version: 66.09
glider: 167
mission: 8
dive: 25
start: 6 16 111 15 30 59
data:
$ID,167
$MISSION,8
$DIVE,25
$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,-56415.25
$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,69
$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
$GPS1,160611,152313,2051.005,12404.432,39,1.7,46,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.1
$GPS2,160611,153034,2051.064,12404.372,18,99.0,37,-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,150.7,72099,-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,-170.3,0.0,0.0,0,84,0.00,0.00,-64.82,0.000,2,0.000,0.000,110,1865,3012,0,0,0,0,0,0
$GC,87,-0.97,-170.3,5.2,-9.2,9,114,9.45,0.00,-9.15,0.000,6,0.231,0.000,2528,1864,3536,0,0,0,0,0,0
$GC,181,-0.97,-170.3,43.1,-34.9,24,188,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1864,3537,0,0,0,0,0,0
$GC,255,-0.97,-170.3,65.3,-27.1,37,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1864,3537,0,0,0,0,0,0
$GC,335,-0.97,-170.3,87.0,-29.6,50,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1864,3538,0,0,0,0,0,0
$GC,413,-0.97,-170.3,110.9,-29.3,63,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1865,3538,0,0,0,0,0,0
$GC,491,-0.97,-170.3,133.7,-29.6,76,500,0.00,2.03,0.00,0.000,4,0.000,0.028,2528,488,3538,0,0,0,0,0,0
$GC,532,-0.97,-170.3,144.3,-26.2,82,541,0.00,2.00,0.00,0.000,6,0.000,0.020,2520,1866,3539,0,0,0,0,0,0
$GC,609,-0.97,-170.3,164.7,-26.0,95,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1866,3539,0,0,0,0,0,0
$GC,681,-0.97,-170.3,182.0,-23.9,108,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1866,3539,0,0,0,0,0,0
$GC,756,-0.97,-170.3,200.5,-24.4,121,766,0.00,2.08,0.00,0.000,4,0.000,0.032,2510,3265,3539,0,0,0,0,0,0
$GC,796,-0.97,-170.3,210.4,-23.6,127,805,0.00,2.00,0.00,0.000,6,0.000,0.019,2510,1878,3539,0,0,0,0,0,0
$GC,873,-0.97,-170.3,229.6,-26.1,140,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1879,3540,0,0,0,0,0,0
$GC,945,-0.97,-170.3,247.0,-23.4,153,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1878,3540,0,0,0,0,0,0
$GC,1026,-0.97,-170.3,266.4,-24.4,161,1029,0.00,2.03,0.00,0.000,4,0.000,0.029,2510,475,3540,0,0,0,0,0,0
$GC,1204,-0.97,-170.3,307.6,-20.5,177,1209,0.08,2.00,0.00,0.000,6,0.171,0.021,2529,1855,3540,0,0,0,0,0,0
$GC,1535,-0.97,-170.3,364.1,-16.4,208,1539,0.00,2.05,0.00,0.000,4,0.000,0.031,2520,3265,3540,0,0,0,0,0,0
$GC,1629,-0.97,-170.3,379.7,-16.6,216,1637,0.00,2.00,0.00,0.000,6,0.000,0.019,2520,1865,3540,0,0,0,0,0,0
$GC,1955,-0.97,-170.3,436.0,-19.0,247,1959,0.00,2.00,0.00,0.000,4,0.000,0.031,2520,478,3538,0,0,0,0,0,0
$GC,2068,-0.97,-170.3,457.5,-18.2,257,2072,0.00,1.98,0.00,0.000,6,0.000,0.021,2519,1874,3538,0,0,0,0,0,0
$GC,2399,-0.97,-170.3,515.8,-17.8,288,2403,0.00,2.03,0.00,0.000,4,0.000,0.034,2511,3274,3537,0,0,0,0,0,0
$GC,2449,-0.97,-170.3,524.4,-16.8,292,2456,0.00,2.00,0.00,0.000,6,0.000,0.019,2511,1880,3537,0,0,0,0,0,0
$GC,2775,-0.97,-170.3,573.8,-14.8,323,2778,0.00,2.03,0.00,0.000,4,0.000,0.032,2506,3266,3535,0,0,0,0,0,0
$GC,2887,-0.97,-170.3,589.7,-13.6,333,2892,0.12,1.98,0.00,0.000,6,0.176,0.020,2538,1865,3534,0,0,0,0,0,0
$GC,3209,-0.97,-170.3,623.9,-10.7,352,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1864,3532,0,0,0,0,0,0
$GC,3515,-0.97,-170.3,659.1,-11.5,367,3519,0.00,1.98,0.00,0.000,4,0.000,0.033,2539,504,3530,0,0,0,0,0,0
$GC,3571,-0.97,-170.3,666.0,-12.2,369,3576,0.00,2.00,0.00,0.000,6,0.000,0.022,2535,1875,3529,0,0,0,0,0,0
$GC,3892,-0.97,-170.3,705.0,-12.2,385,3896,0.00,2.08,0.00,0.000,4,0.000,0.037,2534,3267,3526,0,0,0,0,0,0
$GC,3961,-0.97,-170.3,713.1,-11.7,388,3965,0.00,1.95,0.00,0.000,6,0.000,0.020,2534,1891,3525,0,0,0,0,0,0
$GC,4295,-0.97,-170.3,753.0,-11.5,404,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1891,3523,0,0,0,0,0,0
$GC,4604,-0.97,-170.3,787.2,-10.9,419,4608,0.00,2.05,0.00,0.000,4,0.000,0.034,2534,491,3520,0,0,0,0,0,0
$GC,4634,-0.97,-170.3,790.5,-10.9,420,4638,0.00,2.00,0.00,0.000,6,0.000,0.023,2532,1871,3520,0,0,0,0,0,0
$GC,4962,-0.97,-170.3,827.7,-11.7,436,4967,0.00,2.05,0.00,0.000,4,0.000,0.034,2532,497,3517,0,0,0,0,0,0
$GC,4989,-0.97,-170.3,831.4,-11.7,437,4993,0.00,2.03,0.00,0.000,6,0.000,0.022,2531,1881,3517,0,0,0,0,0,0
$GC,5317,-0.97,-170.3,869.4,-11.4,453,5321,0.00,2.03,0.00,0.000,4,0.000,0.037,2532,3262,3515,0,0,0,0,0,0
$GC,5356,-0.97,-170.3,874.1,-11.3,454,5363,0.00,2.00,0.00,0.000,6,0.000,0.021,2532,1878,3514,0,0,0,0,0,0
$GC,5675,-0.97,-170.3,907.1,-10.2,470,5679,0.00,2.03,0.00,0.000,4,0.000,0.033,2532,490,3512,0,0,0,0,0,0
$GC,5700,-0.97,-170.3,909.8,-10.1,471,5705,0.00,2.03,0.00,0.000,6,0.000,0.023,2532,1872,3511,0,0,0,0,0,0
$GC,6033,-0.97,-170.3,943.5,-10.0,487,6036,0.00,2.05,0.00,0.000,4,0.000,0.037,2532,3267,3509,0,0,0,0,0,0
$GC,6056,-0.97,-170.3,946.0,-10.1,488,6060,0.00,2.00,0.00,0.000,6,0.000,0.021,2532,1868,3509,0,0,0,0,0,0
$GC,6393,-0.97,-170.3,978.3,-9.6,504,6397,0.00,2.00,0.00,0.000,4,0.000,0.034,2531,496,3507,0,0,0,0,0,0
$GC,6420,-0.97,-170.3,981.6,-9.8,505,6425,0.00,2.03,0.00,0.000,6,0.000,0.024,2531,1876,3507,0,0,0,0,0,0
$STATE,6518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6519,begin apogee
$GC,6525,-0.21,0.0,991.1,9.6,510,6664,0.75,0.00,132.18,1.382,4,0.136,0.000,2779,2030,2838,0,0,0,0,0,0
$STATE,6667,end apogee,CONTROL_FINISHED_OK
$STATE,6667,begin climb
$GC,6669,0.97,170.3,994.0,0.0,516,6820,1.00,2.28,141.60,1.328,4,0.045,0.034,3172,622,2143,0,0,0,0,0,0
$GC,6999,0.97,170.3,928.6,23.9,531,7004,0.00,2.08,0.00,0.000,6,0.000,0.024,3172,1975,2135,0,0,0,0,0,0
$GC,7321,0.97,170.3,851.3,24.2,547,7325,0.00,2.05,0.00,0.000,4,0.000,0.033,3181,613,2131,0,0,0,0,0,0
$GC,7579,0.97,170.3,790.2,22.7,558,7583,0.00,2.08,0.00,0.000,6,0.000,0.024,3181,2012,2130,0,0,0,0,0,0
$GC,7895,0.97,170.3,722.0,20.9,573,7899,0.00,2.08,0.00,0.000,4,0.000,0.037,3181,3396,2127,0,0,0,0,0,0
$GC,8120,0.97,170.3,670.1,23.5,583,8123,0.00,1.98,0.00,0.000,6,0.000,0.022,3189,2027,2126,0,0,0,0,0,0
$GC,8449,0.97,170.3,595.1,23.9,599,8453,0.00,2.08,0.00,0.000,4,0.000,0.035,3190,3399,2126,0,0,0,0,0,0
$GC,8487,0.97,170.3,584.9,24.0,602,8495,0.15,2.03,0.00,0.000,6,0.215,0.022,3163,2026,2125,0,0,0,0,0,0
$GC,8813,0.97,170.3,519.2,21.0,633,8817,0.00,2.05,0.00,0.000,4,0.000,0.035,3162,3392,2124,0,0,0,0,0,0
$GC,9072,0.97,170.3,467.1,19.8,656,9076,0.00,1.95,0.00,0.000,6,0.000,0.021,3171,2043,2123,0,0,0,0,0,0
$GC,9403,0.97,170.3,405.7,17.8,687,9407,0.00,2.08,0.00,0.000,4,0.000,0.034,3181,614,2122,0,0,0,0,0,0
$GC,9538,0.97,170.3,382.5,17.1,698,9545,0.00,2.08,0.00,0.000,6,0.000,0.024,3182,2038,2123,0,0,0,0,0,0
$GC,9863,0.97,170.3,330.0,15.9,729,9867,0.00,2.00,0.00,0.000,4,0.000,0.037,3181,3393,2123,0,0,0,0,0,0
$GC,10101,0.97,170.3,284.5,19.7,750,10105,0.00,1.92,0.00,0.000,6,0.000,0.021,3190,2040,2123,0,0,0,0,0,0
$GC,10434,0.97,170.3,235.0,13.3,790,10443,0.00,2.10,0.00,0.000,4,0.000,0.032,3202,617,2123,0,0,0,0,0,0
$GC,10532,0.97,170.3,221.5,13.8,807,10540,0.10,2.10,0.00,0.000,6,0.190,0.022,3171,2073,2123,0,0,0,0,0,0
$GC,10608,0.97,170.3,211.5,12.8,820,10617,0.00,1.98,0.00,0.000,4,0.000,0.036,3171,3399,2123,0,0,0,0,0,0
$GC,10811,0.97,170.3,183.7,14.3,857,10820,0.00,1.95,0.00,0.000,6,0.000,0.021,3179,2044,2123,0,0,0,0,0,0
$GC,10891,0.97,170.3,172.2,14.7,870,10900,0.00,2.03,0.00,0.000,4,0.000,0.033,3179,3396,2123,0,0,0,0,0,0
$GC,11029,0.97,170.3,151.6,12.9,895,11037,0.00,1.85,0.00,0.000,6,0.000,0.019,3188,2096,2124,0,0,0,0,0,0
$GC,11109,0.97,170.3,142.1,12.6,908,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2096,2124,0,0,0,0,0,0
$GC,11185,0.97,170.3,131.0,13.9,921,11193,0.00,2.17,0.00,0.000,4,0.000,0.031,3199,611,2124,0,0,0,0,0,0
$GC,11351,0.97,170.3,109.5,12.7,951,11360,0.10,2.20,0.00,0.000,6,0.179,0.021,3169,2142,2124,0,0,0,0,0,0
$GC,11427,0.98,176.2,100.5,10.7,964,11435,0.00,2.25,0.00,0.000,4,0.000,0.028,3178,612,2125,0,0,0,0,0,0
$GC,11454,1.00,191.3,97.7,10.3,968,11478,0.00,2.22,15.23,0.646,6,0.000,0.021,3178,2148,2057,0,0,0,0,0,0
$GC,11544,1.02,210.1,89.0,10.2,983,11568,0.00,1.85,15.45,0.634,4,0.000,0.033,3178,3406,1982,0,0,0,0,0,0
$GC,11670,1.02,210.1,72.5,15.3,1005,11680,0.00,1.83,0.00,0.000,6,0.000,0.019,3186,2138,1980,0,0,0,0,0,0
$GC,11749,1.02,210.1,60.9,14.3,1018,11757,0.00,2.22,0.00,0.000,4,0.000,0.029,3198,625,1980,0,0,0,0,0,0
$GC,11798,1.02,210.1,53.9,14.0,1026,11806,0.00,2.22,0.00,0.000,6,0.000,0.021,3198,2145,1980,0,0,0,0,0,0
$GC,11873,1.02,210.1,44.6,11.5,1039,11880,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2145,1980,0,0,0,0,0,0
$GC,11946,1.02,210.1,36.1,12.0,1052,11954,0.00,1.85,0.00,0.000,4,0.000,0.034,3198,3393,1980,0,0,0,0,0,0
$GC,12200,1.03,219.2,6.2,10.6,1098,12215,0.00,1.77,8.32,0.522,6,0.000,0.018,3206,2137,1945,0,0,0,0,0,0
$STATE,12227,end climb,SURFACE_DEPTH_REACHED
$STATE,12227,begin surface coast
$FINISH,0.8,1.021832
$STATE,12254,end surface coast,CONTROL_FINISHED_OK
$STATE,12255,begin surface
$SM_CCo,12273,140.73,0.546,1,0,1207,400.08
$SM_GC,1.71,0.00,0.00,140.73,0.000,0.000,0.546,112,1808,1207,-8.54,-1.89,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2043.29,12401.88,160611,111141
$TT8_MAMPS,0.028462,0.028462
$HUMID,30.19
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,27.90
$XPDR_PINGS,4
$24V_AH,24.0,6.165
$10V_AH,10.4,4.819
$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,19.575,122.200,312.775,140.725,0.000,22.556,41.877,201.143,1.000,0.000,40.242,2837.138,5946.367,595.357,2817.920,656.291,0.000,1785.827,0.000,2744.683,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,68.085,1381.590,546.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.831,1303.842,1294.107,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329908
$DATA_FILE_SIZE,63563,1107
$CAP_FILE_SIZE,147402,0
$CFSIZE,260165632,139730944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094,132.2,1
$GPS,160611,185907,2049.346,12405.858,28,1.4,28,-2.7