version: 66.09
glider: 167
mission: 8
dive: 105
start: 7 3 111 21 39 19
data:
$ID,167
$MISSION,8
$DIVE,105
$N_DIVES,115
$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,-56518.973
$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,66
$R_STBD_OVSHOOT,73
$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
$GPS1,030711,212836,1806.546,12431.355,40,1.0,40,-2.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.4
$GPS2,030711,213855,1806.561,12431.447,17,1.4,34,-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,175.3,31304,-15.4,-8.250
$D_GRID,4875
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,98,0.00,0.00,-78.70,0.000,2,0.000,0.000,122,1890,3115,0,0,0,0,0,0
$GC,101,-0.56,-146.0,5.9,-10.6,10,125,10.02,2.08,-5.20,0.000,4,0.240,0.037,2617,461,3437,0,0,0,0,0,0
$GC,247,-0.56,-146.0,57.9,-21.8,35,256,0.00,2.05,0.00,0.000,6,0.000,0.020,2610,1868,3438,0,0,0,0,0,0
$GC,324,-0.56,-146.0,73.6,-22.1,48,334,0.00,2.08,0.00,0.000,4,0.000,0.028,2609,468,3438,0,0,0,0,0,0
$GC,377,-0.56,-146.0,84.3,-19.5,56,385,0.00,1.75,0.00,0.000,6,0.000,0.019,2602,1688,3438,0,0,0,0,0,0
$GC,456,-0.56,-146.0,98.1,-16.9,69,464,0.00,2.35,0.00,0.000,4,0.000,0.029,2590,3262,3438,0,0,0,0,0,0
$GC,519,-0.56,-146.0,111.1,-20.8,79,527,0.00,2.15,0.00,0.000,6,0.000,0.018,2590,1770,3438,0,0,0,0,0,0
$GC,599,-0.56,-146.0,126.7,-20.0,92,607,0.00,1.88,0.00,0.000,4,0.000,0.029,2590,481,3438,0,0,0,0,0,0
$GC,615,-0.56,-146.0,130.8,-20.4,94,623,0.10,2.00,0.00,0.000,6,0.151,0.025,2613,1859,3439,0,0,0,0,0,0
$GC,691,-0.56,-146.0,144.6,-18.0,107,699,0.00,2.08,0.00,0.000,4,0.000,0.031,2604,3265,3439,0,0,0,0,0,0
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$GC,796,-0.56,-146.0,163.5,-18.5,123,804,0.00,2.03,0.00,0.000,4,0.000,0.028,2604,498,3439,0,0,0,0,0,0
$GC,829,-0.56,-146.0,170.0,-18.1,128,839,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1843,3439,0,0,0,0,0,0
$GC,910,-0.56,-146.0,183.9,-19.2,141,919,0.00,2.10,0.00,0.000,4,0.000,0.031,2591,3265,3439,0,0,0,0,0,0
$GC,927,-0.56,-146.0,187.5,-19.1,143,935,0.00,2.03,0.00,0.000,6,0.000,0.020,2591,1837,3439,0,0,0,0,0,0
$GC,1007,-0.56,-146.0,202.1,-15.9,156,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1836,3439,0,0,0,0,0,0
$GC,1329,-0.56,-146.0,248.1,-12.9,186,1332,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,3268,3439,0,0,0,0,0,0
$GC,1384,-0.56,-146.0,255.8,-12.5,190,1392,0.00,1.88,0.00,0.000,6,0.000,0.017,2587,1923,3439,0,0,0,0,0,0
$GC,1714,-0.56,-146.0,296.3,-12.1,221,1718,0.10,2.05,0.00,0.000,4,0.175,0.028,2613,510,3438,0,0,0,0,0,0
$GC,1856,-0.56,-146.0,311.5,-9.8,233,1860,0.00,1.92,0.00,0.000,6,0.000,0.019,2612,1868,3438,0,0,0,0,0,0
$GC,2187,-0.56,-146.0,342.4,-8.8,264,2191,0.00,2.05,0.00,0.000,4,0.000,0.033,2612,3269,3436,0,0,0,0,0,0
$GC,2236,-0.56,-146.0,346.8,-8.7,268,2245,0.00,1.95,0.00,0.000,6,0.000,0.018,2612,1892,3436,0,0,0,0,0,0
$GC,2562,-0.56,-146.0,374.1,-8.4,299,2566,0.00,1.98,0.00,0.000,4,0.000,0.029,2612,509,3434,0,0,0,0,0,0
$GC,2668,-0.56,-146.0,384.0,-9.2,308,2676,0.00,1.92,0.00,0.000,6,0.000,0.020,2609,1845,3434,0,0,0,0,0,0
$GC,2994,-0.56,-146.0,411.8,-8.6,339,2997,0.00,2.05,0.00,0.000,4,0.000,0.033,2608,3257,3431,0,0,0,0,0,0
$GC,3028,-0.56,-146.0,414.7,-8.4,342,3032,0.00,1.98,0.00,0.000,6,0.000,0.018,2609,1840,3431,0,0,0,0,0,0
$GC,3361,-0.56,-146.0,440.0,-7.7,373,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1840,3429,0,0,0,0,0,0
$GC,3679,-0.56,-146.0,464.4,-7.4,403,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1840,3427,0,0,0,0,0,0
$GC,4001,-0.56,-146.0,489.6,-8.0,433,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1839,3425,0,0,0,0,0,0
$GC,4322,-0.56,-146.0,514.8,-7.8,455,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1839,3422,0,0,0,0,0,0
$GC,4632,-0.56,-146.0,539.8,-8.2,470,4636,0.00,2.12,0.00,0.000,4,0.000,0.034,2609,3269,3420,0,0,0,0,0,0
$GC,4749,-0.56,-146.0,549.7,-8.3,475,4754,0.00,2.00,0.00,0.000,6,0.000,0.019,2609,1872,3420,0,0,0,0,0,0
$GC,5070,-0.56,-146.0,577.0,-8.5,491,5074,0.00,2.00,0.00,0.000,4,0.000,0.031,2609,496,3417,0,0,0,0,0,0
$GC,5096,-0.56,-146.0,579.0,-8.8,492,5101,0.00,2.00,0.00,0.000,6,0.000,0.021,2609,1872,3417,0,0,0,0,0,0
$GC,5428,-0.56,-146.0,605.1,-7.4,508,5432,0.00,2.05,0.00,0.000,4,0.000,0.035,2609,3271,3415,0,0,0,0,0,0
$GC,5467,-0.56,-146.0,608.0,-7.3,509,5474,0.00,1.95,0.00,0.000,6,0.000,0.020,2609,1881,3415,0,0,0,0,0,0
$GC,5785,-0.56,-146.0,629.3,-6.6,525,5790,0.00,2.03,0.00,0.000,4,0.000,0.031,2609,508,3413,0,0,0,0,0,0
$GC,5831,-0.56,-146.0,632.6,-6.4,527,5836,0.00,2.00,0.00,0.000,6,0.000,0.022,2609,1880,3412,0,0,0,0,0,0
$GC,6165,-0.56,-146.0,654.2,-6.3,543,6168,0.00,2.05,0.00,0.000,4,0.000,0.036,2609,3262,3410,0,0,0,0,0,0
$GC,6249,-0.56,-146.0,659.8,-6.2,546,6256,0.00,1.92,0.00,0.000,6,0.000,0.020,2609,1900,3409,0,0,0,0,0,0
$GC,6565,-0.56,-146.0,677.9,-5.4,562,6569,0.00,2.03,0.00,0.000,4,0.000,0.031,2609,504,3408,0,0,0,0,0,0
$GC,6594,-0.56,-146.0,679.7,-5.5,563,6598,0.00,2.03,0.00,0.000,6,0.000,0.022,2609,1914,3407,0,0,0,0,0,0
$GC,6921,-0.56,-146.0,697.7,-5.6,579,6926,0.00,2.10,0.00,0.000,4,0.000,0.031,2609,506,3406,0,0,0,0,0,0
$GC,6946,-0.56,-146.0,699.2,-5.7,580,6950,0.00,1.98,0.00,0.000,6,0.000,0.021,2609,1891,3405,0,0,0,0,0,0
$GC,7281,-0.56,-146.0,720.1,-6.4,596,7285,0.00,2.03,0.00,0.000,4,0.000,0.037,2609,3265,3404,0,0,0,0,0,0
$GC,7418,-0.56,-146.0,729.2,-6.3,602,7422,0.00,1.88,0.00,0.000,6,0.000,0.019,2609,1922,3403,0,0,0,0,0,0
$GC,7752,-0.56,-146.0,750.8,-6.2,618,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1921,3402,0,0,0,0,0,0
$GC,8061,-0.56,-146.0,768.7,-5.6,633,8066,0.00,2.10,0.00,0.000,4,0.000,0.032,2609,507,3400,0,0,0,0,0,0
$GC,8108,-0.56,-146.0,771.7,-5.9,635,8113,0.00,2.08,0.00,0.000,6,0.000,0.022,2609,1919,3399,0,0,0,0,0,0
$GC,8441,-0.56,-146.0,790.9,-5.8,651,8445,0.00,2.00,0.00,0.000,4,0.000,0.037,2609,3273,3398,0,0,0,0,0,0
$GC,8480,-0.56,-146.0,793.3,-5.7,652,8488,0.00,1.90,0.00,0.000,6,0.000,0.021,2609,1934,3398,0,0,0,0,0,0
$GC,8798,-0.56,-146.0,810.7,-5.4,668,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1935,3397,0,0,0,0,0,0
$GC,9106,-0.56,-146.0,826.4,-5.0,683,9110,0.00,2.12,0.00,0.000,4,0.000,0.033,2609,510,3396,0,0,0,0,0,0
$GC,9133,-0.56,-146.0,827.8,-4.9,684,9136,0.00,2.08,0.00,0.000,6,0.000,0.023,2609,1936,3396,0,0,0,0,0,0
$GC,9463,-0.56,-146.0,842.8,-4.6,700,9466,0.00,1.98,0.00,0.000,4,0.000,0.038,2609,3266,3394,0,0,0,0,0,0
$GC,9554,-0.56,-146.0,847.1,-4.5,704,9558,0.00,1.85,0.00,0.000,6,0.000,0.020,2609,1959,3394,0,0,0,0,0,0
$GC,9888,-0.56,-146.0,861.9,-4.3,720,9892,0.00,2.15,0.00,0.000,4,0.000,0.033,2609,502,3393,0,0,0,0,0,0
$GC,9974,-0.56,-146.0,866.4,-5.3,724,9978,0.00,2.10,0.00,0.000,6,0.000,0.023,2609,1942,3393,0,0,0,0,0,0
$GC,10309,-0.56,-146.0,881.0,-4.5,740,10312,0.00,1.98,0.00,0.000,4,0.000,0.038,2609,3264,3393,0,0,0,0,0,0
$GC,10386,-0.56,-146.0,884.9,-4.8,743,10390,0.00,1.83,0.00,0.000,6,0.000,0.021,2609,1968,3392,0,0,0,0,0,0
$GC,10709,-0.56,-146.0,902.0,-5.7,759,10712,0.00,2.15,0.00,0.000,4,0.000,0.033,2609,510,3391,0,0,0,0,0,0
$GC,10795,-0.56,-146.0,907.5,-6.7,763,10799,0.00,2.10,0.00,0.000,6,0.000,0.023,2609,1949,3391,0,0,0,0,0,0
$GC,11129,-0.56,-146.0,927.5,-6.2,779,11133,0.00,1.98,0.00,0.000,4,0.000,0.038,2609,3272,3390,0,0,0,0,0,0
$GC,11225,-0.56,-146.0,933.5,-6.4,783,11229,0.00,1.83,0.00,0.000,6,0.000,0.021,2609,1973,3389,0,0,0,0,0,0
$GC,11552,-0.56,-146.0,953.9,-6.1,799,11553,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1973,3389,0,0,0,0,0,0
$GC,11863,-0.56,-146.0,970.9,-5.3,814,11867,0.00,2.17,0.00,0.000,4,0.000,0.032,2608,513,3388,0,0,0,0,0,0
$GC,11901,-0.56,-146.0,973.4,-5.4,815,11908,0.00,2.12,0.00,0.000,6,0.000,0.024,2609,1972,3388,0,0,0,0,0,0
$GC,12218,-0.56,-146.0,988.8,-4.7,831,12222,0.00,1.92,0.00,0.000,4,0.000,0.039,2609,3274,3388,0,0,0,0,0,0
$STATE,12243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12243,begin apogee
$GC,12253,-0.20,0.0,990.3,4.5,832,12371,0.35,0.00,110.47,1.418,4,0.119,0.000,2730,2055,2839,0,0,0,0,0,0
$STATE,12372,end apogee,CONTROL_FINISHED_OK
$STATE,12372,begin climb
$GC,12377,0.56,146.0,992.1,0.0,837,12513,0.75,2.28,123.60,1.367,4,0.085,0.039,2982,3464,2241,0,0,0,0,0,0
$GC,12697,0.56,146.0,956.3,12.9,852,12702,0.00,2.05,0.00,0.000,6,0.000,0.022,2990,2090,2232,0,0,0,0,0,0
$GC,13025,0.56,146.0,917.2,11.8,868,13029,0.00,2.12,0.00,0.000,4,0.000,0.037,2990,3463,2229,0,0,0,0,0,0
$GC,13208,0.56,146.0,893.4,12.5,876,13212,0.00,2.12,0.00,0.000,6,0.000,0.022,2999,2020,2229,0,0,0,0,0,0
$GC,13530,0.56,146.0,854.9,11.9,892,13534,0.00,1.98,0.00,0.000,4,0.000,0.034,3008,689,2227,0,0,0,0,0,0
$GC,13568,0.56,146.0,850.1,11.9,893,13575,0.00,2.00,0.00,0.000,6,0.000,0.024,3009,2025,2227,0,0,0,0,0,0
$GC,13886,0.56,146.0,812.5,11.8,909,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2026,2227,0,0,0,0,0,0
$GC,14194,0.56,146.0,777.5,11.2,924,14198,0.00,2.20,0.00,0.000,4,0.000,0.039,3008,3462,2226,0,0,0,0,0,0
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$STATE,22333,end climb,SURFACE_DEPTH_REACHED
$STATE,22333,begin surface coast
$FINISH,0.8,0.997503
$STATE,22371,end surface coast,CONTROL_FINISHED_OK
$STATE,22371,begin surface
$SM_CCo,22391,16.90,0.204,1,0,1207,400.08
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$IRIDIUM_FIX,1800.97,12431.10,030711,151526
$TT8_MAMPS,0.028462,0.028462
$HUMID,32.59
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,28.80
$XPDR_PINGS,9
$24V_AH,23.8,20.080
$10V_AH,10.2,18.222
$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
$DEVICE_SECS,19.650,240.550,432.575,16.900,0.000,31.296,41.267,310.862,2.250,0.000,35.261,4469.520,12651.726,692.355,4167.483,1027.478,0.000,2551.622,0.000,4051.135,0.000,0.544,0.000
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$SENSOR_SECS,1177.570,1311.136,1571.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329864
$DATA_FILE_SIZE,100178,1731
$CAP_FILE_SIZE,248460,0
$CFSIZE,260165632,131899392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076, 28.9,1
$GPS,040711,035407,1804.827,12432.159,33,1.8,33,-2.0