version: 66.09
glider: 167
mission: 8
dive: 32
start: 6 17 111 15 37 2
data:
$ID,167
$MISSION,8
$DIVE,32
$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,-56424.055
$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,85
$R_STBD_OVSHOOT,80
$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
$GPS1,170611,153033,2041.335,12408.219,12,99.0,31,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.3
$GPS2,170611,153638,2041.336,12408.152,10,1.7,10,-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,150.4,52941,-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,-194.6,0.0,0.0,0,87,0.00,0.00,-68.15,0.000,2,0.000,0.000,111,1890,3175,0,0,0,0,0,0
$GC,91,-0.81,-194.6,6.2,-11.3,9,115,6.55,2.10,-7.55,0.000,4,0.239,0.044,1770,491,3635,0,0,0,0,0,0
$GC,361,-0.81,-194.6,189.6,-62.7,57,369,0.00,2.00,0.00,0.000,6,0.000,0.020,1762,1875,3637,0,0,0,0,0,0
$GC,435,-0.81,-194.6,235.5,-62.6,70,443,0.00,2.05,0.00,0.000,4,0.000,0.022,1770,476,3637,0,0,0,0,0,0
$GC,459,-0.81,-194.6,250.5,-60.5,73,465,0.00,2.03,0.00,0.000,6,0.000,0.021,1762,1901,3637,0,0,0,0,0,0
$GC,788,-0.81,-194.6,436.5,-57.5,104,791,0.00,2.03,0.00,0.000,4,0.000,0.021,1765,493,3639,0,0,0,0,0,0
$GC,969,-0.81,-194.6,526.9,-48.0,120,973,0.00,2.00,0.00,0.000,6,0.000,0.021,1758,1886,3638,0,0,0,0,0,0
$GC,1308,-0.81,-194.6,693.4,-48.0,143,1312,0.00,2.00,0.00,0.000,4,0.000,0.024,1757,491,3638,0,0,0,0,0,0
$GC,1565,-0.81,-194.6,814.5,-46.1,154,1570,0.00,2.00,0.00,0.000,6,0.000,0.022,1748,1871,3637,0,0,0,0,0,0
$GC,1888,-0.81,-194.6,955.0,-44.0,170,1892,0.00,2.03,0.00,0.000,4,0.000,0.028,1738,3275,3633,0,0,0,0,0,0
$STATE,1963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1964,begin apogee
$GC,1971,-0.27,0.0,991.3,45.9,173,2134,0.73,0.00,153.23,1.321,4,0.229,0.000,1931,1979,2838,0,0,0,0,0,0
$STATE,2135,end apogee,CONTROL_FINISHED_OK
$STATE,2135,begin climb
$GC,2137,0.81,194.6,1037.3,0.0,181,2307,1.30,2.10,161.02,1.297,4,0.215,0.027,2278,613,2044,0,0,0,0,0,0
$GC,2369,0.81,194.6,1009.1,13.0,190,2376,0.00,2.08,0.00,0.000,6,0.000,0.018,2269,2007,2036,0,0,0,0,0,0
$GC,2685,0.81,194.6,963.4,15.2,206,2690,0.00,2.10,0.00,0.000,4,0.000,0.034,2268,640,2029,0,0,0,0,0,0
$GC,2868,0.81,194.6,934.2,12.5,214,2873,0.00,1.98,0.00,0.000,6,0.000,0.019,2258,1993,2026,0,0,0,0,0,0
$GC,3196,0.81,194.6,881.6,15.8,230,3200,0.00,2.08,0.00,0.000,4,0.000,0.042,2257,3372,2024,0,0,0,0,0,0
$GC,3423,0.81,194.6,843.1,15.1,240,3428,0.00,2.03,0.00,0.000,6,0.000,0.021,2258,1991,2021,0,0,0,0,0,0
$GC,3747,0.81,194.6,793.3,15.6,256,3751,0.00,2.08,0.00,0.000,4,0.000,0.036,2253,3372,2020,0,0,0,0,0,0
$GC,4005,0.81,194.6,752.4,16.0,267,4010,0.12,2.08,0.00,0.000,6,0.246,0.020,2279,1909,2017,0,0,0,0,0,0
$GC,4322,0.81,194.6,704.8,15.2,282,4326,0.00,2.20,0.00,0.000,4,0.000,0.037,2268,3373,2016,0,0,0,0,0,0
$GC,4580,0.81,194.6,659.8,15.6,293,4587,0.00,2.08,0.00,0.000,6,0.000,0.024,2267,1945,2016,0,0,0,0,0,0
$GC,4896,0.81,194.6,605.5,16.7,309,4900,0.00,1.95,0.00,0.000,4,0.000,0.031,2263,608,2012,0,0,0,0,0,0
$GC,5154,0.81,194.6,558.5,17.6,330,5160,0.10,1.90,0.00,0.000,6,0.233,0.028,2280,1883,2012,0,0,0,0,0,0
$GC,5485,0.81,194.6,507.2,14.6,361,5489,0.00,1.88,0.00,0.000,4,0.000,0.034,2276,610,2010,0,0,0,0,0,0
$GC,5524,0.81,194.6,500.3,15.0,364,5530,0.00,1.85,0.00,0.000,6,0.000,0.019,2266,1915,2010,0,0,0,0,0,0
$GC,5851,0.81,194.6,448.9,15.8,395,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1917,2010,0,0,0,0,0,0
$GC,6170,0.81,194.6,392.9,20.8,425,6174,0.00,1.90,0.00,0.000,4,0.000,0.028,2263,593,2010,0,0,0,0,0,0
$GC,6252,0.81,194.6,377.2,17.3,432,6260,0.08,1.83,0.00,0.000,6,0.243,0.019,2273,1882,2010,0,0,0,0,0,0
$GC,6578,0.81,194.6,322.2,17.3,463,6583,0.00,1.88,0.00,0.000,4,0.000,0.031,2273,619,2012,0,0,0,0,0,0
$GC,6835,0.81,194.6,274.3,19.6,486,6838,0.00,1.80,0.00,0.000,6,0.000,0.020,2263,1885,2013,0,0,0,0,0,0
$GC,7179,0.81,194.6,215.6,15.1,534,7188,0.00,1.90,0.00,0.000,4,0.000,0.033,2260,612,2013,0,0,0,0,0,0
$GC,7216,0.81,194.6,209.9,15.6,539,7227,0.10,1.83,0.00,0.000,6,0.193,0.019,2282,1888,2013,0,0,0,0,0,0
$GC,7300,0.81,194.6,196.9,13.5,552,7308,0.00,2.20,0.00,0.000,4,0.000,0.034,2273,3373,2014,0,0,0,0,0,0
$GC,7563,0.81,194.6,151.7,18.7,598,7571,0.00,2.33,0.00,0.000,6,0.000,0.022,2272,1781,2013,0,0,0,0,0,0
$GC,7643,0.81,194.6,139.0,15.7,611,7653,0.00,2.35,0.00,0.000,4,0.000,0.022,2260,3402,2014,0,0,0,0,0,0
$GC,7771,0.81,194.6,117.4,14.2,633,7780,0.00,2.38,0.00,0.000,6,0.000,0.019,2260,1763,2015,0,0,0,0,0,0
$GC,7853,0.81,194.6,104.7,13.5,646,7861,0.00,2.40,0.00,0.000,4,0.000,0.028,2247,3386,2015,0,0,0,0,0,0
$GC,7961,0.81,194.6,87.1,16.3,664,7970,0.10,2.35,0.00,0.000,6,0.181,0.021,2278,1756,2016,0,0,0,0,0,0
$GC,8042,0.81,194.6,74.2,13.0,677,8051,0.00,2.40,0.00,0.000,4,0.000,0.027,2268,3389,2016,0,0,0,0,0,0
$GC,8067,0.81,194.6,70.9,14.3,680,8075,0.00,2.40,0.00,0.000,6,0.000,0.019,2268,1732,2017,0,0,0,0,0,0
$GC,8147,0.81,194.6,59.6,13.6,693,8155,0.00,2.45,0.00,0.000,4,0.000,0.029,2256,3384,2016,0,0,0,0,0,0
$GC,8188,0.81,194.6,53.0,15.6,699,8200,0.08,2.42,0.00,0.000,6,0.188,0.020,2279,1707,2017,0,0,0,0,0,0
$GC,8270,0.81,194.6,41.0,13.7,712,8278,0.00,2.47,0.00,0.000,4,0.000,0.028,2268,3377,2016,0,0,0,0,0,0
$GC,8392,0.81,194.6,24.1,13.0,732,8401,0.00,2.38,0.00,0.000,6,0.000,0.019,2268,1732,2017,0,0,0,0,0,0
$GC,8475,0.81,196.9,14.8,10.9,745,8482,0.00,2.42,0.00,0.000,4,0.000,0.024,2257,3395,2017,0,0,0,0,0,0
$GC,8493,0.81,196.9,12.8,11.4,747,8504,0.00,2.45,0.00,0.000,6,0.000,0.021,2257,1712,2017,0,0,0,0,0,0
$GC,8573,0.81,196.9,3.6,12.4,760,8581,0.12,1.58,0.00,0.000,4,0.222,0.030,2285,606,2019,0,0,0,0,0,0
$STATE,8588,end climb,SURFACE_DEPTH_REACHED
$STATE,8588,begin surface coast
$FINISH,1.1,1.021711
$STATE,8614,end surface coast,CONTROL_FINISHED_OK
$STATE,8615,begin surface
$SM_CCo,8633,163.10,0.549,1,0,1208,400.08
$SM_GC,1.86,0.00,0.00,163.10,0.000,0.000,0.549,129,1903,1208,-5.94,0.79,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2031.77,12409.51,170611,121239
$TT8_MAMPS,0.028462,0.028462
$HUMID,32.79
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.1,7.225
$10V_AH,10.4,5.686
$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,14.775,96.350,314.250,163.100,0.000,24.794,41.148,167.650,0.250,0.000,11.614,2141.016,3827.270,573.126,2139.221,485.183,0.000,1480.635,0.000,2053.151,0.000,0.542,0.000
$DEVICE_MAMPS,246.330,44.370,1321.155,548.505,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.273,897.692,896.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329920
$DATA_FILE_SIZE,47039,766
$CAP_FILE_SIZE,106149,0
$CFSIZE,260165632,139276288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110,178.0,1
$GPS,170611,180500,2040.880,12408.340,38,1.8,38,-2.6