version: 66.09
glider: 167
mission: 8
dive: 88
start: 6 29 111 11 41 18
data:
$ID,167
$MISSION,8
$DIVE,88
$N_DIVES,95
$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,150
$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,-56497.496
$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,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$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
$GPS1,290611,113007,1845.069,12425.389,29,1.1,29,-2.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.7
$GPS2,290611,114056,1845.016,12425.222,15,1.3,15,-2.2
$SPEED_LIMITS,0.143,0.244
$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,149.2,103338,-15.4,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,106,0.00,0.00,-84.00,0.000,2,0.000,0.000,114,1876,3095,0,0,0,0,0,0
$GC,108,-0.56,-146.0,5.8,-9.7,11,133,9.80,2.05,-5.72,0.000,4,0.230,0.038,2614,471,3436,0,0,0,0,0,0
$GC,303,-0.56,-146.0,75.5,-22.9,45,312,0.00,2.05,0.00,0.000,6,0.000,0.020,2606,1880,3437,0,0,0,0,0,0
$GC,381,-0.56,-146.0,93.3,-22.7,58,390,0.00,2.05,0.00,0.000,4,0.000,0.031,2596,3258,3437,0,0,0,0,0,0
$GC,405,-0.56,-146.0,99.0,-22.3,61,414,0.00,1.92,0.00,0.000,6,0.000,0.018,2596,1919,3437,0,0,0,0,0,0
$GC,485,-0.56,-146.0,115.9,-20.9,74,493,0.00,2.03,0.00,0.000,4,0.000,0.031,2587,3264,3437,0,0,0,0,0,0
$GC,590,-0.56,-146.0,142.0,-26.7,92,598,0.00,1.65,0.00,0.000,6,0.000,0.018,2587,2097,3437,0,0,0,0,0,0
$GC,667,-0.56,-146.0,159.7,-18.9,105,676,0.10,2.38,0.00,0.000,4,0.184,0.029,2611,494,3438,0,0,0,0,0,0
$GC,808,-0.56,-146.0,181.2,-14.6,128,816,0.00,2.00,0.00,0.000,6,0.000,0.020,2604,1878,3438,0,0,0,0,0,0
$GC,886,-0.56,-146.0,193.7,-16.2,141,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1878,3439,0,0,0,0,0,0
$GC,961,-0.56,-146.0,205.3,-15.1,151,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1878,3438,0,0,0,0,0,0
$GC,1281,-0.56,-146.0,250.4,-14.0,181,1285,0.00,2.05,0.00,0.000,4,0.000,0.033,2600,3262,3438,0,0,0,0,0,0
$GC,1349,-0.56,-146.0,258.9,-11.7,187,1353,0.00,2.00,0.00,0.000,6,0.000,0.018,2600,1841,3438,0,0,0,0,0,0
$GC,1680,-0.56,-146.0,297.1,-11.1,218,1684,0.00,1.95,0.00,0.000,4,0.000,0.030,2600,487,3437,0,0,0,0,0,0
$GC,1739,-0.56,-146.0,304.0,-11.8,223,1743,0.00,1.90,0.00,0.000,6,0.000,0.021,2599,1823,3437,0,0,0,0,0,0
$GC,2071,-0.56,-146.0,340.4,-10.4,254,2075,0.00,2.10,0.00,0.000,4,0.000,0.034,2599,3271,3436,0,0,0,0,0,0
$GC,2190,-0.56,-146.0,352.6,-10.2,264,2194,0.00,1.98,0.00,0.000,6,0.000,0.018,2599,1867,3435,0,0,0,0,0,0
$GC,2521,-0.56,-146.0,388.7,-9.8,295,2525,0.00,1.98,0.00,0.000,4,0.000,0.031,2599,500,3433,0,0,0,0,0,0
$GC,2696,-0.56,-146.0,406.5,-10.0,310,2703,0.00,1.85,0.00,0.000,6,0.000,0.022,2599,1784,3432,0,0,0,0,0,0
$GC,3022,-0.56,-146.0,432.7,-7.4,341,3027,0.00,2.20,0.00,0.000,4,0.000,0.034,2598,3261,3430,0,0,0,0,0,0
$GC,3112,-0.56,-146.0,438.9,-6.7,349,3116,0.00,1.98,0.00,0.000,6,0.000,0.018,2599,1858,3430,0,0,0,0,0,0
$GC,3443,-0.56,-146.0,465.2,-8.3,380,3446,0.00,2.05,0.00,0.000,4,0.000,0.033,2599,3256,3427,0,0,0,0,0,0
$GC,3477,-0.56,-146.0,468.1,-8.3,383,3481,0.00,1.90,0.00,0.000,6,0.000,0.019,2599,1906,3427,0,0,0,0,0,0
$GC,3810,-0.56,-146.0,495.4,-8.5,414,3814,0.00,2.05,0.00,0.000,4,0.000,0.031,2599,498,3425,0,0,0,0,0,0
$GC,3878,-0.56,-146.0,501.8,-8.9,420,3883,0.00,2.03,0.00,0.000,6,0.000,0.021,2590,1890,3424,0,0,0,0,0,0
$GC,4211,-0.56,-146.0,528.4,-7.9,436,4215,0.00,2.00,0.00,0.000,4,0.000,0.036,2590,3265,3421,0,0,0,0,0,0
$GC,4267,-0.56,-146.0,533.0,-8.0,438,4272,0.00,1.95,0.00,0.000,6,0.000,0.019,2590,1900,3422,0,0,0,0,0,0
$GC,4588,-0.56,-146.0,559.5,-8.3,454,4592,0.00,2.05,0.00,0.000,4,0.000,0.031,2590,494,3419,0,0,0,0,0,0
$GC,4621,-0.56,-146.0,562.4,-8.4,455,4625,0.00,2.05,0.00,0.000,6,0.000,0.022,2588,1916,3419,0,0,0,0,0,0
$GC,4945,-0.56,-146.0,587.2,-7.8,471,4948,0.00,2.00,0.00,0.000,4,0.000,0.037,2588,3268,3416,0,0,0,0,0,0
$GC,4983,-0.56,-146.0,590.5,-7.7,472,4990,0.00,1.92,0.00,0.000,6,0.000,0.020,2588,1909,3416,0,0,0,0,0,0
$GC,5301,-0.56,-146.0,613.1,-7.2,488,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1908,3414,0,0,0,0,0,0
$GC,5609,-0.56,-146.0,635.4,-7.0,503,5615,0.10,2.10,0.00,0.000,4,0.173,0.032,2614,503,3412,0,0,0,0,0,0
$GC,5682,-0.56,-146.0,640.2,-6.5,506,5686,0.00,2.05,0.00,0.000,6,0.000,0.022,2613,1921,3412,0,0,0,0,0,0
$GC,6012,-0.56,-146.0,659.7,-5.9,522,6016,0.00,1.98,0.00,0.000,4,0.000,0.037,2613,3268,3409,0,0,0,0,0,0
$GC,6062,-0.56,-146.0,662.9,-5.9,524,6066,0.00,1.90,0.00,0.000,6,0.000,0.020,2613,1929,3408,0,0,0,0,0,0
$GC,6391,-0.56,-146.0,682.6,-6.2,540,6396,0.00,2.10,0.00,0.000,4,0.000,0.032,2613,509,3407,0,0,0,0,0,0
$GC,6460,-0.56,-146.0,687.6,-7.3,543,6463,0.00,2.03,0.00,0.000,6,0.000,0.022,2613,1907,3406,0,0,0,0,0,0
$GC,6794,-0.56,-146.0,709.0,-6.2,559,6797,0.00,2.00,0.00,0.000,4,0.000,0.037,2614,3268,3405,0,0,0,0,0,0
$GC,6895,-0.56,-146.0,715.1,-6.0,563,6899,0.00,1.92,0.00,0.000,6,0.000,0.020,2613,1913,3404,0,0,0,0,0,0
$GC,7217,-0.56,-146.0,732.6,-5.4,579,7222,0.00,2.10,0.00,0.000,4,0.000,0.033,2613,500,3402,0,0,0,0,0,0
$GC,7296,-0.56,-146.0,737.4,-6.2,582,7300,0.00,2.03,0.00,0.000,6,0.000,0.023,2613,1894,3401,0,0,0,0,0,0
$GC,7619,-0.56,-146.0,756.1,-5.9,598,7623,0.00,2.03,0.00,0.000,4,0.000,0.038,2613,3268,3399,0,0,0,0,0,0
$GC,7726,-0.56,-146.0,763.0,-6.2,602,7733,0.00,1.92,0.00,0.000,6,0.000,0.021,2613,1919,3399,0,0,0,0,0,0
$GC,8043,-0.56,-146.0,783.4,-6.5,618,8048,0.00,2.05,0.00,0.000,4,0.000,0.037,2613,3268,3397,0,0,0,0,0,0
$GC,8082,-0.56,-146.0,786.1,-6.6,619,8089,0.00,1.92,0.00,0.000,6,0.000,0.020,2613,1934,3398,0,0,0,0,0,0
$GC,8400,-0.56,-146.0,805.4,-5.9,635,8403,0.00,2.12,0.00,0.000,4,0.000,0.033,2613,490,3396,0,0,0,0,0,0
$GC,8444,-0.56,-146.0,808.6,-6.0,637,8448,0.00,2.12,0.00,0.000,6,0.000,0.024,2613,1948,3396,0,0,0,0,0,0
$GC,8773,-0.56,-146.0,827.1,-5.6,653,8778,0.00,2.00,0.00,0.000,4,0.000,0.039,2613,3270,3395,0,0,0,0,0,0
$GC,8856,-0.56,-146.0,831.9,-5.8,656,8863,0.00,1.85,0.00,0.000,6,0.000,0.021,2613,1969,3395,0,0,0,0,0,0
$GC,9173,-0.56,-146.0,849.9,-5.8,672,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1968,3393,0,0,0,0,0,0
$GC,9485,-0.56,-146.0,869.0,-6.1,687,9489,0.00,2.17,0.00,0.000,4,0.000,0.033,2613,489,3392,0,0,0,0,0,0
$GC,9521,-0.56,-146.0,871.5,-6.1,688,9527,0.00,2.17,0.00,0.000,6,0.000,0.023,2613,1976,3392,0,0,0,0,0,0
$GC,9837,-0.56,-146.0,889.8,-5.7,704,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1976,3391,0,0,0,0,0,0
$GC,10147,-0.56,-146.0,906.7,-5.5,719,10151,0.00,1.90,0.00,0.000,4,0.000,0.039,2613,3266,3390,0,0,0,0,0,0
$GC,10171,-0.56,-146.0,908.1,-5.6,720,10175,0.00,1.88,0.00,0.000,6,0.000,0.021,2613,1950,3390,0,0,0,0,0,0
$GC,10506,-0.56,-146.0,925.4,-5.2,736,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1950,3389,0,0,0,0,0,0
$GC,10814,-0.56,-146.0,941.0,-4.9,751,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1950,3389,0,0,0,0,0,0
$GC,11123,-0.56,-146.0,955.8,-4.8,766,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1950,3388,0,0,0,0,0,0
$GC,11434,-0.56,-146.0,970.6,-4.8,781,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1950,3387,0,0,0,0,0,0
$GC,11742,-0.56,-146.0,985.7,-5.0,796,11746,0.00,2.15,0.00,0.000,4,0.000,0.034,2613,508,3386,0,0,0,0,0,0
$GC,11780,-0.56,-146.0,987.8,-5.2,797,11788,0.00,2.12,0.00,0.000,6,0.000,0.024,2613,1969,3386,0,0,0,0,0,0
$STATE,11825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11825,begin apogee
$GC,11833,-0.20,0.0,990.3,5.4,800,11951,0.35,0.00,109.88,1.418,4,0.119,0.000,2734,2095,2838,0,0,0,0,0,0
$STATE,11952,end apogee,CONTROL_FINISHED_OK
$STATE,11952,begin climb
$GC,11954,0.56,146.0,992.4,0.0,805,12085,0.68,0.00,123.32,1.366,6,0.076,0.000,2975,2095,2242,0,0,0,0,0,0
$GC,12402,0.56,146.0,947.1,11.5,827,12406,0.00,2.12,0.00,0.000,4,0.000,0.034,2982,702,2231,0,0,0,0,0,0
$GC,12443,0.56,146.0,942.4,11.6,829,12447,0.00,2.08,0.00,0.000,6,0.000,0.024,2983,2070,2231,0,0,0,0,0,0
$GC,12776,0.56,146.0,904.0,11.4,845,12781,0.00,2.17,0.00,0.000,4,0.000,0.040,2982,3473,2228,0,0,0,0,0,0
$GC,12855,0.56,146.0,893.8,13.0,848,12858,0.00,2.03,0.00,0.000,6,0.000,0.022,2990,2104,2227,0,0,0,0,0,0
$GC,13177,0.56,146.0,854.6,12.2,864,13181,0.00,2.12,0.00,0.000,4,0.000,0.036,3001,686,2227,0,0,0,0,0,0
$GC,13353,0.56,146.0,832.9,12.4,872,13357,0.00,2.03,0.00,0.000,6,0.000,0.025,3001,2034,2227,0,0,0,0,0,0
$GC,13685,0.56,146.0,793.2,11.9,888,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2034,2226,0,0,0,0,0,0
$GC,13994,0.56,146.0,757.2,11.5,903,13998,0.00,2.17,0.00,0.000,4,0.000,0.040,3001,3470,2225,0,0,0,0,0,0
$GC,14044,0.56,146.0,750.7,12.8,905,14048,0.00,2.15,0.00,0.000,6,0.000,0.023,3009,2017,2225,0,0,0,0,0,0
$GC,14360,0.56,146.0,713.1,11.9,920,14365,0.00,2.00,0.00,0.000,4,0.000,0.036,3019,685,2224,0,0,0,0,0,0
$GC,14467,0.56,146.0,700.3,11.7,924,14474,0.12,1.92,0.00,0.000,6,0.164,0.025,2987,2001,2224,0,0,0,0,0,0
$GC,14783,0.56,146.0,669.3,9.4,940,14787,0.00,1.95,0.00,0.000,4,0.000,0.034,2993,679,2223,0,0,0,0,0,0
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$STATE,22205,end climb,SURFACE_DEPTH_REACHED
$STATE,22205,begin surface coast
$FINISH,0.7,1.021615
$STATE,22246,end surface coast,CONTROL_FINISHED_OK
$STATE,22246,begin surface
$SM_CCo,22263,25.85,0.340,1,0,1207,400.08
$SM_GC,1.97,0.00,0.00,25.85,0.000,0.000,0.340,115,1867,1207,-8.39,-0.23,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,1839.59,12404.13,290611,050547
$TT8_MAMPS,0.028462,0.028462
$HUMID,31.02
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,29.40
$XPDR_PINGS,12
$24V_AH,23.9,17.292
$10V_AH,10.2,15.095
$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,19.200,216.875,427.250,25.850,0.000,27.076,54.135,343.044,3.000,0.000,16.154,4462.134,12651.630,648.197,4146.845,1009.553,0.000,2452.869,0.000,4001.051,0.000,0.545,0.000
$DEVICE_MAMPS,230.265,78.795,1417.545,339.660,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1181.420,1327.052,1598.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329892
$DATA_FILE_SIZE,100052,1736
$CAP_FILE_SIZE,239509,0
$CFSIZE,260165632,133795840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,325.2,1
$GPS,290611,175407,1843.822,12425.982,33,1.0,33,-2.2