version: 66.09
glider: 167
mission: 8
dive: 211
start: 7 26 111 3 11 39
data:
$ID,167
$MISSION,8
$DIVE,211
$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,1
$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,8
$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,-56652.418
$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,79
$R_STBD_OVSHOOT,62
$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,200
$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
$GPS1,260711,030307,1842.428,12217.368,41,1.0,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.4
$GPS2,260711,031116,1842.649,12217.219,10,2.1,29,-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,53.4,273432,-17.0,-11.786
$D_GRID,853
$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,-219.0,0.0,0.0,0,110,0.00,0.00,-90.20,0.000,2,0.000,0.000,109,1807,3180,0,0,0,0,0,0
$GC,113,-0.69,-219.0,6.6,-12.1,13,138,9.90,2.20,-8.50,0.000,4,0.233,0.040,2557,3276,3735,0,0,0,0,0,0
$GC,206,-0.69,-219.0,54.9,-48.6,28,215,0.00,2.05,0.00,0.000,6,0.000,0.019,2558,1876,3737,0,0,0,0,0,0
$GC,283,-0.69,-219.0,79.0,-23.3,41,292,0.00,2.05,0.00,0.000,4,0.000,0.028,2558,482,3737,0,0,0,0,0,0
$GC,318,-0.69,-219.0,87.4,-24.4,46,326,0.00,2.12,0.00,0.000,6,0.000,0.020,2550,1930,3737,0,0,0,0,0,0
$GC,398,-0.69,-219.0,107.2,-27.3,59,406,0.00,1.98,0.00,0.000,4,0.000,0.029,2539,3267,3738,0,0,0,0,0,0
$GC,557,-0.69,-219.0,145.4,-19.0,87,567,0.10,1.92,0.00,0.000,6,0.153,0.017,2571,1890,3739,0,0,0,0,0,0
$GC,633,-0.69,-219.0,158.0,-15.5,100,641,0.00,2.05,0.00,0.000,4,0.000,0.029,2563,3265,3739,0,0,0,0,0,0
$GC,842,-0.69,-219.0,189.5,-17.3,137,850,0.00,2.00,0.00,0.000,6,0.000,0.017,2564,1860,3740,0,0,0,0,0,0
$GC,917,-0.69,-219.0,202.3,-16.6,149,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1860,3740,0,0,0,0,0,0
$GC,1240,-0.69,-219.0,250.6,-16.2,179,1244,0.00,2.08,0.00,0.000,4,0.000,0.031,2560,3273,3740,0,0,0,0,0,0
$GC,1295,-0.69,-219.0,260.1,-15.1,183,1302,0.00,1.90,0.00,0.000,6,0.000,0.017,2561,1907,3740,0,0,0,0,0,0
$GC,1621,-0.69,-219.0,307.4,-12.7,214,1625,0.00,2.00,0.00,0.000,4,0.000,0.034,2560,3267,3738,0,0,0,0,0,0
$GC,1801,-0.69,-219.0,329.8,-10.9,230,1805,0.00,1.70,0.00,0.000,6,0.000,0.018,2560,2013,3736,0,0,0,0,0,0
$GC,2133,-0.69,-219.0,365.4,-10.5,261,2136,0.00,1.88,0.00,0.000,4,0.000,0.034,2554,3270,3735,0,0,0,0,0,0
$GC,2183,-0.69,-219.0,371.2,-11.3,265,2189,0.00,1.70,0.00,0.000,6,0.000,0.018,2554,2023,3734,0,0,0,0,0,0
$GC,2509,-0.69,-219.0,410.4,-11.1,296,2513,0.00,1.90,0.00,0.000,4,0.000,0.036,2548,3271,3731,0,0,0,0,0,0
$GC,2628,-0.69,-219.0,424.3,-10.6,306,2635,0.00,1.62,0.00,0.000,6,0.000,0.018,2548,2119,3730,0,0,0,0,0,0
$GC,2954,-0.69,-219.0,463.1,-12.5,337,2958,0.00,2.33,0.00,0.000,4,0.000,0.028,2547,518,3727,0,0,0,0,0,0
$GC,2982,-0.69,-219.0,466.8,-12.7,339,2986,0.00,2.40,0.00,0.000,6,0.000,0.023,2548,2155,3727,0,0,0,0,0,0
$GC,3317,-0.69,-219.0,506.3,-13.5,368,3321,0.00,2.45,0.00,0.000,4,0.000,0.029,2548,516,3723,0,0,0,0,0,0
$GC,3377,-0.69,-219.0,515.5,-15.9,370,3384,0.00,2.33,0.00,0.000,6,0.000,0.024,2548,2095,3723,0,0,0,0,0,0
$GC,3696,-0.69,-219.0,555.3,-11.1,386,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2095,3720,0,0,0,0,0,0
$GC,4003,-0.69,-219.0,587.6,-12.7,401,4007,0.00,2.30,0.00,0.000,4,0.000,0.027,2548,520,3717,0,0,0,0,0,0
$GC,4091,-0.69,-219.0,600.1,-14.0,405,4095,0.00,2.25,0.00,0.000,6,0.000,0.024,2548,2053,3716,0,0,0,0,0,0
$GC,4421,-0.69,-219.0,645.7,-13.8,421,4425,0.00,1.80,0.00,0.000,4,0.000,0.038,2548,3263,3714,0,0,0,0,0,0
$GC,4455,-0.69,-219.0,650.8,-14.0,422,4458,0.00,1.67,0.00,0.000,6,0.000,0.020,2548,2046,3714,0,0,0,0,0,0
$GC,4778,-0.69,-219.0,688.5,-10.7,438,4782,0.00,2.22,0.00,0.000,4,0.000,0.028,2547,511,3711,0,0,0,0,0,0
$GC,4834,-0.69,-219.0,694.9,-10.8,440,4841,0.00,2.22,0.00,0.000,6,0.000,0.024,2547,2026,3710,0,0,0,0,0,0
$GC,5150,-0.69,-219.0,727.6,-10.8,456,5154,0.00,2.22,0.00,0.000,4,0.000,0.028,2547,520,3709,0,0,0,0,0,0
$GC,5192,-0.69,-219.0,732.2,-11.6,458,5196,0.00,2.20,0.00,0.000,6,0.000,0.024,2547,2014,3708,0,0,0,0,0,0
$GC,5520,-0.69,-219.0,769.2,-12.5,474,5524,0.00,2.25,0.00,0.000,4,0.000,0.029,2547,517,3706,0,0,0,0,0,0
$GC,5587,-0.69,-219.0,777.8,-12.6,477,5591,0.00,2.20,0.00,0.000,6,0.000,0.024,2547,2008,3705,0,0,0,0,0,0
$GC,5916,-0.69,-219.0,815.6,-11.0,493,5921,0.00,1.92,0.00,0.000,4,0.000,0.040,2547,3266,3703,0,0,0,0,0,0
$GC,5949,-0.69,-219.0,819.4,-10.4,494,5953,0.00,1.75,0.00,0.000,6,0.000,0.020,2547,2018,3703,0,0,0,0,0,0
$GC,6273,-0.69,-219.0,851.5,-10.3,510,6278,0.00,2.17,0.00,0.000,4,0.000,0.029,2547,520,3701,0,0,0,0,0,0
$STATE,6282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6282,begin apogee
$GC,6290,-0.20,0.0,853.1,10.4,510,6466,0.57,0.00,169.68,1.283,4,0.129,0.000,2733,2066,2838,0,0,0,0,0,0
$STATE,6467,end apogee,CONTROL_FINISHED_OK
$STATE,6467,begin climb
$GC,6470,0.69,219.0,860.5,0.0,519,6662,0.80,2.30,183.02,1.226,4,0.079,0.039,3022,3469,1945,0,0,0,0,0,0
$GC,6815,0.69,219.0,818.1,14.9,535,6819,0.00,2.08,0.00,0.000,6,0.000,0.021,3029,2105,1937,0,0,0,0,0,0
$GC,7143,0.69,219.0,775.4,12.0,551,7147,0.00,2.15,0.00,0.000,4,0.000,0.038,3031,3480,1935,0,0,0,0,0,0
$GC,7367,0.69,219.0,739.7,16.4,561,7372,0.00,2.10,0.00,0.000,6,0.000,0.021,3040,2049,1934,0,0,0,0,0,0
$GC,7697,0.69,219.0,685.7,16.7,577,7701,0.00,2.05,0.00,0.000,4,0.000,0.032,3051,688,1933,0,0,0,0,0,0
$GC,7803,0.69,219.0,667.1,17.4,581,7810,0.00,2.08,0.00,0.000,6,0.000,0.024,3051,2084,1933,0,0,0,0,0,0
$GC,8121,0.69,219.0,617.4,15.6,597,8125,0.00,2.10,0.00,0.000,4,0.000,0.038,3051,3469,1932,0,0,0,0,0,0
$GC,8188,0.69,219.0,606.0,16.6,600,8193,0.12,2.00,0.00,0.000,6,0.182,0.021,3028,2092,1932,0,0,0,0,0,0
$GC,8509,0.69,219.0,561.9,14.2,616,8513,0.00,2.08,0.00,0.000,4,0.000,0.032,3038,688,1931,0,0,0,0,0,0
$GC,8581,0.69,219.0,551.5,14.4,619,8586,0.00,2.05,0.00,0.000,6,0.000,0.023,3038,2077,1930,0,0,0,0,0,0
$GC,8897,0.69,219.0,500.7,16.6,634,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2078,1931,0,0,0,0,0,0
$GC,9218,0.69,219.0,451.1,14.8,663,9222,0.00,2.05,0.00,0.000,4,0.000,0.030,3046,687,1930,0,0,0,0,0,0
$GC,9304,0.69,219.0,438.6,13.1,670,9307,0.00,2.05,0.00,0.000,6,0.000,0.023,3047,2092,1930,0,0,0,0,0,0
$GC,9629,0.69,219.0,396.5,12.7,700,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2092,1930,0,0,0,0,0,0
$GC,9949,0.69,219.0,357.6,12.5,730,9952,0.00,2.05,0.00,0.000,4,0.000,0.037,3046,3465,1929,0,0,0,0,0,0
$GC,10114,0.69,219.0,332.9,14.9,744,10122,0.12,1.95,0.00,0.000,6,0.173,0.020,3023,2107,1929,0,0,0,0,0,0
$GC,10441,0.72,243.6,294.9,10.9,775,10466,0.00,2.08,19.12,0.891,4,0.000,0.035,3023,3468,1844,0,0,0,0,0,0
$GC,10538,0.72,243.6,282.7,13.5,783,10541,0.00,1.92,0.00,0.000,6,0.000,0.021,3029,2149,1841,0,0,0,0,0,0
$GC,10870,0.73,245.0,240.8,11.7,814,10875,0.00,2.15,0.00,0.000,4,0.000,0.031,3040,708,1840,0,0,0,0,0,0
$GC,11021,0.73,245.0,222.7,11.8,827,11024,0.00,1.95,0.00,0.000,6,0.000,0.021,3040,2061,1840,0,0,0,0,0,0
$GC,11353,0.78,284.9,188.3,10.3,867,11392,0.00,2.20,33.78,0.799,4,0.000,0.036,3040,3464,1676,0,0,0,0,0,0
$GC,11449,0.78,284.9,176.7,12.9,882,11457,0.00,2.03,0.00,0.000,6,0.000,0.020,3049,2095,1673,0,0,0,0,0,0
$GC,11528,0.78,287.3,167.9,11.7,895,11536,0.00,2.10,0.00,0.000,4,0.000,0.031,3058,702,1672,0,0,0,0,0,0
$GC,11566,0.81,313.5,163.6,10.8,901,11598,0.00,1.90,23.48,0.755,6,0.000,0.019,3058,1982,1558,0,0,0,0,0,0
$GC,11668,0.85,343.2,153.0,10.7,917,11700,0.00,2.28,25.08,0.736,4,0.000,0.033,3058,3465,1438,0,0,0,0,0,0
$GC,11725,0.86,354.6,146.3,11.4,925,11742,0.00,2.22,10.65,0.677,6,0.000,0.020,3067,1987,1392,0,0,0,0,0,0
$GC,11808,0.86,354.6,136.6,12.2,939,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1987,1389,0,0,0,0,0,0
$GC,11881,0.86,354.6,127.9,12.4,952,11889,0.00,1.95,0.00,0.000,4,0.000,0.031,3077,701,1388,0,0,0,0,0,0
$GC,11967,0.90,385.5,118.0,10.7,967,12003,0.00,1.92,24.92,0.698,6,0.000,0.019,3077,1994,1267,0,0,0,0,0,0
$GC,12075,0.94,420.5,106.7,10.5,984,12112,0.00,2.03,29.65,0.684,4,0.000,0.028,3085,692,1123,0,0,0,0,0,0
$GC,12149,1.01,479.1,98.8,9.7,995,12204,0.08,1.88,47.30,0.673,6,0.067,0.019,3131,1950,885,0,0,0,0,0,0
$GC,12276,1.01,479.1,81.3,14.4,1014,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1951,882,0,0,0,0,0,0
$GC,12354,1.01,479.1,69.6,14.8,1027,12361,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1951,881,0,0,0,0,0,0
$GC,12432,1.01,479.1,59.1,13.2,1040,12439,0.00,1.90,0.00,0.000,4,0.000,0.029,3139,698,880,0,0,0,0,0,0
$GC,12463,1.05,506.3,55.8,10.8,1044,12492,0.00,1.70,21.98,0.619,6,0.000,0.018,3139,1865,773,0,0,0,0,0,0
$GC,12556,1.10,545.4,46.0,10.4,1060,12592,0.00,0.00,30.60,0.613,6,0.000,0.000,3139,1864,613,0,0,0,0,0,0
$GC,12659,1.16,596.2,35.7,10.0,1077,12691,0.10,2.42,23.60,0.593,4,0.101,0.031,3189,3460,488,0,0,0,0,0,0
$GC,12699,1.16,596.2,30.6,12.3,1082,12707,0.00,2.38,0.00,0.000,6,0.000,0.018,3199,1880,488,0,0,0,0,0,0
$GC,12771,1.16,596.2,20.1,14.4,1095,12779,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1879,485,0,0,0,0,0,0
$GC,12845,1.16,596.2,8.5,17.7,1108,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1879,484,0,0,0,0,0,0
$STATE,12881,end climb,SURFACE_DEPTH_REACHED
$STATE,12881,begin surface coast
$FINISH,0.9,1.019391
$STATE,12898,end surface coast,CONTROL_FINISHED_OK
$STATE,12898,begin surface
$SM_CCo,12976,0.00,0.000,0,0,483,577.93
$SM_GC,1.50,7.95,0.00,0.00,0.034,0.000,0.000,121,1875,483,-8.29,0.00,577.93,0,0,0,0,0,0
$IRIDIUM_FIX,1832.77,12214.31,250711,232339
$TT8_MAMPS,0.028462,0.028462
$HUMID,37.87
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,27.70
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,655.0,999.0
$24V_AH,23.3,36.387
$10V_AH,10.1,34.913
$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,19.750,136.250,642.850,0.000,0.000,31.301,27.045,234.679,3.750,0.000,31.412,2629.827,6636.059,652.749,2824.527,709.339,0.000,1942.141,0.000,2711.191,0.000,2.854,0.000
$DEVICE_MAMPS,233.325,39.780,1282.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.210,884.470,1199.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66858,1117
$CAP_FILE_SIZE,154366,0
$CFSIZE,260165632,121937920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,064907,1844.789,12218.340,33,1.3,33,-2.1