version: 66.09
glider: 167
mission: 8
dive: 68
start: 6 24 111 7 28 33
data:
$ID,167
$MISSION,8
$DIVE,68
$N_DIVES,75
$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,400
$T_MISSION,440
$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,-56472.238
$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,58
$R_STBD_OVSHOOT,62
$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
$GPS1,240611,071907,1926.825,12424.127,33,1.4,34,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-59.2
$GPS2,240611,072806,1926.947,12424.314,41,1.3,41,-2.4
$SPEED_LIMITS,0.143,0.276
$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,185.9,180531,-13.1,-8.250
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-194.6,0.0,0.0,0,103,0.00,0.00,-83.07,0.000,2,0.000,0.000,107,1889,3157,0,0,0,0,0,0
$GC,106,-0.57,-194.6,5.5,-8.9,11,132,9.80,2.03,-7.70,0.000,4,0.233,0.038,2594,3282,3635,0,0,0,0,0,0
$GC,301,-0.57,-194.6,81.0,-30.9,45,310,0.00,2.08,0.00,0.000,6,0.000,0.028,2594,1859,3635,0,0,0,0,0,0
$GC,441,-0.57,-194.6,122.8,-27.1,70,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1857,3636,0,0,0,0,0,0
$GC,581,-0.57,-194.6,154.9,-21.1,95,589,0.00,2.10,0.00,0.000,4,0.000,0.031,2586,3266,3636,0,0,0,0,0,0
$GC,659,-0.57,-194.6,170.7,-17.8,108,668,0.08,2.03,0.00,0.000,6,0.149,0.018,2610,1847,3637,0,0,0,0,0,0
$GC,802,-0.57,-194.6,191.3,-13.6,133,812,0.00,1.98,0.00,0.000,4,0.000,0.030,2610,494,3637,0,0,0,0,0,0
$GC,850,-0.57,-194.6,198.1,-14.3,140,858,0.00,2.00,0.00,0.000,6,0.000,0.021,2603,1880,3638,0,0,0,0,0,0
$GC,993,-0.57,-194.6,218.5,-13.6,154,997,0.00,2.05,0.00,0.000,4,0.000,0.032,2600,3266,3638,0,0,0,0,0,0
$GC,1128,-0.57,-194.6,237.3,-14.4,166,1132,0.00,1.92,0.00,0.000,6,0.000,0.018,2600,1876,3638,0,0,0,0,0,0
$GC,1460,-0.57,-194.6,288.1,-14.0,197,1465,0.00,2.00,0.00,0.000,4,0.000,0.029,2600,500,3637,0,0,0,0,0,0
$GC,1543,-0.57,-194.6,299.6,-13.3,204,1551,0.00,1.98,0.00,0.000,6,0.000,0.020,2592,1879,3637,0,0,0,0,0,0
$GC,1868,-0.57,-194.6,339.6,-11.3,235,1872,0.00,2.03,0.00,0.000,4,0.000,0.032,2588,3269,3636,0,0,0,0,0,0
$GC,1981,-0.57,-194.6,352.0,-10.9,245,1985,0.00,1.95,0.00,0.000,6,0.000,0.018,2588,1872,3636,0,0,0,0,0,0
$GC,2313,-0.57,-194.6,391.3,-12.3,276,2316,0.00,1.98,0.00,0.000,4,0.000,0.030,2587,498,3634,0,0,0,0,0,0
$GC,2442,-0.57,-194.6,408.3,-12.7,287,2449,0.00,1.95,0.00,0.000,6,0.000,0.022,2588,1866,3634,0,0,0,0,0,0
$GC,2768,-0.57,-194.6,446.7,-11.6,318,2771,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3264,3632,0,0,0,0,0,0
$GC,2829,-0.57,-194.6,453.4,-10.6,323,2836,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1879,3631,0,0,0,0,0,0
$GC,3155,-0.57,-194.6,487.9,-10.5,354,3159,0.00,1.98,0.00,0.000,4,0.000,0.030,2587,491,3629,0,0,0,0,0,0
$GC,3194,-0.57,-194.6,492.2,-10.6,357,3202,0.00,2.00,0.00,0.000,6,0.000,0.021,2588,1873,3629,0,0,0,0,0,0
$GC,3523,-0.57,-194.6,526.2,-10.4,377,3527,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3266,3627,0,0,0,0,0,0
$GC,3568,-0.57,-194.6,530.8,-10.0,379,3572,0.00,1.98,0.00,0.000,6,0.000,0.019,2588,1866,3626,0,0,0,0,0,0
$GC,3905,-0.57,-194.6,561.3,-8.5,395,3908,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,3263,3624,0,0,0,0,0,0
$GC,3944,-0.57,-194.6,564.7,-8.1,396,3951,0.00,1.95,0.00,0.000,6,0.000,0.020,2588,1869,3623,0,0,0,0,0,0
$GC,4262,-0.57,-194.6,587.6,-6.9,412,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1869,3621,0,0,0,0,0,0
$GC,4572,-0.57,-194.6,612.4,-8.8,427,4575,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,3263,3618,0,0,0,0,0,0
$GC,4627,-0.57,-194.6,618.0,-9.4,429,4631,0.00,2.00,0.00,0.000,6,0.000,0.020,2588,1869,3618,0,0,0,0,0,0
$GC,4952,-0.57,-194.6,649.9,-9.9,445,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1869,3616,0,0,0,0,0,0
$GC,5259,-0.57,-194.6,676.1,-7.6,460,5262,0.00,2.08,0.00,0.000,4,0.000,0.035,2588,3261,3614,0,0,0,0,0,0
$GC,5354,-0.57,-194.6,682.7,-6.8,464,5358,0.00,1.98,0.00,0.000,6,0.000,0.021,2588,1871,3613,0,0,0,0,0,0
$GC,5683,-0.57,-194.6,705.7,-7.4,480,5686,0.00,1.98,0.00,0.000,4,0.000,0.032,2588,501,3610,0,0,0,0,0,0
$GC,5729,-0.57,-194.6,709.5,-8.1,482,5733,0.00,2.00,0.00,0.000,6,0.000,0.023,2588,1884,3610,0,0,0,0,0,0
$GC,6064,-0.57,-194.6,737.1,-8.2,498,6068,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3264,3607,0,0,0,0,0,0
$GC,6169,-0.57,-194.6,745.1,-7.2,502,6177,0.00,2.00,0.00,0.000,6,0.000,0.021,2588,1878,3607,0,0,0,0,0,0
$GC,6486,-0.57,-194.6,764.7,-5.7,518,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1878,3604,0,0,0,0,0,0
$GC,6796,-0.57,-194.6,781.6,-5.4,533,6800,0.00,2.00,0.00,0.000,4,0.000,0.032,2588,491,3602,0,0,0,0,0,0
$GC,6820,-0.57,-194.6,783.0,-5.5,534,6824,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1876,3602,0,0,0,0,0,0
$GC,7157,-0.57,-194.6,803.9,-6.7,550,7160,0.00,2.08,0.00,0.000,4,0.000,0.038,2588,3266,3601,0,0,0,0,0,0
$GC,7263,-0.57,-194.6,811.5,-7.0,554,7269,0.00,2.00,0.00,0.000,6,0.000,0.021,2587,1869,3600,0,0,0,0,0,0
$GC,7582,-0.57,-194.6,835.5,-7.8,570,7586,0.00,2.10,0.00,0.000,4,0.000,0.037,2588,3270,3598,0,0,0,0,0,0
$GC,7627,-0.57,-194.6,839.3,-7.9,572,7631,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1872,3597,0,0,0,0,0,0
$GC,7954,-0.57,-194.6,863.1,-7.0,588,7958,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3267,3596,0,0,0,0,0,0
$GC,7976,-0.57,-194.6,864.8,-7.3,589,7981,0.00,2.03,0.00,0.000,6,0.000,0.021,2588,1868,3596,0,0,0,0,0,0
$GC,8306,-0.57,-194.6,887.5,-6.9,605,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1868,3595,0,0,0,0,0,0
$GC,8614,-0.57,-194.6,909.1,-7.0,620,8618,0.00,2.08,0.00,0.000,4,0.000,0.037,2588,3264,3593,0,0,0,0,0,0
$GC,8636,-0.57,-194.6,910.6,-6.9,621,8640,0.00,1.98,0.00,0.000,6,0.000,0.022,2588,1874,3594,0,0,0,0,0,0
$GC,8966,-0.57,-194.6,932.2,-6.4,637,8970,0.00,2.00,0.00,0.000,4,0.000,0.033,2588,494,3592,0,0,0,0,0,0
$GC,8990,-0.57,-194.6,933.9,-6.4,638,8994,0.00,2.00,0.00,0.000,6,0.000,0.023,2587,1874,3592,0,0,0,0,0,0
$GC,9325,-0.57,-194.6,956.5,-6.9,654,9328,0.00,2.08,0.00,0.000,4,0.000,0.040,2588,3261,3590,0,0,0,0,0,0
$GC,9409,-0.57,-194.6,962.4,-7.0,657,9416,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1872,3590,0,0,0,0,0,0
$GC,9728,-0.57,-194.6,984.1,-6.9,673,9732,0.00,2.08,0.00,0.000,4,0.000,0.037,2588,3264,3589,0,0,0,0,0,0
$GC,9769,-0.57,-194.6,987.1,-7.0,675,9773,0.00,1.98,0.00,0.000,6,0.000,0.022,2587,1871,3589,0,0,0,0,0,0
$STATE,9811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9811,begin apogee
$GC,9817,-0.20,0.0,990.2,6.8,677,9973,0.43,0.00,149.10,1.408,6,0.120,0.000,2731,2086,2838,0,0,0,0,0,0
$STATE,9974,end apogee,CONTROL_FINISHED_OK
$STATE,9974,begin climb
$GC,9976,0.57,194.6,995.0,0.0,684,10147,0.70,2.28,162.27,1.351,4,0.080,0.039,2975,3447,2043,0,0,0,0,0,0
$GC,10200,0.57,194.6,974.7,13.3,694,10204,0.00,2.12,0.00,0.000,6,0.000,0.023,2982,2080,2037,0,0,0,0,0,0
$GC,10517,0.57,194.6,935.5,12.2,709,10521,0.00,2.12,0.00,0.000,4,0.000,0.036,2993,684,2033,0,0,0,0,0,0
$GC,10627,0.57,194.6,921.9,12.3,714,10631,0.00,2.08,0.00,0.000,6,0.000,0.024,2993,2067,2032,0,0,0,0,0,0
$GC,10955,0.57,194.6,883.4,11.7,730,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2067,2031,0,0,0,0,0,0
$GC,11267,0.57,194.6,846.6,11.9,745,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2067,2030,0,0,0,0,0,0
$GC,11575,0.57,194.6,809.2,12.0,760,11579,0.00,2.10,0.00,0.000,4,0.000,0.040,2993,3469,2029,0,0,0,0,0,0
$GC,11606,0.57,194.6,804.7,12.8,761,11615,0.00,2.08,0.00,0.000,6,0.000,0.024,3001,2059,2029,0,0,0,0,0,0
$GC,11926,0.57,194.6,764.9,12.7,777,11930,0.00,2.05,0.00,0.000,4,0.000,0.037,3011,682,2028,0,0,0,0,0,0
$GC,12054,0.57,194.6,748.3,12.7,782,12061,0.00,2.08,0.00,0.000,6,0.000,0.024,3012,2071,2028,0,0,0,0,0,0
$GC,12372,0.57,194.6,707.6,13.0,798,12376,0.00,2.12,0.00,0.000,4,0.000,0.044,3011,3479,2028,0,0,0,0,0,0
$GC,12420,0.57,194.6,700.4,14.2,800,12425,0.12,2.05,0.00,0.000,6,0.178,0.023,2988,2060,2028,0,0,0,0,0,0
$GC,12743,0.57,194.6,662.2,12.2,816,12747,0.00,2.05,0.00,0.000,4,0.000,0.036,2996,682,2027,0,0,0,0,0,0
$GC,12868,0.57,194.6,647.5,11.3,821,12872,0.00,2.05,0.00,0.000,6,0.000,0.024,2996,2089,2027,0,0,0,0,0,0
$GC,13190,0.57,194.6,611.2,11.1,837,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2089,2027,0,0,0,0,0,0
$GC,13500,0.57,194.6,575.5,11.8,852,13501,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2089,2027,0,0,0,0,0,0
$GC,13811,0.57,194.6,541.9,10.5,867,13814,0.00,2.05,0.00,0.000,4,0.000,0.040,2996,3468,2027,0,0,0,0,0,0
$GC,13866,0.57,194.6,535.0,12.2,869,13870,0.00,2.03,0.00,0.000,6,0.000,0.023,3006,2074,2026,0,0,0,0,0,0
$GC,14189,0.57,194.6,500.3,10.9,885,14193,0.00,2.05,0.00,0.000,4,0.000,0.035,3016,685,2026,0,0,0,0,0,0
$GC,14337,0.57,194.6,482.8,11.9,897,14343,0.08,2.08,0.00,0.000,6,0.142,0.024,2992,2090,2027,0,0,0,0,0,0
$GC,14670,0.57,194.6,446.2,10.7,928,14673,0.00,2.05,0.00,0.000,4,0.000,0.039,2991,3464,2026,0,0,0,0,0,0
$GC,14694,0.57,194.6,443.4,11.0,930,14698,0.00,2.03,0.00,0.000,6,0.000,0.024,2998,2070,2026,0,0,0,0,0,0
$GC,15024,0.57,194.6,410.4,9.2,961,15028,0.00,2.05,0.00,0.000,4,0.000,0.034,3008,679,2026,0,0,0,0,0,0
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$STATE,19603,end climb,SURFACE_DEPTH_REACHED
$STATE,19603,begin surface coast
$FINISH,0.6,1.012911
$STATE,19632,end surface coast,CONTROL_FINISHED_OK
$STATE,19632,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,30.07
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,29.40
$XPDR_PINGS,5
$24V_AH,23.9,14.001
$10V_AH,10.3,11.327
$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
$DEVICE_SECS,19.375,175.725,565.175,0.000,0.000,31.084,19.462,266.973,1.250,0.000,44.763,3976.826,11018.481,646.052,3690.151,902.564,0.000,2266.020,0.000,3657.121,0.000,0.544,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329884
$DATA_FILE_SIZE,86829,1562
$CAP_FILE_SIZE,201498,0
$CFSIZE,260165632,135950336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066, 32.8,1
$GPS,240611,125807,1924.916,12424.311,26,1.4,27,-2.4