version: 66.09
glider: 167
mission: 8
dive: 30
start: 6 17 111 9 31 15
data:
$ID,167
$MISSION,8
$DIVE,30
$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,-56421.539
$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,83
$R_STBD_OVSHOOT,56
$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
$GPS1,170611,092425,2041.459,12407.573,38,1.2,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.4
$GPS2,170611,093050,2041.448,12407.536,14,1.2,14,-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,114.3,53555,-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,-65.03,0.000,2,0.000,0.000,111,1842,3027,0,0,0,0,0,0
$GC,88,-0.97,-170.3,5.2,-9.3,9,115,9.57,2.15,-8.75,0.000,4,0.236,0.042,2517,3280,3534,0,0,0,0,0,0
$GC,162,-0.97,-170.3,39.2,-44.0,20,170,0.00,2.05,0.00,0.000,6,0.000,0.018,2517,1874,3535,0,0,0,0,0,0
$GC,235,-0.97,-170.3,68.9,-39.2,33,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1872,3535,0,0,0,0,0,0
$GC,316,-0.97,-170.3,94.4,-31.7,46,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1872,3535,0,0,0,0,0,0
$GC,389,-0.97,-170.3,118.4,-30.2,59,398,0.00,2.10,0.00,0.000,4,0.000,0.029,2508,3275,3536,0,0,0,0,0,0
$GC,411,-0.97,-170.3,124.6,-29.1,62,419,0.00,2.03,0.00,0.000,6,0.000,0.019,2508,1884,3536,0,0,0,0,0,0
$GC,486,-0.97,-170.3,144.8,-27.1,75,497,0.12,2.10,0.00,0.000,4,0.198,0.033,2539,484,3536,0,0,0,0,0,0
$GC,535,-0.97,-170.3,156.4,-23.3,82,543,0.00,2.03,0.00,0.000,6,0.000,0.021,2531,1876,3536,0,0,0,0,0,0
$GC,609,-0.97,-170.3,173.1,-21.1,95,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1876,3536,0,0,0,0,0,0
$GC,684,-0.97,-170.3,188.5,-21.7,108,692,0.00,2.05,0.00,0.000,4,0.000,0.029,2531,492,3537,0,0,0,0,0,0
$GC,734,-0.97,-170.3,199.8,-21.5,116,742,0.00,2.00,0.00,0.000,6,0.000,0.028,2521,1871,3537,0,0,0,0,0,0
$GC,809,-0.97,-170.3,215.3,-20.3,129,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1870,3537,0,0,0,0,0,0
$GC,883,-0.97,-170.3,230.0,-19.7,142,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1870,3537,0,0,0,0,0,0
$GC,957,-0.97,-170.3,244.8,-18.7,155,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1870,3537,0,0,0,0,0,0
$GC,1031,-0.97,-170.3,257.9,-18.0,164,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1871,3537,0,0,0,0,0,0
$GC,1351,-0.97,-170.3,317.2,-20.2,194,1355,0.00,2.03,0.00,0.000,4,0.000,0.031,2511,3266,3537,0,0,0,0,0,0
$GC,1390,-0.97,-170.3,326.0,-20.8,197,1398,0.00,2.03,0.00,0.000,6,0.000,0.020,2511,1857,3537,0,0,0,0,0,0
$GC,1716,-0.97,-170.3,384.8,-17.9,228,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1856,3537,0,0,0,0,0,0
$GC,2035,-0.97,-170.3,441.5,-15.8,258,2039,0.00,2.05,0.00,0.000,4,0.000,0.030,2503,3265,3536,0,0,0,0,0,0
$GC,2093,-0.97,-170.3,450.6,-14.9,263,2098,0.08,2.03,0.00,0.000,6,0.160,0.019,2528,1842,3536,0,0,0,0,0,0
$GC,2424,-0.97,-170.3,492.6,-11.4,294,2427,0.00,1.92,0.00,0.000,4,0.000,0.031,2528,507,3535,0,0,0,0,0,0
$GC,2503,-0.97,-170.3,502.4,-12.5,301,2507,0.00,1.95,0.00,0.000,6,0.000,0.020,2522,1885,3534,0,0,0,0,0,0
$GC,2836,-0.97,-170.3,543.2,-12.6,332,2840,0.00,2.03,0.00,0.000,4,0.000,0.034,2520,3268,3532,0,0,0,0,0,0
$GC,2984,-0.97,-170.3,562.3,-12.6,345,2988,0.00,1.95,0.00,0.000,6,0.000,0.020,2519,1906,3532,0,0,0,0,0,0
$GC,3325,-0.97,-170.3,603.5,-11.6,376,3328,0.00,2.05,0.00,0.000,4,0.000,0.032,2520,499,3528,0,0,0,0,0,0
$GC,3489,-0.97,-170.3,623.5,-12.0,383,3494,0.00,2.00,0.00,0.000,6,0.000,0.022,2519,1869,3528,0,0,0,0,0,0
$GC,3816,-0.97,-170.3,661.8,-11.8,399,3819,0.00,2.08,0.00,0.000,4,0.000,0.036,2519,3272,3525,0,0,0,0,0,0
$GC,3871,-0.97,-170.3,669.1,-12.5,401,3876,0.00,1.98,0.00,0.000,6,0.000,0.020,2519,1890,3524,0,0,0,0,0,0
$GC,4194,-0.97,-170.3,707.4,-11.8,417,4198,0.00,2.03,0.00,0.000,4,0.000,0.032,2519,498,3522,0,0,0,0,0,0
$GC,4294,-0.97,-170.3,719.9,-11.7,421,4299,0.00,2.03,0.00,0.000,6,0.000,0.023,2519,1882,3521,0,0,0,0,0,0
$GC,4617,-0.97,-170.3,755.0,-10.6,437,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1882,3519,0,0,0,0,0,0
$GC,4925,-0.97,-170.3,789.6,-11.8,452,4929,0.00,2.05,0.00,0.000,4,0.000,0.031,2519,489,3516,0,0,0,0,0,0
$GC,4949,-0.97,-170.3,792.6,-11.7,453,4953,0.00,2.03,0.00,0.000,6,0.000,0.022,2512,1890,3516,0,0,0,0,0,0
$GC,5284,-0.97,-170.3,836.2,-13.6,469,5287,0.00,2.05,0.00,0.000,4,0.000,0.037,2506,3272,3513,0,0,0,0,0,0
$GC,5339,-0.97,-170.3,844.7,-14.4,471,5343,0.00,2.00,0.00,0.000,6,0.000,0.021,2506,1886,3513,0,0,0,0,0,0
$GC,5663,-0.97,-170.3,892.0,-14.8,487,5668,0.12,2.05,0.00,0.000,4,0.187,0.034,2539,494,3510,0,0,0,0,0,0
$GC,5803,-0.97,-170.3,910.5,-12.6,493,5807,0.00,2.00,0.00,0.000,6,0.000,0.024,2535,1872,3509,0,0,0,0,0,0
$GC,6127,-0.97,-170.3,945.6,-10.0,509,6131,0.00,2.08,0.00,0.000,4,0.000,0.039,2535,3270,3507,0,0,0,0,0,0
$GC,6183,-0.97,-170.3,951.2,-9.6,511,6190,0.00,2.00,0.00,0.000,6,0.000,0.021,2535,1870,3506,0,0,0,0,0,0
$GC,6500,-0.97,-170.3,978.6,-8.6,527,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1869,3505,0,0,0,0,0,0
$STATE,6640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6640,begin apogee
$GC,6648,-0.21,0.0,991.1,8.6,534,6787,0.73,0.00,131.98,1.380,4,0.133,0.000,2776,2017,2838,0,0,0,0,0,0
$STATE,6788,end apogee,CONTROL_FINISHED_OK
$STATE,6788,begin climb
$GC,6791,0.97,170.3,993.5,0.0,540,6939,1.00,2.22,141.07,1.328,4,0.044,0.039,3176,3382,2144,0,0,0,0,0,0
$GC,7194,0.97,170.3,904.0,25.9,559,7198,0.00,2.05,0.00,0.000,6,0.000,0.023,3184,2011,2134,0,0,0,0,0,0
$GC,7522,0.97,170.3,825.1,23.5,575,7526,0.00,2.10,0.00,0.000,4,0.000,0.034,3195,607,2132,0,0,0,0,0,0
$GC,7723,0.97,170.3,778.5,22.2,584,7728,0.12,2.08,0.00,0.000,6,0.200,0.024,3167,2001,2131,0,0,0,0,0,0
$GC,8051,0.97,170.3,710.7,21.0,600,8055,0.00,2.10,0.00,0.000,4,0.000,0.037,3166,3396,2128,0,0,0,0,0,0
$GC,8070,0.97,170.3,706.7,21.5,601,8075,0.00,2.08,0.00,0.000,6,0.000,0.023,3174,1997,2128,0,0,0,0,0,0
$GC,8402,0.97,170.3,633.8,22.0,617,8406,0.00,2.05,0.00,0.000,4,0.000,0.034,3185,612,2127,0,0,0,0,0,0
$GC,8419,0.97,170.3,629.7,22.2,617,8427,0.00,2.05,0.00,0.000,6,0.000,0.024,3185,1998,2127,0,0,0,0,0,0
$GC,8742,0.97,170.3,557.2,23.5,641,8745,0.00,2.10,0.00,0.000,4,0.000,0.039,3185,3400,2126,0,0,0,0,0,0
$GC,8998,0.97,170.3,498.6,24.7,663,9005,0.12,2.08,0.00,0.000,6,0.218,0.021,3165,1984,2126,0,0,0,0,0,0
$GC,9324,0.97,170.3,429.4,18.6,694,9328,0.00,2.15,0.00,0.000,4,0.000,0.037,3165,3397,2125,0,0,0,0,0,0
$GC,9583,0.97,170.3,379.4,17.0,717,9586,0.00,2.00,0.00,0.000,6,0.000,0.021,3174,2016,2124,0,0,0,0,0,0
$GC,9914,0.97,170.3,321.7,17.5,748,9917,0.00,2.08,0.00,0.000,4,0.000,0.034,3185,606,2124,0,0,0,0,0,0
$GC,10108,0.97,170.3,288.7,16.7,765,10112,0.00,2.12,0.00,0.000,6,0.000,0.024,3185,2070,2124,0,0,0,0,0,0
$GC,10441,0.97,170.3,235.4,15.1,802,10449,0.00,1.98,0.00,0.000,4,0.000,0.037,3185,3394,2124,0,0,0,0,0,0
$GC,10691,0.97,170.3,192.2,18.3,848,10699,0.00,1.92,0.00,0.000,6,0.000,0.020,3194,2051,2124,0,0,0,0,0,0
$GC,10770,0.97,170.3,179.4,17.1,861,10779,0.12,2.03,0.00,0.000,4,0.203,0.034,3162,3397,2123,0,0,0,0,0,0
$GC,10803,0.97,170.3,173.9,16.1,866,10811,0.00,1.95,0.00,0.000,6,0.000,0.021,3170,2046,2124,0,0,0,0,0,0
$GC,10877,0.97,170.3,163.2,13.9,879,10885,0.00,2.05,0.00,0.000,4,0.000,0.034,3170,3407,2124,0,0,0,0,0,0
$GC,10893,0.97,170.3,161.0,13.5,881,10902,0.00,1.95,0.00,0.000,6,0.000,0.020,3179,2048,2124,0,0,0,0,0,0
$GC,10968,0.97,170.3,151.3,13.1,894,10976,0.00,2.10,0.00,0.000,4,0.000,0.032,3190,618,2124,0,0,0,0,0,0
$GC,11182,0.98,178.4,125.5,10.6,933,11192,0.00,2.03,4.95,0.540,6,0.000,0.022,3190,2012,2111,0,0,0,0,0,0
$GC,11258,1.02,211.1,118.0,9.6,946,11295,0.00,2.10,26.83,0.694,4,0.000,0.034,3190,3395,1977,0,0,0,0,0,0
$GC,11430,1.02,211.1,93.6,16.2,976,11438,0.00,2.03,0.00,0.000,6,0.000,0.020,3199,2014,1973,0,0,0,0,0,0
$GC,11504,1.02,211.1,82.6,14.4,989,11513,0.00,2.08,0.00,0.000,4,0.000,0.032,3199,3389,1973,0,0,0,0,0,0
$GC,11523,1.02,211.1,80.0,14.9,991,11531,0.00,1.98,0.00,0.000,6,0.000,0.019,3208,2027,1973,0,0,0,0,0,0
$GC,11598,1.02,211.1,68.8,14.2,1004,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2028,1973,0,0,0,0,0,0
$GC,11671,1.02,211.1,58.7,13.2,1017,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2028,1973,0,0,0,0,0,0
$GC,11747,1.02,211.1,48.4,13.6,1030,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2028,1973,0,0,0,0,0,0
$GC,11826,1.03,219.6,39.2,10.6,1043,11841,0.00,2.10,7.68,0.549,4,0.000,0.030,3219,585,1943,0,0,0,0,0,0
$GC,11977,1.09,270.0,23.1,8.8,1070,12022,0.00,2.15,40.08,0.608,6,0.000,0.021,3220,2059,1738,0,0,0,0,0,0
$GC,12091,1.09,270.0,10.3,13.9,1088,12100,0.00,2.03,0.00,0.000,4,0.000,0.035,3218,3394,1734,0,0,0,0,0,0
$STATE,12141,end climb,SURFACE_DEPTH_REACHED
$STATE,12141,begin surface coast
$FINISH,0.8,1.009059
$STATE,12163,end surface coast,CONTROL_FINISHED_OK
$STATE,12163,begin surface
$SM_CCo,12185,103.43,0.534,1,0,1208,400.08
$SM_GC,1.77,0.00,0.00,103.43,0.000,0.000,0.534,125,1877,1208,-8.52,0.06,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2036.38,12407.61,170611,050549
$TT8_MAMPS,0.028462,0.028462
$HUMID,31.02
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,27.80
$XPDR_PINGS,3
$24V_AH,24.0,6.917
$10V_AH,10.3,5.486
$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,20.125,123.000,352.575,103.425,0.000,28.439,16.243,186.882,0.750,0.000,16.513,2798.208,5937.838,585.151,2702.846,647.020,0.000,1769.617,0.000,2686.726,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,52.020,1380.060,533.970,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.169,1310.030,1252.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63710,1100
$CAP_FILE_SIZE,145912,0
$CFSIZE,260165632,139350016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094,298.1,1
$GPS,170611,125731,2041.394,12408.322,41,1.1,41,-2.6