version: 66.09
glider: 167
mission: 8
dive: 417
start: 9 11 111 7 46 24
data:
$ID,167
$MISSION,8
$DIVE,417
$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,-106558.82
$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,72
$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
$GPS1,110911,072100,1943.455,12129.316,38,1.3,38,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.3
$GPS2,110911,072100,1943.455,12129.316,901,99.0,901,-2.3
$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,195.5,156922,-15.3,-9.706
$D_GRID,678
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-194.6,0.0,0.0,0,110,0.00,0.00,-88.85,0.000,2,0.000,0.000,107,1991,2929,0,0,0,0,0,0
$GC,114,-0.62,-194.6,5.0,-9.5,13,143,10.05,2.20,-12.07,0.000,4,0.230,0.035,2590,469,3633,0,0,0,0,0,0
$GC,218,-0.62,-194.6,42.4,-31.1,30,226,0.00,2.05,0.00,0.000,6,0.000,0.022,2583,1871,3634,0,0,0,0,0,0
$GC,361,-0.62,-194.6,83.3,-24.1,55,369,0.00,2.08,0.00,0.000,4,0.000,0.032,2573,3289,3634,0,0,0,0,0,0
$GC,405,-0.62,-194.6,92.0,-21.0,62,412,0.00,1.85,0.00,0.000,6,0.000,0.016,2573,1964,3634,0,0,0,0,0,0
$GC,547,-0.62,-194.6,124.0,-21.9,87,554,0.00,2.12,0.00,0.000,4,0.000,0.025,2573,480,3635,0,0,0,0,0,0
$GC,566,-0.62,-194.6,128.2,-20.4,90,576,0.10,2.30,0.00,0.000,6,0.148,0.023,2594,2049,3634,0,0,0,0,0,0
$GC,716,-0.62,-194.6,149.9,-10.6,115,723,0.00,1.80,0.00,0.000,4,0.000,0.033,2588,3285,3634,0,0,0,0,0,0
$GC,743,-0.62,-194.6,153.9,-12.0,119,751,0.00,1.80,0.00,0.000,6,0.000,0.016,2587,1978,3634,0,0,0,0,0,0
$GC,886,-0.62,-194.6,172.5,-13.5,144,894,0.00,2.17,0.00,0.000,4,0.000,0.028,2587,485,3634,0,0,0,0,0,0
$GC,962,-0.62,-194.6,182.6,-13.3,157,968,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1963,3635,0,0,0,0,0,0
$GC,1106,-0.62,-194.6,199.0,-11.0,182,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1962,3634,0,0,0,0,0,0
$GC,1248,-0.62,-194.6,217.9,-14.5,196,1252,0.00,2.15,0.00,0.000,4,0.000,0.026,2587,484,3635,0,0,0,0,0,0
$GC,1371,-0.62,-194.6,233.5,-13.5,206,1378,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1910,3634,0,0,0,0,0,0
$GC,1698,-0.62,-194.6,267.8,-11.6,237,1701,0.00,2.00,0.00,0.000,4,0.000,0.034,2587,3267,3633,0,0,0,0,0,0
$GC,1733,-0.62,-194.6,272.0,-11.8,240,1737,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1880,3632,0,0,0,0,0,0
$GC,2065,-0.62,-194.6,302.3,-6.1,271,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1879,3630,0,0,0,0,0,0
$GC,2385,-0.62,-194.6,330.7,-11.7,301,2389,0.00,2.03,0.00,0.000,4,0.000,0.028,2587,498,3628,0,0,0,0,0,0
$GC,2434,-0.62,-194.6,336.3,-10.7,305,2441,0.00,2.05,0.00,0.000,6,0.000,0.023,2587,1906,3627,0,0,0,0,0,0
$GC,2760,-0.62,-194.6,365.8,-9.6,336,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1907,3625,0,0,0,0,0,0
$GC,3081,-0.62,-194.6,396.1,-10.2,366,3086,0.00,2.05,0.00,0.000,4,0.000,0.037,2586,3265,3622,0,0,0,0,0,0
$GC,3131,-0.62,-194.6,402.3,-11.5,370,3138,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1875,3621,0,0,0,0,0,0
$GC,3456,-0.62,-194.6,430.6,-6.3,401,3461,0.00,2.15,0.00,0.000,4,0.000,0.034,2587,3273,3618,0,0,0,0,0,0
$GC,3494,-0.62,-194.6,433.2,-6.4,404,3501,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1914,3618,0,0,0,0,0,0
$GC,3820,-0.62,-194.6,455.2,-6.4,435,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1914,3615,0,0,0,0,0,0
$GC,4140,-0.62,-194.6,484.9,-8.3,465,4143,0.00,2.08,0.00,0.000,4,0.000,0.031,2587,511,3613,0,0,0,0,0,0
$GC,4177,-0.62,-194.6,487.5,-7.5,468,4181,0.00,2.05,0.00,0.000,6,0.000,0.024,2587,1902,3612,0,0,0,0,0,0
$GC,4516,-0.62,-194.6,510.8,-4.9,492,4520,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3269,3609,0,0,0,0,0,0
$GC,4613,-0.62,-194.6,514.8,-4.0,496,4617,0.00,1.92,0.00,0.000,6,0.000,0.019,2587,1907,3609,0,0,0,0,0,0
$GC,4941,-0.62,-194.6,526.8,-3.1,512,4945,0.00,2.08,0.00,0.000,4,0.000,0.030,2587,510,3606,0,0,0,0,0,0
$GC,4968,-0.62,-194.6,527.3,-3.0,513,4972,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1932,3606,0,0,0,0,0,0
$GC,5298,-0.62,-194.6,537.9,-2.6,529,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1932,3604,0,0,0,0,0,0
$GC,5605,-0.62,-194.6,545.7,-2.2,544,5609,0.00,2.03,0.00,0.000,4,0.000,0.039,2587,3273,3601,0,0,0,0,0,0
$GC,5668,-0.62,-194.6,546.1,-1.9,546,5676,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1924,3601,0,0,0,0,0,0
$GC,5985,-0.62,-194.6,557.4,-7.6,562,5990,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,512,3599,0,0,0,0,0,0
$GC,6001,-0.62,-194.6,558.8,-9.6,562,6008,0.00,2.03,0.00,0.000,6,0.000,0.024,2587,1889,3599,0,0,0,0,0,0
$GC,6319,-0.62,-194.6,574.7,-3.3,578,6324,0.00,2.10,0.00,0.000,4,0.000,0.038,2588,3268,3598,0,0,0,0,0,0
$GC,6468,-0.62,-194.6,580.5,-4.8,584,6472,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1928,3598,0,0,0,0,0,0
$GC,6792,-0.62,-194.6,589.9,-1.9,600,6796,0.00,2.12,0.00,0.000,4,0.000,0.034,2587,501,3596,0,0,0,0,0,0
$STATE,7015,end dive,NO_VERTICAL_VELOCITY
$STATE,7016,begin apogee
$GC,7024,-0.20,0.0,589.9,0.0,610,7179,0.38,0.00,149.90,1.079,4,0.064,0.000,2740,2085,2839,0,0,0,0,0,0
$STATE,7180,end apogee,CONTROL_FINISHED_OK
$STATE,7180,begin climb
$GC,7182,0.62,194.6,589.8,0.0,617,7350,0.70,2.20,157.15,1.040,4,0.083,0.041,2995,3462,2044,0,0,0,0,0,0
$GC,7601,0.62,194.6,533.9,15.1,636,7605,0.00,1.98,0.00,0.000,6,0.000,0.020,3005,2081,2035,0,0,0,0,0,0
$GC,7927,0.62,194.6,492.2,11.9,654,7931,0.00,2.12,0.00,0.000,4,0.000,0.037,3005,3471,2033,0,0,0,0,0,0
$GC,8048,0.62,194.6,474.8,15.4,664,8052,0.00,2.15,0.00,0.000,6,0.000,0.020,3015,2007,2033,0,0,0,0,0,0
$GC,8378,0.62,194.6,436.7,10.3,695,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2006,2031,0,0,0,0,0,0
$GC,8700,0.65,220.7,409.5,8.8,725,8727,0.00,2.00,20.95,0.940,4,0.000,0.034,3025,698,1938,0,0,0,0,0,0
$GC,8774,0.68,239.2,402.5,9.1,731,8796,0.00,1.95,17.30,0.912,6,0.000,0.024,3025,2036,1864,0,0,0,0,0,0
$GC,9123,0.68,239.2,367.5,10.9,764,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2036,1858,0,0,0,0,0,0
$GC,9442,0.68,239.2,333.7,11.0,794,9446,0.00,2.00,0.00,0.000,4,0.000,0.031,3035,696,1856,0,0,0,0,0,0
$GC,9558,0.68,239.2,319.1,13.9,804,9562,0.00,1.90,0.00,0.000,6,0.000,0.021,3034,1990,1856,0,0,0,0,0,0
$GC,9889,0.68,239.2,273.9,10.9,835,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1990,1856,0,0,0,0,0,0
$GC,10211,0.68,239.2,238.3,10.7,865,10215,0.00,2.20,0.00,0.000,4,0.000,0.036,3035,3460,1855,0,0,0,0,0,0
$GC,10328,0.74,290.0,226.1,8.0,875,10375,0.00,2.10,42.03,0.824,6,0.000,0.019,3044,1999,1656,0,0,0,0,0,0
$GC,10705,0.85,384.4,175.4,6.5,930,10789,0.00,1.95,76.18,0.770,4,0.000,0.030,3054,696,1270,0,0,0,0,0,0
$GC,11039,1.03,523.7,160.5,5.0,987,11157,0.20,1.62,110.72,0.732,6,0.071,0.018,3141,1853,703,0,0,0,0,0,0
$GC,11292,1.03,523.7,118.6,16.4,1028,11300,0.00,1.75,0.00,0.000,4,0.000,0.033,3151,697,697,0,0,0,0,0,0
$GC,11326,1.03,523.7,113.0,16.8,1033,11332,0.00,1.60,0.00,0.000,6,0.000,0.020,3150,1802,696,0,0,0,0,0,0
$GC,11467,1.03,523.7,79.5,27.5,1058,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1802,695,0,0,0,0,0,0
$GC,11609,1.21,671.2,64.9,4.8,1083,11658,0.10,2.55,40.12,0.642,4,0.109,0.034,3201,3452,489,0,0,0,0,0,0
$GC,11694,1.21,671.2,52.4,18.3,1096,11702,0.00,2.50,0.00,0.000,6,0.000,0.019,3212,1772,486,0,0,0,0,0,0
$GC,11841,1.21,671.2,23.7,17.9,1121,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1772,484,0,0,0,0,0,0
$STATE,11967,end climb,SURFACE_DEPTH_REACHED
$STATE,11967,begin surface coast
$FINISH,0.9,1.009577
$STATE,11987,end surface coast,CONTROL_FINISHED_OK
$STATE,11987,begin surface
$SM_CCo,12068,0.00,0.000,0,0,484,577.93
$SM_GC,1.75,8.02,0.00,0.00,0.041,0.000,0.000,125,1939,484,-8.29,1.81,577.93,0,0,0,0,0,0
$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.75
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,26.00
$XPDR_PINGS,45
$24V_AH,24.0,78.992
$10V_AH,9.9,66.572
$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,19.550,102.275,614.350,0.000,0.000,164.905,39.042,0.000,11.250,0.000,901.451,2827.613,6179.225,633.695,3303.450,617.967,0.000,1812.734,0.000,2371.837,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,70.380,1079.415,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.502,889.892,552.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,67063,1147
$CAP_FILE_SIZE,136228,0
$CFSIZE,260165632,100827136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,1.742,193.4,1
$GPS,110911,072100,1943.455,12129.316,901,99.0,901,-2.3