version: 66.09
glider: 167
mission: 8
dive: 64
start: 6 23 111 12 31 18
data:
$ID,167
$MISSION,8
$DIVE,64
$N_DIVES,70
$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,4
$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,-56464.59
$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,68
$R_STBD_OVSHOOT,71
$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
$GPS1,230611,121707,1933.276,12422.429,30,1.0,31,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.5
$GPS2,230611,123056,1933.438,12422.345,15,1.3,15,-2.4
$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,-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,170.8,192861,-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,-194.6,0.0,0.0,0,97,0.00,0.00,-75.68,0.000,2,0.000,0.000,108,1810,3191,0,0,0,0,0,0
$GC,100,-0.67,-194.6,6.2,-10.4,10,125,9.80,1.95,-6.68,0.000,4,0.234,0.038,2586,464,3630,0,0,0,0,0,0
$GC,234,-0.67,-194.6,65.8,-33.1,32,242,0.00,2.05,0.00,0.000,6,0.000,0.021,2578,1862,3632,0,0,0,0,0,0
$GC,308,-0.67,-194.6,87.6,-25.5,45,316,0.00,2.10,0.00,0.000,4,0.000,0.031,2567,3272,3632,0,0,0,0,0,0
$GC,387,-0.67,-194.6,111.1,-29.9,58,396,0.00,2.03,0.00,0.000,6,0.000,0.018,2568,1870,3632,0,0,0,0,0,0
$GC,468,-0.67,-194.6,131.8,-26.4,71,475,0.00,2.03,0.00,0.000,4,0.000,0.028,2568,490,3632,0,0,0,0,0,0
$GC,499,-0.67,-194.6,139.5,-22.2,76,507,0.00,2.03,0.00,0.000,6,0.000,0.021,2560,1877,3633,0,0,0,0,0,0
$GC,573,-0.67,-194.6,155.2,-21.7,89,581,0.00,2.08,0.00,0.000,4,0.000,0.031,2549,3278,3633,0,0,0,0,0,0
$GC,632,-0.67,-194.6,168.1,-23.4,99,642,0.10,2.03,0.00,0.000,6,0.163,0.018,2579,1855,3633,0,0,0,0,0,0
$GC,710,-0.67,-194.6,185.2,-21.6,112,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1853,3633,0,0,0,0,0,0
$GC,785,-0.67,-194.6,199.8,-18.4,125,793,0.00,1.98,0.00,0.000,4,0.000,0.029,2579,503,3633,0,0,0,0,0,0
$GC,860,-0.67,-194.6,211.3,-14.9,138,870,0.00,2.00,0.00,0.000,6,0.000,0.019,2574,1886,3633,0,0,0,0,0,0
$GC,938,-0.67,-194.6,223.8,-17.3,151,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1886,3633,0,0,0,0,0,0
$GC,1016,-0.67,-194.6,234.4,-13.8,164,1024,0.00,2.03,0.00,0.000,4,0.000,0.031,2565,3263,3633,0,0,0,0,0,0
$GC,1061,-0.67,-194.6,241.2,-14.8,171,1072,0.00,1.95,0.00,0.000,6,0.000,0.018,2565,1880,3633,0,0,0,0,0,0
$GC,1138,-0.67,-194.6,254.6,-17.4,182,1142,0.00,2.05,0.00,0.000,4,0.000,0.030,2561,3272,3633,0,0,0,0,0,0
$GC,1200,-0.67,-194.6,266.8,-19.6,187,1207,0.00,1.98,0.00,0.000,6,0.000,0.018,2560,1881,3633,0,0,0,0,0,0
$GC,1525,-0.67,-194.6,326.8,-17.0,218,1529,0.00,2.00,0.00,0.000,4,0.000,0.029,2560,486,3632,0,0,0,0,0,0
$GC,1660,-0.67,-194.6,347.1,-14.3,230,1665,0.00,2.00,0.00,0.000,6,0.000,0.021,2560,1872,3632,0,0,0,0,0,0
$GC,1991,-0.67,-194.6,393.3,-13.8,261,1995,0.00,2.03,0.00,0.000,4,0.000,0.031,2549,3267,3630,0,0,0,0,0,0
$GC,2052,-0.67,-194.6,401.5,-13.2,266,2061,0.10,1.98,0.00,0.000,6,0.142,0.018,2583,1854,3630,0,0,0,0,0,0
$GC,2378,-0.67,-194.6,436.9,-10.4,297,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1853,3628,0,0,0,0,0,0
$GC,2699,-0.67,-194.6,471.2,-11.1,327,2703,0.00,2.05,0.00,0.000,4,0.000,0.031,2577,3261,3626,0,0,0,0,0,0
$GC,2738,-0.67,-194.6,476.6,-12.4,330,2746,0.00,1.95,0.00,0.000,6,0.000,0.018,2577,1889,3626,0,0,0,0,0,0
$GC,3065,-0.67,-194.6,517.2,-12.1,361,3069,0.00,2.03,0.00,0.000,4,0.000,0.031,2577,491,3623,0,0,0,0,0,0
$GC,3136,-0.67,-194.6,526.2,-13.1,367,3140,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,1872,3622,0,0,0,0,0,0
$GC,3466,-0.67,-194.6,564.1,-11.3,398,3470,0.00,2.05,0.00,0.000,4,0.000,0.035,2574,3265,3620,0,0,0,0,0,0
$GC,3514,-0.67,-194.6,569.0,-10.9,402,3517,0.00,1.98,0.00,0.000,6,0.000,0.019,2574,1864,3619,0,0,0,0,0,0
$GC,3845,-0.67,-194.6,598.7,-8.7,433,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1864,3617,0,0,0,0,0,0
$GC,4157,-0.67,-194.6,626.8,-9.7,449,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1863,3614,0,0,0,0,0,0
$GC,4464,-0.67,-194.6,656.5,-9.5,464,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1863,3612,0,0,0,0,0,0
$GC,4774,-0.67,-194.6,686.0,-9.4,479,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1863,3609,0,0,0,0,0,0
$GC,5084,-0.67,-194.6,716.3,-10.0,494,5089,0.00,2.12,0.00,0.000,4,0.000,0.036,2574,3268,3606,0,0,0,0,0,0
$GC,5108,-0.67,-194.6,718.8,-10.1,495,5112,0.00,1.95,0.00,0.000,6,0.000,0.021,2574,1881,3606,0,0,0,0,0,0
$GC,5442,-0.67,-194.6,751.8,-9.9,511,5445,0.00,2.05,0.00,0.000,4,0.000,0.036,2574,3267,3603,0,0,0,0,0,0
$GC,5470,-0.67,-194.6,754.6,-9.9,512,5474,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1865,3603,0,0,0,0,0,0
$GC,5792,-0.67,-194.6,784.2,-8.7,528,5797,0.00,2.12,0.00,0.000,4,0.000,0.036,2574,3266,3601,0,0,0,0,0,0
$GC,5871,-0.67,-194.6,790.7,-8.1,531,5875,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1865,3600,0,0,0,0,0,0
$GC,6194,-0.67,-194.6,816.8,-8.0,547,6197,0.00,2.00,0.00,0.000,4,0.000,0.033,2574,500,3597,0,0,0,0,0,0
$GC,6232,-0.67,-194.6,820.2,-7.9,548,6239,0.00,1.98,0.00,0.000,6,0.000,0.024,2574,1873,3597,0,0,0,0,0,0
$GC,6550,-0.67,-194.6,842.5,-6.8,564,6554,0.00,2.08,0.00,0.000,4,0.000,0.038,2574,3265,3596,0,0,0,0,0,0
$GC,6644,-0.67,-194.6,848.6,-6.3,568,6648,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1870,3595,0,0,0,0,0,0
$GC,6973,-0.67,-194.6,869.8,-6.7,584,6977,0.00,2.08,0.00,0.000,4,0.000,0.037,2574,3267,3593,0,0,0,0,0,0
$GC,7015,-0.67,-194.6,872.6,-6.6,586,7019,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1867,3593,0,0,0,0,0,0
$GC,7349,-0.67,-194.6,897.1,-7.7,602,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1866,3591,0,0,0,0,0,0
$GC,7659,-0.67,-194.6,921.4,-7.8,617,7663,0.00,2.10,0.00,0.000,4,0.000,0.037,2574,3275,3589,0,0,0,0,0,0
$GC,7716,-0.67,-194.6,925.9,-7.8,619,7723,0.00,2.00,0.00,0.000,6,0.000,0.021,2574,1868,3589,0,0,0,0,0,0
$GC,8035,-0.67,-194.6,948.9,-6.9,635,8038,0.00,2.00,0.00,0.000,4,0.000,0.033,2574,489,3588,0,0,0,0,0,0
$GC,8062,-0.67,-194.6,951.2,-6.9,636,8066,0.00,2.00,0.00,0.000,6,0.000,0.024,2573,1877,3587,0,0,0,0,0,0
$GC,8392,-0.67,-194.6,973.8,-7.1,652,8396,0.00,2.10,0.00,0.000,4,0.000,0.041,2574,3277,3586,0,0,0,0,0,0
$GC,8443,-0.67,-194.6,977.7,-7.4,654,8447,0.00,2.00,0.00,0.000,6,0.000,0.022,2574,1871,3586,0,0,0,0,0,0
$STATE,8618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8618,begin apogee
$GC,8624,-0.20,0.0,990.0,7.2,663,8778,0.45,0.00,148.20,1.408,6,0.123,0.000,2726,2084,2839,0,0,0,0,0,0
$STATE,8779,end apogee,CONTROL_FINISHED_OK
$STATE,8779,begin climb
$GC,8781,0.67,194.6,993.0,0.0,670,8952,0.82,2.25,162.52,1.349,4,0.081,0.037,3012,3463,2044,0,0,0,0,0,0
$GC,8988,0.67,194.6,971.5,15.8,680,8992,0.00,2.12,0.00,0.000,6,0.000,0.022,3021,2083,2038,0,0,0,0,0,0
$GC,9315,0.67,194.6,924.2,14.0,696,9319,0.00,2.12,0.00,0.000,4,0.000,0.035,3031,684,2032,0,0,0,0,0,0
$GC,9435,0.67,194.6,907.4,14.0,701,9439,0.00,2.05,0.00,0.000,6,0.000,0.024,3031,2064,2032,0,0,0,0,0,0
$GC,9751,0.67,194.6,861.1,14.9,716,9755,0.00,2.15,0.00,0.000,4,0.000,0.039,3031,3473,2031,0,0,0,0,0,0
$GC,9790,0.67,194.6,854.7,16.5,718,9794,0.00,2.05,0.00,0.000,6,0.000,0.022,3041,2066,2030,0,0,0,0,0,0
$GC,10119,0.67,194.6,804.7,15.1,734,10122,0.00,2.05,0.00,0.000,4,0.000,0.035,3052,691,2029,0,0,0,0,0,0
$GC,10201,0.67,194.6,792.2,14.4,737,10209,0.12,2.05,0.00,0.000,6,0.168,0.024,3019,2092,2029,0,0,0,0,0,0
$GC,10521,0.67,194.6,754.2,11.7,753,10525,0.00,2.08,0.00,0.000,4,0.000,0.040,3019,3465,2028,0,0,0,0,0,0
$GC,10606,0.67,194.6,742.9,13.2,756,10613,0.00,2.03,0.00,0.000,6,0.000,0.023,3027,2070,2028,0,0,0,0,0,0
$GC,10924,0.67,194.6,703.6,12.7,772,10928,0.00,2.08,0.00,0.000,4,0.000,0.036,3038,688,2027,0,0,0,0,0,0
$GC,10995,0.67,194.6,693.8,13.6,775,10999,0.00,2.03,0.00,0.000,6,0.000,0.024,3038,2078,2028,0,0,0,0,0,0
$GC,11323,0.67,194.6,647.6,14.4,791,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2078,2027,0,0,0,0,0,0
$GC,11633,0.67,194.6,603.3,14.3,806,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2078,2027,0,0,0,0,0,0
$GC,11951,0.67,194.6,559.2,13.9,834,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2078,2026,0,0,0,0,0,0
$GC,12270,0.67,194.6,514.6,14.1,864,12274,0.00,2.05,0.00,0.000,4,0.000,0.034,3047,691,2026,0,0,0,0,0,0
$GC,12338,0.67,194.6,504.3,14.7,870,12343,0.12,2.03,0.00,0.000,6,0.159,0.024,3014,2086,2026,0,0,0,0,0,0
$GC,12663,0.67,194.6,461.4,12.5,900,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2087,2026,0,0,0,0,0,0
$GC,12983,0.67,194.6,423.0,11.7,930,12987,0.00,2.08,0.00,0.000,4,0.000,0.034,3022,674,2025,0,0,0,0,0,0
$GC,13050,0.67,194.6,415.0,11.6,935,13057,0.00,2.03,0.00,0.000,6,0.000,0.023,3022,2074,2025,0,0,0,0,0,0
$GC,13375,0.67,199.8,379.1,10.8,966,13380,0.00,2.10,0.00,0.000,4,0.000,0.038,3022,3466,2025,0,0,0,0,0,0
$GC,13458,0.67,199.8,369.9,11.9,973,13461,0.00,2.03,0.00,0.000,6,0.000,0.022,3031,2067,2025,0,0,0,0,0,0
$GC,13789,0.67,201.0,331.6,11.0,1004,13792,0.00,2.00,0.00,0.000,4,0.000,0.033,3042,682,2025,0,0,0,0,0,0
$GC,13881,0.67,201.0,321.2,11.5,1012,13885,0.00,2.05,0.00,0.000,6,0.000,0.023,3042,2077,2025,0,0,0,0,0,0
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$GC,16462,1.01,475.6,21.6,10.9,1402,16470,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2079,905,0,0,0,0,0,0
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$STATE,16610,end climb,SURFACE_DEPTH_REACHED
$STATE,16610,begin surface coast
$FINISH,0.7,1.021312
$STATE,16638,end surface coast,CONTROL_FINISHED_OK
$STATE,16638,begin surface
$SM_CCo,16716,0.00,0.000,0,0,902,475.15
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$IRIDIUM_FIX,1929.80,12435.34,230611,070724
$TT8_MAMPS,0.028462,0.028462
$HUMID,32.31
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.80
$XPDR_PINGS,16
$24V_AH,23.9,13.183
$10V_AH,10.3,10.653
$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,19.700,159.900,535.575,0.000,0.000,25.038,41.870,566.831,4.000,0.000,16.600,3593.990,8859.334,632.386,3487.088,952.054,0.000,2123.837,0.000,3247.173,0.000,0.545,0.000
$DEVICE_MAMPS,234.090,42.075,1407.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_SECS,975.152,1698.038,1449.027,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329968
$DATA_FILE_SIZE,80124,1433
$CAP_FILE_SIZE,191590,0
$CFSIZE,260165632,136335360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,349.2,1
$GPS,230611,171107,1931.828,12422.646,35,0.9,36,-2.4