version: 66.09
glider: 167
mission: 8
dive: 184
start: 7 24 111 17 56 28
data:
$ID,167
$MISSION,8
$DIVE,184
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$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,400
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$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,4
$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,-56618.48
$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,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$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
$GPS1,240711,174244,1832.693,12220.258,12,1.9,12,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.3
$GPS2,240711,175606,1832.643,12220.011,35,1.7,35,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,207.4,6823,-15.4,-8.250
$D_GRID,236
$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,-0.56,-146.0,0.0,0.0,0,103,0.00,0.00,-83.32,0.000,2,0.000,0.000,111,1892,3171,0,0,0,0,0,0
$GC,107,-0.56,-146.0,6.9,-12.9,11,134,10.23,2.10,-4.07,0.000,4,0.240,0.039,2613,463,3440,0,0,0,0,0,0
$GC,281,-0.56,-146.0,71.6,-22.1,41,290,0.00,2.05,0.00,0.000,6,0.000,0.019,2605,1877,3441,0,0,0,0,0,0
$GC,357,-0.56,-146.0,87.0,-21.1,54,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1877,3441,0,0,0,0,0,0
$GC,435,-0.56,-146.0,103.0,-20.3,67,443,0.00,2.05,0.00,0.000,4,0.000,0.030,2594,3263,3441,0,0,0,0,0,0
$GC,485,-0.56,-146.0,111.3,-16.6,75,493,0.00,1.90,0.00,0.000,6,0.000,0.017,2595,1915,3442,0,0,0,0,0,0
$GC,564,-0.56,-146.0,124.1,-17.7,88,572,0.00,2.00,0.00,0.000,4,0.000,0.029,2588,3258,3442,0,0,0,0,0,0
$GC,618,-0.56,-146.0,134.5,-18.7,97,627,0.00,1.67,0.00,0.000,6,0.000,0.018,2587,2056,3442,0,0,0,0,0,0
$GC,694,-0.56,-146.0,147.8,-17.8,110,702,0.10,2.28,0.00,0.000,4,0.182,0.028,2611,513,3442,0,0,0,0,0,0
$GC,890,-0.56,-146.0,174.3,-10.9,144,898,0.00,2.15,0.00,0.000,6,0.000,0.019,2603,2007,3442,0,0,0,0,0,0
$GC,967,-0.56,-146.0,182.2,-9.7,157,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2007,3442,0,0,0,0,0,0
$GC,1042,-0.56,-146.0,189.3,-9.3,170,1050,0.00,2.20,0.00,0.000,4,0.000,0.026,2603,508,3442,0,0,0,0,0,0
$GC,1150,-0.56,-146.0,201.2,-10.5,188,1159,0.00,2.15,0.00,0.000,6,0.000,0.020,2601,1993,3442,0,0,0,0,0,0
$GC,1476,-0.56,-146.0,230.6,-9.0,219,1480,0.00,1.88,0.00,0.000,4,0.000,0.033,2601,3266,3442,0,0,0,0,0,0
$GC,1534,-0.56,-146.0,235.2,-8.1,224,1538,0.00,1.75,0.00,0.000,6,0.000,0.017,2601,1985,3442,0,0,0,0,0,0
$STATE,1546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1546,begin apogee
$GC,1553,-0.20,0.0,236.1,7.7,225,1664,0.38,0.00,106.50,0.737,4,0.128,0.000,2726,2122,2838,0,0,0,0,0,0
$STATE,1668,end apogee,CONTROL_FINISHED_OK
$STATE,1668,begin climb
$GC,1671,0.56,146.0,239.6,0.0,234,1793,0.73,2.00,108.93,0.721,4,0.091,0.033,2977,3411,2241,0,0,0,0,0,0
$GC,1995,0.58,154.6,216.0,7.9,262,2007,0.00,1.92,7.07,0.583,6,0.000,0.018,2984,2069,2207,0,0,0,0,0,0
$GC,2333,0.60,172.1,189.9,7.6,305,2357,0.00,2.08,14.25,0.669,4,0.000,0.031,2984,3417,2136,0,0,0,0,0,0
$GC,2599,0.60,173.2,169.9,8.2,353,2607,0.00,1.85,0.00,0.000,6,0.000,0.018,2990,2122,2132,0,0,0,0,0,0
$GC,2679,0.64,207.0,164.3,7.0,366,2713,0.00,2.03,27.20,0.691,4,0.000,0.031,2990,3425,1994,0,0,0,0,0,0
$GC,2851,0.68,240.5,152.0,7.0,395,2884,0.00,1.77,26.90,0.675,6,0.000,0.018,2997,2177,1857,0,0,0,0,0,0
$GC,2953,0.74,288.7,145.1,6.4,411,3002,0.12,2.22,37.75,0.672,4,0.092,0.028,3069,716,1660,0,0,0,0,0,0
$GC,3080,0.74,288.7,133.2,10.0,430,3088,0.08,1.98,0.00,0.000,6,0.118,0.018,3042,2070,1657,0,0,0,0,0,0
$GC,3155,0.74,288.7,126.3,8.5,443,3163,0.00,2.08,0.00,0.000,4,0.000,0.033,3042,3448,1655,0,0,0,0,0,0
$GC,3194,0.74,288.7,123.1,8.8,449,3205,0.00,1.80,0.00,0.000,6,0.000,0.018,3048,2192,1655,0,0,0,0,0,0
$GC,3274,0.74,288.7,115.5,9.3,462,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2192,1654,0,0,0,0,0,0
$GC,3350,0.74,288.7,108.6,9.4,475,3358,0.00,2.17,0.00,0.000,4,0.000,0.028,3059,717,1654,0,0,0,0,0,0
$GC,3385,0.74,288.7,105.6,8.9,480,3394,0.00,2.17,0.00,0.000,6,0.000,0.019,3059,2215,1653,0,0,0,0,0,0
$GC,3461,0.74,288.7,99.0,8.8,493,3470,0.00,2.22,0.00,0.000,4,0.000,0.027,3068,714,1653,0,0,0,0,0,0
$GC,3506,0.74,288.7,94.8,9.1,500,3514,0.00,2.08,0.00,0.000,6,0.000,0.019,3068,2146,1653,0,0,0,0,0,0
$GC,3586,0.74,288.7,87.7,9.0,513,3596,0.00,1.95,0.00,0.000,4,0.000,0.034,3068,3455,1652,0,0,0,0,0,0
$GC,3615,0.74,288.7,84.9,8.9,517,3625,0.10,1.83,0.00,0.000,6,0.119,0.018,3039,2160,1652,0,0,0,0,0,0
$GC,3695,0.76,307.5,78.6,7.5,530,3720,0.00,2.15,14.15,0.597,4,0.000,0.028,3049,714,1584,0,0,0,0,0,0
$GC,3779,0.79,327.6,72.3,7.5,543,3805,0.00,1.92,17.10,0.597,6,0.000,0.018,3049,2048,1501,0,0,0,0,0,0
$GC,3872,0.81,347.2,65.5,7.5,558,3895,0.00,2.10,16.30,0.586,4,0.000,0.030,3049,3455,1423,0,0,0,0,0,0
$GC,3955,0.81,347.2,58.7,8.7,571,3963,0.00,1.92,0.00,0.000,6,0.000,0.017,3056,2109,1421,0,0,0,0,0,0
$GC,4032,0.82,351.1,52.2,8.1,584,4041,0.00,2.10,4.55,0.436,4,0.000,0.028,3065,709,1407,0,0,0,0,0,0
$GC,4122,0.84,373.1,45.1,7.4,600,4147,0.00,1.85,18.50,0.578,6,0.000,0.017,3065,2008,1316,0,0,0,0,0,0
$GC,4218,0.93,444.9,39.7,5.5,615,4285,0.10,2.22,56.67,0.588,4,0.103,0.032,3118,3452,1023,0,0,0,0,0,0
$GC,4323,0.93,444.9,30.6,9.5,629,4333,0.00,2.00,0.00,0.000,6,0.000,0.017,3126,2078,1021,0,0,0,0,0,0
$GC,4402,0.93,444.9,23.4,9.6,642,4410,0.00,2.05,0.00,0.000,4,0.000,0.034,3135,700,1021,0,0,0,0,0,0
$GC,4472,0.95,456.6,17.7,7.8,654,4489,0.08,1.95,9.95,0.509,6,0.105,0.018,3105,2059,976,0,0,0,0,0,0
$GC,4565,0.99,489.0,11.3,7.0,668,4594,0.00,0.00,26.67,0.550,6,0.000,0.000,3105,2059,844,0,0,0,0,0,0
$GC,4665,1.04,528.7,4.1,6.7,684,4691,0.00,0.00,24.02,0.539,2,0.000,0.000,3104,2059,714,0,0,0,0,0,0
$STATE,4691,end climb,SURFACE_DEPTH_REACHED
$STATE,4691,begin surface coast
$FINISH,0.8,1.018716
$STATE,4736,end surface coast,CONTROL_FINISHED_OK
$STATE,4736,begin surface
$SM_CCo,4815,0.00,0.000,0,0,710,522.00
$SM_GC,1.61,7.72,0.00,0.00,0.037,0.000,0.000,112,1797,710,-8.31,-2.18,522.00,0,0,0,0,0,0
$IRIDIUM_FIX,1828.22,12220.08,240711,171739
$TT8_MAMPS,0.028462,0.028462
$HUMID,33.50
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,27.80
$XPDR_PINGS,30
$24V_AH,24.8,33.482
$10V_AH,10.3,32.930
$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,19.625,76.875,516.525,0.000,0.000,55.080,92.812,312.454,7.500,0.000,36.126,1635.723,575.903,545.202,2274.906,564.772,0.000,1350.721,0.000,1946.248,0.000,0.545,0.000
$DEVICE_MAMPS,240.210,94.095,736.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.858,773.959,1618.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324164
$DATA_FILE_SIZE,40317,695
$CAP_FILE_SIZE,95488,0
$CFSIZE,260165632,123101184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.626,311.9,1
$GPS,240711,191732,1833.286,12218.574,12,1.6,12,-2.0