version: 66.09
glider: 167
mission: 8
dive: 206
start: 7 25 111 11 48 38
data:
$ID,167
$MISSION,8
$DIVE,206
$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,-56646.125
$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,74
$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
$GPS1,250711,114000,1834.802,12218.203,21,1.4,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.3
$GPS2,250711,114813,1835.082,12218.065,11,1.3,16,-2.1
$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,96.0,281299,-15.4,-8.250
$D_GRID,415
$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,-146.0,0.0,0.0,0,114,0.00,0.00,-93.95,0.000,2,0.000,0.000,110,1855,3178,0,0,0,0,0,0
$GC,117,-0.56,-146.0,6.6,-12.7,13,143,9.85,2.00,-4.03,0.000,4,0.228,0.040,2616,483,3439,0,0,0,0,0,0
$GC,174,-0.56,-146.0,35.7,-47.9,21,182,0.00,2.00,0.00,0.000,6,0.000,0.020,2608,1866,3440,0,0,0,0,0,0
$GC,252,-0.56,-146.0,56.1,-29.3,34,261,0.00,2.00,0.00,0.000,4,0.000,0.024,2608,502,3440,0,0,0,0,0,0
$GC,271,-0.56,-146.0,62.2,-30.2,36,279,0.00,1.85,0.00,0.000,6,0.000,0.018,2599,1796,3441,0,0,0,0,0,0
$GC,348,-0.56,-146.0,81.0,-23.1,49,357,0.00,2.17,0.00,0.000,4,0.000,0.030,2588,3264,3441,0,0,0,0,0,0
$GC,411,-0.56,-146.0,96.9,-25.5,59,421,0.00,1.92,0.00,0.000,6,0.000,0.016,2588,1890,3441,0,0,0,0,0,0
$GC,488,-0.56,-146.0,114.9,-19.9,72,497,0.10,2.03,0.00,0.000,4,0.200,0.024,2610,497,3441,0,0,0,0,0,0
$GC,506,-0.56,-146.0,118.7,-21.2,74,514,0.00,1.88,0.00,0.000,6,0.000,0.018,2603,1817,3441,0,0,0,0,0,0
$GC,583,-0.56,-146.0,132.5,-18.8,87,593,0.00,2.12,0.00,0.000,4,0.000,0.031,2593,3259,3442,0,0,0,0,0,0
$GC,788,-0.56,-146.0,163.8,-13.8,123,797,0.00,1.70,0.00,0.000,6,0.000,0.017,2593,2038,3443,0,0,0,0,0,0
$GC,865,-0.56,-146.0,174.1,-14.9,136,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2038,3443,0,0,0,0,0,0
$GC,942,-0.56,-146.0,183.7,-11.0,149,951,0.00,2.22,0.00,0.000,4,0.000,0.028,2593,507,3443,0,0,0,0,0,0
$GC,1008,-0.56,-146.0,190.1,-9.6,160,1016,0.00,2.17,0.00,0.000,6,0.000,0.019,2588,2016,3443,0,0,0,0,0,0
$GC,1085,-0.56,-146.0,197.1,-9.8,173,1094,0.10,1.83,0.00,0.000,4,0.182,0.032,2606,3260,3444,0,0,0,0,0,0
$GC,1180,-0.56,-146.0,205.6,-9.0,184,1183,0.00,1.67,0.00,0.000,6,0.000,0.016,2606,2003,3444,0,0,0,0,0,0
$GC,1512,-0.56,-146.0,232.9,-8.9,215,1515,0.00,1.85,0.00,0.000,4,0.000,0.031,2601,3262,3443,0,0,0,0,0,0
$GC,1618,-0.56,-146.0,242.5,-8.9,224,1626,0.00,1.65,0.00,0.000,6,0.000,0.017,2601,2061,3441,0,0,0,0,0,0
$GC,1945,-0.56,-146.0,273.6,-9.4,255,1949,0.00,2.22,0.00,0.000,4,0.000,0.026,2601,511,3439,0,0,0,0,0,0
$GC,1997,-0.56,-146.0,279.0,-10.5,259,2001,0.00,2.20,0.00,0.000,6,0.000,0.021,2600,2042,3439,0,0,0,0,0,0
$GC,2323,-0.56,-146.0,303.3,-6.0,289,2328,0.00,2.25,0.00,0.000,4,0.000,0.027,2600,515,3436,0,0,0,0,0,0
$GC,2384,-0.56,-146.0,307.6,-7.2,294,2390,0.00,2.20,0.00,0.000,6,0.000,0.021,2600,2045,3436,0,0,0,0,0,0
$GC,2711,-0.56,-146.0,332.8,-8.4,325,2715,0.00,1.77,0.00,0.000,4,0.000,0.035,2600,3262,3433,0,0,0,0,0,0
$GC,2801,-0.56,-146.0,339.9,-7.6,333,2805,0.00,1.65,0.00,0.000,6,0.000,0.018,2600,2058,3432,0,0,0,0,0,0
$GC,3135,-0.56,-146.0,368.6,-9.3,364,3140,0.00,2.28,0.00,0.000,4,0.000,0.028,2601,508,3430,0,0,0,0,0,0
$GC,3307,-0.56,-146.0,386.5,-9.2,379,3315,0.00,2.20,0.00,0.000,6,0.000,0.021,2600,2028,3429,0,0,0,0,0,0
$GC,3633,-0.56,-146.0,411.7,-7.8,410,3637,0.00,1.83,0.00,0.000,4,0.000,0.037,2600,3265,3427,0,0,0,0,0,0
$STATE,3677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3677,begin apogee
$GC,3684,-0.20,0.0,415.2,7.4,414,3804,0.38,0.00,107.35,0.921,4,0.122,0.000,2727,2048,2838,0,0,0,0,0,0
$STATE,3804,end apogee,CONTROL_FINISHED_OK
$STATE,3804,begin climb
$GC,3807,0.56,146.0,418.1,0.0,424,3925,0.70,0.00,112.07,0.889,6,0.087,0.000,2977,2048,2243,0,0,0,0,0,0
$GC,4252,0.56,146.0,382.0,9.8,465,4256,0.00,2.15,0.00,0.000,4,0.000,0.035,2977,3467,2233,0,0,0,0,0,0
$GC,4313,0.56,146.0,375.3,10.8,470,4318,0.00,2.03,0.00,0.000,6,0.000,0.019,2984,2075,2232,0,0,0,0,0,0
$GC,4644,0.56,146.0,345.7,9.9,501,4648,0.00,2.00,0.00,0.000,4,0.000,0.030,2994,692,2229,0,0,0,0,0,0
$GC,4791,0.56,146.0,330.7,9.7,514,4795,0.00,1.90,0.00,0.000,6,0.000,0.021,2995,2008,2229,0,0,0,0,0,0
$GC,5122,0.56,146.0,300.5,9.2,545,5126,0.00,2.15,0.00,0.000,4,0.000,0.035,2994,3466,2227,0,0,0,0,0,0
$GC,5354,0.56,146.0,277.5,9.7,565,5358,0.00,1.98,0.00,0.000,6,0.000,0.018,3003,2091,2226,0,0,0,0,0,0
$GC,5685,0.56,146.0,247.4,10.0,596,5688,0.00,2.00,0.00,0.000,4,0.000,0.028,3013,699,2225,0,0,0,0,0,0
$GC,5721,0.56,146.0,243.9,9.1,599,5726,0.08,2.05,0.00,0.000,6,0.128,0.021,2987,2105,2225,0,0,0,0,0,0
$GC,6052,0.60,173.7,219.1,7.2,630,6078,0.00,2.08,19.65,0.798,4,0.000,0.036,2986,3453,2131,0,0,0,0,0,0
$GC,6225,0.60,173.7,203.7,9.4,645,6229,0.00,1.92,0.00,0.000,6,0.000,0.018,2993,2107,2127,0,0,0,0,0,0
$GC,6554,0.60,173.7,174.5,8.6,702,6562,0.00,2.05,0.00,0.000,4,0.000,0.034,2994,3452,2126,0,0,0,0,0,0
$GC,6756,0.60,173.7,155.5,8.6,739,6765,0.00,1.80,0.00,0.000,6,0.000,0.018,3000,2186,2124,0,0,0,0,0,0
$GC,6834,0.63,200.3,149.8,7.2,752,6867,0.00,2.22,21.38,0.743,4,0.000,0.029,3010,697,2021,0,0,0,0,0,0
$GC,6921,0.68,236.7,143.9,6.9,765,6958,0.00,1.98,29.15,0.731,6,0.000,0.020,3010,2041,1873,0,0,0,0,0,0
$GC,7028,0.72,272.1,136.7,6.9,782,7066,0.00,2.20,28.62,0.712,4,0.000,0.035,3010,3452,1727,0,0,0,0,0,0
$GC,7112,0.72,272.1,128.2,10.6,795,7121,0.00,2.12,0.00,0.000,6,0.000,0.018,3017,2009,1724,0,0,0,0,0,0
$GC,7186,0.72,272.1,121.6,8.8,808,7194,0.00,1.98,0.00,0.000,4,0.000,0.031,3020,695,1723,0,0,0,0,0,0
$GC,7242,0.72,272.1,117.1,8.3,817,7251,0.00,1.77,0.00,0.000,6,0.000,0.018,3020,1919,1723,0,0,0,0,0,0
$GC,7323,0.76,305.8,111.6,7.0,830,7355,0.00,0.00,26.27,0.687,6,0.000,0.000,3020,1918,1589,0,0,0,0,0,0
$GC,7426,0.80,338.9,104.3,7.0,846,7460,0.10,2.40,26.85,0.675,4,0.100,0.033,3075,3458,1455,0,0,0,0,0,0
$GC,7478,0.80,338.9,99.2,10.5,853,7486,0.00,2.33,0.00,0.000,6,0.000,0.018,3085,1901,1453,0,0,0,0,0,0
$GC,7554,0.80,338.9,90.9,10.9,866,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1902,1452,0,0,0,0,0,0
$GC,7628,0.80,338.9,82.6,11.2,879,7638,0.00,1.80,0.00,0.000,4,0.000,0.030,3092,693,1450,0,0,0,0,0,0
$GC,7652,0.80,338.9,80.2,10.2,882,7661,0.08,1.75,0.00,0.000,6,0.106,0.018,3063,1913,1450,0,0,0,0,0,0
$GC,7731,0.80,338.9,73.0,8.6,895,7740,0.00,2.33,0.00,0.000,4,0.000,0.033,3063,3453,1449,0,0,0,0,0,0
$GC,7765,0.80,338.9,69.8,9.7,900,7773,0.00,2.25,0.00,0.000,6,0.000,0.018,3068,1917,1449,0,0,0,0,0,0
$GC,7839,0.80,338.9,63.4,8.5,913,7847,0.00,1.80,0.00,0.000,4,0.000,0.031,3077,703,1449,0,0,0,0,0,0
$GC,7867,0.80,338.9,61.1,8.3,917,7875,0.00,1.65,0.00,0.000,6,0.000,0.018,3076,1865,1449,0,0,0,0,0,0
$GC,7943,0.80,340.3,55.1,8.2,930,7952,0.00,2.40,0.00,0.000,4,0.000,0.031,3076,3463,1448,0,0,0,0,0,0
$GC,7967,0.80,340.3,53.0,8.5,933,7975,0.00,2.50,0.00,0.000,6,0.000,0.020,3083,1756,1448,0,0,0,0,0,0
$GC,8042,0.82,355.6,47.2,7.7,946,8059,0.00,0.00,13.43,0.592,6,0.000,0.000,3084,1756,1388,0,0,0,0,0,0
$GC,8126,0.86,386.0,41.0,7.1,960,8156,0.00,0.00,24.62,0.604,6,0.000,0.000,3084,1756,1264,0,0,0,0,0,0
$GC,8225,0.95,458.5,35.1,5.5,976,8284,0.00,0.00,57.40,0.603,6,0.000,0.000,3084,1756,968,0,0,0,0,0,0
$GC,8352,1.03,521.0,28.3,5.9,996,8404,0.12,0.00,48.70,0.583,6,0.090,0.000,3149,1755,713,0,0,0,0,0,0
$GC,8475,1.03,521.0,16.2,11.4,1015,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1755,711,0,0,0,0,0,0
$GC,8550,1.03,521.0,7.2,11.5,1028,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1755,710,0,0,0,0,0,0
$STATE,8588,end climb,SURFACE_DEPTH_REACHED
$STATE,8588,begin surface coast
$FINISH,0.8,1.008831
$STATE,8617,end surface coast,CONTROL_FINISHED_OK
$STATE,8617,begin surface
$SM_CCo,8696,0.00,0.000,0,0,707,522.98
$SM_GC,1.57,7.75,0.00,0.00,0.034,0.000,0.000,120,1974,707,-8.29,2.80,522.98,0,0,0,0,0,0
$IRIDIUM_FIX,1828.22,12218.16,250711,090908
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.85
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,28.60
$XPDR_PINGS,25
$24V_AH,24.7,35.533
$10V_AH,10.3,34.242
$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,19.250,109.075,515.500,0.000,0.000,28.850,41.878,245.457,6.250,0.000,16.995,2501.726,2721.598,604.584,2674.262,681.003,0.000,1705.857,0.000,2606.474,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,58.140,921.060,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.093,961.724,1689.333,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324068
$DATA_FILE_SIZE,60277,1040
$CAP_FILE_SIZE,129002,0
$CFSIZE,260165632,122351616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.397,321.3,1
$GPS,250711,141454,1836.552,12217.887,26,1.1,43,-2.1