version: 66.09
glider: 167
mission: 8
dive: 27
start: 6 16 111 22 44 56
data:
$ID,167
$MISSION,8
$DIVE,27
$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,-56417.766
$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,96
$R_STBD_OVSHOOT,62
$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
$GPS1,160611,223255,2046.619,12407.000,38,1.4,38,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.2
$GPS2,160611,224432,2046.572,12406.951,15,1.3,15,-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,156.6,62714,-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,-68.12,0.000,2,0.000,0.000,110,1853,3132,0,0,0,0,0,0
$GC,90,-0.97,-170.3,5.6,-9.8,9,114,9.62,0.00,-6.78,0.000,6,0.239,0.000,2526,1853,3536,0,0,0,0,0,0
$GC,181,-0.97,-170.3,43.8,-34.4,24,189,0.00,2.15,0.00,0.000,4,0.000,0.031,2517,3274,3537,0,0,0,0,0,0
$GC,209,-0.97,-170.3,54.3,-35.9,28,217,0.00,2.03,0.00,0.000,6,0.000,0.020,2517,1897,3537,0,0,0,0,0,0
$GC,287,-0.97,-170.3,82.1,-31.3,41,295,0.00,2.05,0.00,0.000,4,0.000,0.028,2507,3271,3538,0,0,0,0,0,0
$GC,304,-0.97,-170.3,87.3,-31.4,43,314,0.00,2.03,0.00,0.000,6,0.000,0.018,2507,1879,3538,0,0,0,0,0,0
$GC,384,-0.97,-170.3,115.7,-35.8,56,392,0.12,0.00,0.00,0.000,6,0.210,0.000,2534,1877,3538,0,0,0,0,0,0
$GC,460,-0.97,-170.3,138.3,-27.0,69,468,0.00,2.05,0.00,0.000,4,0.000,0.031,2535,491,3538,0,0,0,0,0,0
$GC,510,-0.97,-170.3,152.1,-27.5,77,517,0.00,2.03,0.00,0.000,6,0.000,0.021,2528,1880,3539,0,0,0,0,0,0
$GC,584,-0.97,-170.3,170.5,-26.1,90,592,0.00,2.05,0.00,0.000,4,0.000,0.031,2518,3268,3539,0,0,0,0,0,0
$GC,607,-0.97,-170.3,176.3,-25.6,93,615,0.00,2.00,0.00,0.000,6,0.000,0.019,2518,1883,3539,0,0,0,0,0,0
$GC,684,-0.97,-170.3,196.8,-27.5,106,691,0.00,2.08,0.00,0.000,4,0.000,0.031,2507,3304,3539,0,0,0,0,0,0
$GC,710,-0.97,-170.3,204.6,-27.4,110,718,0.00,2.03,0.00,0.000,6,0.000,0.019,2507,1901,3539,0,0,0,0,0,0
$GC,787,-0.97,-170.3,226.2,-27.7,123,796,0.12,2.10,0.00,0.000,4,0.200,0.031,2537,484,3540,0,0,0,0,0,0
$GC,852,-0.97,-170.3,241.7,-22.6,134,860,0.00,2.03,0.00,0.000,6,0.000,0.021,2530,1887,3540,0,0,0,0,0,0
$GC,932,-0.97,-170.3,259.5,-21.8,144,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1888,3539,0,0,0,0,0,0
$GC,1252,-0.97,-170.3,316.4,-17.5,174,1256,0.00,2.05,0.00,0.000,4,0.000,0.028,2530,482,3540,0,0,0,0,0,0
$GC,1299,-0.97,-170.3,325.2,-18.1,178,1303,0.00,2.00,0.00,0.000,6,0.000,0.019,2520,1899,3540,0,0,0,0,0,0
$GC,1630,-0.97,-170.3,384.8,-15.7,209,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1899,3539,0,0,0,0,0,0
$GC,1954,-0.97,-170.3,434.0,-15.8,239,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1899,3538,0,0,0,0,0,0
$GC,2280,-0.97,-170.3,486.4,-14.9,270,2284,0.00,1.98,0.00,0.000,4,0.000,0.033,2515,3268,3536,0,0,0,0,0,0
$GC,2316,-0.97,-170.3,491.5,-14.3,273,2320,0.00,2.00,0.00,0.000,6,0.000,0.019,2515,1854,3536,0,0,0,0,0,0
$GC,2648,-0.97,-170.3,539.8,-15.5,304,2652,0.00,2.10,0.00,0.000,4,0.000,0.032,2511,3263,3534,0,0,0,0,0,0
$GC,2716,-0.97,-170.3,549.9,-14.4,310,2720,0.00,1.98,0.00,0.000,6,0.000,0.020,2511,1870,3533,0,0,0,0,0,0
$GC,3047,-0.97,-170.3,595.9,-14.0,341,3051,0.00,2.00,0.00,0.000,4,0.000,0.032,2510,489,3531,0,0,0,0,0,0
$GC,3075,-0.97,-170.3,600.5,-15.4,343,3083,0.00,1.98,0.00,0.000,6,0.000,0.021,2508,1881,3530,0,0,0,0,0,0
$GC,3393,-0.97,-170.3,644.7,-13.9,359,3397,0.10,2.03,0.00,0.000,4,0.207,0.034,2523,3267,3528,0,0,0,0,0,0
$GC,3410,-0.97,-170.3,647.1,-13.3,360,3414,0.00,1.98,0.00,0.000,6,0.000,0.019,2524,1869,3528,0,0,0,0,0,0
$GC,3747,-0.97,-170.3,686.2,-11.9,376,3751,0.00,2.00,0.00,0.000,4,0.000,0.032,2524,491,3525,0,0,0,0,0,0
$GC,3786,-0.97,-170.3,692.0,-13.6,377,3793,0.00,2.00,0.00,0.000,6,0.000,0.021,2522,1886,3525,0,0,0,0,0,0
$GC,4102,-0.97,-170.3,729.1,-12.3,393,4106,0.00,2.03,0.00,0.000,4,0.000,0.036,2521,3272,3522,0,0,0,0,0,0
$GC,4159,-0.97,-170.3,736.2,-12.7,395,4163,0.00,2.00,0.00,0.000,6,0.000,0.020,2521,1881,3522,0,0,0,0,0,0
$GC,4480,-0.97,-170.3,773.1,-10.8,411,4484,0.00,2.03,0.00,0.000,4,0.000,0.032,2521,490,3519,0,0,0,0,0,0
$GC,4526,-0.97,-170.3,778.3,-11.3,413,4530,0.00,2.00,0.00,0.000,6,0.000,0.022,2521,1892,3518,0,0,0,0,0,0
$GC,4860,-0.97,-170.3,812.9,-10.2,429,4864,0.00,2.00,0.00,0.000,4,0.000,0.037,2520,3266,3515,0,0,0,0,0,0
$GC,4878,-0.97,-170.3,814.9,-10.2,429,4885,0.00,1.98,0.00,0.000,6,0.000,0.021,2520,1877,3515,0,0,0,0,0,0
$GC,5195,-0.97,-170.3,847.0,-10.3,445,5199,0.00,2.05,0.00,0.000,4,0.000,0.033,2519,487,3513,0,0,0,0,0,0
$GC,5258,-0.97,-170.3,854.3,-11.3,447,5266,0.00,2.03,0.00,0.000,6,0.000,0.023,2519,1887,3512,0,0,0,0,0,0
$GC,5574,-0.97,-170.3,886.4,-10.3,463,5578,0.00,2.03,0.00,0.000,4,0.000,0.037,2519,3267,3510,0,0,0,0,0,0
$GC,5614,-0.97,-170.3,890.4,-9.8,464,5621,0.00,1.98,0.00,0.000,6,0.000,0.021,2520,1880,3509,0,0,0,0,0,0
$GC,5933,-0.97,-170.3,921.2,-9.8,480,5937,0.00,2.03,0.00,0.000,4,0.000,0.033,2519,493,3507,0,0,0,0,0,0
$GC,5956,-0.97,-170.3,923.8,-9.8,481,5960,0.00,2.03,0.00,0.000,6,0.000,0.024,2519,1889,3507,0,0,0,0,0,0
$GC,6291,-0.97,-170.3,956.9,-10.2,497,6294,0.00,2.03,0.00,0.000,4,0.000,0.038,2518,3267,3505,0,0,0,0,0,0
$GC,6318,-0.97,-170.3,960.0,-10.3,498,6322,0.00,1.98,0.00,0.000,6,0.000,0.021,2519,1881,3504,0,0,0,0,0,0
$STATE,6623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6623,begin apogee
$GC,6629,-0.21,0.0,990.4,9.8,513,6769,0.77,0.00,131.75,1.382,4,0.136,0.000,2775,2018,2837,0,0,0,0,0,0
$STATE,6770,end apogee,CONTROL_FINISHED_OK
$STATE,6770,begin climb
$GC,6772,0.97,170.3,993.5,0.0,519,6921,1.00,2.22,140.93,1.330,4,0.047,0.039,3172,3385,2144,0,0,0,0,0,0
$GC,7174,0.97,170.3,903.1,27.1,537,7181,0.00,2.05,0.00,0.000,6,0.000,0.022,3181,2010,2134,0,0,0,0,0,0
$GC,7492,0.97,170.3,824.0,25.0,553,7496,0.00,2.10,0.00,0.000,4,0.000,0.034,3192,606,2132,0,0,0,0,0,0
$GC,7749,0.97,170.3,760.9,24.3,564,7757,0.00,2.05,0.00,0.000,6,0.000,0.024,3192,1998,2130,0,0,0,0,0,0
$GC,8066,0.97,170.3,686.6,23.0,580,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1998,2129,0,0,0,0,0,0
$GC,8375,0.97,170.3,616.0,23.7,595,8379,0.00,2.10,0.00,0.000,4,0.000,0.038,3192,3399,2128,0,0,0,0,0,0
$GC,8397,0.97,170.3,610.4,23.5,596,8402,0.15,2.05,0.00,0.000,6,0.223,0.023,3166,1998,2127,0,0,0,0,0,0
$GC,8726,0.97,170.3,539.9,22.2,625,8730,0.00,2.10,0.00,0.000,4,0.000,0.035,3166,3406,2126,0,0,0,0,0,0
$GC,8826,0.97,170.3,517.3,22.3,633,8833,0.00,2.00,0.00,0.000,6,0.000,0.022,3174,2022,2125,0,0,0,0,0,0
$GC,9152,0.97,170.3,454.5,18.6,664,9156,0.00,2.08,0.00,0.000,4,0.000,0.034,3174,3407,2125,0,0,0,0,0,0
$GC,9360,0.97,170.3,413.3,19.8,682,9364,0.00,2.00,0.00,0.000,6,0.000,0.021,3182,2029,2124,0,0,0,0,0,0
$GC,9691,0.97,170.3,352.0,16.8,713,9695,0.00,2.08,0.00,0.000,4,0.000,0.032,3194,593,2124,0,0,0,0,0,0
$GC,9712,0.97,170.3,348.2,16.5,714,9720,0.08,2.10,0.00,0.000,6,0.187,0.022,3171,2039,2124,0,0,0,0,0,0
$GC,10040,0.97,170.3,294.7,17.0,745,10044,0.00,2.00,0.00,0.000,4,0.000,0.037,3170,3393,2124,0,0,0,0,0,0
$GC,10295,0.97,170.3,252.2,15.2,768,10299,0.00,1.98,0.00,0.000,6,0.000,0.021,3179,2009,2124,0,0,0,0,0,0
$GC,10621,0.97,170.3,207.4,13.2,827,10630,0.00,2.05,0.00,0.000,4,0.000,0.033,3179,3380,2124,0,0,0,0,0,0
$GC,10768,0.97,170.3,186.6,14.9,853,10776,0.00,1.95,0.00,0.000,6,0.000,0.021,3188,2031,2124,0,0,0,0,0,0
$GC,10846,0.97,170.3,174.7,14.7,866,10853,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2031,2124,0,0,0,0,0,0
$GC,10920,0.97,170.3,164.1,14.8,879,10929,0.00,2.03,0.00,0.000,4,0.000,0.033,3187,3388,2125,0,0,0,0,0,0
$GC,11115,0.97,170.3,136.6,12.3,915,11126,0.10,1.95,0.00,0.000,6,0.187,0.020,3166,2027,2125,0,0,0,0,0,0
$GC,11195,1.01,199.7,128.5,9.7,928,11228,0.00,2.10,21.50,0.692,4,0.000,0.031,3176,625,2024,0,0,0,0,0,0
$GC,11468,1.01,199.7,95.3,11.6,977,11476,0.00,2.03,0.00,0.000,6,0.000,0.021,3176,2012,2022,0,0,0,0,0,0
$GC,11543,1.01,199.7,86.3,12.0,990,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2012,2022,0,0,0,0,0,0
$GC,11615,1.01,199.7,77.7,11.7,1003,11624,0.00,2.05,0.00,0.000,4,0.000,0.034,3176,3391,2022,0,0,0,0,0,0
$GC,11657,1.01,199.7,72.6,13.6,1009,11665,0.00,1.98,0.00,0.000,6,0.000,0.020,3185,2021,2022,0,0,0,0,0,0
$GC,11732,1.01,199.7,62.6,12.5,1022,11740,0.00,2.05,0.00,0.000,4,0.000,0.032,3185,3393,2022,0,0,0,0,0,0
$GC,11809,1.01,199.7,53.1,12.8,1035,11818,0.00,1.92,0.00,0.000,6,0.000,0.019,3194,2049,2022,0,0,0,0,0,0
$GC,11887,1.06,239.3,45.1,9.3,1048,11927,0.00,0.00,31.48,0.621,6,0.000,0.000,3194,2049,1862,0,0,0,0,0,0
$GC,11992,1.06,239.3,32.9,13.1,1065,11999,0.00,2.03,0.00,0.000,4,0.000,0.032,3194,3389,1860,0,0,0,0,0,0
$STATE,12228,end climb,SURFACE_DEPTH_REACHED
$STATE,12228,begin surface coast
$FINISH,0.7,1.021766
$STATE,12250,end surface coast,CONTROL_FINISHED_OK
$STATE,12250,begin surface
$SM_CCo,12270,125.82,0.542,1,0,1208,400.08
$SM_GC,1.73,0.00,0.00,125.82,0.000,0.000,0.542,117,1859,1208,-8.51,-0.45,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2038.68,12408.90,160611,222209
$TT8_MAMPS,0.028462,0.028462
$HUMID,31.13
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.00
$XPDR_PINGS,3
$24V_AH,24.0,6.474
$10V_AH,10.3,5.087
$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,20.025,130.200,325.650,125.825,0.000,51.249,75.143,329.603,0.750,0.000,16.416,2825.709,6107.442,597.154,2895.047,664.694,0.000,1749.671,0.000,2656.744,0.000,0.543,0.000
$DEVICE_MAMPS,238.680,58.140,1382.355,541.620,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,755.790,1332.826,1285.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329932
$DATA_FILE_SIZE,63532,1113
$CAP_FILE_SIZE,148024,0
$CFSIZE,260165632,139575296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.232,208.3,1
$GPS,170611,021301,2043.844,12407.008,42,1.5,42,-2.7