version: 66.09
glider: 167
mission: 8
dive: 106
start: 7 4 111 4 5 0
data:
$ID,167
$MISSION,8
$DIVE,106
$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,-56520.23
$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,63
$R_STBD_OVSHOOT,40
$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
$GPS1,040711,035407,1804.827,12432.159,33,1.8,33,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-71.9
$GPS2,040711,040436,1804.711,12432.181,11,1.0,27,-2.0
$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,183.1,27694,-15.4,-8.250
$D_GRID,4770
$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,-146.0,0.0,0.0,0,85,0.00,0.00,-65.53,0.000,2,0.000,0.000,111,1880,3132,0,0,0,0,0,0
$GC,88,-0.56,-146.0,6.4,-12.4,9,114,10.00,2.10,-4.88,0.000,4,0.236,0.042,2607,466,3437,0,0,0,0,0,0
$GC,288,-0.56,-146.0,76.5,-22.6,43,296,0.00,2.10,0.00,0.000,6,0.000,0.019,2599,1906,3439,0,0,0,0,0,0
$GC,370,-0.56,-146.0,93.8,-23.7,56,378,0.00,2.03,0.00,0.000,4,0.000,0.031,2588,3273,3440,0,0,0,0,0,0
$GC,427,-0.56,-146.0,107.1,-20.7,65,436,0.00,1.75,0.00,0.000,6,0.000,0.017,2588,2028,3440,0,0,0,0,0,0
$GC,506,-0.56,-146.0,122.7,-21.2,78,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2027,3440,0,0,0,0,0,0
$GC,584,-0.56,-146.0,137.9,-18.4,91,593,0.00,2.28,0.00,0.000,4,0.000,0.028,2588,474,3440,0,0,0,0,0,0
$GC,642,-0.56,-146.0,148.4,-18.4,100,650,0.15,2.35,0.00,0.000,6,0.163,0.021,2619,2098,3441,0,0,0,0,0,0
$GC,719,-0.56,-146.0,161.2,-15.9,113,728,0.00,1.73,0.00,0.000,4,0.000,0.032,2612,3264,3441,0,0,0,0,0,0
$GC,755,-0.56,-146.0,166.8,-15.9,118,763,0.00,1.60,0.00,0.000,6,0.000,0.017,2612,2090,3441,0,0,0,0,0,0
$GC,832,-0.56,-146.0,178.7,-15.0,131,841,0.00,2.35,0.00,0.000,4,0.000,0.027,2612,476,3441,0,0,0,0,0,0
$GC,930,-0.56,-146.0,193.2,-14.1,148,938,0.00,2.20,0.00,0.000,6,0.000,0.020,2604,1995,3441,0,0,0,0,0,0
$GC,1007,-0.56,-146.0,203.3,-13.6,159,1010,0.00,1.83,0.00,0.000,4,0.000,0.031,2600,3265,3441,0,0,0,0,0,0
$GC,1042,-0.56,-146.0,208.5,-13.5,162,1045,0.00,1.73,0.00,0.000,6,0.000,0.016,2600,1988,3441,0,0,0,0,0,0
$GC,1374,-0.56,-146.0,251.3,-11.8,193,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1986,3441,0,0,0,0,0,0
$GC,1694,-0.56,-146.0,286.4,-10.9,223,1698,0.00,2.17,0.00,0.000,4,0.000,0.029,2600,477,3440,0,0,0,0,0,0
$GC,1814,-0.56,-146.0,301.1,-11.8,233,1818,0.00,2.25,0.00,0.000,6,0.000,0.022,2600,2038,3439,0,0,0,0,0,0
$GC,2140,-0.56,-146.0,338.4,-10.9,263,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2038,3439,0,0,0,0,0,0
$GC,2462,-0.56,-146.0,369.2,-8.9,293,2466,0.00,2.28,0.00,0.000,4,0.000,0.029,2600,474,3437,0,0,0,0,0,0
$GC,2604,-0.56,-146.0,382.8,-9.5,305,2608,0.00,2.20,0.00,0.000,6,0.000,0.021,2600,1988,3436,0,0,0,0,0,0
$GC,2935,-0.56,-146.0,412.2,-8.7,336,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1988,3434,0,0,0,0,0,0
$GC,3255,-0.56,-146.0,438.8,-8.0,366,3259,0.00,2.22,0.00,0.000,4,0.000,0.031,2600,466,3432,0,0,0,0,0,0
$GC,3330,-0.56,-146.0,445.5,-9.0,372,3334,0.00,2.17,0.00,0.000,6,0.000,0.021,2600,1975,3432,0,0,0,0,0,0
$GC,3655,-0.56,-146.0,473.6,-8.6,402,3660,0.00,1.92,0.00,0.000,4,0.000,0.035,2600,3268,3430,0,0,0,0,0,0
$GC,3751,-0.56,-146.0,481.2,-7.7,410,3758,0.00,1.80,0.00,0.000,6,0.000,0.018,2600,1977,3429,0,0,0,0,0,0
$GC,4076,-0.56,-146.0,507.3,-8.3,437,4080,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,479,3426,0,0,0,0,0,0
$GC,4223,-0.56,-146.0,520.6,-9.3,443,4230,0.00,2.20,0.00,0.000,6,0.000,0.023,2600,1996,3426,0,0,0,0,0,0
$GC,4539,-0.56,-146.0,546.1,-8.0,459,4544,0.00,1.88,0.00,0.000,4,0.000,0.036,2600,3257,3424,0,0,0,0,0,0
$GC,4572,-0.56,-146.0,548.8,-7.8,460,4576,0.00,1.80,0.00,0.000,6,0.000,0.020,2600,1961,3424,0,0,0,0,0,0
$GC,4897,-0.56,-146.0,573.7,-7.7,476,4901,0.00,2.17,0.00,0.000,4,0.000,0.032,2600,471,3421,0,0,0,0,0,0
$GC,4941,-0.56,-146.0,578.0,-8.8,478,4945,0.00,2.12,0.00,0.000,6,0.000,0.021,2591,1964,3421,0,0,0,0,0,0
$GC,5270,-0.56,-146.0,604.9,-8.0,494,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1964,3419,0,0,0,0,0,0
$GC,5578,-0.56,-146.0,627.5,-7.2,509,5583,0.00,1.95,0.00,0.000,4,0.000,0.037,2588,3262,3417,0,0,0,0,0,0
$GC,5611,-0.56,-146.0,630.0,-7.2,510,5615,0.10,1.88,0.00,0.000,6,0.162,0.020,2614,1914,3416,0,0,0,0,0,0
$GC,5934,-0.56,-146.0,650.2,-6.3,526,5937,0.00,2.05,0.00,0.000,4,0.000,0.032,2615,517,3414,0,0,0,0,0,0
$GC,6018,-0.56,-146.0,656.2,-6.8,529,6025,0.00,2.05,0.00,0.000,6,0.000,0.023,2615,1927,3414,0,0,0,0,0,0
$GC,6336,-0.56,-146.0,675.9,-6.2,545,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1927,3412,0,0,0,0,0,0
$GC,6644,-0.56,-146.0,694.0,-5.7,560,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1927,3410,0,0,0,0,0,0
$GC,6953,-0.56,-146.0,710.9,-5.3,575,6957,0.00,2.00,0.00,0.000,4,0.000,0.037,2614,3273,3408,0,0,0,0,0,0
$GC,7004,-0.56,-146.0,713.6,-5.1,577,7009,0.00,1.92,0.00,0.000,6,0.000,0.021,2614,1936,3408,0,0,0,0,0,0
$GC,7331,-0.56,-146.0,728.9,-4.4,593,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1936,3407,0,0,0,0,0,0
$GC,7641,-0.56,-146.0,741.5,-4.1,608,7645,0.00,2.08,0.00,0.000,4,0.000,0.034,2614,511,3405,0,0,0,0,0,0
$GC,7670,-0.56,-146.0,742.9,-4.1,609,7674,0.00,2.05,0.00,0.000,6,0.000,0.023,2614,1922,3404,0,0,0,0,0,0
$GC,7993,-0.56,-146.0,756.7,-4.3,625,7996,0.00,2.00,0.00,0.000,4,0.000,0.037,2615,3278,3403,0,0,0,0,0,0
$GC,8032,-0.56,-146.0,758.5,-4.3,626,8038,0.00,1.90,0.00,0.000,6,0.000,0.021,2614,1949,3403,0,0,0,0,0,0
$GC,8349,-0.56,-146.0,772.8,-4.7,642,8354,0.00,2.12,0.00,0.000,4,0.000,0.033,2614,517,3402,0,0,0,0,0,0
$GC,8396,-0.56,-146.0,775.3,-5.0,644,8401,0.00,2.05,0.00,0.000,6,0.000,0.024,2614,1909,3401,0,0,0,0,0,0
$GC,8730,-0.56,-146.0,791.9,-5.0,660,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1909,3400,0,0,0,0,0,0
$GC,9038,-0.56,-146.0,807.7,-5.2,675,9041,0.00,2.03,0.00,0.000,4,0.000,0.039,2615,3268,3398,0,0,0,0,0,0
$GC,9133,-0.56,-146.0,812.6,-5.2,679,9137,0.00,1.90,0.00,0.000,6,0.000,0.020,2614,1934,3398,0,0,0,0,0,0
$GC,9462,-0.56,-146.0,828.8,-4.9,695,9466,0.00,2.10,0.00,0.000,4,0.000,0.034,2614,509,3397,0,0,0,0,0,0
$GC,9548,-0.56,-146.0,833.9,-6.0,699,9552,0.00,2.05,0.00,0.000,6,0.000,0.024,2614,1913,3397,0,0,0,0,0,0
$GC,9882,-0.56,-146.0,851.7,-5.4,715,9887,0.00,2.05,0.00,0.000,4,0.000,0.039,2614,3267,3396,0,0,0,0,0,0
$GC,9933,-0.56,-146.0,854.5,-5.4,717,9937,0.00,1.90,0.00,0.000,6,0.000,0.021,2614,1936,3395,0,0,0,0,0,0
$GC,10262,-0.56,-146.0,872.2,-5.4,733,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1936,3395,0,0,0,0,0,0
$GC,10570,-0.56,-146.0,889.1,-5.4,748,10574,0.00,2.00,0.00,0.000,4,0.000,0.037,2614,3278,3394,0,0,0,0,0,0
$GC,10603,-0.56,-146.0,891.1,-5.4,749,10607,0.00,1.92,0.00,0.000,6,0.000,0.021,2615,1934,3394,0,0,0,0,0,0
$GC,10926,-0.56,-146.0,908.5,-5.4,765,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1933,3393,0,0,0,0,0,0
$GC,11235,-0.56,-146.0,925.1,-5.4,780,11240,0.00,2.12,0.00,0.000,4,0.000,0.034,2614,513,3393,0,0,0,0,0,0
$GC,11314,-0.56,-146.0,930.1,-6.3,783,11318,0.00,2.05,0.00,0.000,6,0.000,0.024,2614,1915,3392,0,0,0,0,0,0
$GC,11637,-0.56,-146.0,947.8,-5.7,799,11640,0.00,2.03,0.00,0.000,4,0.000,0.040,2614,3268,3392,0,0,0,0,0,0
$GC,11732,-0.56,-146.0,953.2,-5.6,803,11735,0.00,1.88,0.00,0.000,6,0.000,0.021,2614,1940,3392,0,0,0,0,0,0
$GC,12061,-0.56,-146.0,971.9,-5.8,819,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1940,3392,0,0,0,0,0,0
$GC,12369,-0.56,-146.0,989.6,-5.5,834,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1940,3391,0,0,0,0,0,0
$STATE,12387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12387,begin apogee
$GC,12395,-0.20,0.0,990.7,5.5,835,12514,0.32,0.00,111.00,1.421,4,0.121,0.000,2728,2088,2839,0,0,0,0,0,0
$STATE,12514,end apogee,CONTROL_FINISHED_OK
$STATE,12514,begin climb
$GC,12517,0.56,146.0,993.4,0.0,840,12648,0.70,0.00,123.75,1.369,6,0.080,0.000,2976,2087,2242,0,0,0,0,0,0
$GC,12965,0.56,146.0,946.9,11.9,862,12969,0.00,2.15,0.00,0.000,4,0.000,0.040,2976,3465,2231,0,0,0,0,0,0
$GC,13060,0.56,146.0,934.4,12.9,866,13064,0.00,2.00,0.00,0.000,6,0.000,0.022,2982,2130,2229,0,0,0,0,0,0
$GC,13382,0.56,146.0,896.3,11.8,882,13387,0.00,2.15,0.00,0.000,4,0.000,0.035,2993,721,2229,0,0,0,0,0,0
$GC,13489,0.56,146.0,883.4,12.1,886,13495,0.00,2.03,0.00,0.000,6,0.000,0.025,2993,2071,2229,0,0,0,0,0,0
$GC,13805,0.56,146.0,845.3,11.8,902,13809,0.00,2.12,0.00,0.000,4,0.000,0.040,2993,3480,2227,0,0,0,0,0,0
$GC,13831,0.56,146.0,841.7,11.7,903,13835,0.00,2.08,0.00,0.000,6,0.000,0.021,3002,2066,2227,0,0,0,0,0,0
$GC,14154,0.56,146.0,801.4,12.6,919,14158,0.00,2.05,0.00,0.000,4,0.000,0.034,3011,691,2227,0,0,0,0,0,0
$GC,14291,0.56,146.0,784.1,12.5,925,14295,0.00,1.95,0.00,0.000,6,0.000,0.025,3011,2019,2226,0,0,0,0,0,0
$GC,14626,0.56,146.0,742.9,12.1,941,14627,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2019,2226,0,0,0,0,0,0
$GC,14933,0.56,146.0,706.2,11.6,956,14937,0.00,2.20,0.00,0.000,4,0.000,0.040,3011,3472,2225,0,0,0,0,0,0
$GC,15073,0.56,146.0,688.2,12.5,962,15078,0.15,2.08,0.00,0.000,6,0.167,0.022,2981,2037,2225,0,0,0,0,0,0
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$STATE,22729,end climb,SURFACE_DEPTH_REACHED
$STATE,22729,begin surface coast
$FINISH,0.8,1.012525
$STATE,22765,end surface coast,CONTROL_FINISHED_OK
$STATE,22765,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,31.17
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,29.00
$XPDR_PINGS,10
$24V_AH,23.8,20.254
$10V_AH,10.2,18.413
$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,329892
$DATA_FILE_SIZE,103615,1766
$CAP_FILE_SIZE,245907,0
$CFSIZE,260165632,131780608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,102.8,1
$GPS,040711,102706,1801.719,12433.430,38,1.6,43,-2.0