version: 66.09
glider: 167
mission: 8
dive: 112
start: 7 5 111 17 46 28
data:
$ID,167
$MISSION,8
$DIVE,112
$N_DIVES,125
$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,-3
$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,-56527.789
$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,75
$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
$GPS1,050711,173636,1750.364,12434.412,33,0.8,33,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.2
$GPS2,050711,174550,1750.279,12434.466,15,1.3,15,-2.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,283.8,254221,-15.4,-8.250
$D_GRID,4034
$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,-146.0,0.0,0.0,0,90,0.00,0.00,-68.47,0.000,2,0.000,0.000,111,1864,2973,0,0,0,0,0,0
$GC,93,-0.56,-146.0,5.3,-8.6,10,118,9.93,2.10,-7.95,0.000,4,0.233,0.038,2596,3286,3434,0,0,0,0,0,0
$GC,148,-0.56,-146.0,28.7,-41.3,18,157,0.00,2.05,0.00,0.000,6,0.000,0.018,2596,1869,3436,0,0,0,0,0,0
$GC,226,-0.56,-146.0,53.2,-31.1,31,236,0.00,2.03,0.00,0.000,4,0.000,0.028,2597,494,3436,0,0,0,0,0,0
$GC,251,-0.56,-146.0,60.4,-30.4,34,259,0.00,2.05,0.00,0.000,6,0.000,0.020,2589,1890,3436,0,0,0,0,0,0
$GC,329,-0.56,-146.0,79.6,-26.3,47,338,0.00,2.05,0.00,0.000,4,0.000,0.029,2578,3272,3436,0,0,0,0,0,0
$GC,355,-0.56,-146.0,86.0,-22.3,51,364,0.10,1.80,0.00,0.000,6,0.164,0.017,2609,1981,3436,0,0,0,0,0,0
$GC,432,-0.56,-146.0,100.8,-19.7,64,440,0.00,2.20,0.00,0.000,4,0.000,0.028,2609,488,3436,0,0,0,0,0,0
$GC,501,-0.56,-146.0,113.3,-18.4,76,510,0.00,2.00,0.00,0.000,6,0.000,0.020,2602,1869,3437,0,0,0,0,0,0
$GC,577,-0.56,-146.0,126.7,-17.8,89,585,0.00,2.08,0.00,0.000,4,0.000,0.031,2591,3270,3437,0,0,0,0,0,0
$GC,605,-0.56,-146.0,131.6,-17.6,93,613,0.00,2.00,0.00,0.000,6,0.000,0.018,2591,1867,3437,0,0,0,0,0,0
$GC,685,-0.56,-146.0,144.9,-17.9,106,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1866,3437,0,0,0,0,0,0
$GC,763,-0.56,-146.0,159.8,-17.6,119,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1866,3437,0,0,0,0,0,0
$GC,838,-0.56,-146.0,172.5,-16.6,132,846,0.00,2.00,0.00,0.000,4,0.000,0.030,2591,500,3437,0,0,0,0,0,0
$GC,866,-0.56,-146.0,176.8,-16.0,136,875,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1843,3437,0,0,0,0,0,0
$GC,942,-0.56,-146.0,189.1,-17.1,149,950,0.10,2.12,0.00,0.000,4,0.197,0.031,2602,3264,3437,0,0,0,0,0,0
$GC,959,-0.56,-146.0,192.4,-18.5,151,968,0.00,2.22,0.00,0.000,6,0.000,0.018,2602,1718,3437,0,0,0,0,0,0
$GC,1041,-0.56,-146.0,205.6,-15.4,162,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1717,3437,0,0,0,0,0,0
$GC,1361,-0.56,-146.0,246.9,-13.8,192,1365,0.00,2.33,0.00,0.000,4,0.000,0.031,2600,3271,3438,0,0,0,0,0,0
$GC,1415,-0.56,-146.0,254.2,-12.6,196,1423,0.00,2.17,0.00,0.000,6,0.000,0.018,2600,1751,3437,0,0,0,0,0,0
$GC,1741,-0.56,-146.0,294.1,-11.4,227,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1751,3437,0,0,0,0,0,0
$GC,2063,-0.56,-146.0,328.2,-10.8,257,2067,0.00,2.25,0.00,0.000,4,0.000,0.032,2600,3272,3436,0,0,0,0,0,0
$GC,2140,-0.56,-146.0,336.9,-10.5,263,2148,0.00,2.12,0.00,0.000,6,0.000,0.019,2600,1774,3436,0,0,0,0,0,0
$GC,2466,-0.56,-146.0,368.3,-9.5,294,2471,0.00,2.22,0.00,0.000,4,0.000,0.032,2600,3262,3434,0,0,0,0,0,0
$GC,2591,-0.56,-146.0,379.0,-8.5,305,2596,0.00,2.05,0.00,0.000,6,0.000,0.019,2600,1834,3433,0,0,0,0,0,0
$GC,2923,-0.56,-146.0,407.5,-8.6,336,2927,0.00,1.95,0.00,0.000,4,0.000,0.031,2600,487,3431,0,0,0,0,0,0
$GC,2962,-0.56,-146.0,411.4,-9.0,339,2970,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1822,3431,0,0,0,0,0,0
$GC,3288,-0.56,-146.0,441.3,-10.0,370,3292,0.00,2.12,0.00,0.000,4,0.000,0.034,2600,3265,3428,0,0,0,0,0,0
$GC,3396,-0.56,-146.0,451.8,-9.6,379,3400,0.00,1.98,0.00,0.000,6,0.000,0.019,2600,1850,3427,0,0,0,0,0,0
$GC,3727,-0.56,-146.0,481.6,-8.1,410,3730,0.00,1.98,0.00,0.000,4,0.000,0.031,2600,487,3426,0,0,0,0,0,0
$GC,3800,-0.56,-146.0,488.3,-9.1,416,3807,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1863,3425,0,0,0,0,0,0
$GC,4132,-0.56,-146.0,515.1,-7.9,439,4136,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3264,3422,0,0,0,0,0,0
$GC,4234,-0.56,-146.0,523.0,-7.4,443,4239,0.00,1.95,0.00,0.000,6,0.000,0.019,2600,1903,3422,0,0,0,0,0,0
$GC,4556,-0.56,-146.0,546.8,-7.3,459,4559,0.00,2.05,0.00,0.000,4,0.000,0.031,2599,501,3420,0,0,0,0,0,0
$GC,4618,-0.56,-146.0,552.1,-8.6,461,4625,0.00,2.05,0.00,0.000,6,0.000,0.022,2599,1912,3419,0,0,0,0,0,0
$GC,4934,-0.56,-146.0,577.0,-8.2,477,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1912,3417,0,0,0,0,0,0
$GC,5244,-0.56,-146.0,602.0,-8.1,492,5249,0.00,2.03,0.00,0.000,4,0.000,0.037,2599,3263,3415,0,0,0,0,0,0
$GC,5313,-0.56,-146.0,607.3,-7.6,495,5317,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1904,3415,0,0,0,0,0,0
$GC,5647,-0.56,-146.0,631.5,-6.9,511,5651,0.00,2.05,0.00,0.000,4,0.000,0.032,2598,507,3412,0,0,0,0,0,0
$GC,5674,-0.56,-146.0,633.8,-7.0,512,5679,0.00,2.08,0.00,0.000,6,0.000,0.023,2599,1914,3412,0,0,0,0,0,0
$GC,6003,-0.56,-146.0,657.8,-7.4,528,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1914,3410,0,0,0,0,0,0
$GC,6310,-0.56,-146.0,680.1,-7.0,543,6314,0.00,2.03,0.00,0.000,4,0.000,0.037,2599,3273,3408,0,0,0,0,0,0
$GC,6345,-0.56,-146.0,682.5,-7.0,544,6349,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1902,3408,0,0,0,0,0,0
$GC,6668,-0.56,-146.0,704.1,-6.4,560,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1901,3407,0,0,0,0,0,0
$GC,6976,-0.56,-146.0,721.5,-5.5,575,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1901,3405,0,0,0,0,0,0
$GC,7287,-0.56,-146.0,739.5,-6.0,590,7292,0.00,2.08,0.00,0.000,4,0.000,0.036,2599,3267,3403,0,0,0,0,0,0
$GC,7325,-0.56,-146.0,742.0,-6.1,591,7333,0.00,1.92,0.00,0.000,6,0.000,0.020,2599,1929,3403,0,0,0,0,0,0
$GC,7643,-0.56,-146.0,761.7,-6.2,607,7647,0.00,2.10,0.00,0.000,4,0.000,0.033,2599,500,3401,0,0,0,0,0,0
$GC,7687,-0.56,-146.0,764.9,-6.5,609,7690,0.00,2.08,0.00,0.000,6,0.000,0.024,2597,1921,3401,0,0,0,0,0,0
$GC,8014,-0.56,-146.0,783.6,-5.5,625,8019,0.00,2.03,0.00,0.000,4,0.000,0.038,2597,3262,3399,0,0,0,0,0,0
$GC,8098,-0.56,-146.0,788.5,-5.9,628,8105,0.00,1.88,0.00,0.000,6,0.000,0.021,2597,1947,3399,0,0,0,0,0,0
$GC,8415,-0.56,-146.0,808.0,-6.3,644,8420,0.00,2.15,0.00,0.000,4,0.000,0.033,2597,501,3398,0,0,0,0,0,0
$GC,8476,-0.56,-146.0,812.6,-7.5,646,8483,0.00,2.10,0.00,0.000,6,0.000,0.024,2596,1938,3397,0,0,0,0,0,0
$GC,8794,-0.56,-146.0,833.9,-6.5,662,8797,0.00,1.98,0.00,0.000,4,0.000,0.039,2596,3273,3396,0,0,0,0,0,0
$GC,8862,-0.56,-146.0,838.3,-6.4,665,8866,0.00,1.90,0.00,0.000,6,0.000,0.021,2596,1940,3396,0,0,0,0,0,0
$GC,9196,-0.56,-146.0,857.7,-5.8,681,9201,0.00,2.15,0.00,0.000,4,0.000,0.034,2596,501,3395,0,0,0,0,0,0
$GC,9247,-0.56,-146.0,861.1,-5.9,683,9251,0.00,2.08,0.00,0.000,6,0.000,0.023,2590,1934,3395,0,0,0,0,0,0
$GC,9576,-0.56,-146.0,879.6,-5.6,699,9579,0.00,2.00,0.00,0.000,4,0.000,0.039,2590,3268,3394,0,0,0,0,0,0
$GC,9622,-0.56,-146.0,882.2,-5.7,701,9626,0.00,1.88,0.00,0.000,6,0.000,0.021,2590,1950,3393,0,0,0,0,0,0
$GC,9956,-0.56,-146.0,901.4,-5.9,717,9960,0.00,2.15,0.00,0.000,4,0.000,0.033,2590,490,3393,0,0,0,0,0,0
$GC,9985,-0.56,-146.0,903.4,-6.1,718,9990,0.00,2.15,0.00,0.000,6,0.000,0.024,2589,1943,3392,0,0,0,0,0,0
$GC,10306,-0.56,-146.0,923.7,-6.4,734,10310,0.00,1.98,0.00,0.000,4,0.000,0.040,2590,3273,3392,0,0,0,0,0,0
$GC,10377,-0.56,-146.0,928.1,-6.5,737,10381,0.00,1.88,0.00,0.000,6,0.000,0.022,2590,1963,3391,0,0,0,0,0,0
$GC,10711,-0.56,-146.0,948.5,-6.0,753,10715,0.00,2.15,0.00,0.000,4,0.000,0.034,2590,506,3391,0,0,0,0,0,0
$GC,10796,-0.56,-146.0,954.4,-6.9,757,10800,0.00,2.12,0.00,0.000,6,0.000,0.025,2591,1953,3391,0,0,0,0,0,0
$GC,11132,-0.56,-146.0,974.0,-6.0,773,11135,0.00,1.98,0.00,0.000,4,0.000,0.040,2590,3269,3390,0,0,0,0,0,0
$GC,11182,-0.56,-146.0,977.2,-6.0,775,11185,0.00,1.85,0.00,0.000,6,0.000,0.021,2590,1969,3390,0,0,0,0,0,0
$STATE,11403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11403,begin apogee
$GC,11411,-0.20,0.0,990.7,6.0,786,11528,0.43,0.00,110.72,1.415,4,0.124,0.000,2732,2097,2839,0,0,0,0,0,0
$STATE,11529,end apogee,CONTROL_FINISHED_OK
$STATE,11529,begin climb
$GC,11531,0.56,146.0,993.2,0.0,791,11667,0.68,2.22,123.57,1.364,4,0.080,0.041,2983,3450,2241,0,0,0,0,0,0
$GC,11839,0.56,146.0,960.4,13.0,805,11843,0.00,2.05,0.00,0.000,6,0.000,0.022,2991,2094,2233,0,0,0,0,0,0
$GC,12162,0.56,146.0,922.6,11.7,821,12167,0.00,2.15,0.00,0.000,4,0.000,0.037,2990,3454,2231,0,0,0,0,0,0
$GC,12415,0.56,146.0,890.1,13.1,832,12419,0.00,2.10,0.00,0.000,6,0.000,0.022,3000,2038,2230,0,0,0,0,0,0
$GC,12736,0.56,146.0,849.3,13.0,848,12740,0.00,2.03,0.00,0.000,4,0.000,0.035,3010,675,2227,0,0,0,0,0,0
$GC,12829,0.56,146.0,836.8,13.9,852,12833,0.00,2.00,0.00,0.000,6,0.000,0.024,3010,2022,2228,0,0,0,0,0,0
$GC,13163,0.56,146.0,789.8,14.2,868,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2023,2226,0,0,0,0,0,0
$GC,13471,0.56,146.0,748.2,13.1,883,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2023,2226,0,0,0,0,0,0
$GC,13782,0.56,146.0,709.5,12.1,898,13786,0.00,2.17,0.00,0.000,4,0.000,0.038,3010,3459,2225,0,0,0,0,0,0
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$STATE,21553,end climb,SURFACE_DEPTH_REACHED
$STATE,21553,begin surface coast
$FINISH,0.8,1.008420
$STATE,21596,end surface coast,CONTROL_FINISHED_OK
$STATE,21596,begin surface
$SM_CCo,21673,0.00,0.000,0,0,948,463.86
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$TT8_MAMPS,0.028462,0.028462
$HUMID,31.09
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,28.90
$XPDR_PINGS,9
$24V_AH,23.8,21.218
$10V_AH,10.2,19.517
$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
$DEVICE_SECS,19.550,246.075,507.025,0.000,0.000,28.133,19.113,294.230,2.250,0.000,16.760,4373.955,12111.690,703.277,4006.041,1018.840,0.000,2538.959,0.000,3934.367,0.000,0.543,0.000
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$SENSOR_SECS,1154.346,1310.611,1624.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,100297,1699
$CAP_FILE_SIZE,247932,0
$CFSIZE,260165632,131117056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,  5.3,1
$GPS,050711,234900,1752.240,12432.035,41,1.2,41,-2.0