version: 66.09
glider: 167
mission: 8
dive: 54
start: 6 21 111 13 1 15
data:
$ID,167
$MISSION,8
$DIVE,54
$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,-56451.82
$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,104
$R_STBD_OVSHOOT,69
$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
$GPS1,210611,125255,1952.342,12420.448,38,1.2,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-66.4
$GPS2,210611,130019,1952.368,12420.606,10,1.4,10,-2.5
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-241.8,-617.8,164.4,2582.2,307.0
$KALMAN_Y,1442.8,-492.5,240.6,-21483.2,591.1
$MHEAD_RNG_PITCHd_Wd,164.3,228041,-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,19,-0.67,-194.6,0.0,0.0,0,110,0.00,0.00,-89.18,0.000,2,0.000,0.000,108,1829,3197,0,0,0,0,0,0
$GC,113,-0.67,-194.6,6.4,-11.9,12,138,9.77,1.92,-6.85,0.000,4,0.236,0.037,2582,495,3636,0,0,0,0,0,0
$GC,330,-0.67,-194.6,91.2,-24.4,51,338,0.00,2.00,0.00,0.000,6,0.000,0.020,2575,1871,3637,0,0,0,0,0,0
$GC,406,-0.67,-194.6,110.4,-25.6,64,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1871,3638,0,0,0,0,0,0
$GC,487,-0.67,-194.6,132.6,-25.8,77,495,0.00,2.08,0.00,0.000,4,0.000,0.031,2564,3267,3638,0,0,0,0,0,0
$GC,520,-0.67,-194.6,140.5,-24.0,82,530,0.00,1.98,0.00,0.000,6,0.000,0.018,2564,1885,3638,0,0,0,0,0,0
$GC,597,-0.67,-194.6,159.6,-23.8,95,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1884,3638,0,0,0,0,0,0
$GC,670,-0.67,-194.6,177.6,-24.9,108,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1884,3639,0,0,0,0,0,0
$GC,747,-0.67,-194.6,196.9,-24.6,121,755,0.00,2.03,0.00,0.000,4,0.000,0.029,2565,503,3639,0,0,0,0,0,0
$GC,770,-0.67,-194.6,201.8,-22.9,124,778,0.00,2.00,0.00,0.000,6,0.000,0.021,2557,1873,3639,0,0,0,0,0,0
$GC,848,-0.67,-194.6,218.6,-22.6,137,856,0.00,2.08,0.00,0.000,4,0.000,0.032,2547,3268,3639,0,0,0,0,0,0
$GC,891,-0.67,-194.6,228.8,-23.2,144,900,0.10,1.98,0.00,0.000,6,0.162,0.018,2578,1870,3639,0,0,0,0,0,0
$GC,969,-0.67,-194.6,242.8,-17.5,157,978,0.00,1.98,0.00,0.000,4,0.000,0.029,2578,513,3639,0,0,0,0,0,0
$GC,1032,-0.67,-194.6,254.4,-16.8,166,1041,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1875,3640,0,0,0,0,0,0
$GC,1360,-0.67,-194.6,305.9,-16.7,197,1364,0.00,2.08,0.00,0.000,4,0.000,0.033,2564,3275,3639,0,0,0,0,0,0
$GC,1395,-0.67,-194.6,312.1,-16.9,200,1399,0.00,1.95,0.00,0.000,6,0.000,0.019,2564,1893,3639,0,0,0,0,0,0
$GC,1726,-0.67,-194.6,364.4,-15.0,231,1730,0.00,2.03,0.00,0.000,4,0.000,0.030,2564,490,3638,0,0,0,0,0,0
$GC,1777,-0.67,-194.6,372.9,-16.5,235,1783,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1881,3638,0,0,0,0,0,0
$GC,2102,-0.67,-194.6,412.6,-10.9,266,2106,0.00,2.05,0.00,0.000,4,0.000,0.034,2561,3275,3636,0,0,0,0,0,0
$GC,2198,-0.67,-194.6,423.2,-11.8,274,2206,0.00,2.00,0.00,0.000,6,0.000,0.020,2561,1881,3636,0,0,0,0,0,0
$GC,2523,-0.67,-194.6,464.7,-13.7,305,2527,0.00,2.00,0.00,0.000,4,0.000,0.031,2561,484,3634,0,0,0,0,0,0
$GC,2676,-0.67,-194.6,486.7,-14.7,318,2683,0.00,2.03,0.00,0.000,6,0.000,0.022,2561,1872,3633,0,0,0,0,0,0
$GC,3002,-0.67,-194.6,529.5,-11.6,349,3006,0.00,2.05,0.00,0.000,4,0.000,0.036,2561,3274,3630,0,0,0,0,0,0
$GC,3049,-0.67,-194.6,534.6,-10.6,353,3052,0.00,1.98,0.00,0.000,6,0.000,0.021,2561,1874,3630,0,0,0,0,0,0
$GC,3380,-0.67,-194.6,567.0,-9.5,384,3384,0.00,2.03,0.00,0.000,4,0.000,0.032,2561,495,3627,0,0,0,0,0,0
$GC,3430,-0.67,-194.6,572.3,-10.5,388,3437,0.00,1.98,0.00,0.000,6,0.000,0.022,2561,1885,3627,0,0,0,0,0,0
$GC,3765,-0.67,-194.6,604.9,-9.7,418,3769,0.00,2.03,0.00,0.000,4,0.000,0.035,2561,3264,3624,0,0,0,0,0,0
$GC,3861,-0.67,-194.6,614.0,-9.4,422,3866,0.00,2.00,0.00,0.000,6,0.000,0.020,2561,1868,3623,0,0,0,0,0,0
$GC,4188,-0.67,-194.6,647.8,-10.6,438,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1867,3621,0,0,0,0,0,0
$GC,4498,-0.67,-194.6,680.8,-10.8,453,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1867,3618,0,0,0,0,0,0
$GC,4807,-0.67,-194.6,712.7,-9.7,468,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1867,3616,0,0,0,0,0,0
$GC,5116,-0.67,-194.6,741.6,-9.0,483,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1866,3613,0,0,0,0,0,0
$GC,5426,-0.67,-194.6,768.2,-8.5,498,5430,0.00,2.10,0.00,0.000,4,0.000,0.038,2560,3263,3610,0,0,0,0,0,0
$GC,5471,-0.67,-194.6,772.4,-8.9,500,5475,0.00,1.95,0.00,0.000,6,0.000,0.022,2560,1890,3610,0,0,0,0,0,0
$GC,5799,-0.67,-194.6,802.7,-9.9,516,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1889,3607,0,0,0,0,0,0
$GC,6108,-0.67,-194.6,834.6,-10.4,531,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1889,3605,0,0,0,0,0,0
$GC,6419,-0.67,-194.6,864.8,-9.3,546,6423,0.00,2.05,0.00,0.000,4,0.000,0.038,2560,3264,3603,0,0,0,0,0,0
$GC,6470,-0.67,-194.6,869.5,-8.9,548,6474,0.00,2.00,0.00,0.000,6,0.000,0.021,2560,1857,3603,0,0,0,0,0,0
$GC,6799,-0.67,-194.6,899.0,-9.0,564,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1857,3601,0,0,0,0,0,0
$GC,7107,-0.67,-194.6,925.2,-8.4,579,7111,0.00,2.10,0.00,0.000,4,0.000,0.037,2560,3270,3599,0,0,0,0,0,0
$GC,7195,-0.67,-194.6,932.2,-7.9,583,7199,0.00,2.00,0.00,0.000,6,0.000,0.021,2560,1873,3599,0,0,0,0,0,0
$GC,7531,-0.67,-194.6,960.6,-8.7,599,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1873,3597,0,0,0,0,0,0
$GC,7839,-0.67,-194.6,986.9,-8.0,614,7843,0.00,2.08,0.00,0.000,4,0.000,0.037,2560,3267,3596,0,0,0,0,0,0
$STATE,7878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7878,begin apogee
$GC,7886,-0.20,0.0,990.1,7.8,616,8042,0.50,0.00,150.32,1.396,6,0.124,0.000,2729,2045,2838,0,0,0,0,0,0
$STATE,8043,end apogee,CONTROL_FINISHED_OK
$STATE,8043,begin climb
$GC,8045,0.67,194.6,993.4,0.0,623,8216,0.80,2.33,162.57,1.340,4,0.082,0.037,3006,3465,2044,0,0,0,0,0,0
$GC,8279,0.67,194.6,966.2,16.0,634,8284,0.00,2.08,0.00,0.000,6,0.000,0.022,3015,2102,2036,0,0,0,0,0,0
$GC,8603,0.67,194.6,917.2,15.1,650,8607,0.00,2.15,0.00,0.000,4,0.000,0.036,3026,678,2032,0,0,0,0,0,0
$GC,8670,0.67,194.6,906.7,15.2,653,8674,0.00,2.10,0.00,0.000,6,0.000,0.024,3026,2069,2032,0,0,0,0,0,0
$GC,8991,0.67,194.6,857.8,15.2,669,8995,0.00,2.15,0.00,0.000,4,0.000,0.039,3026,3479,2030,0,0,0,0,0,0
$GC,9053,0.67,194.6,847.5,16.9,672,9057,0.00,2.08,0.00,0.000,6,0.000,0.022,3035,2073,2030,0,0,0,0,0,0
$GC,9382,0.67,194.6,796.1,15.6,688,9385,0.00,2.08,0.00,0.000,4,0.000,0.035,3046,686,2029,0,0,0,0,0,0
$GC,9451,0.67,194.6,785.3,15.2,691,9456,0.12,2.08,0.00,0.000,6,0.165,0.025,3014,2089,2029,0,0,0,0,0,0
$GC,9780,0.67,194.6,740.0,13.5,707,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2089,2028,0,0,0,0,0,0
$GC,10089,0.67,194.6,700.1,12.5,722,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2089,2028,0,0,0,0,0,0
$GC,10397,0.67,194.6,660.9,13.0,737,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2089,2027,0,0,0,0,0,0
$GC,10707,0.67,194.6,620.7,13.0,752,10711,0.00,2.08,0.00,0.000,4,0.000,0.035,3022,688,2027,0,0,0,0,0,0
$GC,10784,0.67,194.6,610.1,13.1,755,10791,0.00,2.03,0.00,0.000,6,0.000,0.024,3022,2081,2027,0,0,0,0,0,0
$GC,11110,0.67,194.6,568.3,12.8,782,11115,0.00,2.10,0.00,0.000,4,0.000,0.039,3022,3465,2026,0,0,0,0,0,0
$GC,11177,0.67,194.6,558.9,14.0,788,11181,0.00,2.00,0.00,0.000,6,0.000,0.022,3031,2078,2026,0,0,0,0,0,0
$GC,11508,0.67,194.6,515.6,13.1,819,11511,0.00,2.05,0.00,0.000,4,0.000,0.035,3042,687,2025,0,0,0,0,0,0
$GC,11602,0.67,194.6,502.7,13.6,827,11609,0.00,2.08,0.00,0.000,6,0.000,0.024,3042,2082,2025,0,0,0,0,0,0
$GC,11928,0.67,194.6,456.4,14.3,858,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2082,2025,0,0,0,0,0,0
$GC,12248,0.67,198.1,416.1,10.9,888,12252,0.00,2.05,0.00,0.000,4,0.000,0.033,3051,688,2025,0,0,0,0,0,0
$GC,12332,0.67,198.1,406.3,11.7,895,12340,0.12,2.03,0.00,0.000,6,0.164,0.023,3017,2093,2025,0,0,0,0,0,0
$GC,12657,0.67,198.1,369.6,11.7,926,12662,0.00,2.05,0.00,0.000,4,0.000,0.037,3017,3459,2025,0,0,0,0,0,0
$GC,12752,0.67,198.1,357.9,12.2,934,12760,0.00,2.00,0.00,0.000,6,0.000,0.021,3025,2048,2024,0,0,0,0,0,0
$GC,13077,0.69,216.0,321.9,10.3,965,13101,0.00,2.03,15.15,0.865,4,0.000,0.034,3036,693,1956,0,0,0,0,0,0
$GC,13187,0.70,226.7,310.3,10.6,974,13207,0.00,2.05,10.25,0.810,6,0.000,0.023,3035,2094,1913,0,0,0,0,0,0
$GC,13526,0.70,226.7,270.1,12.6,1006,13530,0.00,2.08,0.00,0.000,4,0.000,0.031,3044,685,1911,0,0,0,0,0,0
$GC,13555,0.70,226.7,266.4,12.8,1008,13558,0.00,2.03,0.00,0.000,6,0.000,0.021,3044,2087,1911,0,0,0,0,0,0
$GC,13882,0.70,226.7,229.4,11.1,1056,13891,0.00,2.08,0.00,0.000,4,0.000,0.036,3044,3466,1911,0,0,0,0,0,0
$GC,13922,0.72,239.0,225.1,10.5,1062,13940,0.00,2.03,11.62,0.747,6,0.000,0.021,3053,2074,1863,0,0,0,0,0,0
$GC,14005,0.72,239.0,215.8,11.4,1076,14013,0.00,2.05,0.00,0.000,4,0.000,0.033,3064,697,1861,0,0,0,0,0,0
$GC,14091,0.72,239.0,205.3,12.3,1091,14101,0.08,2.03,0.00,0.000,6,0.138,0.021,3038,2085,1861,0,0,0,0,0,0
$GC,14171,0.77,280.6,197.2,9.4,1104,14215,0.00,2.12,34.10,0.765,4,0.000,0.035,3038,3453,1693,0,0,0,0,0,0
$GC,14246,0.78,286.8,189.5,10.8,1115,14263,0.00,2.05,6.12,0.607,6,0.000,0.020,3044,2076,1670,0,0,0,0,0,0
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$STATE,15872,end climb,SURFACE_DEPTH_REACHED
$STATE,15872,begin surface coast
$FINISH,0.8,0.998165
$STATE,15896,end surface coast,CONTROL_FINISHED_OK
$STATE,15896,begin surface
$SM_CCo,15977,0.00,0.000,0,0,515,569.83
$SM_GC,1.62,8.07,0.00,0.00,0.037,0.000,0.000,119,1879,515,-8.31,0.11,569.83,0,0,0,0,0,0
$IRIDIUM_FIX,1948.12,12336.32,210611,080858
$TT8_MAMPS,0.029211,0.029211
$HUMID,32.08
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,28.20
$XPDR_PINGS,4
$24V_AH,23.9,11.181
$10V_AH,10.3,9.007
$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,20.075,159.250,614.525,0.000,0.000,30.603,41.190,215.825,1.000,0.000,10.941,3423.952,8363.888,708.404,3128.816,774.465,33.347,2159.372,0.000,3121.291,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,39.015,1396.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,939.552,1643.661,1419.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76790,1385
$CAP_FILE_SIZE,181450,0
$CFSIZE,260165632,137265152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,298.9,1
$GPS,210611,172837,1950.308,12420.812,28,1.3,29,-2.4