version: 66.09
glider: 167
mission: 8
dive: 205
start: 7 25 111 9 34 42
data:
$ID,167
$MISSION,8
$DIVE,205
$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,-56644.867
$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,81
$R_STBD_OVSHOOT,71
$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
$GPS1,250711,092755,1833.290,12218.234,38,2.0,38,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.8
$GPS2,250711,093420,1833.314,12218.203,10,1.4,10,-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,47.2,283286,-15.4,-8.250
$D_GRID,361
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-92.97,0.000,2,0.000,0.000,111,1828,3276,0,0,0,0,0,0
$GC,117,-0.56,-146.0,7.1,-12.7,12,135,9.85,2.17,-2.38,0.000,4,0.231,0.042,2597,3279,3439,0,0,0,0,0,0
$GC,160,-0.56,-146.0,32.2,-54.6,18,170,0.00,2.03,0.00,0.000,6,0.000,0.020,2597,1883,3440,0,0,0,0,0,0
$GC,236,-0.56,-146.0,54.9,-28.7,31,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1882,3440,0,0,0,0,0,0
$GC,315,-0.56,-146.0,74.1,-22.3,44,324,0.00,2.03,0.00,0.000,4,0.000,0.026,2597,481,3440,0,0,0,0,0,0
$GC,390,-0.56,-146.0,92.3,-23.3,57,399,0.00,2.28,0.00,0.000,6,0.000,0.021,2587,2043,3441,0,0,0,0,0,0
$GC,468,-0.56,-146.0,109.7,-23.5,70,476,0.12,1.80,0.00,0.000,4,0.199,0.031,2608,3261,3441,0,0,0,0,0,0
$GC,522,-0.56,-146.0,121.7,-21.0,79,530,0.00,1.77,0.00,0.000,6,0.000,0.021,2609,1985,3441,0,0,0,0,0,0
$GC,596,-0.56,-146.0,137.3,-21.6,92,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1982,3442,0,0,0,0,0,0
$GC,669,-0.56,-146.0,147.8,-11.3,105,678,0.00,1.90,0.00,0.000,4,0.000,0.031,2602,3266,3442,0,0,0,0,0,0
$GC,738,-0.56,-146.0,154.3,-10.7,115,746,0.00,1.92,0.00,0.000,6,0.000,0.017,2601,1890,3443,0,0,0,0,0,0
$GC,813,-0.56,-146.0,163.1,-11.5,128,821,0.00,2.00,0.00,0.000,4,0.000,0.028,2601,510,3443,0,0,0,0,0,0
$GC,1037,-0.56,-146.0,183.7,-10.1,168,1045,0.00,1.77,0.00,0.000,6,0.000,0.020,2600,1756,3443,0,0,0,0,0,0
$GC,1111,-0.56,-146.0,190.9,-9.6,181,1120,0.00,2.22,0.00,0.000,4,0.000,0.033,2601,3261,3443,0,0,0,0,0,0
$GC,1215,-0.56,-146.0,199.7,-8.7,199,1223,0.00,1.85,0.00,0.000,6,0.000,0.018,2600,1942,3443,0,0,0,0,0,0
$GC,1286,-0.56,-146.0,206.1,-8.5,206,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1942,3443,0,0,0,0,0,0
$GC,1608,-0.56,-146.0,230.7,-7.8,236,1612,0.00,2.03,0.00,0.000,4,0.000,0.028,2601,518,3441,0,0,0,0,0,0
$GC,1711,-0.56,-146.0,239.5,-8.5,245,1716,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1960,3441,0,0,0,0,0,0
$GC,2042,-0.56,-146.0,266.3,-8.2,276,2045,0.00,1.90,0.00,0.000,4,0.000,0.034,2601,3259,3439,0,0,0,0,0,0
$GC,2088,-0.56,-146.0,269.9,-8.0,280,2092,0.00,1.80,0.00,0.000,6,0.000,0.018,2600,1965,3438,0,0,0,0,0,0
$GC,2423,-0.56,-146.0,300.5,-9.3,311,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1965,3436,0,0,0,0,0,0
$GC,2752,-0.56,-146.0,328.8,-7.9,342,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1965,3434,0,0,0,0,0,0
$GC,3082,-0.56,-146.0,355.4,-7.8,373,3085,0.00,2.10,0.00,0.000,4,0.000,0.030,2600,504,3430,0,0,0,0,0,0
$STATE,3135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3135,begin apogee
$GC,3144,-0.20,0.0,361.2,9.6,377,3257,0.40,0.00,106.80,0.871,4,0.127,0.000,2733,2060,2839,0,0,0,0,0,0
$STATE,3258,end apogee,CONTROL_FINISHED_OK
$STATE,3258,begin climb
$GC,3263,0.56,146.0,364.7,0.0,387,3382,0.65,2.20,110.75,0.838,4,0.086,0.036,2977,3465,2243,0,0,0,0,0,0
$GC,3556,0.56,146.0,340.5,10.4,412,3564,0.00,2.00,0.00,0.000,6,0.000,0.018,2986,2090,2235,0,0,0,0,0,0
$GC,3882,0.56,146.0,309.4,10.0,443,3886,0.00,2.08,0.00,0.000,4,0.000,0.033,2986,3468,2232,0,0,0,0,0,0
$GC,4063,0.56,146.0,288.3,12.6,459,4067,0.00,2.15,0.00,0.000,6,0.000,0.019,2995,1991,2230,0,0,0,0,0,0
$GC,4393,0.56,146.0,251.2,9.8,490,4397,0.00,1.88,0.00,0.000,4,0.000,0.031,3005,686,2228,0,0,0,0,0,0
$GC,4444,0.56,146.0,246.2,9.9,494,4453,0.00,1.85,0.00,0.000,6,0.000,0.020,3005,1962,2228,0,0,0,0,0,0
$GC,4770,0.56,146.0,215.5,10.0,525,4774,0.00,1.83,0.00,0.000,4,0.000,0.028,3012,693,2227,0,0,0,0,0,0
$GC,4818,0.56,146.0,210.7,10.5,529,4821,0.00,1.73,0.00,0.000,6,0.000,0.020,3012,1910,2227,0,0,0,0,0,0
$GC,5144,0.57,146.7,182.0,8.2,580,5152,0.00,2.33,0.00,0.000,4,0.000,0.034,3013,3466,2225,0,0,0,0,0,0
$GC,5312,0.57,146.7,167.1,8.6,610,5321,0.10,2.22,0.00,0.000,6,0.129,0.019,2989,1920,2225,0,0,0,0,0,0
$GC,5387,0.64,204.7,162.7,6.0,623,5439,0.00,1.85,42.90,0.760,4,0.000,0.031,2996,695,2002,0,0,0,0,0,0
$GC,5529,0.68,240.8,154.0,6.9,645,5562,0.00,1.70,28.42,0.728,6,0.000,0.018,2995,1871,1856,0,0,0,0,0,0
$GC,5631,0.73,282.4,147.3,6.7,661,5673,0.12,2.45,32.83,0.717,4,0.092,0.032,3052,3479,1687,0,0,0,0,0,0
$GC,5711,0.73,282.4,139.9,10.2,672,5720,0.00,2.22,0.00,0.000,6,0.000,0.019,3062,1983,1684,0,0,0,0,0,0
$GC,5787,0.73,282.4,132.9,8.8,685,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1983,1682,0,0,0,0,0,0
$GC,5862,0.73,282.4,125.9,9.8,698,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1983,1681,0,0,0,0,0,0
$GC,5940,0.77,311.2,119.9,7.2,711,5972,0.00,2.30,22.48,0.682,4,0.000,0.031,3062,3474,1568,0,0,0,0,0,0
$GC,6030,0.77,311.2,111.2,10.4,725,6039,0.00,2.10,0.00,0.000,6,0.000,0.018,3067,2044,1565,0,0,0,0,0,0
$GC,6111,0.77,311.2,103.9,9.0,738,6120,0.00,2.00,0.00,0.000,4,0.000,0.030,3076,694,1564,0,0,0,0,0,0
$GC,6176,0.77,311.2,98.1,8.7,749,6185,0.00,1.85,0.00,0.000,6,0.000,0.019,3076,1967,1563,0,0,0,0,0,0
$GC,6253,0.77,311.2,91.0,9.4,762,6261,0.00,2.25,0.00,0.000,4,0.000,0.032,3076,3465,1563,0,0,0,0,0,0
$GC,6333,0.77,311.2,83.6,9.9,776,6342,0.10,2.03,0.00,0.000,6,0.118,0.018,3046,2055,1562,0,0,0,0,0,0
$GC,6409,0.77,311.2,76.2,9.5,789,6418,0.00,1.98,0.00,0.000,4,0.000,0.030,3054,710,1562,0,0,0,0,0,0
$GC,6451,0.77,311.2,72.6,9.2,795,6459,0.00,1.92,0.00,0.000,6,0.000,0.019,3054,2044,1562,0,0,0,0,0,0
$GC,6527,0.80,336.4,66.6,7.3,808,6554,0.00,2.15,20.10,0.623,4,0.000,0.033,3054,3454,1465,0,0,0,0,0,0
$GC,6614,0.86,386.2,61.2,6.4,821,6663,0.00,1.95,38.92,0.625,6,0.000,0.018,3062,2095,1264,0,0,0,0,0,0
$GC,6733,0.86,386.2,52.4,8.7,839,6742,0.00,2.08,0.00,0.000,4,0.000,0.029,3070,699,1261,0,0,0,0,0,0
$GC,6779,0.90,418.8,49.2,7.0,846,6812,0.00,2.05,26.88,0.599,6,0.000,0.019,3069,2095,1130,0,0,0,0,0,0
$GC,6882,0.97,476.5,44.0,6.1,862,6938,0.12,2.12,46.05,0.596,4,0.091,0.026,3143,705,895,0,0,0,0,0,0
$GC,6977,0.97,476.5,33.0,11.6,875,6986,0.08,1.98,0.00,0.000,6,0.106,0.018,3115,2057,893,0,0,0,0,0,0
$GC,7056,1.02,517.6,27.0,6.7,888,7097,0.00,2.12,31.62,0.572,4,0.000,0.031,3115,3446,727,0,0,0,0,0,0
$GC,7128,1.07,554.4,22.2,6.8,898,7161,0.00,1.92,28.00,0.558,6,0.000,0.018,3116,2130,577,0,0,0,0,0,0
$GC,7227,1.11,585.8,14.5,7.1,914,7250,0.12,2.10,16.25,0.534,4,0.090,0.028,3189,701,489,0,0,0,0,0,0
$GC,7303,1.11,585.8,6.9,11.8,926,7313,0.08,2.03,0.00,0.000,6,0.109,0.020,3160,2084,487,0,0,0,0,0,0
$STATE,7336,end climb,SURFACE_DEPTH_REACHED
$STATE,7336,begin surface coast
$FINISH,0.9,1.020945
$STATE,7364,end surface coast,CONTROL_FINISHED_OK
$STATE,7364,begin surface
$SM_CCo,7444,0.00,0.000,0,0,485,577.19
$SM_GC,1.49,7.78,0.00,0.00,0.034,0.000,0.000,117,1855,485,-8.30,-0.59,577.19,0,0,0,0,0,0
$IRIDIUM_FIX,1825.94,12220.08,250711,080849
$TT8_MAMPS,0.028462,0.028462
$HUMID,38.38
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,29.00
$XPDR_PINGS,30
$24V_AH,24.8,35.403
$10V_AH,10.3,34.104
$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,19.525,101.625,552.000,0.000,0.000,25.720,17.595,191.356,7.500,0.000,11.353,2222.337,1964.784,603.751,2404.645,630.433,0.000,1616.709,0.000,2417.941,0.000,0.545,0.000
$DEVICE_MAMPS,231.030,42.075,871.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.533,914.882,1747.886,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,57022,936
$CAP_FILE_SIZE,115227,0
$CFSIZE,260165632,122433536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.246,329.2,1
$GPS,250711,114000,1834.802,12218.203,21,1.4,37,-2.1