1842,3539,0,0,0,0,0,0
$GC,403,-0.97,-170.3,119.2,-31.5,59,411,0.00,2.12,0.00,0.000,4,0.000,0.033,2511,3264,3539,0,0,0,0,0,0
$GC,419,-0.97,-170.3,125.5,-32.7,61,427,0.00,2.08,0.00,0.000,6,0.000,0.019,2511,1839,3539,0,0,0,0,0,0
$GC,492,-0.97,-170.3,148.2,-30.9,74,499,0.00,2.00,0.00,0.000,4,0.000,0.030,2511,483,3540,0,0,0,0,0,0
$GC,565,-0.97,-170.3,168.0,-25.8,86,574,0.10,1.92,0.00,0.000,6,0.171,0.021,2531,1812,3540,0,0,0,0,0,0
$GC,644,-0.97,-170.3,187.6,-24.8,99,654,0.00,2.17,0.00,0.000,4,0.000,0.031,2522,3271,3540,0,0,0,0,0,0
$GC,679,-0.97,-170.3,195.8,-23.8,104,687,0.00,2.10,0.00,0.000,6,0.000,0.018,2521,1811,3540,0,0,0,0,0,0
$GC,760,-0.97,-170.3,214.6,-24.1,117,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1810,3540,0,0,0,0,0,0
$GC,834,-0.97,-170.3,232.8,-22.3,130,842,0.00,1.95,0.00,0.000,4,0.000,0.030,2522,480,3540,0,0,0,0,0,0
$GC,872,-0.97,-170.3,241.9,-24.3,136,880,0.00,1.95,0.00,0.000,6,0.000,0.021,2514,1826,3540,0,0,0,0,0,0
$GC,952,-0.97,-170.3,260.8,-23.2,146,956,0.00,2.10,0.00,0.000,4,0.000,0.031,2503,3274,3540,0,0,0,0,0,0
$GC,981,-0.97,-170.3,267.7,-23.0,148,986,0.12,2.05,0.00,0.000,6,0.187,0.018,2533,1822,3541,0,0,0,0,0,0
$GC,1306,-0.97,-170.3,330.3,-18.5,178,1310,0.00,1.92,0.00,0.000,4,0.000,0.030,2533,483,3541,0,0,0,0,0,0
$GC,1379,-0.97,-170.3,343.9,-17.7,184,1386,0.00,1.92,0.00,0.000,6,0.000,0.020,2528,1841,3541,0,0,0,0,0,0
$GC,1704,-0.97,-170.3,400.7,-19.1,215,1709,0.00,2.10,0.00,0.000,4,0.000,0.033,2519,3261,3540,0,0,0,0,0,0
$GC,1776,-0.97,-170.3,414.6,-17.6,221,1783,0.00,2.05,0.00,0.000,6,0.000,0.019,2519,1836,3540,0,0,0,0,0,0
$GC,2102,-0.97,-170.3,470.4,-16.2,252,2106,0.00,1.95,0.00,0.000,4,0.000,0.031,2519,484,3539,0,0,0,0,0,0
$GC,2127,-0.97,-170.3,474.3,-15.9,254,2131,0.00,1.92,0.00,0.000,6,0.000,0.021,2518,1832,3539,0,0,0,0,0,0
$GC,2457,-0.97,-170.3,525.3,-14.7,285,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1833,3537,0,0,0,0,0,0
$GC,2779,-0.97,-170.3,568.5,-14.5,315,2783,0.00,2.10,0.00,0.000,4,0.000,0.034,2509,3268,3536,0,0,0,0,0,0
$GC,2954,-0.97,-170.3,596.0,-14.6,330,2958,0.00,2.03,0.00,0.000,6,0.000,0.020,2509,1840,3535,0,0,0,0,0,0
$GC,3277,-0.97,-170.3,641.2,-13.8,347,3282,0.00,1.98,0.00,0.000,4,0.000,0.031,2509,491,3532,0,0,0,0,0,0
$GC,3360,-0.97,-170.3,653.5,-14.2,350,3368,0.12,1.98,0.00,0.000,6,0.186,0.022,2538,1856,3532,0,0,0,0,0,0
$GC,3680,-0.97,-170.3,687.5,-10.2,366,3684,0.00,2.05,0.00,0.000,4,0.000,0.034,2533,3263,3529,0,0,0,0,0,0
$GC,3746,-0.97,-170.3,694.8,-10.2,369,3750,0.00,2.00,0.00,0.000,6,0.000,0.020,2533,1850,3529,0,0,0,0,0,0
$GC,4073,-0.97,-170.3,728.5,-10.5,385,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1849,3526,0,0,0,0,0,0
$GC,4384,-0.97,-170.3,761.8,-11.0,400,4388,0.00,1.98,0.00,0.000,4,0.000,0.033,2533,493,3524,0,0,0,0,0,0
$GC,4408,-0.97,-170.3,764.7,-10.9,401,4412,0.00,1.98,0.00,0.000,6,0.000,0.023,2533,1864,3523,0,0,0,0,0,0
$GC,4744,-0.97,-170.3,803.9,-12.1,417,4748,0.00,2.00,0.00,0.000,4,0.000,0.031,2532,497,3520,0,0,0,0,0,0
$GC,4779,-0.97,-170.3,808.6,-12.2,418,4782,0.00,1.95,0.00,0.000,6,0.000,0.022,2533,1856,3520,0,0,0,0,0,0
$GC,5100,-0.97,-170.3,846.2,-11.5,434,5104,0.00,2.10,0.00,0.000,4,0.000,0.038,2532,3270,3518,0,0,0,0,0,0
$GC,5151,-0.97,-170.3,852.1,-11.4,436,5156,0.00,2.03,0.00,0.000,6,0.000,0.020,2532,1864,3517,0,0,0,0,0,0
$GC,5473,-0.97,-170.3,885.7,-10.0,452,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1863,3515,0,0,0,0,0,0
$GC,5782,-0.97,-170.3,914.0,-8.5,467,5785,0.00,2.00,0.00,0.000,4,0.000,0.033,2532,490,3513,0,0,0,0,0,0
$GC,5816,-0.97,-170.3,917.0,-8.4,468,5820,0.00,2.00,0.00,0.000,6,0.000,0.024,2532,1869,3512,0,0,0,0,0,0
$GC,6139,-0.97,-170.3,941.5,-7.2,484,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1870,3510,0,0,0,0,0,0
$GC,6447,-0.97,-170.3,963.5,-7.1,499,6451,0.00,2.08,0.00,0.000,4,0.000,0.040,2532,3265,3508,0,0,0,0,0,0
$GC,6498,-0.97,-170.3,967.2,-7.2,501,6502,0.00,2.00,0.00,0.000,6,0.000,0.021,2532,1870,3508,0,0,0,0,0,0
$STATE,6823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6823,begin apogee
$GC,6829,-0.21,0.0,991.4,7.5,517,6970,0.73,0.00,132.57,1.385,4,0.132,0.000,2774,2015,2837,0,0,0,0,0,0
$STATE,6971,end apogee,CONTROL_FINISHED_OK
$STATE,6971,begin climb
$GC,6974,0.97,170.3,992.5,0.0,523,7125,1.02,2.25,141.55,1.333,4,0.047,0.034,3171,626,2144,0,0,0,0,0,0
$GC,7309,0.97,170.3,926.7,22.9,538,7317,0.00,2.10,0.00,0.000,6,0.000,0.024,3171,1990,2135,0,0,0,0,0,0
$GC,7627,0.97,170.3,854.2,23.2,554,7631,0.00,2.08,0.00,0.000,4,0.000,0.033,3180,617,2131,0,0,0,0,0,0
$GC,7801,0.97,170.3,813.4,23.1,562,7805,0.00,2.10,0.00,0.000,6,0.000,0.024,3180,2026,2130,0,0,0,0,0,0
$GC,8129,0.97,170.3,739.9,22.0,578,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2026,2129,0,0,0,0,0,0
$GC,8440,0.97,170.3,669.1,23.3,593,8444,0.00,2.08,0.00,0.000,4,0.000,0.039,3179,3403,2128,0,0,0,0,0,0
$GC,8694,0.97,170.3,605.4,25.3,604,8703,0.00,2.03,0.00,0.000,6,0.000,0.023,3188,2033,2126,0,0,0,0,0,0
$GC,9020,0.97,170.3,529.6,21.6,634,9024,0.00,2.10,0.00,0.000,4,0.000,0.034,3199,597,2125,0,0,0,0,0,0
$GC,9065,0.97,170.3,519.9,20.9,637,9072,0.15,2.10,0.00,0.000,6,0.207,0.024,3163,2036,2125,0,0,0,0,0,0
$GC,9390,0.97,170.3,456.8,18.1,668,9394,0.00,2.03,0.00,0.000,4,0.000,0.038,3163,3392,2124,0,0,0,0,0,0
$GC,9649,0.97,170.3,405.1,21.4,691,9653,0.00,1.98,0.00,0.000,6,0.000,0.023,3171,2021,2123,0,0,0,0,0,0
$GC,9980,0.97,170.3,342.8,17.7,722,9984,0.00,2.05,0.00,0.000,4,0.000,0.036,3171,3386,2123,0,0,0,0,0,0
$GC,10229,0.97,170.3,295.0,17.3,744,10232,0.00,1.95,0.00,0.000,6,0.000,0.021,3180,2030,2123,0,0,0,0,0,0
$GC,10557,0.97,170.3,245.5,16.4,776,10566,0.00,2.10,0.00,0.000,4,0.000,0.032,3191,609,2123,0,0,0,0,0,0
$GC,10671,0.97,170.3,227.4,16.7,796,10681,0.00,2.10,0.00,0.000,6,0.000,0.023,3191,2044,2123,0,0,0,0,0,0
$GC,10748,0.97,170.3,214.9,16.5,809,10756,0.00,2.03,0.00,0.000,4,0.000,0.037,3191,3396,2123,0,0,0,0,0,0
$GC,11000,0.97,170.3,170.8,18.2,855,11009,0.10,1.92,0.00,0.000,6,0.196,0.021,3169,2059,2123,0,0,0,0,0,0
$GC,11076,0.97,170.3,157.3,15.9,868,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2060,2124,0,0,0,0,0,0
$GC,11149,0.97,170.3,148.0,11.7,881,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2059,2123,0,0,0,0,0,0
$GC,11223,0.97,170.3,138.6,13.0,894,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2059,2124,0,0,0,0,0,0
$GC,11298,0.97,170.3,129.6,11.6,907,11306,0.00,2.12,0.00,0.000,4,0.000,0.031,3179,606,2124,0,0,0,0,0,0
$GC,11388,1.02,207.0,121.2,9.4,922,11421,0.00,2.10,26.77,0.692,6,0.000,0.021,3179,2052,1995,0,0,0,0,0,0
$GC,11487,1.02,207.0,109.5,13.7,938,11494,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2052,1992,0,0,0,0,0,0
$GC,11559,1.02,207.0,100.4,13.0,951,11567,0.00,2.03,0.00,0.000,4,0.000,0.035,3179,3400,1991,0,0,0,0,0,0
$GC,11719,1.02,207.0,78.9,14.3,980,11728,0.00,1.98,0.00,0.000,6,0.000,0.021,3188,2042,1991,0,0,0,0,0,0
$GC,11795,1.02,207.0,68.0,14.3,993,11802,0.00,2.10,0.00,0.000,4,0.000,0.031,3199,616,1991,0,0,0,0,0,0
$GC,11937,1.02,207.0,48.6,12.9,1019,11946,0.00,2.05,0.00,0.000,6,0.000,0.021,3200,2025,1991,0,0,0,0,0,0
$GC,12017,1.02,207.0,38.8,11.9,1032,12026,0.00,2.03,0.00,0.000,4,0.000,0.034,3199,3390,1991,0,0,0,0,0,0
$GC,12104,1.02,207.0,26.1,13.1,1047,12114,0.08,1.95,0.00,0.000,6,0.188,0.019,3185,2030,1991,0,0,0,0,0,0
$GC,12181,1.02,207.9,17.6,11.0,1060,12190,0.00,2.08,0.00,0.000,4,0.000,0.031,3194,614,1991,0,0,0,0,0,0
$GC,12272,1.09,268.0,9.4,8.4,1076,12325,0.00,2.03,47.58,0.594,6,0.000,0.020,3192,2015,1745,0,0,0,0,0,0
$STATE,12342,end climb,SURFACE_DEPTH_REACHED
$STATE,12342,begin surface coast
$FINISH,0.8,1.012095
$STATE,12376,end surface coast,CONTROL_FINISHED_OK
$STATE,12376,begin surface
$SM_CCo,12394,104.85,0.529,1,0,1207,400.08
$SM_GC,1.74,0.00,0.00,104.85,0.000,0.000,0.529,117,1864,1207,-8.53,-0.28,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2047.91,12413.40,160611,080820
$TT8_MAMPS,0.028462,0.028462
$HUMID,30.35
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,27.90
$XPDR_PINGS,2
$24V_AH,24.0,6.017
$10V_AH,10.3,4.683
$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,20.175,130.675,348.475,104.850,0.000,23.750,17.238,193.722,0.500,0.000,15.711,2782.330,6210.226,593.562,2650.558,645.304,0.000,1765.367,0.000,2635.731,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,53.550,1384.650,529.380,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.632,1296.983,1227.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329884
$DATA_FILE_SIZE,63480,1091
$CAP_FILE_SIZE,147733,0
$CFSIZE,260165632,139804672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.056,276.3,1
$GPS,160611,152313,2051.005,12404.432,39,1.7,46,-2.7