version: 66.09
glider: 167
mission: 8
dive: 31
start: 6 17 111 13 4 41
data:
$ID,167
$MISSION,8
$DIVE,31
$N_DIVES,40
$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,-8
$MAX_BUOY,200
$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,-56422.797
$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,2030
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,61
$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
$GPS1,170611,125731,2041.394,12408.322,41,1.1,41,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.8
$GPS2,170611,130420,2041.384,12408.272,12,1.2,12,-2.6
$SPEED_LIMITS,0.191,0.306
$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,148.7,52942,-17.0,-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,-0.81,-194.6,0.0,0.0,0,90,0.00,0.00,-70.10,0.000,2,0.000,0.000,112,1877,3226,0,0,0,0,0,0
$GC,93,-0.81,-194.6,6.4,-12.5,9,117,6.55,2.08,-6.75,0.000,4,0.238,0.036,1771,434,3636,0,0,0,0,0,0
$GC,338,-0.81,-194.6,177.9,-66.1,53,347,0.00,2.10,0.00,0.000,6,0.000,0.019,1763,1895,3638,0,0,0,0,0,0
$GC,416,-0.81,-194.6,225.7,-62.7,66,425,0.00,2.10,0.00,0.000,4,0.000,0.024,1771,450,3639,0,0,0,0,0,0
$GC,434,-0.81,-194.6,237.8,-62.2,68,444,0.00,2.03,0.00,0.000,6,0.000,0.020,1763,1858,3639,0,0,0,0,0,0
$GC,509,-0.81,-194.6,283.6,-59.8,76,513,0.00,2.03,0.00,0.000,4,0.000,0.027,1753,3254,3640,0,0,0,0,0,0
$GC,538,-0.81,-194.6,301.3,-58.4,78,547,0.00,2.00,0.00,0.000,6,0.000,0.018,1753,1848,3640,0,0,0,0,0,0
$GC,863,-0.81,-194.6,477.9,-47.2,109,867,0.00,1.90,0.00,0.000,4,0.000,0.024,1759,501,3640,0,0,0,0,0,0
$GC,933,-0.81,-194.6,510.3,-46.4,115,937,0.00,1.95,0.00,0.000,6,0.000,0.021,1752,1874,3641,0,0,0,0,0,0
$GC,1273,-0.81,-194.6,673.6,-48.1,140,1276,0.00,1.95,0.00,0.000,4,0.000,0.025,1752,505,3641,0,0,0,0,0,0
$GC,1529,-0.81,-194.6,796.8,-47.5,151,1533,0.00,1.95,0.00,0.000,6,0.000,0.021,1743,1863,3640,0,0,0,0,0,0
$GC,1851,-0.81,-194.6,945.4,-45.0,167,1855,0.00,2.03,0.00,0.000,4,0.000,0.028,1732,3271,3636,0,0,0,0,0,0
$STATE,1949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1949,begin apogee
$GC,1958,-0.27,0.0,992.0,45.7,171,2121,0.75,0.00,153.70,1.323,4,0.232,0.000,1931,1998,2838,0,0,0,0,0,0
$STATE,2122,end apogee,CONTROL_FINISHED_OK
$STATE,2122,begin climb
$GC,2126,0.81,194.6,1038.6,0.0,179,2299,1.33,2.15,160.65,1.298,4,0.216,0.026,2280,601,2042,0,0,0,0,0,0
$GC,2547,0.81,194.6,976.0,15.7,198,2551,0.00,2.05,0.00,0.000,6,0.000,0.020,2272,1999,2031,0,0,0,0,0,0
$GC,2882,0.81,194.6,920.9,16.3,214,2886,0.00,2.08,0.00,0.000,4,0.000,0.031,2271,635,2029,0,0,0,0,0,0
$GC,3093,0.81,194.6,884.1,15.0,223,3097,0.00,1.98,0.00,0.000,6,0.000,0.021,2262,1986,2025,0,0,0,0,0,0
$GC,3418,0.81,194.6,832.4,16.5,239,3422,0.00,2.08,0.00,0.000,4,0.000,0.036,2258,3381,2024,0,0,0,0,0,0
$GC,3663,0.81,194.6,790.6,15.7,250,3667,0.00,2.05,0.00,0.000,6,0.000,0.020,2257,1961,2020,0,0,0,0,0,0
$GC,3991,0.81,194.6,739.3,15.7,266,3995,0.00,2.10,0.00,0.000,4,0.000,0.028,2246,3398,2018,0,0,0,0,0,0
$GC,4130,0.81,194.6,716.2,14.4,272,4135,0.15,2.08,0.00,0.000,6,0.243,0.020,2279,1926,2017,0,0,0,0,0,0
$GC,4457,0.81,194.6,669.0,15.1,288,4461,0.00,2.17,0.00,0.000,4,0.000,0.037,2270,3377,2019,0,0,0,0,0,0
$GC,4624,0.81,194.6,640.3,16.0,295,4633,0.00,2.12,0.00,0.000,6,0.000,0.022,2269,1929,2016,0,0,0,0,0,0
$GC,4943,0.81,194.6,588.9,16.3,314,4948,0.00,1.92,0.00,0.000,4,0.000,0.034,2265,632,2015,0,0,0,0,0,0
$GC,4955,0.81,194.6,586.2,17.2,315,4958,0.00,1.80,0.00,0.000,6,0.000,0.022,2259,1900,2016,0,0,0,0,0,0
$GC,5285,0.81,194.6,531.5,16.6,346,5290,0.00,1.90,0.00,0.000,4,0.000,0.033,2258,625,2015,0,0,0,0,0,0
$GC,5543,0.81,194.6,486.1,20.3,369,5547,0.12,1.80,0.00,0.000,6,0.199,0.023,2287,1875,2015,0,0,0,0,0,0
$GC,5877,0.81,194.6,427.5,17.7,400,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1876,2015,0,0,0,0,0,0
$GC,6204,0.81,194.6,375.2,16.1,431,6207,0.00,1.83,0.00,0.000,4,0.000,0.034,2285,626,2014,0,0,0,0,0,0
$GC,6462,0.81,194.6,331.6,19.0,454,6466,0.00,1.80,0.00,0.000,6,0.000,0.025,2284,1866,2015,0,0,0,0,0,0
$GC,6793,0.81,194.6,270.3,17.3,485,6798,0.00,2.20,0.00,0.000,4,0.000,0.025,2270,3398,2013,0,0,0,0,0,0
$GC,6826,0.81,194.6,264.0,18.3,487,6835,0.00,2.20,0.00,0.000,6,0.000,0.021,2269,1861,2012,0,0,0,0,0,0
$GC,7176,0.81,194.6,211.6,13.8,540,7184,0.00,2.28,0.00,0.000,4,0.000,0.036,2258,3370,2016,0,0,0,0,0,0
$GC,7439,0.81,194.6,169.5,17.9,586,7447,0.00,2.22,0.00,0.000,6,0.000,0.021,2257,1834,2015,0,0,0,0,0,0
$GC,7516,0.81,194.6,156.7,18.1,599,7527,0.00,2.30,0.00,0.000,4,0.000,0.031,2246,3382,2016,0,0,0,0,0,0
$GC,7777,0.81,194.6,111.3,17.3,645,7787,0.10,2.30,0.00,0.000,6,0.164,0.020,2279,1788,2017,0,0,0,0,0,0
$GC,7860,0.81,194.6,96.6,16.5,658,7868,0.00,1.70,0.00,0.000,4,0.000,0.034,2279,629,2017,0,0,0,0,0,0
$GC,7879,0.81,194.6,93.9,16.1,660,7886,0.00,1.70,0.00,0.000,6,0.000,0.020,2272,1819,2017,0,0,0,0,0,0
$GC,7960,0.81,194.6,80.5,16.8,673,7969,0.00,2.30,0.00,0.000,4,0.000,0.029,2260,3390,2016,0,0,0,0,0,0
$GC,8224,0.81,194.6,37.1,15.9,719,8235,0.00,2.30,0.00,0.000,6,0.000,0.019,2260,1791,2019,0,0,0,0,0,0
$GC,8304,0.81,194.6,25.2,13.0,732,8312,0.00,2.35,0.00,0.000,4,0.000,0.028,2248,3386,2018,0,0,0,0,0,0
$GC,8359,0.81,194.6,18.1,13.7,740,8367,0.10,2.30,0.00,0.000,6,0.226,0.018,2276,1737,2018,0,0,0,0,0,0
$GC,8443,0.86,240.0,10.4,9.3,753,8479,0.00,1.67,31.42,0.590,4,0.000,0.032,2276,628,1860,0,0,0,0,0,0
$STATE,8510,end climb,SURFACE_DEPTH_REACHED
$STATE,8511,begin surface coast
$FINISH,0.9,1.017907
$STATE,8530,end surface coast,CONTROL_FINISHED_OK
$STATE,8530,begin surface
$SM_CCo,8547,126.95,0.542,1,0,1208,400.08
$SM_GC,1.74,0.00,0.00,126.95,0.000,0.000,0.542,120,1890,1208,-5.95,0.42,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2034.08,12409.51,170611,090940
$TT8_MAMPS,0.028462,0.028462
$HUMID,33.02
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,24.1,7.072
$10V_AH,10.3,5.586
$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,14.600,85.475,345.775,126.950,0.000,22.482,42.078,192.099,0.500,0.000,13.076,2126.992,3778.589,543.780,2142.625,486.387,0.000,1435.877,0.000,2037.247,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,36.720,1323.450,542.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.042,906.175,898.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46901,765
$CAP_FILE_SIZE,102804,0
$CFSIZE,260165632,139333632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051,259.6,1
$GPS,170611,153033,2041.335,12408.219,12,99.0,31,-2.6