version: 66.09
glider: 167
mission: 8
dive: 29
start: 6 17 111 5 54 51
data:
$ID,167
$MISSION,8
$DIVE,29
$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,-56420.281
$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,66
$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
$GPS1,170611,054736,2042.402,12407.491,16,1.2,26,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.7
$GPS2,170611,055426,2042.350,12407.447,15,1.6,15,-2.6
$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,115.0,55149,-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,-65.25,0.000,2,0.000,0.000,111,1890,3026,0,0,0,0,0,0
$GC,88,-0.97,-170.3,5.2,-9.1,9,115,9.55,2.08,-8.95,0.000,4,0.235,0.043,2519,3274,3536,0,0,0,0,0,0
$GC,196,-0.97,-170.3,53.1,-44.3,26,204,0.00,2.10,0.00,0.000,6,0.000,0.021,2520,1858,3537,0,0,0,0,0,0
$GC,273,-0.97,-170.3,80.1,-32.9,39,281,0.00,2.05,0.00,0.000,4,0.000,0.031,2520,477,3538,0,0,0,0,0,0
$GC,309,-0.97,-170.3,92.2,-32.1,44,318,0.00,2.03,0.00,0.000,6,0.000,0.019,2510,1872,3537,0,0,0,0,0,0
$GC,385,-0.97,-170.3,114.6,-28.9,57,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1872,3538,0,0,0,0,0,0
$GC,457,-0.97,-170.3,135.6,-30.0,70,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1872,3539,0,0,0,0,0,0
$GC,530,-0.97,-170.3,156.3,-29.7,83,539,0.00,2.08,0.00,0.000,4,0.000,0.028,2510,472,3539,0,0,0,0,0,0
$GC,574,-0.97,-170.3,170.0,-29.9,90,583,0.10,2.00,0.00,0.000,6,0.174,0.019,2530,1854,3539,0,0,0,0,0,0
$GC,649,-0.97,-170.3,189.9,-24.4,103,657,0.00,2.05,0.00,0.000,4,0.000,0.029,2530,472,3540,0,0,0,0,0,0
$GC,713,-0.97,-170.3,204.7,-25.3,113,721,0.00,1.95,0.00,0.000,6,0.000,0.019,2523,1830,3540,0,0,0,0,0,0
$GC,787,-0.97,-170.3,222.8,-22.3,126,795,0.00,2.10,0.00,0.000,4,0.000,0.031,2512,3251,3540,0,0,0,0,0,0
$GC,809,-0.97,-170.3,227.7,-22.5,129,817,0.00,2.08,0.00,0.000,6,0.000,0.020,2512,1819,3540,0,0,0,0,0,0
$GC,884,-0.97,-170.3,244.9,-22.7,142,893,0.00,1.98,0.00,0.000,4,0.000,0.031,2512,471,3540,0,0,0,0,0,0
$GC,945,-0.97,-170.3,259.3,-22.9,149,950,0.12,1.92,0.00,0.000,6,0.192,0.021,2534,1827,3540,0,0,0,0,0,0
$GC,1276,-0.97,-170.3,322.8,-21.2,180,1280,0.00,2.10,0.00,0.000,4,0.000,0.032,2525,3266,3541,0,0,0,0,0,0
$GC,1364,-0.97,-170.3,342.7,-19.7,187,1373,0.00,2.10,0.00,0.000,6,0.000,0.019,2525,1810,3540,0,0,0,0,0,0
$GC,1690,-0.97,-170.3,397.5,-15.7,218,1694,0.00,2.10,0.00,0.000,4,0.000,0.031,2519,3260,3540,0,0,0,0,0,0
$GC,1848,-0.97,-170.3,423.3,-16.6,231,1856,0.00,2.03,0.00,0.000,6,0.000,0.019,2519,1834,3540,0,0,0,0,0,0
$GC,2173,-0.97,-170.3,470.3,-13.8,262,2177,0.00,1.95,0.00,0.000,4,0.000,0.031,2519,484,3539,0,0,0,0,0,0
$GC,2412,-0.97,-170.3,506.2,-15.2,283,2421,0.00,1.92,0.00,0.000,6,0.000,0.021,2515,1824,3537,0,0,0,0,0,0
$GC,2738,-0.97,-170.3,549.8,-13.2,314,2742,0.00,2.10,0.00,0.000,4,0.000,0.033,2505,3258,3535,0,0,0,0,0,0
$GC,2825,-0.97,-170.3,561.5,-13.8,321,2829,0.12,2.03,0.00,0.000,6,0.173,0.020,2538,1824,3535,0,0,0,0,0,0
$GC,3150,-0.97,-170.3,597.2,-9.8,351,3154,0.00,1.95,0.00,0.000,4,0.000,0.033,2538,483,3532,0,0,0,0,0,0
$GC,3279,-0.97,-170.3,610.4,-10.0,358,3286,0.00,1.92,0.00,0.000,6,0.000,0.022,2535,1827,3531,0,0,0,0,0,0
$GC,3597,-0.97,-170.3,644.5,-11.2,374,3601,0.00,2.12,0.00,0.000,4,0.000,0.035,2532,3270,3528,0,0,0,0,0,0
$GC,3652,-0.97,-170.3,651.5,-11.5,376,3659,0.00,2.08,0.00,0.000,6,0.000,0.020,2532,1812,3528,0,0,0,0,0,0
$GC,3972,-0.97,-170.3,689.6,-12.1,392,3976,0.00,1.90,0.00,0.000,4,0.000,0.033,2533,488,3525,0,0,0,0,0,0
$GC,4040,-0.97,-170.3,699.1,-13.3,395,4044,0.00,1.92,0.00,0.000,6,0.000,0.022,2532,1830,3525,0,0,0,0,0,0
$GC,4374,-0.97,-170.3,740.4,-12.0,411,4378,0.00,2.10,0.00,0.000,4,0.000,0.036,2532,3268,3522,0,0,0,0,0,0
$GC,4459,-0.97,-170.3,750.2,-11.2,415,4463,0.00,2.08,0.00,0.000,6,0.000,0.021,2532,1814,3521,0,0,0,0,0,0
$GC,4789,-0.97,-170.3,785.2,-10.4,431,4793,0.00,2.15,0.00,0.000,4,0.000,0.036,2532,3268,3519,0,0,0,0,0,0
$GC,4845,-0.97,-170.3,791.4,-10.4,433,4852,0.00,2.05,0.00,0.000,6,0.000,0.021,2532,1837,3518,0,0,0,0,0,0
$GC,5164,-0.97,-170.3,823.4,-10.2,449,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1837,3516,0,0,0,0,0,0
$GC,5473,-0.97,-170.3,855.1,-10.3,464,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1837,3514,0,0,0,0,0,0
$GC,5780,-0.97,-170.3,886.5,-10.3,479,5784,0.00,2.15,0.00,0.000,4,0.000,0.038,2532,3267,3511,0,0,0,0,0,0
$GC,5803,-0.97,-170.3,888.8,-10.2,480,5807,0.00,2.05,0.00,0.000,6,0.000,0.021,2532,1833,3511,0,0,0,0,0,0
$GC,6132,-0.97,-170.3,922.2,-10.2,496,6137,0.00,2.00,0.00,0.000,4,0.000,0.035,2532,484,3508,0,0,0,0,0,0
$GC,6159,-0.97,-170.3,925.3,-10.0,497,6163,0.00,1.95,0.00,0.000,6,0.000,0.024,2532,1835,3508,0,0,0,0,0,0
$GC,6488,-0.97,-170.3,957.8,-9.8,513,6492,0.00,2.12,0.00,0.000,4,0.000,0.038,2532,3266,3506,0,0,0,0,0,0
$GC,6565,-0.97,-170.3,965.5,-9.8,516,6572,0.00,2.08,0.00,0.000,6,0.000,0.021,2532,1819,3506,0,0,0,0,0,0
$STATE,6837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6838,begin apogee
$GC,6843,-0.21,0.0,991.7,9.5,530,6984,0.73,0.00,132.35,1.388,4,0.134,0.000,2774,2002,2838,0,0,0,0,0,0
$STATE,6985,end apogee,CONTROL_FINISHED_OK
$STATE,6985,begin climb
$GC,6987,0.97,170.3,994.6,0.0,536,7138,1.02,2.25,141.70,1.333,4,0.047,0.038,3169,3385,2143,0,0,0,0,0,0
$GC,7392,0.97,170.3,905.4,25.8,554,7399,0.00,2.08,0.00,0.000,6,0.000,0.022,3179,1995,2134,0,0,0,0,0,0
$GC,7709,0.97,170.3,828.2,24.1,570,7714,0.00,2.10,0.00,0.000,4,0.000,0.035,3190,612,2131,0,0,0,0,0,0
$GC,7967,0.97,170.3,766.3,23.5,581,7971,0.00,2.05,0.00,0.000,6,0.000,0.025,3189,2008,2130,0,0,0,0,0,0
$GC,8283,0.97,170.3,694.4,22.8,596,8287,0.00,2.08,0.00,0.000,4,0.000,0.037,3190,3404,2128,0,0,0,0,0,0
$GC,8377,0.97,170.3,671.0,24.8,600,8383,0.10,2.08,0.00,0.000,6,0.203,0.023,3170,2008,2127,0,0,0,0,0,0
$GC,8701,0.97,170.3,596.6,23.9,616,8704,0.00,2.10,0.00,0.000,4,0.000,0.035,3169,3393,2126,0,0,0,0,0,0
$GC,8724,0.97,170.3,590.6,23.9,618,8728,0.00,2.03,0.00,0.000,6,0.000,0.022,3178,2009,2126,0,0,0,0,0,0
$GC,9055,0.97,170.3,513.5,23.3,649,9059,0.00,2.10,0.00,0.000,4,0.000,0.035,3178,3402,2126,0,0,0,0,0,0
$GC,9277,0.97,170.3,461.6,20.9,668,9280,0.00,1.98,0.00,0.000,6,0.000,0.023,3186,2046,2125,0,0,0,0,0,0
$GC,9607,0.97,170.3,394.5,18.7,699,9611,0.00,2.03,0.00,0.000,4,0.000,0.035,3186,3397,2124,0,0,0,0,0,0
$GC,9865,0.97,170.3,338.0,19.5,722,9869,0.12,1.90,0.00,0.000,6,0.216,0.021,3166,2069,2123,0,0,0,0,0,0
$GC,10197,0.97,170.3,285.8,14.9,753,10202,0.00,2.00,0.00,0.000,4,0.000,0.034,3165,3395,2123,0,0,0,0,0,0
$GC,10453,0.97,170.3,241.6,16.0,780,10463,0.00,1.90,0.00,0.000,6,0.000,0.021,3173,2081,2123,0,0,0,0,0,0
$GC,10533,0.97,170.3,228.9,16.2,793,10544,0.00,1.98,0.00,0.000,4,0.000,0.034,3174,3395,2123,0,0,0,0,0,0
$GC,10620,0.97,170.3,213.8,17.0,808,10629,0.00,1.85,0.00,0.000,6,0.000,0.020,3182,2109,2123,0,0,0,0,0,0
$GC,10696,0.97,170.3,201.6,16.0,821,10704,0.00,2.22,0.00,0.000,4,0.000,0.032,3193,602,2123,0,0,0,0,0,0
$GC,10724,0.97,170.3,197.1,16.7,825,10733,0.08,2.22,0.00,0.000,6,0.190,0.022,3171,2135,2123,0,0,0,0,0,0
$GC,10803,0.97,170.3,185.1,13.8,838,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2136,2123,0,0,0,0,0,0
$GC,10880,0.97,170.3,173.6,15.3,851,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2136,2123,0,0,0,0,0,0
$GC,10958,0.97,170.3,162.8,14.0,864,10966,0.00,2.28,0.00,0.000,4,0.000,0.031,3180,603,2123,0,0,0,0,0,0
$GC,11089,0.97,170.3,144.7,13.3,888,11098,0.00,2.25,0.00,0.000,6,0.000,0.022,3178,2142,2124,0,0,0,0,0,0
$GC,11166,0.97,170.3,135.2,12.3,901,11175,0.00,2.28,0.00,0.000,4,0.000,0.030,3187,607,2124,0,0,0,0,0,0
$GC,11239,0.97,170.3,125.8,12.5,913,11246,0.00,2.20,0.00,0.000,6,0.000,0.021,3187,2116,2124,0,0,0,0,0,0
$GC,11311,0.97,170.3,116.5,13.2,926,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2117,2125,0,0,0,0,0,0
$GC,11385,0.98,179.0,108.4,10.6,939,11395,0.00,1.95,5.47,0.547,4,0.000,0.034,3187,3407,2109,0,0,0,0,0,0
$GC,11634,0.98,179.0,78.9,12.3,985,11642,0.00,1.83,0.00,0.000,6,0.000,0.018,3195,2114,2109,0,0,0,0,0,0
$GC,11710,0.98,179.0,69.9,11.7,998,11717,0.00,1.92,0.00,0.000,4,0.000,0.032,3195,3403,2109,0,0,0,0,0,0
$GC,11856,1.03,215.3,54.5,9.4,1024,11898,0.00,1.85,29.33,0.631,6,0.000,0.018,3204,2096,1961,0,0,0,0,0,0
$GC,11969,1.06,243.5,44.1,9.8,1041,12002,0.00,2.00,23.42,0.610,4,0.000,0.031,3204,3397,1844,0,0,0,0,0,0
$GC,12077,1.06,243.5,30.6,11.8,1059,12085,0.00,1.88,0.00,0.000,6,0.000,0.019,3211,2109,1841,0,0,0,0,0,0
$GC,12152,1.06,246.0,22.5,10.9,1072,12162,0.00,2.22,0.00,0.000,4,0.000,0.031,3223,613,1841,0,0,0,0,0,0
$GC,12224,1.06,246.0,13.7,12.3,1084,12234,0.08,2.20,0.00,0.000,6,0.170,0.021,3200,2116,1841,0,0,0,0,0,0
$GC,12302,1.07,251.4,5.3,10.8,1097,12317,0.00,1.95,6.88,0.498,4,0.000,0.034,3200,3405,1814,0,0,0,0,0,0
$STATE,12323,end climb,SURFACE_DEPTH_REACHED
$STATE,12323,begin surface coast
$FINISH,0.6,1.009041
$STATE,12351,end surface coast,CONTROL_FINISHED_OK
$STATE,12351,begin surface
$SM_CCo,12371,117.50,0.538,1,0,1208,400.08
$SM_GC,1.69,0.00,0.00,117.50,0.000,0.000,0.538,122,1842,1208,-8.52,-0.90,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2034.08,12336.29,170611,020230
$TT8_MAMPS,0.028462,0.028462
$HUMID,30.03
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.00
$XPDR_PINGS,4
$24V_AH,24.0,6.770
$10V_AH,10.3,5.353
$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,19.900,139.575,339.150,117.500,0.000,27.285,40.456,191.924,1.000,0.000,17.126,2827.931,5994.302,616.903,2803.031,655.837,0.000,1840.320,0.000,2759.508,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,45.135,1388.475,537.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.077,1306.950,1268.893,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63492,1105
$CAP_FILE_SIZE,151897,0
$CFSIZE,260165632,139419648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.205,256.9,1
$GPS,170611,092425,2041.459,12407.573,38,1.2,38,-2.6