version: 66.09
glider: 167
mission: 8
dive: 101
start: 7 2 111 20 52 18
data:
$ID,167
$MISSION,8
$DIVE,101
$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,-56513.945
$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,79
$R_STBD_OVSHOOT,60
$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
$GPS1,020711,204206,1816.040,12429.675,40,0.9,40,-2.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-69.9
$GPS2,020711,205156,1816.075,12429.781,14,1.1,14,-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,177.8,49160,-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,-146.0,0.0,0.0,0,107,0.00,0.00,-85.53,0.000,2,0.000,0.000,111,1886,3138,0,0,0,0,0,0
$GC,110,-0.56,-146.0,6.2,-11.7,12,134,9.90,2.08,-4.80,0.000,4,0.233,0.041,2614,460,3437,0,0,0,0,0,0
$GC,205,-0.56,-146.0,44.7,-31.1,28,214,0.00,2.08,0.00,0.000,6,0.000,0.021,2607,1873,3438,0,0,0,0,0,0
$GC,282,-0.56,-146.0,64.8,-22.7,41,290,0.00,2.10,0.00,0.000,4,0.000,0.031,2596,3274,3438,0,0,0,0,0,0
$GC,325,-0.56,-146.0,74.3,-23.6,47,333,0.00,1.95,0.00,0.000,6,0.000,0.018,2596,1920,3438,0,0,0,0,0,0
$GC,404,-0.56,-146.0,92.3,-22.5,60,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1919,3438,0,0,0,0,0,0
$GC,481,-0.56,-146.0,110.0,-22.8,73,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1918,3439,0,0,0,0,0,0
$GC,558,-0.56,-146.0,127.8,-23.0,86,568,0.00,2.10,0.00,0.000,4,0.000,0.029,2596,491,3439,0,0,0,0,0,0
$GC,608,-0.56,-146.0,139.3,-22.1,94,617,0.00,2.25,0.00,0.000,6,0.000,0.022,2588,2021,3439,0,0,0,0,0,0
$GC,682,-0.56,-146.0,153.8,-19.2,107,691,0.10,2.28,0.00,0.000,4,0.202,0.027,2611,493,3439,0,0,0,0,0,0
$GC,705,-0.56,-146.0,158.3,-19.6,110,715,0.00,2.20,0.00,0.000,6,0.000,0.021,2603,2001,3439,0,0,0,0,0,0
$GC,786,-0.56,-146.0,172.0,-16.8,123,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2001,3439,0,0,0,0,0,0
$GC,861,-0.56,-146.0,184.4,-16.3,136,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2002,3439,0,0,0,0,0,0
$GC,933,-0.56,-146.0,196.0,-15.0,149,941,0.00,1.88,0.00,0.000,4,0.000,0.033,2595,3270,3439,0,0,0,0,0,0
$GC,984,-0.56,-146.0,204.1,-15.5,156,992,0.00,1.88,0.00,0.000,6,0.000,0.018,2596,1950,3439,0,0,0,0,0,0
$GC,1313,-0.56,-146.0,252.2,-13.6,187,1317,0.00,2.10,0.00,0.000,4,0.000,0.030,2596,497,3439,0,0,0,0,0,0
$GC,1468,-0.56,-146.0,274.2,-14.3,200,1472,0.00,2.08,0.00,0.000,6,0.000,0.021,2590,1943,3439,0,0,0,0,0,0
$GC,1794,-0.56,-146.0,315.1,-11.5,230,1798,0.00,2.10,0.00,0.000,4,0.000,0.029,2590,501,3438,0,0,0,0,0,0
$GC,1851,-0.56,-146.0,321.7,-11.4,234,1859,0.00,2.00,0.00,0.000,6,0.000,0.021,2588,1895,3438,0,0,0,0,0,0
$GC,2176,-0.56,-146.0,355.5,-10.6,265,2181,0.10,2.03,0.00,0.000,4,0.185,0.033,2604,3274,3436,0,0,0,0,0,0
$GC,2262,-0.56,-146.0,363.3,-9.0,272,2266,0.00,1.92,0.00,0.000,6,0.000,0.018,2604,1885,3436,0,0,0,0,0,0
$GC,2594,-0.56,-146.0,395.2,-9.6,303,2597,0.00,1.98,0.00,0.000,4,0.000,0.031,2604,504,3434,0,0,0,0,0,0
$GC,2633,-0.56,-146.0,399.3,-10.1,306,2641,0.00,1.95,0.00,0.000,6,0.000,0.021,2602,1872,3434,0,0,0,0,0,0
$GC,2960,-0.56,-146.0,431.8,-10.1,337,2963,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,3269,3432,0,0,0,0,0,0
$GC,3007,-0.56,-146.0,436.2,-9.6,341,3010,0.00,1.92,0.00,0.000,6,0.000,0.019,2600,1886,3432,0,0,0,0,0,0
$GC,3338,-0.56,-146.0,463.7,-7.8,372,3342,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,504,3430,0,0,0,0,0,0
$GC,3408,-0.56,-146.0,469.7,-8.6,378,3413,0.00,2.00,0.00,0.000,6,0.000,0.022,2600,1878,3429,0,0,0,0,0,0
$GC,3739,-0.56,-146.0,495.7,-7.4,409,3742,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,3271,3426,0,0,0,0,0,0
$GC,3848,-0.56,-146.0,503.7,-7.4,416,3855,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1894,3425,0,0,0,0,0,0
$GC,4165,-0.56,-146.0,527.0,-7.3,432,4168,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,503,3423,0,0,0,0,0,0
$GC,4235,-0.56,-146.0,532.5,-8.0,435,4238,0.00,1.98,0.00,0.000,6,0.000,0.022,2600,1888,3423,0,0,0,0,0,0
$GC,4570,-0.56,-146.0,559.2,-8.1,451,4573,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,493,3420,0,0,0,0,0,0
$GC,4625,-0.56,-146.0,564.5,-9.3,453,4630,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1880,3420,0,0,0,0,0,0
$GC,4948,-0.56,-146.0,588.5,-7.2,469,4952,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3267,3418,0,0,0,0,0,0
$GC,5066,-0.56,-146.0,596.9,-6.9,474,5070,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1891,3417,0,0,0,0,0,0
$GC,5394,-0.56,-146.0,620.8,-7.5,490,5397,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,3267,3415,0,0,0,0,0,0
$GC,5440,-0.56,-146.0,624.5,-7.8,492,5444,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1909,3415,0,0,0,0,0,0
$GC,5773,-0.56,-146.0,649.7,-7.4,508,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1909,3412,0,0,0,0,0,0
$GC,6084,-0.56,-146.0,671.3,-6.6,523,6088,0.00,2.05,0.00,0.000,4,0.000,0.036,2600,3264,3410,0,0,0,0,0,0
$GC,6145,-0.56,-146.0,675.5,-6.5,525,6151,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1909,3409,0,0,0,0,0,0
$GC,6461,-0.56,-146.0,695.0,-5.9,541,6464,0.00,2.08,0.00,0.000,4,0.000,0.033,2601,501,3408,0,0,0,0,0,0
$GC,6531,-0.56,-146.0,699.5,-6.7,544,6535,0.00,2.00,0.00,0.000,6,0.000,0.023,2600,1887,3408,0,0,0,0,0,0
$GC,6865,-0.56,-146.0,719.1,-6.1,560,6868,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3273,3405,0,0,0,0,0,0
$GC,6966,-0.56,-146.0,725.3,-6.1,564,6971,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1913,3404,0,0,0,0,0,0
$GC,7288,-0.56,-146.0,745.4,-6.4,580,7292,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,487,3403,0,0,0,0,0,0
$GC,7322,-0.56,-146.0,747.7,-6.5,581,7329,0.00,2.05,0.00,0.000,6,0.000,0.023,2600,1913,3402,0,0,0,0,0,0
$GC,7639,-0.56,-146.0,768.2,-6.5,597,7642,0.00,2.03,0.00,0.000,4,0.000,0.038,2600,3271,3402,0,0,0,0,0,0
$GC,7739,-0.56,-146.0,774.7,-6.4,601,7742,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1937,3401,0,0,0,0,0,0
$GC,8063,-0.56,-146.0,795.4,-6.4,617,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1936,3400,0,0,0,0,0,0
$GC,8370,-0.56,-146.0,814.7,-6.1,632,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1936,3399,0,0,0,0,0,0
$GC,8681,-0.56,-146.0,833.1,-6.0,647,8685,0.00,2.12,0.00,0.000,4,0.000,0.034,2600,493,3397,0,0,0,0,0,0
$GC,8736,-0.56,-146.0,837.0,-6.8,649,8743,0.00,2.12,0.00,0.000,6,0.000,0.024,2600,1951,3396,0,0,0,0,0,0
$GC,9053,-0.56,-146.0,855.8,-5.7,665,9057,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3273,3395,0,0,0,0,0,0
$GC,9110,-0.56,-146.0,859.3,-5.3,667,9114,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1946,3395,0,0,0,0,0,0
$GC,9432,-0.56,-146.0,876.7,-5.4,683,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1944,3394,0,0,0,0,0,0
$GC,9741,-0.56,-146.0,894.3,-5.8,698,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1944,3393,0,0,0,0,0,0
$GC,10052,-0.56,-146.0,913.3,-6.1,713,10056,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,503,3392,0,0,0,0,0,0
$GC,10090,-0.56,-146.0,915.9,-6.3,714,10099,0.00,2.17,0.00,0.000,6,0.000,0.024,2600,1972,3392,0,0,0,0,0,0
$GC,10408,-0.56,-146.0,935.3,-6.1,730,10411,0.00,1.92,0.00,0.000,4,0.000,0.039,2600,3274,3391,0,0,0,0,0,0
$GC,10481,-0.56,-146.0,939.7,-5.7,733,10485,0.00,1.83,0.00,0.000,6,0.000,0.022,2600,1981,3391,0,0,0,0,0,0
$GC,10809,-0.56,-146.0,958.5,-5.5,749,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1980,3390,0,0,0,0,0,0
$GC,11119,-0.56,-146.0,976.8,-6.1,764,11123,0.00,2.20,0.00,0.000,4,0.000,0.034,2600,489,3389,0,0,0,0,0,0
$GC,11196,-0.56,-146.0,982.4,-7.2,767,11203,0.00,2.15,0.00,0.000,6,0.000,0.024,2600,1969,3389,0,0,0,0,0,0
$STATE,11324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11325,begin apogee
$GC,11332,-0.20,0.0,990.8,6.5,774,11448,0.38,0.00,110.28,1.419,4,0.125,0.000,2727,2094,2839,0,0,0,0,0,0
$STATE,11449,end apogee,CONTROL_FINISHED_OK
$STATE,11449,begin climb
$GC,11451,0.56,146.0,994.1,0.0,779,11582,0.70,0.00,123.32,1.368,6,0.080,0.000,2975,2094,2242,0,0,0,0,0,0
$GC,11900,0.56,146.0,952.7,10.7,801,11904,0.00,2.12,0.00,0.000,4,0.000,0.033,2982,698,2231,0,0,0,0,0,0
$GC,11928,0.56,146.0,949.5,11.0,802,11933,0.00,2.08,0.00,0.000,6,0.000,0.024,2983,2051,2231,0,0,0,0,0,0
$GC,12249,0.56,146.0,913.3,11.3,818,12253,0.00,2.17,0.00,0.000,4,0.000,0.040,2982,3470,2229,0,0,0,0,0,0
$GC,12385,0.56,146.0,896.2,12.7,824,12389,0.00,2.00,0.00,0.000,6,0.000,0.023,2990,2099,2227,0,0,0,0,0,0
$GC,12713,0.56,146.0,856.4,12.1,840,12718,0.00,2.15,0.00,0.000,4,0.000,0.035,3001,684,2227,0,0,0,0,0,0
$GC,12785,0.56,146.0,847.3,12.2,843,12789,0.00,2.05,0.00,0.000,6,0.000,0.024,3001,2079,2227,0,0,0,0,0,0
$GC,13114,0.56,146.0,807.1,12.5,859,13118,0.00,2.10,0.00,0.000,4,0.000,0.040,3001,3477,2226,0,0,0,0,0,0
$GC,13143,0.56,146.0,803.1,13.1,860,13147,0.00,2.05,0.00,0.000,6,0.000,0.022,3009,2066,2226,0,0,0,0,0,0
$GC,13460,0.56,146.0,762.2,12.8,875,13463,0.00,2.03,0.00,0.000,4,0.000,0.034,3020,688,2225,0,0,0,0,0,0
$GC,13509,0.56,146.0,755.2,13.3,877,13514,0.12,2.03,0.00,0.000,6,0.163,0.024,2987,2077,2225,0,0,0,0,0,0
$GC,13837,0.56,146.0,717.3,11.6,893,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2078,2224,0,0,0,0,0,0
$GC,14149,0.56,146.0,684.1,10.4,908,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2078,2224,0,0,0,0,0,0
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$STATE,21510,end climb,SURFACE_DEPTH_REACHED
$STATE,21511,begin surface coast
$FINISH,0.8,1.001429
$STATE,21535,end surface coast,CONTROL_FINISHED_OK
$STATE,21535,begin surface
$SM_CCo,21615,0.00,0.000,0,0,774,506.30
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$TT8_MAMPS,0.028462,0.028462
$HUMID,32.31
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,29.40
$XPDR_PINGS,14
$24V_AH,23.9,19.436
$10V_AH,10.3,17.477
$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_SECS,1130.711,1258.177,1523.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329896
$DATA_FILE_SIZE,96965,1665
$CAP_FILE_SIZE,236645,0
$CFSIZE,260165632,132358144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050, 11.8,1
$GPS,030711,025336,1813.958,12430.106,25,1.1,25,-2.1