version: 66.09
glider: 167
mission: 8
dive: 415
start: 9 11 111 2 22 1
data:
$ID,167
$MISSION,8
$DIVE,415
$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,340
$T_MISSION,380
$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,200
$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,576.20972
$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,-103846.62
$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,57
$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
$GPS1,100911,223531,1936.959,12129.130,901,99.0,901,-2.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.5
$GPS2,100911,223531,1936.959,12129.130,901,99.0,901,-2.2
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,144.0,147013,-15.3,-9.706
$D_GRID,503
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.62,-194.6,0.0,0.0,0,115,0.00,0.00,-95.10,0.000,2,0.000,0.000,109,1841,3166,0,0,0,0,0,0
$GC,118,-0.62,-194.6,6.4,-12.4,14,142,9.85,2.00,-7.55,0.000,4,0.228,0.041,2598,487,3636,0,0,0,0,0,0
$GC,208,-0.62,-194.6,40.9,-23.9,28,217,0.00,2.03,0.00,0.000,6,0.000,0.024,2591,1869,3637,0,0,0,0,0,0
$GC,357,-0.62,-194.6,71.3,-22.3,53,364,0.00,2.08,0.00,0.000,4,0.000,0.034,2583,3285,3636,0,0,0,0,0,0
$GC,400,-0.62,-194.6,80.7,-21.2,60,408,0.00,2.08,0.00,0.000,6,0.000,0.016,2583,1816,3637,0,0,0,0,0,0
$GC,546,-0.62,-194.6,104.7,-16.9,85,553,0.00,2.12,0.00,0.000,4,0.000,0.029,2574,3280,3636,0,0,0,0,0,0
$GC,596,-0.62,-194.6,113.2,-19.1,93,602,0.00,2.00,0.00,0.000,6,0.000,0.017,2574,1833,3637,0,0,0,0,0,0
$GC,744,-0.62,-194.6,153.1,-23.4,118,752,0.00,1.90,0.00,0.000,4,0.000,0.024,2574,509,3636,0,0,0,0,0,0
$GC,815,-0.62,-194.6,166.4,-13.5,130,824,0.10,2.00,0.00,0.000,6,0.151,0.019,2597,1906,3636,0,0,0,0,0,0
$GC,968,-0.62,-194.6,179.7,-7.9,155,974,0.00,1.95,0.00,0.000,4,0.000,0.031,2588,3267,3636,0,0,0,0,0,0
$GC,1027,-0.62,-194.6,184.7,-8.0,165,1033,0.00,1.85,0.00,0.000,6,0.000,0.016,2588,1921,3636,0,0,0,0,0,0
$GC,1173,-0.62,-194.6,200.3,-10.4,190,1177,0.00,2.00,0.00,0.000,4,0.000,0.027,2588,507,3636,0,0,0,0,0,0
$GC,1245,-0.62,-194.6,208.0,-12.3,196,1253,0.00,1.90,0.00,0.000,6,0.000,0.020,2588,1831,3636,0,0,0,0,0,0
$GC,1571,-0.62,-194.6,248.4,-9.4,227,1576,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,3259,3634,0,0,0,0,0,0
$GC,1787,-0.62,-194.6,269.3,-10.1,246,1794,0.00,1.95,0.00,0.000,6,0.000,0.017,2588,1867,3633,0,0,0,0,0,0
$GC,2113,-0.62,-194.6,289.2,-19.4,277,2118,0.00,2.10,0.00,0.000,4,0.000,0.034,2588,3260,3630,0,0,0,0,0,0
$GC,2204,-0.62,-194.6,306.1,-12.9,285,2208,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1869,3629,0,0,0,0,0,0
$GC,2535,-0.62,-194.6,326.3,-2.5,316,2539,0.00,2.05,0.00,0.000,4,0.000,0.031,2588,3269,3627,0,0,0,0,0,0
$GC,2573,-0.62,-194.6,326.5,-2.3,319,2580,0.00,2.00,0.00,0.000,6,0.000,0.018,2588,1850,3626,0,0,0,0,0,0
$STATE,2747,end dive,NO_VERTICAL_VELOCITY
$STATE,2747,begin apogee
$GC,2755,-0.20,0.0,327.6,0.0,336,2906,0.38,0.00,145.85,0.809,4,0.074,0.000,2738,2136,2839,0,0,0,0,0,0
$STATE,2907,end apogee,CONTROL_FINISHED_OK
$STATE,2907,begin climb
$GC,2911,0.62,194.6,327.5,0.0,349,3067,0.75,2.15,148.15,0.786,4,0.089,0.026,2997,689,2045,0,0,0,0,0,0
$GC,3217,0.62,194.6,295.5,11.8,376,3225,0.00,2.03,0.00,0.000,6,0.000,0.021,2997,2066,2037,0,0,0,0,0,0
$GC,3543,0.62,194.6,264.2,11.0,407,3548,0.00,2.10,0.00,0.000,4,0.000,0.036,2997,3466,2034,0,0,0,0,0,0
$GC,3758,0.62,194.6,235.5,14.6,426,3761,0.00,2.05,0.00,0.000,6,0.000,0.018,3002,2026,2031,0,0,0,0,0,0
$GC,4088,0.62,194.6,198.8,10.3,457,4095,0.00,1.92,0.00,0.000,4,0.000,0.031,3011,682,2030,0,0,0,0,0,0
$GC,4293,0.62,194.6,168.0,18.3,493,4300,0.00,1.83,0.00,0.000,6,0.000,0.019,3011,1968,2028,0,0,0,0,0,0
$GC,4439,0.62,194.6,145.4,15.6,518,4447,0.00,2.25,0.00,0.000,4,0.000,0.036,3011,3468,2027,0,0,0,0,0,0
$GC,4563,0.71,266.3,133.8,7.3,539,4626,0.00,2.00,55.20,0.692,6,0.000,0.018,3020,2044,1751,0,0,0,0,0,0
$GC,4762,0.72,278.3,115.6,9.3,572,4779,0.00,1.95,10.70,0.613,4,0.000,0.028,3026,707,1702,0,0,0,0,0,0
$GC,4833,0.78,326.2,109.8,8.1,583,4881,0.00,1.85,38.38,0.658,6,0.000,0.019,3026,1999,1508,0,0,0,0,0,0
$GC,5021,0.78,326.2,90.4,10.5,614,5029,0.00,2.20,0.00,0.000,4,0.000,0.034,3026,3465,1501,0,0,0,0,0,0
$GC,5070,0.78,326.2,84.5,11.8,622,5079,0.00,2.20,0.00,0.000,6,0.000,0.019,3029,1947,1500,0,0,0,0,0,0
$GC,5221,0.92,438.3,75.6,6.0,647,5320,0.17,1.88,87.20,0.630,4,0.073,0.031,3120,705,1051,0,0,0,0,0,0
$GC,5421,0.92,438.3,56.8,11.1,678,5429,0.00,1.75,0.00,0.000,6,0.000,0.018,3120,1919,1048,0,0,0,0,0,0
$GC,5568,0.93,448.2,40.6,9.4,703,5583,0.00,2.38,8.55,0.522,4,0.000,0.033,3120,3478,1012,0,0,0,0,0,0
$GC,5625,1.09,572.0,37.4,5.6,712,5731,0.00,2.20,93.85,0.588,6,0.000,0.018,3124,1956,507,0,0,0,0,0,0
$GC,5871,1.18,648.8,23.3,7.1,751,5887,0.15,1.85,4.40,0.404,4,0.081,0.029,3204,709,489,0,0,0,0,0,0
$GC,5965,1.18,648.8,12.9,11.0,766,5973,0.00,1.70,0.00,0.000,6,0.000,0.018,3204,1899,488,0,0,0,0,0,0
$STATE,6041,end climb,SURFACE_DEPTH_REACHED
$STATE,6041,begin surface coast
$FINISH,0.9,1.020964
$STATE,6065,end surface coast,CONTROL_FINISHED_OK
$STATE,6066,begin surface
$SM_CCo,6143,0.00,0.000,0,0,486,576.95
$SM_GC,1.56,7.82,0.00,0.00,0.034,0.000,0.000,121,1909,486,-8.30,0.96,576.95,0,0,0,0,0,0
$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.028462,0.028462
$HUMID,42.24
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,28.10
$XPDR_PINGS,71
$24V_AH,24.6,78.674
$10V_AH,10.0,66.304
$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,19.225,72.625,592.275,0.000,0.000,164.001,32.658,0.000,17.750,0.000,904.637,1814.791,2116.657,616.306,2622.520,440.117,0.000,1438.496,0.000,1676.391,0.000,0.546,0.000
$DEVICE_MAMPS,227.970,41.310,809.370,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,519.402,821.969,642.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323984
$DATA_FILE_SIZE,46938,783
$CAP_FILE_SIZE,90571,0
$CFSIZE,260165632,101052416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,153.5,1
$GPS,100911,223531,1936.959,12129.130,901,99.0,901,-2.2