version: 66.09
glider: 167
mission: 8
dive: 28
start: 6 17 111 2 20 32
data:
$ID,167
$MISSION,8
$DIVE,28
$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,-56419.023
$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,65
$R_STBD_OVSHOOT,63
$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
$GPS1,170611,021301,2043.844,12407.008,42,1.5,42,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-71.1
$GPS2,170611,022007,2043.809,12406.984,13,1.5,30,-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,120.7,57949,-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,-68.07,0.000,2,0.000,0.000,110,1859,3137,0,0,0,0,0,0
$GC,91,-0.97,-170.3,5.5,-9.6,9,115,9.50,2.10,-6.72,0.000,4,0.233,0.041,2521,3275,3536,0,0,0,0,0,0
$GC,192,-0.97,-170.3,51.4,-40.5,26,201,0.00,2.08,0.00,0.000,6,0.000,0.021,2520,1871,3538,0,0,0,0,0,0
$GC,269,-0.97,-170.3,78.1,-36.2,39,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1869,3537,0,0,0,0,0,0
$GC,349,-0.97,-170.3,106.5,-32.2,52,358,0.00,2.08,0.00,0.000,4,0.000,0.031,2520,469,3538,0,0,0,0,0,0
$GC,389,-0.97,-170.3,118.6,-30.3,58,398,0.00,2.03,0.00,0.000,6,0.000,0.019,2511,1865,3538,0,0,0,0,0,0
$GC,465,-0.97,-170.3,141.7,-29.6,71,473,0.00,2.05,0.00,0.000,4,0.000,0.028,2511,477,3539,0,0,0,0,0,0
$GC,495,-0.97,-170.3,150.9,-32.8,75,503,0.10,1.98,0.00,0.000,6,0.177,0.019,2530,1842,3539,0,0,0,0,0,0
$GC,570,-0.97,-170.3,173.4,-27.5,88,578,0.00,2.10,0.00,0.000,4,0.000,0.029,2522,3262,3539,0,0,0,0,0,0
$GC,597,-0.97,-170.3,180.6,-27.3,92,605,0.00,2.08,0.00,0.000,6,0.000,0.021,2521,1838,3539,0,0,0,0,0,0
$GC,671,-0.97,-170.3,200.5,-27.5,105,679,0.00,2.00,0.00,0.000,4,0.000,0.032,2521,483,3539,0,0,0,0,0,0
$GC,712,-0.97,-170.3,211.3,-27.5,111,720,0.00,1.95,0.00,0.000,6,0.000,0.021,2512,1839,3540,0,0,0,0,0,0
$GC,789,-0.97,-170.3,230.7,-26.0,124,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1839,3540,0,0,0,0,0,0
$GC,865,-0.97,-170.3,249.0,-24.2,137,873,0.00,2.00,0.00,0.000,4,0.000,0.030,2512,486,3540,0,0,0,0,0,0
$GC,904,-0.97,-170.3,259.5,-25.8,141,908,0.12,1.90,0.00,0.000,6,0.195,0.019,2533,1826,3540,0,0,0,0,0,0
$GC,1235,-0.97,-170.3,324.3,-20.4,172,1239,0.00,2.10,0.00,0.000,4,0.000,0.031,2524,3264,3540,0,0,0,0,0,0
$GC,1288,-0.97,-170.3,335.2,-21.0,176,1292,0.00,2.05,0.00,0.000,6,0.000,0.019,2524,1823,3540,0,0,0,0,0,0
$GC,1621,-0.97,-170.3,396.1,-15.9,207,1624,0.00,1.95,0.00,0.000,4,0.000,0.031,2524,466,3540,0,0,0,0,0,0
$GC,1680,-0.97,-170.3,405.6,-16.0,212,1684,0.00,1.95,0.00,0.000,6,0.000,0.021,2519,1836,3540,0,0,0,0,0,0
$GC,2012,-0.97,-170.3,457.8,-16.4,243,2015,0.00,2.10,0.00,0.000,4,0.000,0.033,2509,3274,3539,0,0,0,0,0,0
$GC,2213,-0.97,-170.3,488.5,-15.5,260,2220,0.00,2.08,0.00,0.000,6,0.000,0.020,2509,1834,3538,0,0,0,0,0,0
$GC,2541,-0.97,-170.3,532.9,-13.0,291,2545,0.00,1.95,0.00,0.000,4,0.000,0.032,2509,484,3536,0,0,0,0,0,0
$GC,2614,-0.97,-170.3,543.8,-14.4,297,2622,0.12,1.95,0.00,0.000,6,0.190,0.021,2536,1854,3535,0,0,0,0,0,0
$GC,2940,-0.97,-170.3,580.8,-12.0,328,2943,0.00,2.05,0.00,0.000,4,0.000,0.033,2531,3263,3533,0,0,0,0,0,0
$GC,3075,-0.97,-170.3,596.9,-11.5,340,3080,0.00,2.05,0.00,0.000,6,0.000,0.020,2532,1839,3532,0,0,0,0,0,0
$GC,3399,-0.97,-170.3,631.8,-10.5,357,3402,0.00,1.95,0.00,0.000,4,0.000,0.032,2532,493,3529,0,0,0,0,0,0
$GC,3431,-0.97,-170.3,635.9,-11.3,358,3435,0.00,1.98,0.00,0.000,6,0.000,0.021,2528,1862,3529,0,0,0,0,0,0
$GC,3756,-0.97,-170.3,674.3,-12.6,374,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1862,3526,0,0,0,0,0,0
$GC,4064,-0.97,-170.3,713.2,-12.4,389,4068,0.00,2.05,0.00,0.000,4,0.000,0.034,2520,3264,3524,0,0,0,0,0,0
$GC,4136,-0.97,-170.3,722.3,-12.0,392,4141,0.00,2.05,0.00,0.000,6,0.000,0.020,2520,1847,3523,0,0,0,0,0,0
$GC,4464,-0.97,-170.3,760.1,-10.7,408,4468,0.00,2.08,0.00,0.000,4,0.000,0.034,2519,3260,3520,0,0,0,0,0,0
$GC,4492,-0.97,-170.3,763.2,-10.5,409,4496,0.00,2.00,0.00,0.000,6,0.000,0.021,2520,1856,3520,0,0,0,0,0,0
$GC,4816,-0.97,-170.3,795.5,-10.0,425,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1856,3517,0,0,0,0,0,0
$GC,5125,-0.97,-170.3,827.8,-10.7,440,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1856,3516,0,0,0,0,0,0
$GC,5433,-0.97,-170.3,860.3,-10.6,455,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1856,3513,0,0,0,0,0,0
$GC,5742,-0.97,-170.3,893.5,-10.6,470,5746,0.00,2.00,0.00,0.000,4,0.000,0.034,2519,487,3510,0,0,0,0,0,0
$GC,5767,-0.97,-170.3,896.1,-10.6,471,5771,0.00,1.98,0.00,0.000,6,0.000,0.023,2519,1856,3510,0,0,0,0,0,0
$GC,6101,-0.97,-170.3,933.0,-11.3,487,6105,0.00,2.10,0.00,0.000,4,0.000,0.038,2519,3267,3508,0,0,0,0,0,0
$GC,6130,-0.97,-170.3,936.4,-11.6,488,6134,0.00,2.03,0.00,0.000,6,0.000,0.021,2519,1852,3507,0,0,0,0,0,0
$GC,6453,-0.97,-170.3,970.5,-10.3,504,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1852,3506,0,0,0,0,0,0
$STATE,6655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6655,begin apogee
$GC,6661,-0.21,0.0,991.3,10.0,514,6804,0.77,0.00,132.40,1.387,4,0.138,0.000,2775,2002,2838,0,0,0,0,0,0
$STATE,6805,end apogee,CONTROL_FINISHED_OK
$STATE,6805,begin climb
$GC,6807,0.97,170.3,993.0,0.0,520,6954,1.02,0.00,141.65,1.333,6,0.050,0.000,3166,2002,2144,0,0,0,0,0,0
$GC,7279,0.97,170.3,888.5,25.2,543,7283,0.00,2.12,0.00,0.000,4,0.000,0.038,3166,3388,2133,0,0,0,0,0,0
$GC,7393,0.97,170.3,859.1,25.3,548,7397,0.00,2.05,0.00,0.000,6,0.000,0.022,3175,2010,2131,0,0,0,0,0,0
$GC,7721,0.97,170.3,781.3,23.2,564,7726,0.00,2.12,0.00,0.000,4,0.000,0.036,3175,3388,2130,0,0,0,0,0,0
$GC,7776,0.97,170.3,767.2,24.8,566,7780,0.00,2.05,0.00,0.000,6,0.000,0.022,3185,2004,2129,0,0,0,0,0,0
$GC,8098,0.97,170.3,694.0,22.4,582,8102,0.00,2.12,0.00,0.000,4,0.000,0.036,3184,3389,2129,0,0,0,0,0,0
$GC,8188,0.97,170.3,673.4,23.1,586,8194,0.10,2.05,0.00,0.000,6,0.197,0.022,3165,2002,2128,0,0,0,0,0,0
$GC,8521,0.97,170.3,602.0,21.1,602,8525,0.00,2.10,0.00,0.000,4,0.000,0.036,3165,3392,2127,0,0,0,0,0,0
$GC,8578,0.97,170.3,590.2,20.4,606,8585,0.00,2.00,0.00,0.000,6,0.000,0.023,3173,2019,2126,0,0,0,0,0,0
$GC,8903,0.97,170.3,524.1,21.4,637,8907,0.00,2.05,0.00,0.000,4,0.000,0.037,3173,3393,2125,0,0,0,0,0,0
$GC,9161,0.97,170.3,462.5,21.7,659,9168,0.00,1.98,0.00,0.000,6,0.000,0.022,3182,2050,2124,0,0,0,0,0,0
$GC,9487,0.97,170.3,397.2,18.6,690,9491,0.00,2.03,0.00,0.000,4,0.000,0.036,3181,3396,2124,0,0,0,0,0,0
$GC,9745,0.97,170.3,345.2,21.1,713,9749,0.00,1.95,0.00,0.000,6,0.000,0.021,3190,2047,2124,0,0,0,0,0,0
$GC,10076,0.97,170.3,292.3,17.7,744,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2046,2124,0,0,0,0,0,0
$GC,10400,0.97,170.3,236.7,16.4,781,10408,0.00,2.03,0.00,0.000,4,0.000,0.034,3190,3388,2124,0,0,0,0,0,0
$GC,10662,0.97,170.3,190.1,17.5,827,10671,0.10,1.90,0.00,0.000,6,0.191,0.021,3169,2068,2124,0,0,0,0,0,0
$GC,10742,0.97,170.3,179.4,13.1,840,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2068,2124,0,0,0,0,0,0
$GC,10817,0.97,170.3,170.0,12.4,853,10826,0.00,2.15,0.00,0.000,4,0.000,0.032,3179,604,2124,0,0,0,0,0,0
$GC,10901,0.97,170.3,159.8,12.3,867,10910,0.00,2.12,0.00,0.000,6,0.000,0.022,3178,2065,2124,0,0,0,0,0,0
$GC,10979,0.97,170.3,150.0,12.5,880,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2065,2124,0,0,0,0,0,0
$GC,11054,0.97,170.3,140.7,12.5,893,11062,0.00,2.15,0.00,0.000,4,0.000,0.030,3186,613,2124,0,0,0,0,0,0
$GC,11125,0.97,170.3,132.0,12.7,905,11133,0.00,2.05,0.00,0.000,6,0.000,0.021,3186,2029,2124,0,0,0,0,0,0
$GC,11202,0.97,170.3,122.2,12.3,918,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2029,2124,0,0,0,0,0,0
$GC,11275,0.97,170.3,112.6,13.6,931,11283,0.00,2.03,0.00,0.000,4,0.000,0.035,3186,3390,2124,0,0,0,0,0,0
$GC,11361,0.97,170.3,100.4,13.6,946,11370,0.10,1.92,0.00,0.000,6,0.184,0.019,3164,2044,2125,0,0,0,0,0,0
$GC,11439,0.97,170.3,91.2,11.1,959,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2043,2125,0,0,0,0,0,0
$GC,11511,0.97,170.3,82.8,11.2,972,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2044,2125,0,0,0,0,0,0
$GC,11584,0.97,170.3,74.7,11.4,985,11593,0.00,2.08,0.00,0.000,4,0.000,0.030,3174,621,2125,0,0,0,0,0,0
$GC,11714,0.99,184.6,60.5,10.4,1008,11729,0.00,2.08,9.98,0.588,6,0.000,0.021,3174,2059,2086,0,0,0,0,0,0
$GC,11796,1.03,218.7,52.7,9.5,1022,11834,0.00,2.03,27.48,0.627,4,0.000,0.034,3174,3392,1945,0,0,0,0,0,0
$GC,11864,1.03,218.7,44.6,13.1,1032,11872,0.00,1.92,0.00,0.000,6,0.000,0.019,3183,2068,1944,0,0,0,0,0,0
$GC,11939,1.05,234.0,36.7,10.3,1045,11962,0.00,2.03,13.25,0.581,4,0.000,0.032,3183,3388,1882,0,0,0,0,0,0
$GC,11992,1.05,235.2,31.0,10.9,1053,12000,0.00,1.88,0.00,0.000,6,0.000,0.018,3191,2092,1882,0,0,0,0,0,0
$GC,12067,1.12,288.3,24.1,8.7,1066,12119,0.00,2.00,42.47,0.604,4,0.000,0.032,3192,3382,1661,0,0,0,0,0,0
$STATE,12224,end climb,SURFACE_DEPTH_REACHED
$STATE,12224,begin surface coast
$FINISH,0.9,1.021759
$STATE,12242,end surface coast,CONTROL_FINISHED_OK
$STATE,12242,begin surface
$SM_CCo,12261,89.43,0.521,1,0,1207,400.08
$SM_GC,1.67,0.00,0.00,89.43,0.000,0.000,0.521,112,1889,1207,-8.54,0.37,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2036.38,12405.70,160611,222241
$TT8_MAMPS,0.028462,0.028462
$HUMID,30.78
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.00
$XPDR_PINGS,1
$24V_AH,24.0,6.622
$10V_AH,10.3,5.218
$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,19.925,122.125,367.225,89.425,0.000,29.533,30.198,200.289,0.250,0.000,32.656,2761.252,6144.462,584.801,2649.576,635.491,0.000,1732.522,0.000,2575.269,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,52.020,1386.945,520.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,743.136,1281.138,1233.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329940
$DATA_FILE_SIZE,63447,1095
$CAP_FILE_SIZE,143618,0
$CFSIZE,260165632,139501568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.207,233.7,1
$GPS,170611,054736,2042.402,12407.491,16,1.2,26,-2.6