version: 66.09
glider: 167
mission: 8
dive: 204
start: 7 25 111 8 13 14
data:
$ID,167
$MISSION,8
$DIVE,204
$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,-56643.613
$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,46
$R_STBD_OVSHOOT,82
$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
$GPS1,250711,080537,1832.813,12217.654,28,1.8,28,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.2
$GPS2,250711,081252,1832.740,12217.673,14,99.0,33,-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,38.0,284681,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,92,0.00,0.00,-72.30,0.000,2,0.000,0.000,111,1871,2912,0,0,0,0,0,0
$GC,96,-0.56,-146.0,5.0,-7.2,9,121,9.80,2.08,-9.05,0.000,4,0.229,0.036,2603,3284,3437,0,0,0,0,0,0
$GC,134,-0.56,-146.0,20.8,-35.4,14,143,0.00,2.08,0.00,0.000,6,0.000,0.017,2603,1831,3438,0,0,0,0,0,0
$GC,210,-0.56,-146.0,41.0,-29.5,27,217,0.00,1.92,0.00,0.000,4,0.000,0.024,2603,497,3438,0,0,0,0,0,0
$GC,276,-0.56,-146.0,57.2,-25.3,37,284,0.00,1.60,0.00,0.000,6,0.000,0.018,2595,1640,3439,0,0,0,0,0,0
$GC,354,-0.56,-146.0,77.9,-26.3,50,362,0.00,2.38,0.00,0.000,4,0.000,0.029,2583,3247,3440,0,0,0,0,0,0
$GC,419,-0.56,-146.0,95.6,-27.0,61,428,0.10,2.05,0.00,0.000,6,0.164,0.017,2613,1784,3439,0,0,0,0,0,0
$GC,497,-0.56,-146.0,111.4,-18.3,74,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1783,3439,0,0,0,0,0,0
$GC,573,-0.56,-146.0,126.5,-19.4,87,581,0.00,2.17,0.00,0.000,4,0.000,0.029,2604,3250,3440,0,0,0,0,0,0
$GC,700,-0.56,-146.0,143.2,-9.9,109,708,0.00,2.15,0.00,0.000,6,0.000,0.016,2605,1720,3440,0,0,0,0,0,0
$GC,776,-0.56,-146.0,150.4,-9.5,122,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1720,3440,0,0,0,0,0,0
$GC,853,-0.56,-146.0,158.1,-9.6,135,861,0.00,1.75,0.00,0.000,4,0.000,0.028,2604,497,3441,0,0,0,0,0,0
$GC,1009,-0.56,-146.0,173.4,-9.8,163,1020,0.00,1.75,0.00,0.000,6,0.000,0.018,2601,1742,3442,0,0,0,0,0,0
$GC,1088,-0.56,-146.0,180.8,-9.1,176,1097,0.00,2.25,0.00,0.000,4,0.000,0.031,2600,3252,3442,0,0,0,0,0,0
$GC,1134,-0.56,-146.0,184.6,-8.5,183,1142,0.00,2.10,0.00,0.000,6,0.000,0.017,2601,1756,3442,0,0,0,0,0,0
$GC,1211,-0.56,-146.0,190.5,-7.7,196,1220,0.00,1.83,0.00,0.000,4,0.000,0.028,2601,485,3442,0,0,0,0,0,0
$GC,1293,-0.56,-146.0,197.8,-9.3,210,1302,0.00,1.73,0.00,0.000,6,0.000,0.018,2600,1715,3442,0,0,0,0,0,0
$GC,1376,-0.56,-146.0,205.1,-9.1,219,1380,0.00,2.28,0.00,0.000,4,0.000,0.031,2600,3254,3442,0,0,0,0,0,0
$STATE,1450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1450,begin apogee
$GC,1459,-0.20,0.0,212.5,9.5,225,1570,0.38,0.00,105.60,0.711,4,0.124,0.000,2728,2026,2839,0,0,0,0,0,0
$STATE,1571,end apogee,CONTROL_FINISHED_OK
$STATE,1571,begin climb
$GC,1575,0.56,146.0,217.2,0.0,234,1692,0.70,0.00,107.25,0.697,6,0.089,0.000,2979,2026,2242,0,0,0,0,0,0
$GC,2018,0.58,161.5,189.3,7.7,286,2036,0.00,2.03,12.12,0.638,4,0.000,0.028,2980,673,2180,0,0,0,0,0,0
$GC,2194,0.63,199.2,176.4,6.8,317,2235,0.00,1.90,29.42,0.682,6,0.000,0.019,2980,1988,2025,0,0,0,0,0,0
$GC,2308,0.66,227.4,168.5,7.2,334,2334,0.10,0.00,22.23,0.668,6,0.104,0.000,3028,1989,1910,0,0,0,0,0,0
$GC,2401,0.66,227.4,159.6,9.6,349,2409,0.00,1.95,0.00,0.000,4,0.000,0.028,3037,679,1907,0,0,0,0,0,0
$GC,2598,0.66,227.4,139.8,9.6,384,2606,0.00,1.75,0.00,0.000,6,0.000,0.019,3037,1895,1904,0,0,0,0,0,0
$GC,2675,0.75,294.6,135.4,5.7,397,2732,0.00,2.40,51.00,0.678,4,0.000,0.031,3037,3450,1636,0,0,0,0,0,0
$GC,2797,0.75,294.6,127.6,8.5,415,2806,0.00,2.10,0.00,0.000,6,0.000,0.022,3045,2009,1631,0,0,0,0,0,0
$GC,2879,0.77,316.5,121.2,7.4,428,2902,0.00,0.00,17.30,0.633,6,0.000,0.000,3045,2009,1546,0,0,0,0,0,0
$GC,2974,0.80,341.3,113.8,7.3,443,3000,0.00,2.03,20.27,0.633,4,0.000,0.030,3053,671,1446,0,0,0,0,0,0
$GC,3019,0.84,366.6,110.4,7.3,449,3049,0.00,1.98,20.92,0.627,6,0.000,0.019,3053,2017,1342,0,0,0,0,0,0
$GC,3118,0.84,366.6,102.4,8.3,465,3126,0.00,2.15,0.00,0.000,4,0.000,0.033,3053,3443,1339,0,0,0,0,0,0
$GC,3152,0.84,366.6,99.5,8.9,470,3161,0.00,2.00,0.00,0.000,6,0.000,0.018,3056,2060,1338,0,0,0,0,0,0
$GC,3228,0.87,392.4,93.7,7.3,483,3259,0.00,2.03,20.42,0.617,4,0.000,0.029,3066,706,1238,0,0,0,0,0,0
$GC,3309,0.87,392.4,86.8,9.0,495,3319,0.00,1.95,0.00,0.000,6,0.000,0.018,3066,2044,1236,0,0,0,0,0,0
$GC,3389,0.87,392.4,79.8,9.2,508,3398,0.00,2.10,0.00,0.000,4,0.000,0.033,3066,3448,1234,0,0,0,0,0,0
$GC,3412,0.87,392.4,77.8,8.9,511,3421,0.00,2.03,0.00,0.000,6,0.000,0.018,3074,2045,1234,0,0,0,0,0,0
$GC,3489,0.90,417.3,72.2,7.3,524,3515,0.00,2.03,20.70,0.602,4,0.000,0.028,3082,693,1136,0,0,0,0,0,0
$GC,3579,0.90,417.3,64.3,8.8,538,3588,0.00,1.92,0.00,0.000,6,0.000,0.018,3082,2023,1134,0,0,0,0,0,0
$GC,3656,0.90,417.3,57.4,9.1,551,3665,0.00,1.98,0.00,0.000,4,0.000,0.027,3086,687,1134,0,0,0,0,0,0
$GC,3699,0.90,417.3,53.9,8.6,557,3707,0.00,1.67,0.00,0.000,6,0.000,0.018,3086,1875,1133,0,0,0,0,0,0
$GC,3774,0.92,431.1,47.5,7.7,570,3791,0.00,2.40,11.77,0.552,4,0.000,0.031,3087,3463,1080,0,0,0,0,0,0
$GC,3838,0.92,431.1,42.3,8.8,580,3847,0.00,2.35,0.00,0.000,6,0.000,0.018,3086,1851,1079,0,0,0,0,0,0
$GC,3917,0.97,475.7,36.9,6.6,593,3959,0.00,1.75,35.65,0.582,4,0.000,0.030,3086,689,898,0,0,0,0,0,0
$GC,4024,1.06,548.3,30.8,5.5,609,4088,0.10,1.48,54.03,0.575,6,0.056,0.018,3154,1753,602,0,0,0,0,0,0
$GC,4158,1.06,548.3,17.4,10.8,629,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1753,598,0,0,0,0,0,0
$GC,4236,1.06,548.3,8.8,10.4,642,4245,0.00,2.55,0.00,0.000,4,0.000,0.031,3154,3453,597,0,0,0,0,0,0
$GC,4283,1.06,548.3,3.8,11.0,649,4291,0.00,2.35,0.00,0.000,6,0.000,0.018,3161,1831,596,0,0,0,0,0,0
$STATE,4297,end climb,SURFACE_DEPTH_REACHED
$STATE,4297,begin surface coast
$FINISH,0.8,1.020957
$STATE,4328,end surface coast,CONTROL_FINISHED_OK
$STATE,4328,begin surface
$SM_CCo,4406,0.00,0.000,0,0,594,550.70
$SM_GC,1.48,7.78,0.00,0.00,0.038,0.000,0.000,115,1829,594,-8.30,-1.30,550.70,0,0,0,0,0,0
$IRIDIUM_FIX,1823.67,12216.94,250711,060607
$TT8_MAMPS,0.028462,0.028462
$HUMID,37.08
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,29.10
$XPDR_PINGS,34
$24V_AH,25.0,35.276
$10V_AH,10.3,33.972
$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,18.950,80.625,528.700,0.000,0.000,24.512,38.721,197.500,8.500,0.000,35.459,1527.251,305.178,557.949,1929.702,517.626,0.000,1338.892,0.000,1850.892,0.000,0.546,0.000
$DEVICE_MAMPS,228.735,35.955,711.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.314,749.683,1581.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324072
$DATA_FILE_SIZE,36996,656
$CAP_FILE_SIZE,88085,0
$CFSIZE,260165632,122527744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 57.6,1
$GPS,250711,092755,1833.290,12218.234,38,2.0,38,-2.0