version: 66.09
glider: 167
mission: 8
dive: 416
start: 9 11 111 4 45 4
data:
$ID,167
$MISSION,8
$DIVE,416
$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,-105656.74
$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,97
$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
$GPS1,100911,223531,1936.959,12129.130,901,99.0,901,-2.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.3
$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,145.2,147013,-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,-194.6,0.0,0.0,0,113,0.00,0.00,-92.15,0.000,2,0.000,0.000,109,1911,3066,0,0,0,0,0,0
$GC,116,-0.62,-194.6,5.3,-8.7,13,146,9.88,2.05,-9.45,0.000,4,0.227,0.037,2597,498,3636,0,0,0,0,0,0
$GC,242,-0.62,-194.6,46.4,-24.3,33,249,0.00,1.95,0.00,0.000,6,0.000,0.020,2590,1882,3637,0,0,0,0,0,0
$GC,389,-0.62,-194.6,81.1,-19.7,58,398,0.00,2.05,0.00,0.000,4,0.000,0.032,2580,3270,3636,0,0,0,0,0,0
$GC,542,-0.62,-194.6,106.7,-15.9,84,549,0.00,1.70,0.00,0.000,6,0.000,0.015,2580,2022,3636,0,0,0,0,0,0
$GC,687,-0.62,-194.6,132.0,-16.4,109,693,0.00,2.17,0.00,0.000,4,0.000,0.025,2580,497,3637,0,0,0,0,0,0
$GC,771,-0.62,-194.6,144.7,-15.3,123,778,0.00,2.17,0.00,0.000,6,0.000,0.021,2574,2013,3637,0,0,0,0,0,0
$GC,912,-0.62,-194.6,166.3,-12.5,148,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2013,3637,0,0,0,0,0,0
$GC,1060,-0.62,-194.6,181.4,-11.6,173,1067,0.00,2.17,0.00,0.000,4,0.000,0.025,2574,508,3637,0,0,0,0,0,0
$GC,1108,-0.62,-194.6,189.0,-16.7,181,1115,0.00,2.08,0.00,0.000,6,0.000,0.021,2574,1956,3637,0,0,0,0,0,0
$GC,1249,-0.62,-194.6,205.1,-8.7,201,1252,0.00,1.92,0.00,0.000,4,0.000,0.034,2574,3271,3637,0,0,0,0,0,0
$GC,1306,-0.62,-194.6,211.2,-10.2,206,1309,0.00,1.70,0.00,0.000,6,0.000,0.016,2574,2030,3636,0,0,0,0,0,0
$GC,1637,-0.62,-194.6,241.5,-11.3,237,1641,0.00,2.17,0.00,0.000,4,0.000,0.026,2574,507,3634,0,0,0,0,0,0
$GC,1673,-0.62,-194.6,243.9,-7.7,239,1680,0.00,2.25,0.00,0.000,6,0.000,0.021,2574,2058,3634,0,0,0,0,0,0
$GC,1999,-0.62,-194.6,272.6,-6.5,270,2002,0.00,1.75,0.00,0.000,4,0.000,0.035,2574,3268,3631,0,0,0,0,0,0
$GC,2061,-0.62,-194.6,275.5,-4.9,275,2068,0.00,1.67,0.00,0.000,6,0.000,0.018,2574,2045,3630,0,0,0,0,0,0
$GC,2386,-0.62,-194.6,307.8,-10.5,306,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2041,3628,0,0,0,0,0,0
$GC,2709,-0.62,-194.6,328.7,-5.6,336,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2040,3625,0,0,0,0,0,0
$GC,3037,-0.62,-194.6,348.8,-9.1,367,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2040,3623,0,0,0,0,0,0
$GC,3366,-0.62,-194.6,378.4,-9.6,398,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2040,3620,0,0,0,0,0,0
$GC,3697,-0.62,-194.6,410.8,-9.4,429,3701,0.00,2.22,0.00,0.000,4,0.000,0.027,2574,512,3617,0,0,0,0,0,0
$GC,3727,-0.62,-194.6,413.5,-8.4,431,3731,0.00,2.33,0.00,0.000,6,0.000,0.024,2573,2074,3617,0,0,0,0,0,0
$GC,4057,-0.62,-194.6,436.3,-8.6,462,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2074,3614,0,0,0,0,0,0
$GC,4379,-0.62,-194.6,471.3,-14.0,492,4383,0.00,2.30,0.00,0.000,4,0.000,0.028,2573,514,3611,0,0,0,0,0,0
$GC,4456,-0.62,-194.6,482.7,-13.4,498,4464,0.00,2.30,0.00,0.000,6,0.000,0.023,2573,2076,3610,0,0,0,0,0,0
$STATE,4674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4674,begin apogee
$GC,4681,-0.20,0.0,505.1,9.9,517,4836,0.47,0.00,147.95,0.993,4,0.126,0.000,2729,2076,2839,0,0,0,0,0,0
$STATE,4836,end apogee,CONTROL_FINISHED_OK
$STATE,4836,begin climb
$GC,4841,0.62,194.6,515.7,0.0,524,5008,0.73,2.17,153.25,0.958,4,0.082,0.038,3003,3458,2043,0,0,0,0,0,0
$GC,5247,0.62,194.6,466.9,16.5,552,5250,0.00,1.98,0.00,0.000,6,0.000,0.019,3011,2078,2036,0,0,0,0,0,0
$GC,5577,0.62,194.6,428.4,10.2,583,5581,0.00,2.10,0.00,0.000,4,0.000,0.036,3011,3465,2033,0,0,0,0,0,0
$GC,5801,0.62,194.6,398.6,14.4,602,5809,0.00,2.05,0.00,0.000,6,0.000,0.020,3020,2065,2032,0,0,0,0,0,0
$GC,6127,0.62,194.6,354.0,12.3,633,6130,0.00,2.03,0.00,0.000,4,0.000,0.031,3030,680,2030,0,0,0,0,0,0
$GC,6255,0.63,202.8,340.9,9.4,644,6266,0.00,1.98,5.70,0.705,6,0.000,0.022,3030,2030,2012,0,0,0,0,0,0
$GC,6593,0.84,375.1,312.5,3.9,676,6743,0.12,2.10,139.88,0.863,4,0.092,0.031,3105,692,1308,0,0,0,0,0,0
$GC,6837,0.84,375.1,271.6,17.3,697,6845,0.08,1.83,0.00,0.000,6,0.121,0.022,3077,1923,1304,0,0,0,0,0,0
$GC,7163,0.84,375.1,229.9,10.4,728,7167,0.00,2.33,0.00,0.000,4,0.000,0.037,3077,3471,1298,0,0,0,0,0,0
$GC,7248,0.84,375.1,218.2,14.2,735,7253,0.00,2.17,0.00,0.000,6,0.000,0.021,3083,1991,1296,0,0,0,0,0,0
$GC,7584,0.84,375.1,166.5,14.8,785,7591,0.00,1.92,0.00,0.000,4,0.000,0.033,3093,680,1295,0,0,0,0,0,0
$GC,7790,0.84,375.1,137.6,13.3,822,7798,0.00,1.80,0.00,0.000,6,0.000,0.022,3093,1908,1295,0,0,0,0,0,0
$GC,7935,0.84,375.1,116.2,13.6,847,7942,0.00,2.30,0.00,0.000,4,0.000,0.036,3093,3466,1294,0,0,0,0,0,0
$GC,8021,0.84,375.1,106.1,10.9,862,8029,0.00,2.12,0.00,0.000,6,0.000,0.019,3100,2006,1293,0,0,0,0,0,0
$GC,8165,0.84,375.1,90.8,12.2,887,8173,0.00,1.95,0.00,0.000,4,0.000,0.031,3111,686,1293,0,0,0,0,0,0
$GC,8250,0.84,375.1,80.4,11.4,902,8258,0.10,1.73,0.00,0.000,6,0.108,0.021,3073,1888,1293,0,0,0,0,0,0
$GC,8396,0.84,375.1,66.4,9.8,927,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1889,1293,0,0,0,0,0,0
$GC,8535,0.98,482.3,58.5,6.1,952,8628,0.12,1.83,84.65,0.641,4,0.090,0.028,3139,682,871,0,0,0,0,0,0
$GC,8638,0.98,482.3,48.4,10.5,966,8646,0.00,1.60,0.00,0.000,6,0.000,0.018,3138,1796,871,0,0,0,0,0,0
$GC,8780,1.07,555.7,36.0,7.2,991,8845,0.00,2.60,56.67,0.605,4,0.000,0.033,3139,3469,570,0,0,0,0,0,0
$GC,8888,1.07,555.7,26.5,9.9,1007,8896,0.00,2.45,0.00,0.000,6,0.000,0.019,3139,1796,567,0,0,0,0,0,0
$GC,9032,1.13,606.5,14.6,8.0,1032,9054,0.00,1.62,15.82,0.554,4,0.000,0.030,3142,686,488,0,0,0,0,0,0
$GC,9137,1.23,691.1,6.7,6.9,1050,9147,0.12,1.55,0.00,0.000,6,0.050,0.018,3217,1799,487,0,0,0,0,0,0
$STATE,9169,end climb,SURFACE_DEPTH_REACHED
$STATE,9169,begin surface coast
$FINISH,0.9,1.021338
$STATE,9200,end surface coast,CONTROL_FINISHED_OK
$STATE,9200,begin surface
$SM_CCo,9280,0.00,0.000,0,0,485,577.44
$SM_GC,1.66,8.02,0.00,0.00,0.042,0.000,0.000,116,1994,485,-8.31,3.36,577.44,0,0,0,0,0,0
$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.028462,0.028462
$HUMID,44.64
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,26.30
$XPDR_PINGS,72
$24V_AH,24.3,78.827
$10V_AH,9.9,66.446
$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,19.650,81.225,603.925,0.000,0.000,167.978,29.501,0.000,18.000,0.000,905.696,2537.437,3931.425,643.211,3095.344,549.605,0.000,1691.828,0.000,2163.829,0.000,0.545,0.000
$DEVICE_MAMPS,227.205,130.815,992.970,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.888,883.787,632.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63530,1060
$CAP_FILE_SIZE,115792,0
$CFSIZE,260165632,100937728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,1.466,355.2,1
$GPS,110911,072100,1943.455,12129.316,38,1.3,38,-2.3