version: 66.09
glider: 167
mission: 8
dive: 94
start: 7 1 111 1 14 58
data:
$ID,167
$MISSION,8
$DIVE,94
$N_DIVES,110
$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,-56505.047
$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,77
$R_STBD_OVSHOOT,64
$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
$GPS1,010711,010436,1832.644,12427.016,27,1.3,27,-2.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.3
$GPS2,010711,011436,1832.549,12426.975,15,0.9,31,-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,164.6,80060,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-69.35,0.000,2,0.000,0.000,111,1894,3171,0,0,0,0,0,0
$GC,93,-0.56,-146.0,6.2,-11.7,10,118,9.80,2.08,-4.30,0.000,4,0.230,0.041,2614,484,3438,0,0,0,0,0,0
$GC,232,-0.56,-146.0,62.0,-29.6,34,240,0.00,2.03,0.00,0.000,6,0.000,0.019,2606,1874,3439,0,0,0,0,0,0
$GC,306,-0.56,-146.0,81.3,-26.1,47,315,0.00,2.05,0.00,0.000,4,0.000,0.025,2606,486,3439,0,0,0,0,0,0
$GC,325,-0.56,-146.0,85.6,-24.1,49,332,0.00,1.90,0.00,0.000,6,0.000,0.020,2597,1800,3440,0,0,0,0,0,0
$GC,402,-0.56,-146.0,103.9,-24.8,62,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1800,3440,0,0,0,0,0,0
$GC,479,-0.56,-146.0,120.5,-19.8,75,488,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,3258,3440,0,0,0,0,0,0
$GC,578,-0.56,-146.0,140.8,-21.5,91,586,0.08,2.03,0.00,0.000,6,0.161,0.018,2610,1840,3440,0,0,0,0,0,0
$GC,654,-0.56,-146.0,158.1,-22.0,104,662,0.00,1.95,0.00,0.000,4,0.000,0.028,2610,504,3440,0,0,0,0,0,0
$GC,720,-0.56,-146.0,170.0,-16.8,115,727,0.00,1.80,0.00,0.000,6,0.000,0.020,2603,1763,3440,0,0,0,0,0,0
$GC,795,-0.56,-146.0,183.0,-18.5,128,805,0.00,2.22,0.00,0.000,4,0.000,0.033,2600,3255,3441,0,0,0,0,0,0
$GC,846,-0.56,-146.0,191.4,-14.4,136,855,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1875,3441,0,0,0,0,0,0
$GC,920,-0.56,-146.0,202.0,-14.0,148,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1875,3441,0,0,0,0,0,0
$GC,1241,-0.56,-146.0,247.4,-14.4,178,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1875,3441,0,0,0,0,0,0
$GC,1570,-0.56,-146.0,285.8,-11.7,209,1573,0.00,2.00,0.00,0.000,4,0.000,0.029,2600,484,3441,0,0,0,0,0,0
$GC,1650,-0.56,-146.0,295.0,-11.4,216,1654,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1918,3440,0,0,0,0,0,0
$GC,1980,-0.56,-146.0,329.6,-10.1,247,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1918,3439,0,0,0,0,0,0
$GC,2305,-0.56,-146.0,360.1,-9.6,277,2308,0.00,1.95,0.00,0.000,4,0.000,0.034,2600,3269,3437,0,0,0,0,0,0
$GC,2344,-0.56,-146.0,364.4,-9.2,280,2352,0.00,1.90,0.00,0.000,6,0.000,0.018,2600,1894,3437,0,0,0,0,0,0
$GC,2670,-0.56,-146.0,397.4,-10.5,311,2673,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,3271,3435,0,0,0,0,0,0
$GC,2776,-0.56,-146.0,408.1,-9.8,320,2784,0.00,1.85,0.00,0.000,6,0.000,0.018,2600,1950,3435,0,0,0,0,0,0
$GC,3102,-0.56,-146.0,435.4,-7.9,351,3106,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,501,3433,0,0,0,0,0,0
$GC,3338,-0.56,-146.0,456.9,-9.0,371,3344,0.00,2.05,0.00,0.000,6,0.000,0.022,2599,1934,3431,0,0,0,0,0,0
$GC,3665,-0.56,-146.0,485.4,-8.8,402,3669,0.00,1.95,0.00,0.000,4,0.000,0.035,2600,3274,3429,0,0,0,0,0,0
$GC,3726,-0.56,-146.0,491.1,-8.6,407,3732,0.00,1.88,0.00,0.000,6,0.000,0.019,2599,1955,3429,0,0,0,0,0,0
$GC,4046,-0.56,-146.0,518.0,-8.4,428,4050,0.00,2.12,0.00,0.000,4,0.000,0.032,2600,500,3426,0,0,0,0,0,0
$GC,4118,-0.56,-146.0,524.9,-9.2,431,4123,0.00,2.05,0.00,0.000,6,0.000,0.024,2599,1925,3426,0,0,0,0,0,0
$GC,4442,-0.56,-146.0,550.9,-7.9,447,4446,0.00,2.00,0.00,0.000,4,0.000,0.036,2599,3281,3424,0,0,0,0,0,0
$GC,4525,-0.56,-146.0,557.5,-7.7,450,4531,0.00,1.88,0.00,0.000,6,0.000,0.020,2599,1947,3423,0,0,0,0,0,0
$GC,4842,-0.56,-146.0,580.2,-7.0,466,4847,0.00,2.12,0.00,0.000,4,0.000,0.033,2599,511,3421,0,0,0,0,0,0
$GC,4959,-0.56,-146.0,589.7,-8.3,471,4963,0.00,2.03,0.00,0.000,6,0.000,0.024,2599,1927,3420,0,0,0,0,0,0
$GC,5287,-0.56,-146.0,614.2,-7.8,487,5292,0.00,2.12,0.00,0.000,4,0.000,0.031,2599,501,3418,0,0,0,0,0,0
$GC,5366,-0.56,-146.0,620.6,-7.9,490,5370,0.00,1.98,0.00,0.000,6,0.000,0.021,2593,1885,3418,0,0,0,0,0,0
$GC,5688,-0.56,-146.0,643.8,-7.1,506,5692,0.00,2.05,0.00,0.000,4,0.000,0.036,2588,3267,3415,0,0,0,0,0,0
$GC,5813,-0.56,-146.0,652.3,-6.6,511,5818,0.00,1.95,0.00,0.000,6,0.000,0.020,2588,1910,3415,0,0,0,0,0,0
$GC,6135,-0.56,-146.0,673.3,-6.6,527,6138,0.00,2.08,0.00,0.000,4,0.000,0.034,2588,501,3412,0,0,0,0,0,0
$GC,6227,-0.56,-146.0,680.5,-7.8,531,6232,0.10,2.00,0.00,0.000,6,0.175,0.023,2613,1890,3412,0,0,0,0,0,0
$GC,6561,-0.56,-146.0,702.5,-6.9,547,6566,0.00,2.08,0.00,0.000,4,0.000,0.037,2613,3269,3410,0,0,0,0,0,0
$GC,6691,-0.56,-146.0,711.9,-7.3,552,6699,0.00,1.90,0.00,0.000,6,0.000,0.020,2613,1929,3409,0,0,0,0,0,0
$GC,7007,-0.56,-146.0,734.0,-6.7,568,7012,0.00,2.12,0.00,0.000,4,0.000,0.033,2613,498,3408,0,0,0,0,0,0
$GC,7068,-0.56,-146.0,738.6,-7.5,570,7075,0.00,2.08,0.00,0.000,6,0.000,0.024,2613,1925,3407,0,0,0,0,0,0
$GC,7386,-0.56,-146.0,758.1,-6.0,586,7389,0.00,1.98,0.00,0.000,4,0.000,0.037,2613,3267,3406,0,0,0,0,0,0
$GC,7424,-0.56,-146.0,760.6,-6.0,587,7431,0.00,1.88,0.00,0.000,6,0.000,0.020,2613,1929,3406,0,0,0,0,0,0
$GC,7742,-0.56,-146.0,777.5,-5.3,603,7747,0.00,2.12,0.00,0.000,4,0.000,0.033,2613,500,3404,0,0,0,0,0,0
$GC,7788,-0.56,-146.0,780.2,-5.3,605,7793,0.00,2.10,0.00,0.000,6,0.000,0.024,2613,1923,3404,0,0,0,0,0,0
$GC,8122,-0.56,-146.0,796.4,-4.7,621,8126,0.00,2.00,0.00,0.000,4,0.000,0.038,2613,3279,3402,0,0,0,0,0,0
$GC,8200,-0.56,-146.0,800.2,-4.7,624,8204,0.00,1.90,0.00,0.000,6,0.000,0.021,2613,1933,3402,0,0,0,0,0,0
$GC,8522,-0.56,-146.0,817.4,-5.6,640,8526,0.00,2.03,0.00,0.000,4,0.000,0.037,2613,3282,3401,0,0,0,0,0,0
$GC,8647,-0.56,-146.0,824.7,-5.9,645,8651,0.00,2.22,0.00,0.000,6,0.000,0.022,2613,1751,3400,0,0,0,0,0,0
$GC,8963,-0.56,-146.0,845.4,-6.7,660,8967,0.00,1.85,0.00,0.000,4,0.000,0.036,2613,493,3399,0,0,0,0,0,0
$GC,9079,-0.56,-146.0,853.3,-7.0,665,9083,0.00,2.22,0.00,0.000,6,0.000,0.024,2613,2012,3398,0,0,0,0,0,0
$GC,9406,-0.56,-146.0,873.7,-5.8,681,9410,0.00,1.85,0.00,0.000,4,0.000,0.039,2613,3268,3397,0,0,0,0,0,0
$GC,9475,-0.56,-146.0,877.7,-5.5,684,9479,0.00,1.75,0.00,0.000,6,0.000,0.021,2613,2019,3396,0,0,0,0,0,0
$GC,9809,-0.56,-146.0,892.6,-4.2,700,9813,0.00,2.22,0.00,0.000,4,0.000,0.033,2613,504,3396,0,0,0,0,0,0
$GC,9853,-0.56,-146.0,894.9,-4.4,702,9857,0.00,2.22,0.00,0.000,6,0.000,0.024,2613,2021,3396,0,0,0,0,0,0
$GC,10176,-0.56,-146.0,908.5,-4.4,718,10180,0.00,1.88,0.00,0.000,4,0.000,0.040,2613,3277,3395,0,0,0,0,0,0
$GC,10226,-0.56,-146.0,911.0,-4.7,720,10229,0.00,1.77,0.00,0.000,6,0.000,0.021,2613,2015,3395,0,0,0,0,0,0
$GC,10553,-0.56,-146.0,927.4,-5.2,736,10558,0.00,2.25,0.00,0.000,4,0.000,0.033,2613,506,3394,0,0,0,0,0,0
$GC,10603,-0.56,-146.0,930.1,-5.5,738,10607,0.00,2.17,0.00,0.000,6,0.000,0.024,2613,2006,3394,0,0,0,0,0,0
$GC,10930,-0.56,-146.0,948.8,-5.7,754,10934,0.00,1.88,0.00,0.000,4,0.000,0.040,2613,3273,3394,0,0,0,0,0,0
$GC,10970,-0.56,-146.0,951.2,-5.8,755,10976,0.00,1.80,0.00,0.000,6,0.000,0.021,2613,1992,3393,0,0,0,0,0,0
$GC,11286,-0.56,-146.0,968.7,-5.5,771,11291,0.00,2.22,0.00,0.000,4,0.000,0.034,2613,500,3393,0,0,0,0,0,0
$GC,11341,-0.56,-146.0,972.1,-5.9,773,11345,0.00,2.17,0.00,0.000,6,0.000,0.024,2613,1984,3392,0,0,0,0,0,0
$GC,11658,-0.56,-146.0,989.6,-5.6,788,11662,0.00,1.90,0.00,0.000,4,0.000,0.041,2613,3267,3392,0,0,0,0,0,0
$STATE,11666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11666,begin apogee
$GC,11674,-0.20,0.0,990.4,5.5,788,11797,0.32,0.00,110.75,1.414,4,0.119,0.000,2727,2065,2838,0,0,0,0,0,0
$STATE,11798,end apogee,CONTROL_FINISHED_OK
$STATE,11798,begin climb
$GC,11800,0.56,146.0,993.1,0.0,794,11932,0.70,2.15,123.15,1.364,4,0.080,0.032,2982,714,2243,0,0,0,0,0,0
$GC,12145,0.56,146.0,959.4,11.5,809,12150,0.00,2.10,0.00,0.000,6,0.000,0.024,2982,2073,2232,0,0,0,0,0,0
$GC,12469,0.56,146.0,922.6,11.5,825,12472,0.00,2.08,0.00,0.000,4,0.000,0.034,2986,716,2229,0,0,0,0,0,0
$GC,12727,0.56,146.0,892.2,11.5,836,12731,0.00,2.03,0.00,0.000,6,0.000,0.025,2986,2070,2228,0,0,0,0,0,0
$GC,13050,0.56,146.0,854.1,11.9,852,13054,0.00,2.15,0.00,0.000,4,0.000,0.040,2986,3483,2226,0,0,0,0,0,0
$GC,13077,0.56,146.0,850.4,12.0,853,13081,0.00,2.05,0.00,0.000,6,0.000,0.022,2994,2092,2226,0,0,0,0,0,0
$GC,13400,0.56,146.0,809.4,12.8,869,13404,0.00,2.12,0.00,0.000,4,0.000,0.035,3005,684,2226,0,0,0,0,0,0
$GC,13492,0.56,146.0,797.3,13.3,873,13497,0.00,2.05,0.00,0.000,6,0.000,0.025,3005,2053,2226,0,0,0,0,0,0
$GC,13825,0.56,146.0,754.1,13.0,889,13829,0.00,2.15,0.00,0.000,4,0.000,0.040,3005,3471,2225,0,0,0,0,0,0
$GC,13875,0.56,146.0,746.7,14.8,891,13880,0.12,2.05,0.00,0.000,6,0.170,0.022,2983,2053,2224,0,0,0,0,0,0
$GC,14191,0.56,146.0,711.5,10.4,906,14196,0.00,2.05,0.00,0.000,4,0.000,0.036,2991,691,2224,0,0,0,0,0,0
$GC,14340,0.56,146.0,696.5,10.3,912,14343,0.00,1.98,0.00,0.000,6,0.000,0.024,2991,2048,2224,0,0,0,0,0,0
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$STATE,21769,end climb,SURFACE_DEPTH_REACHED
$STATE,21769,begin surface coast
$FINISH,1.0,1.021208
$STATE,21796,end surface coast,CONTROL_FINISHED_OK
$STATE,21796,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,30.42
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,29.10
$XPDR_PINGS,17
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$10V_AH,10.2,16.197
$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
$DEVICE_SECS,19.600,239.500,556.775,0.000,0.000,29.878,40.550,304.109,4.250,0.000,32.268,4370.722,12145.798,712.607,4205.709,1009.555,0.000,2614.573,0.000,4092.209,0.000,0.544,0.000
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$SENSOR_SECS,1145.508,1297.633,1564.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,100185,1687
$CAP_FILE_SIZE,248007,0
$CFSIZE,260165632,133120000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,263.8,1
$GPS,010711,072036,1830.145,12427.155,27,1.1,27,-2.1