version: 66.09
glider: 167
mission: 8
dive: 201
start: 7 25 111 4 13 0
data:
$ID,167
$MISSION,8
$DIVE,201
$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,-56639.836
$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,94
$R_STBD_OVSHOOT,68
$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
$GPS1,250711,040656,1832.692,12216.623,14,1.4,14,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.5
$GPS2,250711,041238,1832.709,12216.650,13,1.9,13,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,60.7,286048,-15.4,-8.250
$D_GRID,212
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,100,0.00,0.00,-79.38,0.000,2,0.000,0.000,111,1914,3006,0,0,0,0,0,0
$GC,103,-0.56,-146.0,5.5,-10.7,11,130,9.77,2.00,-7.22,0.000,4,0.231,0.043,2599,3268,3437,0,0,0,0,0,0
$GC,229,-0.56,-146.0,51.1,-20.9,31,237,0.00,1.95,0.00,0.000,6,0.000,0.026,2599,1880,3438,0,0,0,0,0,0
$GC,307,-0.56,-146.0,68.3,-22.6,44,315,0.00,1.98,0.00,0.000,4,0.000,0.024,2600,497,3438,0,0,0,0,0,0
$GC,332,-0.56,-146.0,74.0,-23.6,47,340,0.00,1.90,0.00,0.000,6,0.000,0.021,2591,1828,3438,0,0,0,0,0,0
$GC,412,-0.56,-146.0,91.8,-21.1,60,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1829,3438,0,0,0,0,0,0
$GC,486,-0.56,-146.0,105.9,-18.0,73,495,0.00,2.10,0.00,0.000,4,0.000,0.030,2580,3267,3438,0,0,0,0,0,0
$GC,513,-0.56,-146.0,111.2,-19.7,77,522,0.10,2.12,0.00,0.000,6,0.148,0.027,2611,1755,3439,0,0,0,0,0,0
$GC,591,-0.56,-146.0,123.0,-13.2,90,600,0.00,1.80,0.00,0.000,4,0.000,0.028,2612,500,3439,0,0,0,0,0,0
$GC,672,-0.56,-146.0,132.8,-11.9,104,680,0.00,1.67,0.00,0.000,6,0.000,0.019,2605,1701,3439,0,0,0,0,0,0
$GC,748,-0.56,-146.0,140.6,-10.5,117,758,0.00,2.30,0.00,0.000,4,0.000,0.031,2603,3264,3439,0,0,0,0,0,0
$GC,789,-0.56,-146.0,144.6,-9.4,123,798,0.00,2.15,0.00,0.000,6,0.000,0.026,2603,1746,3439,0,0,0,0,0,0
$GC,865,-0.56,-146.0,152.0,-10.0,136,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1746,3439,0,0,0,0,0,0
$GC,939,-0.56,-146.0,160.0,-10.7,149,948,0.00,2.25,0.00,0.000,4,0.000,0.034,2603,3264,3439,0,0,0,0,0,0
$GC,1005,-0.56,-146.0,167.6,-12.0,160,1014,0.00,2.03,0.00,0.000,6,0.000,0.017,2602,1822,3439,0,0,0,0,0,0
$GC,1083,-0.56,-146.0,175.6,-9.1,173,1092,0.00,1.90,0.00,0.000,4,0.000,0.028,2603,498,3439,0,0,0,0,0,0
$GC,1165,-0.56,-146.0,183.7,-9.2,187,1174,0.00,1.65,0.00,0.000,6,0.000,0.019,2601,1679,3439,0,0,0,0,0,0
$GC,1242,-0.56,-146.0,191.3,-9.9,200,1250,0.00,2.33,0.00,0.000,4,0.000,0.031,2601,3259,3439,0,0,0,0,0,0
$GC,1333,-0.56,-146.0,200.3,-9.5,216,1338,0.00,2.10,0.00,0.000,6,0.000,0.025,2601,1776,3439,0,0,0,0,0,0
$STATE,1459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1460,begin apogee
$GC,1467,-0.20,0.0,212.2,9.0,228,1580,0.38,0.00,105.00,0.701,4,0.129,0.000,2728,2103,2837,0,0,0,0,0,0
$STATE,1582,end apogee,CONTROL_FINISHED_OK
$STATE,1582,begin climb
$GC,1584,0.56,146.0,215.6,0.0,237,1706,0.65,2.10,106.25,0.686,4,0.090,0.026,2977,703,2243,0,0,0,0,0,0
$GC,1957,0.59,163.0,188.9,7.6,282,1979,0.00,1.95,13.82,0.635,6,0.000,0.021,2977,2045,2172,0,0,0,0,0,0
$GC,2045,0.59,166.1,181.9,8.1,297,2054,0.00,2.12,0.00,0.000,4,0.000,0.037,2977,3469,2170,0,0,0,0,0,0
$GC,2295,0.59,166.1,160.3,8.9,343,2303,0.00,2.05,0.00,0.000,6,0.000,0.018,2984,2030,2167,0,0,0,0,0,0
$GC,2370,0.62,189.4,154.6,7.4,356,2395,0.00,0.00,20.40,0.662,6,0.000,0.000,2984,2029,2066,0,0,0,0,0,0
$GC,2463,0.65,218.1,148.0,7.2,371,2496,0.00,1.98,22.65,0.658,4,0.000,0.027,2992,698,1947,0,0,0,0,0,0
$GC,2505,0.69,245.6,144.9,7.2,376,2536,0.00,1.95,22.05,0.646,6,0.000,0.019,2992,2039,1837,0,0,0,0,0,0
$GC,2603,0.69,245.6,136.8,8.9,392,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2039,1833,0,0,0,0,0,0
$GC,2677,0.69,245.6,130.0,8.7,405,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2039,1832,0,0,0,0,0,0
$GC,2753,0.71,261.3,123.9,7.7,418,2769,0.10,0.00,12.80,0.619,6,0.104,0.000,3048,2039,1773,0,0,0,0,0,0
$GC,2838,0.71,261.3,114.8,11.7,432,2847,0.00,1.98,0.00,0.000,4,0.000,0.026,3056,697,1770,0,0,0,0,0,0
$GC,2957,0.71,261.3,101.1,10.6,453,2965,0.00,1.92,0.00,0.000,6,0.000,0.019,3056,2034,1768,0,0,0,0,0,0
$GC,3032,0.71,261.3,92.9,10.8,466,3040,0.00,2.10,0.00,0.000,4,0.000,0.033,3056,3449,1767,0,0,0,0,0,0
$GC,3096,0.71,261.3,85.7,12.2,476,3105,0.10,1.88,0.00,0.000,6,0.129,0.018,3029,2124,1765,0,0,0,0,0,0
$GC,3172,0.72,269.6,78.8,7.9,489,3189,0.00,2.08,7.15,0.545,4,0.000,0.028,3037,708,1738,0,0,0,0,0,0
$GC,3242,0.75,296.3,73.8,7.2,500,3275,0.00,1.90,21.33,0.617,6,0.000,0.018,3037,2041,1630,0,0,0,0,0,0
$GC,3342,0.79,331.2,66.8,6.9,516,3379,0.00,2.15,27.83,0.610,4,0.000,0.033,3037,3460,1486,0,0,0,0,0,0
$GC,3393,0.82,355.9,63.0,7.3,523,3425,0.00,2.05,20.35,0.589,6,0.000,0.018,3040,2039,1386,0,0,0,0,0,0
$GC,3494,0.87,395.6,56.3,6.7,539,3536,0.10,2.00,30.88,0.595,4,0.099,0.028,3104,700,1225,0,0,0,0,0,0
$GC,3623,0.87,395.6,43.8,9.5,559,3632,0.00,1.80,0.00,0.000,6,0.000,0.018,3104,1956,1223,0,0,0,0,0,0
$GC,3703,0.87,395.6,36.7,9.4,572,3711,0.00,1.85,0.00,0.000,4,0.000,0.028,3108,698,1222,0,0,0,0,0,0
$GC,3790,0.87,395.6,28.7,9.3,587,3798,0.00,1.48,0.00,0.000,6,0.000,0.018,3107,1756,1221,0,0,0,0,0,0
$GC,3866,0.87,395.6,22.2,8.5,600,3875,0.00,1.55,0.00,0.000,4,0.000,0.028,3113,688,1221,0,0,0,0,0,0
$GC,3908,0.89,410.9,19.0,7.7,606,3925,0.00,1.45,12.88,0.538,6,0.000,0.018,3112,1742,1163,0,0,0,0,0,0
$GC,3997,0.89,410.9,11.5,8.3,620,4004,0.00,2.55,0.00,0.000,4,0.000,0.030,3113,3460,1160,0,0,0,0,0,0
$GC,4037,0.89,410.9,8.2,8.4,626,4044,0.00,2.30,0.00,0.000,6,0.000,0.018,3115,1866,1160,0,0,0,0,0,0
$STATE,4099,end climb,SURFACE_DEPTH_REACHED
$STATE,4099,begin surface coast
$FINISH,0.8,1.009121
$STATE,4137,end surface coast,CONTROL_FINISHED_OK
$STATE,4137,begin surface
$SM_CCo,4214,0.00,0.000,0,0,1158,412.35
$SM_GC,1.52,7.53,0.00,0.00,0.032,0.000,0.000,117,1862,1158,-8.29,-0.34,412.35,0,0,0,0,0,0
$IRIDIUM_FIX,1825.94,12218.16,250711,030352
$TT8_MAMPS,0.028462,0.028462
$HUMID,39.88
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,28.40
$XPDR_PINGS,51
$24V_AH,25.2,34.953
$10V_AH,10.4,33.646
$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,18.725,75.800,423.375,0.000,0.000,24.934,39.921,149.677,12.750,0.000,14.723,1515.573,235.960,507.402,1817.562,484.746,0.000,1252.259,0.000,1794.121,0.000,0.546,0.000
$DEVICE_MAMPS,231.030,42.840,700.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.573,758.515,1561.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324132
$DATA_FILE_SIZE,36898,644
$CAP_FILE_SIZE,85175,0
$CFSIZE,260165632,122683392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,243.9,1
$GPS,250711,052418,1832.791,12216.760,11,1.8,27,-2.0