version: 66.09
glider: 167
mission: 8
dive: 210
start: 7 25 111 23 47 22
data:
$ID,167
$MISSION,8
$DIVE,210
$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,280
$T_MISSION,340
$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,225
$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,-56651.16
$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,89
$R_STBD_OVSHOOT,59
$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
$GPS1,250711,233858,1841.345,12216.251,13,7.3,32,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-66.7
$GPS2,250711,234658,1841.550,12216.113,14,2.2,33,-2.1
$SPEED_LIMITS,0.204,0.330
$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,98.3,276204,-17.0,-11.786
$D_GRID,748
$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,-0.69,-219.0,0.0,0.0,0,114,0.00,0.00,-94.72,0.000,2,0.000,0.000,107,1940,3199,0,0,0,0,0,0
$GC,117,-0.69,-219.0,6.5,-11.3,12,141,9.88,0.00,-8.05,0.000,6,0.233,0.000,2566,1939,3735,0,0,0,0,0,0
$GC,210,-0.69,-219.0,51.4,-43.5,27,219,0.00,2.00,0.00,0.000,4,0.000,0.031,2557,3269,3737,0,0,0,0,0,0
$GC,233,-0.69,-219.0,62.1,-43.7,30,242,0.00,2.00,0.00,0.000,6,0.000,0.019,2557,1893,3737,0,0,0,0,0,0
$GC,315,-0.69,-219.0,86.3,-27.5,43,323,0.00,2.08,0.00,0.000,4,0.000,0.028,2557,483,3737,0,0,0,0,0,0
$GC,410,-0.69,-219.0,110.6,-23.4,59,419,0.00,1.83,0.00,0.000,6,0.000,0.021,2548,1739,3738,0,0,0,0,0,0
$GC,490,-0.69,-219.0,128.4,-21.4,72,499,0.00,2.30,0.00,0.000,4,0.000,0.032,2538,3274,3739,0,0,0,0,0,0
$GC,589,-0.69,-219.0,149.7,-20.1,89,598,0.10,1.98,0.00,0.000,6,0.158,0.018,2568,1873,3739,0,0,0,0,0,0
$GC,669,-0.69,-219.0,162.9,-15.2,102,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1872,3740,0,0,0,0,0,0
$GC,750,-0.69,-219.0,174.3,-14.0,115,758,0.00,2.10,0.00,0.000,4,0.000,0.030,2561,3274,3740,0,0,0,0,0,0
$GC,793,-0.69,-219.0,180.6,-13.7,122,803,0.00,1.85,0.00,0.000,6,0.000,0.018,2561,1964,3740,0,0,0,0,0,0
$GC,872,-0.69,-219.0,188.6,-10.3,135,880,0.00,1.98,0.00,0.000,4,0.000,0.034,2561,3271,3740,0,0,0,0,0,0
$GC,974,-0.69,-219.0,202.4,-14.6,152,978,0.00,1.65,0.00,0.000,6,0.000,0.017,2561,2043,3740,0,0,0,0,0,0
$GC,1308,-0.69,-219.0,252.8,-15.0,183,1312,0.00,2.17,0.00,0.000,4,0.000,0.026,2561,516,3740,0,0,0,0,0,0
$GC,1383,-0.69,-219.0,266.1,-17.0,189,1387,0.00,2.22,0.00,0.000,6,0.000,0.021,2561,2054,3740,0,0,0,0,0,0
$GC,1710,-0.69,-219.0,313.7,-15.6,219,1714,0.00,1.80,0.00,0.000,4,0.000,0.037,2561,3274,3737,0,0,0,0,0,0
$GC,1816,-0.69,-219.0,328.9,-13.4,228,1823,0.00,1.67,0.00,0.000,6,0.000,0.018,2561,2063,3737,0,0,0,0,0,0
$GC,2142,-0.69,-219.0,371.8,-13.2,259,2146,0.00,2.22,0.00,0.000,4,0.000,0.027,2561,519,3734,0,0,0,0,0,0
$GC,2197,-0.69,-219.0,379.0,-12.5,263,2203,0.00,2.28,0.00,0.000,6,0.000,0.022,2560,2079,3733,0,0,0,0,0,0
$GC,2524,-0.69,-219.0,418.0,-11.1,294,2528,0.00,1.75,0.00,0.000,4,0.000,0.037,2560,3267,3731,0,0,0,0,0,0
$GC,2608,-0.69,-219.0,427.0,-10.3,301,2615,0.00,1.62,0.00,0.000,6,0.000,0.018,2560,2103,3730,0,0,0,0,0,0
$GC,2935,-0.69,-219.0,464.9,-11.6,332,2939,0.00,1.75,0.00,0.000,4,0.000,0.037,2560,3267,3727,0,0,0,0,0,0
$GC,2959,-0.69,-219.0,467.8,-11.4,334,2963,0.00,1.60,0.00,0.000,6,0.000,0.019,2561,2121,3727,0,0,0,0,0,0
$GC,3290,-0.69,-219.0,503.2,-11.1,364,3294,0.00,2.33,0.00,0.000,4,0.000,0.028,2560,516,3724,0,0,0,0,0,0
$GC,3318,-0.69,-219.0,506.1,-11.2,365,3322,0.00,2.35,0.00,0.000,6,0.000,0.024,2560,2111,3724,0,0,0,0,0,0
$GC,3634,-0.69,-219.0,534.9,-8.2,380,3639,0.00,2.33,0.00,0.000,4,0.000,0.028,2560,520,3721,0,0,0,0,0,0
$GC,3662,-0.69,-219.0,537.5,-8.4,381,3666,0.00,2.28,0.00,0.000,6,0.000,0.023,2560,2071,3721,0,0,0,0,0,0
$GC,3978,-0.69,-219.0,567.0,-10.9,396,3983,0.00,2.28,0.00,0.000,4,0.000,0.028,2560,517,3718,0,0,0,0,0,0
$GC,4019,-0.69,-219.0,571.4,-10.8,398,4023,0.00,2.28,0.00,0.000,6,0.000,0.023,2560,2066,3718,0,0,0,0,0,0
$GC,4348,-0.69,-219.0,604.3,-10.2,414,4352,0.00,1.80,0.00,0.000,4,0.000,0.037,2560,3274,3716,0,0,0,0,0,0
$GC,4383,-0.69,-219.0,608.0,-10.6,415,4386,0.00,1.65,0.00,0.000,6,0.000,0.019,2560,2069,3716,0,0,0,0,0,0
$GC,4705,-0.69,-219.0,638.7,-9.8,431,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2066,3712,0,0,0,0,0,0
$GC,5015,-0.69,-219.0,677.0,-13.8,446,5019,0.00,2.28,0.00,0.000,4,0.000,0.029,2560,517,3710,0,0,0,0,0,0
$GC,5047,-0.69,-219.0,682.1,-14.7,447,5054,0.00,2.28,0.00,0.000,6,0.000,0.023,2560,2061,3710,0,0,0,0,0,0
$GC,5364,-0.69,-219.0,718.2,-10.8,463,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2061,3708,0,0,0,0,0,0
$STATE,5650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5650,begin apogee
$GC,5657,-0.20,0.0,748.3,11.3,477,5829,0.52,0.00,167.38,1.198,4,0.135,0.000,2728,2061,2839,0,0,0,0,0,0
$STATE,5830,end apogee,CONTROL_FINISHED_OK
$STATE,5830,begin climb
$GC,5834,0.69,219.0,759.9,0.0,485,6023,0.82,0.00,179.48,1.147,6,0.084,0.000,3018,2061,1944,0,0,0,0,0,0
$GC,6333,0.69,219.0,688.5,14.6,509,6337,0.00,2.05,0.00,0.000,4,0.000,0.030,3026,719,1935,0,0,0,0,0,0
$GC,6382,0.69,219.0,679.9,16.1,511,6386,0.00,2.08,0.00,0.000,6,0.000,0.024,3026,2085,1935,0,0,0,0,0,0
$GC,6711,0.69,219.0,636.8,12.2,527,6715,0.00,2.05,0.00,0.000,4,0.000,0.030,3033,727,1933,0,0,0,0,0,0
$GC,6789,0.69,219.0,626.0,13.0,530,6793,0.00,1.98,0.00,0.000,6,0.000,0.022,3033,2045,1933,0,0,0,0,0,0
$GC,7112,0.69,219.0,582.1,13.6,546,7116,0.00,2.12,0.00,0.000,4,0.000,0.037,3033,3459,1932,0,0,0,0,0,0
$GC,7135,0.69,219.0,578.7,13.5,547,7139,0.00,2.00,0.00,0.000,6,0.000,0.020,3043,2083,1931,0,0,0,0,0,0
$GC,7463,0.69,219.0,535.6,13.9,563,7467,0.00,2.08,0.00,0.000,4,0.000,0.033,3052,700,1930,0,0,0,0,0,0
$GC,7568,0.69,219.0,519.9,15.0,567,7575,0.00,1.95,0.00,0.000,6,0.000,0.022,3052,2017,1930,0,0,0,0,0,0
$GC,7893,0.69,219.0,470.2,15.4,592,7898,0.00,2.20,0.00,0.000,4,0.000,0.038,3052,3456,1929,0,0,0,0,0,0
$GC,7964,0.69,219.0,457.5,16.7,598,7972,0.12,2.08,0.00,0.000,6,0.174,0.020,3029,2032,1929,0,0,0,0,0,0
$GC,8291,0.69,219.0,407.6,15.0,629,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2031,1928,0,0,0,0,0,0
$GC,8612,0.69,219.0,363.3,14.5,659,8616,0.00,2.17,0.00,0.000,4,0.000,0.035,3029,3462,1928,0,0,0,0,0,0
$GC,8644,0.69,219.0,357.7,15.0,661,8652,0.00,2.05,0.00,0.000,6,0.000,0.021,3037,2065,1928,0,0,0,0,0,0
$GC,8970,0.69,219.0,314.4,11.9,692,8975,0.00,2.05,0.00,0.000,4,0.000,0.031,3047,688,1927,0,0,0,0,0,0
$GC,9032,0.69,219.0,306.8,12.4,697,9040,0.00,2.10,0.00,0.000,6,0.000,0.022,3047,2116,1927,0,0,0,0,0,0
$GC,9358,0.69,219.0,265.2,12.8,728,9361,0.00,2.03,0.00,0.000,4,0.000,0.037,3046,3466,1927,0,0,0,0,0,0
$GC,9596,0.69,219.0,231.0,14.1,749,9600,0.12,1.77,0.00,0.000,6,0.168,0.019,3022,2214,1927,0,0,0,0,0,0
$GC,9925,0.73,244.3,194.4,10.9,784,9950,0.00,1.98,18.70,0.794,4,0.000,0.034,3022,3472,1844,0,0,0,0,0,0
$GC,10014,0.73,246.7,184.4,11.7,798,10023,0.00,1.73,3.88,0.525,6,0.000,0.019,3027,2271,1832,0,0,0,0,0,0
$GC,10092,0.75,261.9,175.8,11.2,811,10117,0.00,2.40,13.85,0.752,4,0.000,0.031,3038,688,1770,0,0,0,0,0,0
$GC,10149,0.79,295.7,169.7,10.6,819,10188,0.00,2.42,28.27,0.767,6,0.000,0.022,3038,2300,1631,0,0,0,0,0,0
$GC,10261,0.80,307.3,157.5,11.4,836,10277,0.00,0.00,10.02,0.690,6,0.000,0.000,3038,2300,1585,0,0,0,0,0,0
$GC,10348,0.83,329.9,148.0,11.0,850,10371,0.00,0.00,19.67,0.725,6,0.000,0.000,3038,2300,1494,0,0,0,0,0,0
$GC,10437,0.88,371.0,138.2,10.3,865,10480,0.12,2.50,34.03,0.724,4,0.093,0.028,3108,683,1323,0,0,0,0,0,0
$GC,10512,0.88,371.0,128.5,14.2,875,10520,0.00,2.35,0.00,0.000,6,0.000,0.021,3108,2224,1322,0,0,0,0,0,0
$GC,10589,0.88,371.0,117.3,14.1,888,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2225,1321,0,0,0,0,0,0
$GC,10668,0.88,371.0,106.1,14.8,901,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2224,1319,0,0,0,0,0,0
$GC,10748,0.88,371.0,94.9,14.2,914,10756,0.00,2.33,0.00,0.000,4,0.000,0.028,3118,694,1319,0,0,0,0,0,0
$GC,10798,0.88,371.0,87.5,14.1,922,10806,0.08,2.22,0.00,0.000,6,0.120,0.021,3091,2192,1319,0,0,0,0,0,0
$GC,10879,0.88,371.0,77.0,13.1,935,10887,0.00,2.28,0.00,0.000,4,0.000,0.028,3097,690,1318,0,0,0,0,0,0
$GC,10931,0.88,371.0,70.5,11.9,943,10939,0.00,2.10,0.00,0.000,6,0.000,0.020,3098,2109,1318,0,0,0,0,0,0
$GC,11006,0.94,420.8,62.2,10.0,956,11054,0.00,2.15,39.30,0.651,4,0.000,0.028,3104,683,1123,0,0,0,0,0,0
$GC,11136,1.07,520.5,51.9,8.2,976,11223,0.08,1.88,78.68,0.633,6,0.063,0.018,3152,1963,714,0,0,0,0,0,0
$GC,11297,1.08,531.4,33.7,11.4,999,11313,0.00,2.30,8.85,0.539,4,0.000,0.031,3152,3470,671,0,0,0,0,0,0
$GC,11343,1.09,539.8,28.4,11.5,1006,11359,0.00,2.08,7.70,0.518,6,0.000,0.018,3157,2072,637,0,0,0,0,0,0
$GC,11424,1.09,539.8,18.7,12.0,1020,11432,0.00,2.08,0.00,0.000,4,0.000,0.030,3166,697,634,0,0,0,0,0,0
$GC,11490,1.10,548.2,11.4,11.5,1031,11507,0.00,1.92,7.60,0.496,6,0.000,0.018,3166,2008,602,0,0,0,0,0,0
$STATE,11560,end climb,SURFACE_DEPTH_REACHED
$STATE,11560,begin surface coast
$FINISH,1.0,1.008036
$STATE,11587,end surface coast,CONTROL_FINISHED_OK
$STATE,11587,begin surface
$SM_CCo,11664,0.00,0.000,0,0,598,549.72
$SM_GC,1.64,7.93,0.00,0.00,0.037,0.000,0.000,121,1806,598,-8.31,-1.95,549.72,0,0,0,0,0,0
$IRIDIUM_FIX,1832.77,12214.31,250711,202001
$TT8_MAMPS,0.027713,0.027713
$HUMID,38.30
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,27.70
$XPDR_PINGS,11
$24V_AH,23.7,36.189
$10V_AH,10.1,34.784
$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,19.775,128.275,617.400,0.000,0.000,25.615,17.327,236.539,2.750,0.000,35.469,2574.701,5646.160,656.936,2583.335,675.209,0.000,1832.759,0.000,2488.159,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,56.610,1197.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.034,840.029,1212.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324088
$DATA_FILE_SIZE,60300,1047
$CAP_FILE_SIZE,143603,0
$CFSIZE,260165632,122028032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,326.7,1
$GPS,260711,030307,1842.428,12217.368,41,1.0,41,-2.1