version: 66.09
glider: 167
mission: 8
dive: 50
start: 6 20 111 18 42 18
data:
$ID,167
$MISSION,8
$DIVE,50
$N_DIVES,60
$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,1
$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,-56446.789
$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,89
$R_STBD_OVSHOOT,68
$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
$GPS1,200611,183001,2003.196,12419.708,42,1.2,42,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-66.2
$GPS2,200611,184125,2003.319,12419.521,11,1.4,16,-2.5
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.033,-0.304
$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,163.9,248411,-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,-194.6,0.0,0.0,0,99,0.00,0.00,-79.93,0.000,2,0.000,0.000,107,1852,3325,0,0,0,0,0,0
$GC,103,-0.67,-194.6,5.7,-9.5,10,128,9.75,2.00,-4.78,0.000,4,0.236,0.034,2583,477,3635,0,0,0,0,0,0
$GC,135,-0.67,-194.6,26.3,-47.4,14,143,0.00,2.05,0.00,0.000,6,0.000,0.018,2576,1880,3635,0,0,0,0,0,0
$GC,209,-0.67,-194.6,55.5,-37.6,27,217,0.00,2.05,0.00,0.000,4,0.000,0.028,2576,503,3636,0,0,0,0,0,0
$GC,233,-0.67,-194.6,63.1,-32.9,30,242,0.00,2.00,0.00,0.000,6,0.000,0.021,2567,1866,3637,0,0,0,0,0,0
$GC,313,-0.67,-194.6,86.3,-32.3,43,322,0.00,2.10,0.00,0.000,4,0.000,0.032,2556,3271,3637,0,0,0,0,0,0
$GC,336,-0.67,-194.6,93.4,-30.1,46,344,0.00,2.00,0.00,0.000,6,0.000,0.019,2556,1894,3637,0,0,0,0,0,0
$GC,414,-0.67,-194.6,115.0,-27.9,59,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1893,3637,0,0,0,0,0,0
$GC,493,-0.67,-194.6,138.1,-29.6,72,501,0.00,2.08,0.00,0.000,4,0.000,0.031,2556,489,3637,0,0,0,0,0,0
$GC,584,-0.67,-194.6,165.4,-26.9,88,593,0.10,2.03,0.00,0.000,6,0.165,0.021,2578,1875,3637,0,0,0,0,0,0
$GC,660,-0.67,-194.6,183.9,-23.7,101,668,0.00,2.10,0.00,0.000,4,0.000,0.032,2569,3272,3638,0,0,0,0,0,0
$GC,682,-0.67,-194.6,188.8,-22.8,104,691,0.00,2.03,0.00,0.000,6,0.000,0.018,2569,1870,3637,0,0,0,0,0,0
$GC,761,-0.67,-194.6,207.1,-23.1,117,769,0.00,2.03,0.00,0.000,4,0.000,0.031,2569,489,3638,0,0,0,0,0,0
$GC,824,-0.67,-194.6,220.2,-18.6,128,833,0.00,2.03,0.00,0.000,6,0.000,0.021,2561,1879,3638,0,0,0,0,0,0
$GC,902,-0.67,-194.6,234.5,-19.9,141,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1879,3638,0,0,0,0,0,0
$GC,977,-0.67,-194.6,247.8,-17.8,154,985,0.00,2.08,0.00,0.000,4,0.000,0.032,2551,3267,3638,0,0,0,0,0,0
$GC,996,-0.67,-194.6,251.9,-18.5,156,1006,0.10,2.00,0.00,0.000,6,0.157,0.019,2582,1855,3638,0,0,0,0,0,0
$GC,1322,-0.67,-194.6,297.5,-14.0,187,1327,0.00,1.98,0.00,0.000,4,0.000,0.031,2582,505,3638,0,0,0,0,0,0
$GC,1368,-0.67,-194.6,304.5,-15.5,191,1371,0.00,1.95,0.00,0.000,6,0.000,0.020,2575,1894,3638,0,0,0,0,0,0
$GC,1701,-0.67,-194.6,359.1,-17.5,222,1704,0.00,2.03,0.00,0.000,4,0.000,0.029,2575,503,3637,0,0,0,0,0,0
$GC,1783,-0.67,-194.6,373.5,-16.5,229,1790,0.00,1.98,0.00,0.000,6,0.000,0.021,2573,1869,3637,0,0,0,0,0,0
$GC,2108,-0.67,-194.6,418.9,-11.9,260,2113,0.00,2.00,0.00,0.000,4,0.000,0.029,2574,511,3635,0,0,0,0,0,0
$GC,2142,-0.67,-194.6,423.1,-12.2,263,2147,0.00,1.98,0.00,0.000,6,0.000,0.021,2573,1876,3635,0,0,0,0,0,0
$GC,2473,-0.67,-194.6,456.0,-9.6,294,2477,0.00,2.05,0.00,0.000,4,0.000,0.034,2574,3273,3633,0,0,0,0,0,0
$GC,2543,-0.67,-194.6,462.4,-9.0,300,2547,0.00,1.98,0.00,0.000,6,0.000,0.020,2573,1877,3633,0,0,0,0,0,0
$GC,2875,-0.67,-194.6,496.1,-10.5,331,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1877,3631,0,0,0,0,0,0
$GC,3195,-0.67,-194.6,527.6,-9.4,361,3198,0.00,2.08,0.00,0.000,4,0.000,0.033,2567,3266,3628,0,0,0,0,0,0
$GC,3298,-0.67,-194.6,537.2,-9.2,370,3301,0.00,1.95,0.00,0.000,6,0.000,0.019,2567,1871,3627,0,0,0,0,0,0
$GC,3629,-0.67,-194.6,570.7,-11.5,401,3633,0.00,2.00,0.00,0.000,4,0.000,0.033,2567,494,3624,0,0,0,0,0,0
$GC,3696,-0.67,-194.6,578.8,-12.3,407,3700,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1884,3624,0,0,0,0,0,0
$GC,4022,-0.67,-194.6,624.8,-14.2,430,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1884,3622,0,0,0,0,0,0
$GC,4332,-0.67,-194.6,665.6,-12.5,445,4336,0.00,2.05,0.00,0.000,4,0.000,0.037,2561,3268,3619,0,0,0,0,0,0
$GC,4405,-0.67,-194.6,674.2,-11.1,448,4409,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1868,3619,0,0,0,0,0,0
$GC,4735,-0.67,-194.6,704.4,-8.1,464,4739,0.00,2.00,0.00,0.000,4,0.000,0.033,2561,495,3616,0,0,0,0,0,0
$GC,4770,-0.67,-194.6,707.4,-8.1,465,4774,0.00,1.98,0.00,0.000,6,0.000,0.023,2561,1874,3616,0,0,0,0,0,0
$GC,5093,-0.67,-194.6,730.3,-7.3,481,5097,0.00,2.08,0.00,0.000,4,0.000,0.037,2561,3272,3613,0,0,0,0,0,0
$GC,5166,-0.67,-194.6,735.9,-7.4,484,5170,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1874,3612,0,0,0,0,0,0
$GC,5491,-0.67,-194.6,761.4,-8.3,500,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1872,3610,0,0,0,0,0,0
$GC,5797,-0.67,-194.6,787.7,-8.6,515,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1872,3608,0,0,0,0,0,0
$GC,6106,-0.67,-194.6,815.2,-9.0,530,6110,0.00,2.03,0.00,0.000,4,0.000,0.034,2561,490,3606,0,0,0,0,0,0
$GC,6131,-0.67,-194.6,817.4,-9.3,531,6135,0.00,2.00,0.00,0.000,6,0.000,0.024,2561,1882,3605,0,0,0,0,0,0
$GC,6465,-0.67,-194.6,849.6,-9.9,547,6469,0.00,2.05,0.00,0.000,4,0.000,0.039,2561,3274,3603,0,0,0,0,0,0
$GC,6528,-0.67,-194.6,855.8,-9.8,550,6532,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1875,3603,0,0,0,0,0,0
$GC,6861,-0.67,-194.6,890.8,-10.8,566,6865,0.00,2.08,0.00,0.000,4,0.000,0.037,2561,3271,3601,0,0,0,0,0,0
$GC,6902,-0.67,-194.6,895.5,-11.5,568,6906,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1876,3601,0,0,0,0,0,0
$GC,7236,-0.67,-194.6,931.8,-10.8,584,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1874,3600,0,0,0,0,0,0
$GC,7544,-0.67,-194.6,962.5,-9.5,599,7548,0.00,2.08,0.00,0.000,4,0.000,0.038,2561,3270,3598,0,0,0,0,0,0
$GC,7577,-0.67,-194.6,965.7,-9.4,600,7584,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1875,3597,0,0,0,0,0,0
$STATE,7870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7870,begin apogee
$GC,7877,-0.20,0.0,991.5,8.5,615,8032,0.50,0.00,150.10,1.397,6,0.129,0.000,2729,2087,2839,0,0,0,0,0,0
$STATE,8033,end apogee,CONTROL_FINISHED_OK
$STATE,8033,begin climb
$GC,8037,0.67,194.6,995.0,0.0,622,8208,0.80,2.30,162.30,1.338,4,0.080,0.039,3006,3462,2044,0,0,0,0,0,0
$GC,8248,0.67,194.6,970.1,17.4,632,8253,0.00,2.15,0.00,0.000,6,0.000,0.022,3014,2088,2039,0,0,0,0,0,0
$GC,8575,0.67,194.6,916.6,16.4,648,8579,0.00,2.12,0.00,0.000,4,0.000,0.035,3025,683,2034,0,0,0,0,0,0
$GC,8642,0.67,194.6,905.6,16.2,651,8646,0.00,2.10,0.00,0.000,6,0.000,0.024,3025,2076,2033,0,0,0,0,0,0
$GC,8963,0.67,194.6,854.9,15.5,667,8967,0.00,2.12,0.00,0.000,4,0.000,0.040,3025,3471,2032,0,0,0,0,0,0
$GC,9035,0.67,194.6,842.4,16.9,670,9039,0.00,2.05,0.00,0.000,6,0.000,0.023,3034,2065,2031,0,0,0,0,0,0
$GC,9360,0.67,194.6,792.8,15.3,686,9363,0.00,2.05,0.00,0.000,4,0.000,0.035,3045,686,2031,0,0,0,0,0,0
$GC,9454,0.67,194.6,778.0,14.9,690,9459,0.12,2.05,0.00,0.000,6,0.163,0.025,3012,2085,2030,0,0,0,0,0,0
$GC,9785,0.67,194.6,736.9,12.4,706,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2086,2029,0,0,0,0,0,0
$GC,10091,0.67,194.6,697.9,12.9,721,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2086,2029,0,0,0,0,0,0
$GC,10400,0.67,194.6,658.9,12.4,736,10404,0.00,2.08,0.00,0.000,4,0.000,0.040,3012,3465,2028,0,0,0,0,0,0
$GC,10424,0.67,194.6,655.8,12.6,737,10428,0.00,2.03,0.00,0.000,6,0.000,0.023,3020,2065,2028,0,0,0,0,0,0
$GC,10759,0.67,194.6,611.2,14.4,753,10763,0.00,2.05,0.00,0.000,4,0.000,0.036,3031,679,2027,0,0,0,0,0,0
$GC,10863,0.67,194.6,595.4,15.7,758,10866,0.00,2.03,0.00,0.000,6,0.000,0.024,3030,2074,2028,0,0,0,0,0,0
$GC,11196,0.67,194.6,545.4,14.9,789,11199,0.00,2.08,0.00,0.000,4,0.000,0.034,3040,684,2027,0,0,0,0,0,0
$GC,11269,0.67,194.6,534.4,14.1,795,11276,0.00,2.05,0.00,0.000,6,0.000,0.024,3040,2074,2027,0,0,0,0,0,0
$GC,11594,0.67,194.6,491.0,12.5,826,11598,0.00,2.10,0.00,0.000,4,0.000,0.039,3039,3474,2026,0,0,0,0,0,0
$GC,11661,0.67,194.6,481.2,14.9,831,11668,0.12,2.05,0.00,0.000,6,0.186,0.022,3017,2061,2026,0,0,0,0,0,0
$GC,11986,0.67,194.6,443.6,11.4,862,11990,0.00,2.12,0.00,0.000,4,0.000,0.037,3017,3468,2026,0,0,0,0,0,0
$GC,12026,0.67,194.6,438.5,13.0,865,12029,0.00,2.00,0.00,0.000,6,0.000,0.023,3025,2071,2026,0,0,0,0,0,0
$GC,12358,0.67,194.6,394.3,13.6,896,12362,0.00,2.03,0.00,0.000,4,0.000,0.034,3036,691,2026,0,0,0,0,0,0
$GC,12459,0.67,194.6,380.3,13.3,905,12463,0.00,2.00,0.00,0.000,6,0.000,0.024,3036,2077,2026,0,0,0,0,0,0
$GC,12791,0.71,232.3,343.7,9.6,936,12824,0.00,0.00,28.25,0.916,6,0.000,0.000,3036,2077,1891,0,0,0,0,0,0
$GC,13142,0.71,232.3,303.4,12.7,969,13147,0.00,2.10,0.00,0.000,4,0.000,0.032,3044,688,1887,0,0,0,0,0,0
$GC,13188,0.71,232.3,297.2,13.2,973,13192,0.00,2.03,0.00,0.000,6,0.000,0.022,3045,2084,1887,0,0,0,0,0,0
$GC,13520,0.75,265.2,259.0,9.8,1004,13557,0.00,2.15,27.33,0.821,4,0.000,0.038,3045,3463,1755,0,0,0,0,0,0
$GC,13637,0.75,265.2,246.4,11.9,1016,13645,0.00,2.08,0.00,0.000,6,0.000,0.021,3054,2068,1753,0,0,0,0,0,0
$GC,13716,0.75,265.2,236.9,12.1,1029,13724,0.00,2.08,0.00,0.000,4,0.000,0.033,3065,688,1752,0,0,0,0,0,0
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$STATE,15592,end climb,SURFACE_DEPTH_REACHED
$STATE,15592,begin surface coast
$FINISH,1.7,1.021874
$STATE,15600,end surface coast,CONTROL_FINISHED_OK
$STATE,15600,begin surface
$SM_CCo,15679,0.00,0.000,0,0,1071,433.69
$SM_GC,1.82,7.72,0.00,0.00,0.033,0.000,0.000,123,1923,1071,-8.29,1.36,433.69,0,0,0,0,0,0
$IRIDIUM_FIX,1957.29,12420.23,200611,181828
$TT8_MAMPS,0.028462,0.028462
$HUMID,32.04
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,28.10
$XPDR_PINGS,1
$24V_AH,23.9,10.434
$10V_AH,10.3,8.381
$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,19.550,171.825,502.725,0.000,0.000,61.890,66.893,310.061,0.250,0.000,17.480,3376.291,8302.157,645.705,3242.502,776.719,29.235,2068.836,0.000,3042.225,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,43.605,1396.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.468,1569.668,1321.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329928
$DATA_FILE_SIZE,76900,1342
$CAP_FILE_SIZE,184004,0
$CFSIZE,260165632,137629696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036, 20.4,1
$GPS,200611,230515,2001.151,12420.408,41,2.3,61,-2.5