version: 66.09
glider: 167
mission: 8
dive: 203
start: 7 25 111 6 51 54
data:
$ID,167
$MISSION,8
$DIVE,203
$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,-56642.352
$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,83
$R_STBD_OVSHOOT,76
$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
$GPS1,250711,064250,1832.834,12217.112,11,1.6,11,-2.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.3
$GPS2,250711,065132,1832.675,12217.231,14,1.9,14,-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,51.8,285333,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-82.60,0.000,2,0.000,0.000,111,1877,3129,0,0,0,0,0,0
$GC,107,-0.56,-146.0,6.0,-11.1,11,133,9.70,2.05,-5.00,0.000,4,0.226,0.047,2618,501,3440,0,0,0,0,0,0
$GC,234,-0.56,-146.0,50.6,-25.2,32,243,0.00,1.98,0.00,0.000,6,0.000,0.019,2610,1877,3440,0,0,0,0,0,0
$GC,313,-0.56,-146.0,70.0,-24.0,45,322,0.00,2.03,0.00,0.000,4,0.000,0.030,2599,3258,3440,0,0,0,0,0,0
$GC,349,-0.56,-146.0,78.9,-24.8,50,357,0.00,1.90,0.00,0.000,6,0.000,0.016,2599,1897,3441,0,0,0,0,0,0
$GC,429,-0.56,-146.0,98.8,-26.9,63,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1894,3441,0,0,0,0,0,0
$GC,507,-0.56,-146.0,115.0,-19.7,76,516,0.00,2.03,0.00,0.000,4,0.000,0.030,2589,3267,3441,0,0,0,0,0,0
$GC,609,-0.56,-146.0,129.2,-12.3,94,617,0.00,1.92,0.00,0.000,6,0.000,0.016,2589,1883,3442,0,0,0,0,0,0
$GC,686,-0.56,-146.0,137.7,-11.4,107,695,0.00,1.98,0.00,0.000,4,0.000,0.027,2589,510,3443,0,0,0,0,0,0
$GC,936,-0.56,-146.0,168.5,-11.1,153,945,0.00,1.88,0.00,0.000,6,0.000,0.019,2588,1828,3444,0,0,0,0,0,0
$GC,1016,-0.56,-146.0,175.8,-9.4,166,1024,0.10,1.90,0.00,0.000,4,0.183,0.026,2613,512,3444,0,0,0,0,0,0
$GC,1093,-0.56,-146.0,183.1,-8.7,179,1102,0.00,1.75,0.00,0.000,6,0.000,0.018,2611,1760,3444,0,0,0,0,0,0
$GC,1170,-0.56,-146.0,189.6,-8.6,192,1178,0.00,1.83,0.00,0.000,4,0.000,0.027,2611,502,3444,0,0,0,0,0,0
$GC,1189,-0.56,-146.0,191.0,-8.6,194,1197,0.00,1.80,0.00,0.000,6,0.000,0.019,2607,1781,3444,0,0,0,0,0,0
$GC,1262,-0.56,-146.0,197.8,-9.3,207,1270,0.00,2.17,0.00,0.000,4,0.000,0.031,2601,3256,3443,0,0,0,0,0,0
$GC,1381,-0.56,-146.0,208.4,-8.8,219,1390,0.00,1.92,0.00,0.000,6,0.000,0.017,2601,1876,3443,0,0,0,0,0,0
$STATE,1428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1428,begin apogee
$GC,1436,-0.20,0.0,212.8,9.2,224,1547,0.38,0.00,106.05,0.710,4,0.129,0.000,2727,2096,2838,0,0,0,0,0,0
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1552,0.56,146.0,217.6,0.0,233,1674,0.68,2.10,106.97,0.695,4,0.088,0.025,2982,695,2244,0,0,0,0,0,0
$GC,1926,0.62,189.6,195.2,6.6,272,1967,0.00,1.98,33.42,0.683,6,0.000,0.019,2982,2062,2065,0,0,0,0,0,0
$GC,2037,0.63,200.0,186.9,7.9,289,2054,0.00,2.03,9.40,0.602,4,0.000,0.024,2990,708,2022,0,0,0,0,0,0
$GC,2296,0.68,236.2,166.9,6.9,336,2333,0.00,2.08,27.98,0.679,6,0.000,0.019,2990,2135,1875,0,0,0,0,0,0
$GC,2403,0.70,259.7,159.5,7.4,353,2430,0.10,2.10,18.80,0.656,4,0.106,0.024,3049,708,1780,0,0,0,0,0,0
$GC,2544,0.70,259.7,145.7,9.7,377,2553,0.00,1.95,0.00,0.000,6,0.000,0.020,3049,2044,1777,0,0,0,0,0,0
$GC,2623,0.70,259.7,137.5,11.1,390,2632,0.00,2.12,0.00,0.000,4,0.000,0.034,3049,3466,1775,0,0,0,0,0,0
$GC,2646,0.70,259.7,134.5,12.3,393,2656,0.08,1.85,0.00,0.000,6,0.138,0.018,3031,2169,1775,0,0,0,0,0,0
$GC,2725,0.70,259.7,126.6,9.6,406,2733,0.00,2.15,0.00,0.000,4,0.000,0.029,3040,703,1774,0,0,0,0,0,0
$GC,2751,0.70,259.7,124.1,9.2,410,2759,0.00,2.15,0.00,0.000,6,0.000,0.019,3040,2186,1774,0,0,0,0,0,0
$GC,2826,0.73,280.4,118.4,7.5,423,2850,0.00,1.88,16.30,0.643,4,0.000,0.031,3041,3464,1696,0,0,0,0,0,0
$GC,2911,0.76,305.2,112.0,7.3,437,2941,0.00,1.85,20.17,0.643,6,0.000,0.018,3047,2170,1592,0,0,0,0,0,0
$GC,3010,0.77,312.3,104.6,8.0,453,3021,0.00,2.20,6.75,0.544,4,0.000,0.028,3058,702,1564,0,0,0,0,0,0
$GC,3090,0.77,312.3,97.7,8.8,466,3099,0.00,2.03,0.00,0.000,6,0.000,0.019,3058,2088,1562,0,0,0,0,0,0
$GC,3168,0.79,332.2,91.8,7.5,479,3191,0.00,0.00,16.75,0.620,6,0.000,0.000,3058,2088,1482,0,0,0,0,0,0
$GC,3260,0.79,332.2,84.2,8.6,494,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2088,1479,0,0,0,0,0,0
$GC,3332,0.79,332.2,77.8,8.7,507,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2088,1479,0,0,0,0,0,0
$GC,3406,0.80,334.7,71.9,8.2,520,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2088,1478,0,0,0,0,0,0
$GC,3481,0.83,362.7,66.3,7.2,533,3511,0.00,0.00,24.05,0.614,6,0.000,0.000,3058,2088,1359,0,0,0,0,0,0
$GC,3580,0.91,424.7,60.4,5.9,549,3633,0.10,0.00,48.58,0.610,6,0.105,0.000,3113,2088,1107,0,0,0,0,0,0
$GC,3703,0.91,424.7,49.5,10.0,568,3711,0.00,2.08,0.00,0.000,4,0.000,0.027,3122,698,1104,0,0,0,0,0,0
$GC,3800,0.91,424.7,38.0,11.6,585,3809,0.08,2.00,0.00,0.000,6,0.104,0.019,3092,2086,1103,0,0,0,0,0,0
$GC,3876,0.91,424.7,31.1,8.8,598,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2086,1102,0,0,0,0,0,0
$GC,3954,0.91,424.7,24.5,8.5,611,3962,0.00,2.03,0.00,0.000,4,0.000,0.027,3096,708,1102,0,0,0,0,0,0
$GC,4122,0.92,438.8,12.2,7.7,641,4140,0.00,1.75,11.55,0.526,6,0.000,0.018,3096,1948,1049,0,0,0,0,0,0
$GC,4207,0.97,471.7,5.7,7.0,655,4245,0.00,2.25,27.02,0.552,4,0.000,0.032,3096,3442,913,0,0,0,0,0,0
$STATE,4252,end climb,SURFACE_DEPTH_REACHED
$STATE,4252,begin surface coast
$FINISH,1.2,1.020872
$STATE,4276,end surface coast,CONTROL_FINISHED_OK
$STATE,4276,begin surface
$SM_CCo,4358,0.00,0.000,0,0,911,472.94
$SM_GC,1.58,7.55,0.00,0.00,0.032,0.000,0.000,125,1873,911,-8.28,-0.06,472.94,0,0,0,0,0,0
$IRIDIUM_FIX,1825.94,12215.02,250711,060620
$TT8_MAMPS,0.028462,0.028462
$HUMID,37.63
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,29.00
$XPDR_PINGS,26
$24V_AH,25.1,35.163
$10V_AH,10.3,33.863
$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,18.750,68.175,473.800,0.000,0.000,53.461,41.848,203.714,6.500,0.000,15.765,1554.688,309.866,527.222,1956.471,528.897,0.000,1294.683,0.000,1878.538,0.000,0.545,0.000
$DEVICE_MAMPS,225.675,47.430,709.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.387,797.184,1617.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324096
$DATA_FILE_SIZE,40314,665
$CAP_FILE_SIZE,86879,0
$CFSIZE,260165632,122576896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,172.8,1
$GPS,250711,080537,1832.813,12217.654,28,1.8,28,-2.0