version: 66.09
glider: 167
mission: 8
dive: 49
start: 6 20 111 14 1 14
data:
$ID,167
$MISSION,8
$DIVE,49
$N_DIVES,55
$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,300
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,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,-56445.531
$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,2805
$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,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,200611,135254,2004.957,12419.450,41,1.2,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-66.0
$GPS2,200611,140052,2004.948,12419.389,16,2.2,35,-2.5
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,158.1,251435,-17.0,-11.000
$D_GRID,5000
$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,-0.67,-194.6,0.0,0.0,0,87,0.00,0.00,-67.90,0.000,2,0.000,0.000,108,1809,3109,0,0,0,0,0,0
$GC,92,-0.67,-194.6,5.0,-6.1,9,118,9.62,2.17,-8.98,0.000,4,0.230,0.044,2568,3270,3634,0,0,0,0,0,0
$GC,126,-0.67,-194.6,21.0,-36.0,13,134,0.00,2.05,0.00,0.000,6,0.000,0.018,2570,1876,3634,0,0,0,0,0,0
$GC,199,-0.67,-194.6,48.0,-35.7,26,208,0.00,2.08,0.00,0.000,4,0.000,0.030,2570,477,3635,0,0,0,0,0,0
$GC,258,-0.67,-194.6,66.8,-30.7,35,266,0.00,2.05,0.00,0.000,6,0.000,0.020,2563,1876,3635,0,0,0,0,0,0
$GC,337,-0.67,-194.6,89.6,-27.7,48,344,0.00,2.08,0.00,0.000,4,0.000,0.030,2553,3271,3636,0,0,0,0,0,0
$GC,370,-0.67,-194.6,99.5,-29.2,53,379,0.10,2.03,0.00,0.000,6,0.168,0.018,2582,1852,3636,0,0,0,0,0,0
$GC,451,-0.67,-194.6,120.7,-25.9,66,461,0.00,1.98,0.00,0.000,4,0.000,0.029,2583,513,3636,0,0,0,0,0,0
$GC,519,-0.67,-194.6,138.6,-24.7,77,528,0.00,1.98,0.00,0.000,6,0.000,0.020,2576,1872,3637,0,0,0,0,0,0
$GC,596,-0.67,-194.6,160.3,-29.9,90,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1872,3637,0,0,0,0,0,0
$GC,671,-0.67,-194.6,178.9,-23.9,103,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1872,3637,0,0,0,0,0,0
$GC,747,-0.67,-194.6,198.2,-25.2,116,754,0.00,2.08,0.00,0.000,4,0.000,0.032,2566,3270,3637,0,0,0,0,0,0
$GC,787,-0.67,-194.6,207.6,-24.3,122,796,0.00,1.98,0.00,0.000,6,0.000,0.018,2566,1886,3637,0,0,0,0,0,0
$GC,864,-0.67,-194.6,224.4,-20.1,135,873,0.00,2.03,0.00,0.000,4,0.000,0.028,2566,501,3637,0,0,0,0,0,0
$GC,887,-0.67,-194.6,228.9,-18.9,138,896,0.00,2.00,0.00,0.000,6,0.000,0.021,2560,1877,3638,0,0,0,0,0,0
$GC,963,-0.67,-194.6,243.9,-20.1,151,970,0.12,0.00,0.00,0.000,6,0.188,0.000,2590,1877,3638,0,0,0,0,0,0
$GC,1040,-0.67,-194.6,257.3,-16.9,160,1044,0.00,2.05,0.00,0.000,4,0.000,0.031,2582,3278,3638,0,0,0,0,0,0
$GC,1058,-0.67,-194.6,260.7,-16.3,161,1065,0.00,2.00,0.00,0.000,6,0.000,0.019,2582,1874,3637,0,0,0,0,0,0
$GC,1383,-0.67,-194.6,311.5,-15.9,192,1387,0.00,2.00,0.00,0.000,4,0.000,0.031,2582,487,3637,0,0,0,0,0,0
$GC,1544,-0.67,-194.6,335.4,-14.6,206,1547,0.00,1.98,0.00,0.000,6,0.000,0.020,2575,1888,3638,0,0,0,0,0,0
$GC,1876,-0.67,-194.6,383.6,-14.1,237,1879,0.00,2.03,0.00,0.000,4,0.000,0.034,2575,3271,3637,0,0,0,0,0,0
$GC,1970,-0.67,-194.6,396.1,-12.7,245,1977,0.00,2.00,0.00,0.000,6,0.000,0.018,2575,1834,3636,0,0,0,0,0,0
$GC,2296,-0.67,-194.6,437.6,-11.8,276,2300,0.00,1.92,0.00,0.000,4,0.000,0.031,2575,497,3635,0,0,0,0,0,0
$GC,2376,-0.67,-194.6,447.1,-11.9,283,2380,0.00,1.95,0.00,0.000,6,0.000,0.021,2574,1875,3634,0,0,0,0,0,0
$GC,2708,-0.67,-194.6,483.6,-10.2,314,2712,0.00,2.05,0.00,0.000,4,0.000,0.035,2574,3268,3633,0,0,0,0,0,0
$GC,2724,-0.67,-194.6,485.5,-10.2,315,2732,0.00,2.00,0.00,0.000,6,0.000,0.020,2574,1869,3633,0,0,0,0,0,0
$GC,3050,-0.67,-194.6,517.6,-9.7,346,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1869,3631,0,0,0,0,0,0
$GC,3371,-0.67,-194.6,547.8,-8.3,376,3375,0.00,2.05,0.00,0.000,4,0.000,0.034,2574,3261,3628,0,0,0,0,0,0
$GC,3435,-0.67,-194.6,553.0,-8.0,381,3442,0.00,1.98,0.00,0.000,6,0.000,0.020,2574,1869,3628,0,0,0,0,0,0
$GC,3760,-0.67,-194.6,585.6,-11.5,412,3764,0.00,2.00,0.00,0.000,4,0.000,0.033,2574,491,3625,0,0,0,0,0,0
$GC,3809,-0.67,-194.6,591.9,-12.3,416,3817,0.00,2.00,0.00,0.000,6,0.000,0.023,2574,1866,3625,0,0,0,0,0,0
$GC,4141,-0.67,-194.6,627.7,-10.4,436,4145,0.00,2.05,0.00,0.000,4,0.000,0.037,2574,3267,3623,0,0,0,0,0,0
$GC,4207,-0.67,-194.6,634.9,-9.7,439,4211,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1872,3623,0,0,0,0,0,0
$GC,4535,-0.67,-194.6,665.9,-9.3,455,4539,0.00,2.00,0.00,0.000,4,0.000,0.032,2574,497,3620,0,0,0,0,0,0
$GC,4614,-0.67,-194.6,673.6,-9.8,458,4617,0.00,2.00,0.00,0.000,6,0.000,0.022,2573,1881,3620,0,0,0,0,0,0
$GC,4938,-0.67,-194.6,702.1,-8.6,474,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1881,3617,0,0,0,0,0,0
$GC,5247,-0.67,-194.6,728.8,-8.8,489,5250,0.00,2.05,0.00,0.000,4,0.000,0.038,2573,3272,3615,0,0,0,0,0,0
$GC,5330,-0.67,-194.6,736.5,-8.9,492,5337,0.00,2.00,0.00,0.000,6,0.000,0.021,2573,1872,3614,0,0,0,0,0,0
$GC,5646,-0.67,-194.6,767.2,-10.0,508,5650,0.00,2.00,0.00,0.000,4,0.000,0.033,2573,501,3611,0,0,0,0,0,0
$GC,5693,-0.67,-194.6,772.1,-10.6,510,5697,0.00,1.98,0.00,0.000,6,0.000,0.023,2573,1880,3611,0,0,0,0,0,0
$GC,6026,-0.67,-194.6,805.8,-9.9,526,6030,0.00,2.05,0.00,0.000,4,0.000,0.038,2564,3272,3609,0,0,0,0,0,0
$GC,6078,-0.67,-194.6,810.8,-9.6,528,6081,0.00,2.00,0.00,0.000,6,0.000,0.021,2564,1875,3609,0,0,0,0,0,0
$GC,6400,-0.67,-194.6,843.4,-9.9,544,6403,0.00,2.05,0.00,0.000,4,0.000,0.034,2563,487,3607,0,0,0,0,0,0
$GC,6424,-0.67,-194.6,845.9,-9.8,545,6429,0.00,2.03,0.00,0.000,6,0.000,0.024,2562,1866,3606,0,0,0,0,0,0
$GC,6758,-0.67,-194.6,876.0,-8.7,561,6762,0.00,2.10,0.00,0.000,4,0.000,0.040,2561,3270,3605,0,0,0,0,0,0
$GC,6808,-0.67,-194.6,880.6,-8.8,563,6812,0.00,2.03,0.00,0.000,6,0.000,0.021,2562,1874,3605,0,0,0,0,0,0
$GC,7131,-0.67,-194.6,908.0,-8.4,579,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1873,3603,0,0,0,0,0,0
$GC,7438,-0.67,-194.6,933.7,-8.5,594,7442,0.00,2.03,0.00,0.000,4,0.000,0.034,2561,491,3601,0,0,0,0,0,0
$GC,7471,-0.67,-194.6,936.7,-8.9,595,7475,0.00,2.00,0.00,0.000,6,0.000,0.024,2562,1877,3600,0,0,0,0,0,0
$GC,7797,-0.67,-194.6,964.0,-8.7,611,7801,0.00,2.08,0.00,0.000,4,0.000,0.041,2562,3275,3599,0,0,0,0,0,0
$GC,7878,-0.67,-194.6,971.4,-8.7,614,7885,0.00,2.03,0.00,0.000,6,0.000,0.022,2561,1869,3599,0,0,0,0,0,0
$STATE,8088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8088,begin apogee
$GC,8096,-0.20,0.0,990.8,9.2,625,8253,0.52,0.00,150.50,1.397,6,0.129,0.000,2737,2078,2838,0,0,0,0,0,0
$STATE,8254,end apogee,CONTROL_FINISHED_OK
$STATE,8254,begin climb
$GC,8257,0.67,194.6,996.1,0.0,632,8429,0.80,0.00,163.35,1.342,6,0.076,0.000,3015,2078,2044,0,0,0,0,0,0
$GC,8737,0.67,194.6,936.0,14.0,656,8741,0.00,2.15,0.00,0.000,4,0.000,0.041,3016,3462,2035,0,0,0,0,0,0
$GC,8815,0.67,194.6,923.9,15.5,659,8822,0.00,2.08,0.00,0.000,6,0.000,0.023,3025,2055,2033,0,0,0,0,0,0
$GC,9133,0.67,194.6,877.3,14.9,675,9136,0.00,2.05,0.00,0.000,4,0.000,0.036,3036,689,2032,0,0,0,0,0,0
$GC,9224,0.67,194.6,863.2,15.1,679,9228,0.00,2.08,0.00,0.000,6,0.000,0.024,3036,2077,2032,0,0,0,0,0,0
$GC,9553,0.67,194.6,813.5,15.1,695,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2077,2031,0,0,0,0,0,0
$GC,9861,0.67,194.6,765.4,15.9,710,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2077,2030,0,0,0,0,0,0
$GC,10170,0.67,194.6,718.4,15.0,725,10174,0.00,2.10,0.00,0.000,4,0.000,0.041,3036,3467,2029,0,0,0,0,0,0
$GC,10233,0.67,194.6,708.5,15.9,728,10237,0.00,2.03,0.00,0.000,6,0.000,0.024,3046,2073,2029,0,0,0,0,0,0
$GC,10568,0.67,194.6,657.8,15.3,744,10571,0.00,2.03,0.00,0.000,4,0.000,0.035,3057,688,2028,0,0,0,0,0,0
$GC,10653,0.67,194.6,643.9,16.1,747,10661,0.12,2.05,0.00,0.000,6,0.164,0.024,3024,2079,2028,0,0,0,0,0,0
$GC,10971,0.67,194.6,597.8,13.8,763,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2079,2028,0,0,0,0,0,0
$GC,11289,0.67,194.6,559.5,11.8,793,11290,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2079,2027,0,0,0,0,0,0
$GC,11611,0.67,194.6,521.7,12.2,823,11615,0.00,2.08,0.00,0.000,4,0.000,0.040,3024,3474,2027,0,0,0,0,0,0
$GC,11789,0.67,194.6,496.3,13.7,838,11797,0.00,2.05,0.00,0.000,6,0.000,0.022,3032,2067,2026,0,0,0,0,0,0
$GC,12114,0.67,194.6,451.9,13.8,869,12115,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2067,2026,0,0,0,0,0,0
$GC,12438,0.67,194.6,409.1,13.0,899,12442,0.00,2.05,0.00,0.000,4,0.000,0.034,3042,675,2026,0,0,0,0,0,0
$GC,12600,0.67,194.6,388.2,12.0,913,12608,0.00,2.08,0.00,0.000,6,0.000,0.023,3042,2078,2026,0,0,0,0,0,0
$GC,12926,0.67,194.6,349.7,11.4,944,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2078,2026,0,0,0,0,0,0
$GC,13246,0.67,194.6,311.6,11.4,974,13250,0.00,2.05,0.00,0.000,4,0.000,0.032,3051,681,2026,0,0,0,0,0,0
$GC,13293,0.67,194.6,306.2,11.6,978,13298,0.08,2.08,0.00,0.000,6,0.139,0.023,3026,2095,2026,0,0,0,0,0,0
$GC,13625,0.73,245.9,274.0,9.1,1009,13673,0.00,2.17,38.92,0.850,4,0.000,0.032,3034,684,1835,0,0,0,0,0,0
$GC,13723,0.75,262.8,264.5,10.4,1017,13748,0.00,2.08,14.98,0.789,6,0.000,0.021,3033,2070,1765,0,0,0,0,0,0
$GC,14067,0.77,282.8,228.4,10.2,1068,14090,0.00,0.00,16.83,0.767,6,0.000,0.000,3034,2070,1685,0,0,0,0,0,0
$GC,14158,0.82,317.7,219.5,9.7,1083,14197,0.10,2.17,28.95,0.773,4,0.106,0.036,3087,3460,1541,0,0,0,0,0,0
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$STATE,15947,end climb,SURFACE_DEPTH_REACHED
$STATE,15947,begin surface coast
$FINISH,1.2,1.021855
$STATE,15970,end surface coast,CONTROL_FINISHED_OK
$STATE,15970,begin surface
$SM_CCo,16049,0.00,0.000,0,0,1048,439.33
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$IRIDIUM_FIX,1957.29,12417.04,200611,090941
$TT8_MAMPS,0.027713,0.027713
$HUMID,31.65
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,27.70
$XPDR_PINGS,3
$24V_AH,23.9,10.251
$10V_AH,10.3,8.226
$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,19.575,151.700,515.500,0.000,0.000,25.166,50.265,218.333,0.750,0.000,37.612,3474.873,8388.153,693.173,3179.291,769.973,0.000,2102.588,0.000,3117.567,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,43.605,1396.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,941.078,1622.600,1377.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329916
$DATA_FILE_SIZE,76984,1385
$CAP_FILE_SIZE,181451,0
$CFSIZE,260165632,137719808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,314.9,1
$GPS,200611,183001,2003.196,12419.708,42,1.2,42,-2.5