version: 66.09
glider: 167
mission: 8
dive: 96
start: 7 1 111 13 51 37
data:
$ID,167
$MISSION,8
$DIVE,96
$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,-56507.656
$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,71
$R_STBD_OVSHOOT,56
$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
$GPS1,010711,133936,1827.913,12426.967,40,1.1,40,-2.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-70.6
$GPS2,010711,135114,1827.885,12426.753,14,1.2,14,-2.1
$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,157.7,71654,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.56,-146.0,0.0,0.0,0,103,0.00,0.00,-83.38,0.000,2,0.000,0.000,111,1823,3231,0,0,0,0,0,0
$GC,107,-0.56,-146.0,6.6,-11.6,11,132,9.90,2.00,-3.17,0.000,4,0.233,0.039,2616,460,3438,0,0,0,0,0,0
$GC,199,-0.56,-146.0,48.0,-31.9,26,207,0.00,2.08,0.00,0.000,6,0.000,0.020,2609,1878,3440,0,0,0,0,0,0
$GC,274,-0.56,-146.0,67.5,-25.6,39,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1879,3440,0,0,0,0,0,0
$GC,350,-0.56,-146.0,86.9,-25.2,52,358,0.00,2.08,0.00,0.000,4,0.000,0.026,2609,480,3440,0,0,0,0,0,0
$GC,447,-0.56,-146.0,109.6,-20.0,69,456,0.00,2.15,0.00,0.000,6,0.000,0.019,2599,1954,3440,0,0,0,0,0,0
$GC,522,-0.56,-146.0,123.1,-17.6,82,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1954,3440,0,0,0,0,0,0
$GC,594,-0.56,-146.0,136.2,-17.8,95,602,0.00,2.17,0.00,0.000,4,0.000,0.027,2599,478,3440,0,0,0,0,0,0
$GC,631,-0.56,-146.0,142.9,-18.4,101,639,0.00,2.28,0.00,0.000,6,0.000,0.021,2589,2031,3440,0,0,0,0,0,0
$GC,707,-0.56,-146.0,156.4,-18.8,114,716,0.00,2.28,0.00,0.000,4,0.000,0.028,2589,489,3440,0,0,0,0,0,0
$GC,737,-0.56,-146.0,161.5,-16.7,118,745,0.00,2.05,0.00,0.000,6,0.000,0.022,2587,1891,3440,0,0,0,0,0,0
$GC,814,-0.56,-146.0,174.3,-17.7,131,821,0.12,0.00,0.00,0.000,6,0.187,0.000,2617,1891,3440,0,0,0,0,0,0
$GC,892,-0.56,-146.0,186.7,-15.5,144,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1891,3440,0,0,0,0,0,0
$GC,970,-0.56,-146.0,198.6,-14.8,157,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1891,3440,0,0,0,0,0,0
$GC,1051,-0.56,-146.0,208.8,-12.5,165,1054,0.00,2.00,0.00,0.000,4,0.000,0.032,2609,3273,3440,0,0,0,0,0,0
$GC,1075,-0.56,-146.0,212.0,-12.8,167,1079,0.00,2.08,0.00,0.000,6,0.000,0.018,2609,1805,3440,0,0,0,0,0,0
$GC,1401,-0.56,-146.0,250.8,-11.0,197,1405,0.00,1.90,0.00,0.000,4,0.000,0.029,2609,480,3440,0,0,0,0,0,0
$GC,1427,-0.56,-146.0,253.5,-10.9,199,1431,0.00,1.90,0.00,0.000,6,0.000,0.020,2603,1835,3440,0,0,0,0,0,0
$GC,1758,-0.56,-146.0,293.3,-12.2,230,1763,0.00,2.10,0.00,0.000,4,0.000,0.033,2602,3257,3440,0,0,0,0,0,0
$GC,1941,-0.56,-146.0,313.1,-9.7,246,1948,0.00,2.00,0.00,0.000,6,0.000,0.018,2602,1856,3439,0,0,0,0,0,0
$GC,2267,-0.56,-146.0,345.8,-10.1,277,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1856,3437,0,0,0,0,0,0
$GC,2590,-0.56,-146.0,379.0,-10.3,307,2594,0.00,1.98,0.00,0.000,4,0.000,0.031,2603,487,3435,0,0,0,0,0,0
$GC,2726,-0.56,-146.0,394.4,-11.2,319,2730,0.00,1.95,0.00,0.000,6,0.000,0.021,2601,1865,3434,0,0,0,0,0,0
$GC,3057,-0.56,-146.0,423.5,-8.6,350,3060,0.00,2.05,0.00,0.000,4,0.000,0.034,2601,3268,3432,0,0,0,0,0,0
$GC,3084,-0.56,-146.0,425.9,-8.1,352,3091,0.00,2.00,0.00,0.000,6,0.000,0.019,2601,1861,3432,0,0,0,0,0,0
$GC,3411,-0.56,-146.0,454.2,-8.7,383,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1861,3430,0,0,0,0,0,0
$GC,3731,-0.56,-146.0,482.5,-9.0,413,3735,0.00,2.00,0.00,0.000,4,0.000,0.032,2601,486,3428,0,0,0,0,0,0
$GC,3765,-0.56,-146.0,485.8,-8.7,416,3769,0.00,2.03,0.00,0.000,6,0.000,0.023,2601,1903,3428,0,0,0,0,0,0
$GC,4105,-0.56,-146.0,513.3,-7.7,440,4109,0.00,2.00,0.00,0.000,4,0.000,0.035,2601,3273,3425,0,0,0,0,0,0
$GC,4154,-0.56,-146.0,517.2,-7.3,442,4158,0.00,1.92,0.00,0.000,6,0.000,0.020,2601,1918,3425,0,0,0,0,0,0
$GC,4484,-0.56,-146.0,540.2,-7.2,458,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1918,3423,0,0,0,0,0,0
$GC,4791,-0.56,-146.0,561.7,-7.0,473,4794,0.00,2.08,0.00,0.000,4,0.000,0.033,2600,504,3421,0,0,0,0,0,0
$GC,4830,-0.56,-146.0,565.0,-7.1,474,4836,0.00,2.08,0.00,0.000,6,0.000,0.024,2601,1939,3421,0,0,0,0,0,0
$GC,5148,-0.56,-146.0,589.1,-8.0,490,5152,0.00,1.95,0.00,0.000,4,0.000,0.037,2601,3271,3418,0,0,0,0,0,0
$GC,5204,-0.56,-146.0,594.0,-8.2,492,5208,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1970,3418,0,0,0,0,0,0
$GC,5525,-0.56,-146.0,618.7,-7.5,508,5529,0.00,2.15,0.00,0.000,4,0.000,0.032,2601,501,3415,0,0,0,0,0,0
$GC,5615,-0.56,-146.0,626.0,-8.4,512,5618,0.00,2.08,0.00,0.000,6,0.000,0.024,2601,1938,3415,0,0,0,0,0,0
$GC,5942,-0.56,-146.0,647.7,-6.3,528,5947,0.00,2.00,0.00,0.000,4,0.000,0.038,2600,3267,3413,0,0,0,0,0,0
$GC,6004,-0.56,-146.0,651.6,-6.5,530,6010,0.00,1.90,0.00,0.000,6,0.000,0.020,2601,1932,3413,0,0,0,0,0,0
$GC,6321,-0.56,-146.0,672.6,-6.7,546,6325,0.00,2.10,0.00,0.000,4,0.000,0.034,2601,502,3411,0,0,0,0,0,0
$GC,6394,-0.56,-146.0,678.3,-7.8,549,6398,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1935,3410,0,0,0,0,0,0
$GC,6716,-0.56,-146.0,698.9,-6.3,565,6721,0.00,2.00,0.00,0.000,4,0.000,0.039,2601,3261,3408,0,0,0,0,0,0
$GC,6755,-0.56,-146.0,701.4,-6.3,566,6762,0.00,1.92,0.00,0.000,6,0.000,0.021,2601,1935,3407,0,0,0,0,0,0
$GC,7073,-0.56,-146.0,721.1,-6.6,582,7077,0.00,1.98,0.00,0.000,4,0.000,0.037,2601,3267,3406,0,0,0,0,0,0
$GC,7119,-0.56,-146.0,724.3,-6.6,584,7122,0.00,1.88,0.00,0.000,6,0.000,0.021,2601,1958,3406,0,0,0,0,0,0
$GC,7452,-0.56,-146.0,745.7,-6.4,600,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1958,3405,0,0,0,0,0,0
$GC,7763,-0.56,-146.0,765.7,-6.5,615,7767,0.00,2.15,0.00,0.000,4,0.000,0.035,2601,500,3403,0,0,0,0,0,0
$GC,7818,-0.56,-146.0,770.1,-7.8,617,7826,0.00,2.10,0.00,0.000,6,0.000,0.024,2601,1956,3403,0,0,0,0,0,0
$GC,8136,-0.56,-146.0,791.5,-7.1,633,8140,0.00,1.98,0.00,0.000,4,0.000,0.037,2601,3268,3401,0,0,0,0,0,0
$GC,8196,-0.56,-146.0,796.0,-7.2,635,8203,0.00,1.85,0.00,0.000,6,0.000,0.021,2601,1963,3400,0,0,0,0,0,0
$GC,8512,-0.56,-146.0,817.2,-6.6,651,8516,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,501,3399,0,0,0,0,0,0
$GC,8547,-0.56,-146.0,819.8,-6.6,652,8553,0.00,2.12,0.00,0.000,6,0.000,0.024,2601,1957,3399,0,0,0,0,0,0
$GC,8863,-0.56,-146.0,840.6,-6.3,668,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1957,3398,0,0,0,0,0,0
$GC,9174,-0.56,-146.0,860.0,-6.2,683,9178,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3267,3397,0,0,0,0,0,0
$GC,9224,-0.56,-146.0,863.4,-6.3,685,9228,0.00,1.88,0.00,0.000,6,0.000,0.021,2601,1950,3397,0,0,0,0,0,0
$GC,9552,-0.56,-146.0,883.7,-6.4,701,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1949,3396,0,0,0,0,0,0
$GC,9862,-0.56,-146.0,903.4,-6.1,716,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1949,3395,0,0,0,0,0,0
$GC,10170,-0.56,-146.0,920.2,-5.3,731,10175,0.00,2.17,0.00,0.000,4,0.000,0.034,2600,493,3394,0,0,0,0,0,0
$GC,10209,-0.56,-146.0,922.5,-5.4,732,10216,0.00,2.17,0.00,0.000,6,0.000,0.024,2600,1963,3394,0,0,0,0,0,0
$GC,10527,-0.56,-146.0,939.0,-5.2,748,10531,0.00,1.92,0.00,0.000,4,0.000,0.039,2601,3267,3393,0,0,0,0,0,0
$GC,10566,-0.56,-146.0,941.1,-5.1,749,10574,0.00,1.85,0.00,0.000,6,0.000,0.021,2601,1966,3394,0,0,0,0,0,0
$GC,10883,-0.56,-146.0,956.7,-4.9,765,10887,0.00,2.17,0.00,0.000,4,0.000,0.034,2600,494,3392,0,0,0,0,0,0
$GC,10928,-0.56,-146.0,959.4,-5.0,767,10932,0.00,2.12,0.00,0.000,6,0.000,0.024,2600,1966,3392,0,0,0,0,0,0
$GC,11256,-0.56,-146.0,975.5,-5.0,783,11260,0.00,1.92,0.00,0.000,4,0.000,0.040,2600,3267,3391,0,0,0,0,0,0
$GC,11318,-0.56,-146.0,978.7,-5.0,785,11326,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1967,3391,0,0,0,0,0,0
$STATE,11529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11529,begin apogee
$GC,11535,-0.20,0.0,990.1,5.4,796,11653,0.38,0.00,110.85,1.412,4,0.123,0.000,2728,2096,2839,0,0,0,0,0,0
$STATE,11654,end apogee,CONTROL_FINISHED_OK
$STATE,11654,begin climb
$GC,11656,0.56,146.0,991.9,0.0,801,11789,0.70,2.20,123.20,1.362,4,0.080,0.040,2984,3439,2242,0,0,0,0,0,0
$GC,11985,0.56,146.0,954.4,13.5,816,11990,0.00,2.08,0.00,0.000,6,0.000,0.022,2993,2091,2233,0,0,0,0,0,0
$GC,12308,0.56,146.0,912.9,13.2,832,12312,0.00,2.12,0.00,0.000,4,0.000,0.036,2993,3461,2230,0,0,0,0,0,0
$GC,12554,0.56,146.0,877.5,14.3,843,12558,0.00,2.10,0.00,0.000,6,0.000,0.022,3002,2023,2229,0,0,0,0,0,0
$GC,12883,0.56,146.0,833.8,13.2,859,12887,0.00,1.98,0.00,0.000,4,0.000,0.035,3012,684,2228,0,0,0,0,0,0
$GC,12917,0.56,146.0,829.1,13.1,860,12921,0.00,1.98,0.00,0.000,6,0.000,0.024,3012,2018,2228,0,0,0,0,0,0
$GC,13239,0.56,146.0,788.6,12.3,876,13243,0.00,2.17,0.00,0.000,4,0.000,0.038,3012,3458,2227,0,0,0,0,0,0
$GC,13304,0.56,146.0,780.5,13.1,879,13309,0.15,2.05,0.00,0.000,6,0.171,0.021,2982,2038,2227,0,0,0,0,0,0
$GC,13633,0.56,146.0,747.5,9.9,895,13636,0.00,2.00,0.00,0.000,4,0.000,0.036,2990,694,2226,0,0,0,0,0,0
$GC,13734,0.56,146.0,736.3,10.8,899,13739,0.00,1.95,0.00,0.000,6,0.000,0.024,2990,2005,2226,0,0,0,0,0,0
$GC,14055,0.56,146.0,700.6,11.1,915,14059,0.00,2.20,0.00,0.000,4,0.000,0.038,2990,3462,2225,0,0,0,0,0,0
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$STATE,21807,end climb,SURFACE_DEPTH_REACHED
$STATE,21807,begin surface coast
$FINISH,0.9,1.020996
$STATE,21848,end surface coast,CONTROL_FINISHED_OK
$STATE,21848,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,30.54
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,29.40
$XPDR_PINGS,15
$24V_AH,23.9,18.605
$10V_AH,10.2,16.572
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329896
$DATA_FILE_SIZE,100254,1721
$CAP_FILE_SIZE,249227,0
$CFSIZE,260165632,132890624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,302.6,1
$GPS,010711,195824,1825.712,12427.665,24,0.9,43,-2.1