version: 66.09
glider: 167
mission: 8
dive: 113
start: 7 5 111 23 59 6
data:
$ID,167
$MISSION,8
$DIVE,113
$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,-56529.047
$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,65
$R_STBD_OVSHOOT,72
$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
$GPS1,050711,234900,1752.240,12432.035,41,1.2,41,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.1
$GPS2,050711,235844,1752.173,12432.152,12,1.4,12,-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,262.6,249302,-15.4,-8.250
$D_GRID,4109
$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,-146.0,0.0,0.0,0,94,0.00,0.00,-72.25,0.000,2,0.000,0.000,111,1849,2965,0,0,0,0,0,0
$GC,97,-0.56,-146.0,5.0,-6.9,9,122,9.93,2.15,-8.23,0.000,4,0.233,0.038,2598,3278,3438,0,0,0,0,0,0
$GC,278,-0.56,-146.0,63.9,-25.6,40,286,0.00,2.08,0.00,0.000,6,0.000,0.023,2597,1865,3440,0,0,0,0,0,0
$GC,352,-0.56,-146.0,82.0,-25.7,53,360,0.00,2.05,0.00,0.000,4,0.000,0.030,2597,477,3439,0,0,0,0,0,0
$GC,395,-0.56,-146.0,91.3,-23.4,59,402,0.00,1.90,0.00,0.000,6,0.000,0.020,2589,1790,3440,0,0,0,0,0,0
$GC,470,-0.56,-146.0,107.4,-22.4,72,478,0.00,2.20,0.00,0.000,4,0.000,0.031,2579,3266,3440,0,0,0,0,0,0
$GC,525,-0.56,-146.0,118.7,-20.0,81,533,0.10,2.00,0.00,0.000,6,0.155,0.018,2610,1860,3440,0,0,0,0,0,0
$GC,603,-0.56,-146.0,132.4,-17.8,94,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1860,3440,0,0,0,0,0,0
$GC,679,-0.56,-146.0,146.0,-17.3,107,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1860,3440,0,0,0,0,0,0
$GC,755,-0.56,-146.0,159.2,-17.8,120,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1860,3440,0,0,0,0,0,0
$GC,832,-0.56,-146.0,172.8,-18.0,133,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1859,3440,0,0,0,0,0,0
$GC,910,-0.56,-146.0,186.6,-16.2,146,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1860,3440,0,0,0,0,0,0
$GC,988,-0.56,-146.0,198.4,-16.2,159,997,0.00,2.08,0.00,0.000,4,0.000,0.030,2602,3254,3440,0,0,0,0,0,0
$GC,1019,-0.56,-146.0,203.4,-14.7,162,1029,0.00,1.95,0.00,0.000,6,0.000,0.018,2602,1882,3440,0,0,0,0,0,0
$GC,1348,-0.56,-146.0,247.9,-13.7,193,1352,0.00,2.00,0.00,0.000,4,0.000,0.029,2602,495,3440,0,0,0,0,0,0
$GC,1387,-0.56,-146.0,254.1,-13.9,196,1396,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1860,3440,0,0,0,0,0,0
$GC,1715,-0.56,-146.0,294.0,-11.5,227,1718,0.00,2.05,0.00,0.000,4,0.000,0.033,2600,3264,3440,0,0,0,0,0,0
$GC,1808,-0.56,-146.0,304.0,-10.0,235,1815,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1886,3440,0,0,0,0,0,0
$GC,2134,-0.56,-146.0,335.4,-9.1,266,2138,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,498,3438,0,0,0,0,0,0
$GC,2214,-0.56,-146.0,343.3,-10.0,273,2218,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1852,3438,0,0,0,0,0,0
$GC,2545,-0.56,-146.0,373.4,-9.6,304,2549,0.00,2.10,0.00,0.000,4,0.000,0.034,2600,3265,3437,0,0,0,0,0,0
$GC,2650,-0.56,-146.0,382.8,-8.5,313,2657,0.00,1.92,0.00,0.000,6,0.000,0.018,2600,1901,3435,0,0,0,0,0,0
$GC,2976,-0.56,-146.0,411.5,-8.6,344,2980,0.00,2.03,0.00,0.000,4,0.000,0.030,2600,498,3433,0,0,0,0,0,0
$GC,3021,-0.56,-146.0,415.9,-10.0,348,3025,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1911,3433,0,0,0,0,0,0
$GC,3353,-0.56,-146.0,446.2,-9.3,379,3357,0.00,1.98,0.00,0.000,4,0.000,0.034,2600,3272,3431,0,0,0,0,0,0
$GC,3454,-0.56,-146.0,455.3,-8.8,388,3458,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1936,3430,0,0,0,0,0,0
$GC,3785,-0.56,-146.0,483.1,-8.5,419,3789,0.00,2.08,0.00,0.000,4,0.000,0.032,2600,517,3428,0,0,0,0,0,0
$GC,3820,-0.56,-146.0,486.2,-8.6,422,3824,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1918,3428,0,0,0,0,0,0
$GC,4160,-0.56,-146.0,514.1,-8.1,446,4165,0.00,2.00,0.00,0.000,4,0.000,0.035,2599,3263,3425,0,0,0,0,0,0
$GC,4206,-0.56,-146.0,517.7,-7.8,448,4210,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1929,3424,0,0,0,0,0,0
$GC,4540,-0.56,-146.0,541.6,-7.1,464,4543,0.00,2.08,0.00,0.000,4,0.000,0.032,2600,513,3422,0,0,0,0,0,0
$GC,4567,-0.56,-146.0,543.9,-7.1,465,4571,0.00,2.08,0.00,0.000,6,0.000,0.021,2592,1950,3422,0,0,0,0,0,0
$GC,4894,-0.56,-146.0,569.8,-8.6,481,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1950,3420,0,0,0,0,0,0
$GC,5205,-0.56,-146.0,597.7,-9.2,496,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1950,3418,0,0,0,0,0,0
$GC,5515,-0.56,-146.0,623.8,-8.3,511,5520,0.00,1.98,0.00,0.000,4,0.000,0.036,2590,3270,3415,0,0,0,0,0,0
$GC,5561,-0.56,-146.0,627.5,-7.9,513,5566,0.00,1.88,0.00,0.000,6,0.000,0.019,2590,1955,3415,0,0,0,0,0,0
$GC,5895,-0.56,-146.0,653.3,-7.7,529,5899,0.00,2.12,0.00,0.000,4,0.000,0.033,2590,504,3413,0,0,0,0,0,0
$GC,5949,-0.56,-146.0,658.0,-8.2,531,5957,0.10,2.10,0.00,0.000,6,0.174,0.024,2613,1936,3412,0,0,0,0,0,0
$GC,6268,-0.56,-146.0,678.0,-6.3,547,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1936,3410,0,0,0,0,0,0
$GC,6575,-0.56,-146.0,697.8,-6.5,562,6579,0.00,1.98,0.00,0.000,4,0.000,0.037,2613,3267,3408,0,0,0,0,0,0
$GC,6600,-0.56,-146.0,699.4,-6.7,563,6604,0.00,1.85,0.00,0.000,6,0.000,0.020,2614,1957,3408,0,0,0,0,0,0
$GC,6935,-0.56,-146.0,720.0,-6.0,579,6939,0.00,2.12,0.00,0.000,4,0.000,0.033,2613,511,3407,0,0,0,0,0,0
$GC,6968,-0.56,-146.0,722.2,-6.0,580,6975,0.00,2.10,0.00,0.000,6,0.000,0.023,2613,1954,3406,0,0,0,0,0,0
$GC,7285,-0.56,-146.0,739.8,-5.3,596,7290,0.00,1.98,0.00,0.000,4,0.000,0.037,2613,3267,3405,0,0,0,0,0,0
$GC,7325,-0.56,-146.0,742.0,-5.3,597,7332,0.00,1.85,0.00,0.000,6,0.000,0.020,2613,1976,3404,0,0,0,0,0,0
$GC,7642,-0.56,-146.0,759.8,-5.8,613,7646,0.00,2.15,0.00,0.000,4,0.000,0.033,2613,513,3403,0,0,0,0,0,0
$GC,7683,-0.56,-146.0,762.6,-6.0,615,7687,0.00,2.10,0.00,0.000,6,0.000,0.024,2614,1953,3403,0,0,0,0,0,0
$GC,8018,-0.56,-146.0,783.2,-6.2,631,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1954,3402,0,0,0,0,0,0
$GC,8326,-0.56,-146.0,801.0,-5.5,646,8331,0.00,1.98,0.00,0.000,4,0.000,0.037,2613,3263,3400,0,0,0,0,0,0
$GC,8351,-0.56,-146.0,802.2,-5.6,647,8355,0.00,1.88,0.00,0.000,6,0.000,0.020,2613,1941,3400,0,0,0,0,0,0
$GC,8685,-0.56,-146.0,819.4,-5.0,663,8689,0.00,2.10,0.00,0.000,4,0.000,0.034,2613,513,3399,0,0,0,0,0,0
$GC,8735,-0.56,-146.0,822.3,-5.0,665,8739,0.00,2.08,0.00,0.000,6,0.000,0.024,2613,1934,3398,0,0,0,0,0,0
$GC,9058,-0.56,-146.0,838.2,-5.1,681,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1934,3397,0,0,0,0,0,0
$GC,9366,-0.56,-146.0,853.9,-5.1,696,9371,0.00,2.00,0.00,0.000,4,0.000,0.038,2613,3258,3396,0,0,0,0,0,0
$GC,9412,-0.56,-146.0,856.1,-4.9,698,9416,0.00,1.90,0.00,0.000,6,0.000,0.021,2613,1943,3396,0,0,0,0,0,0
$GC,9746,-0.56,-146.0,872.3,-5.0,714,9750,0.00,2.12,0.00,0.000,4,0.000,0.034,2614,503,3395,0,0,0,0,0,0
$GC,9786,-0.56,-146.0,874.6,-5.3,716,9790,0.00,2.05,0.00,0.000,6,0.000,0.024,2613,1907,3395,0,0,0,0,0,0
$GC,10120,-0.56,-146.0,892.8,-5.5,732,10124,0.00,2.05,0.00,0.000,4,0.000,0.038,2613,3277,3394,0,0,0,0,0,0
$GC,10215,-0.56,-146.0,898.2,-5.4,736,10219,0.00,1.90,0.00,0.000,6,0.000,0.021,2613,1951,3394,0,0,0,0,0,0
$GC,10545,-0.56,-146.0,914.0,-4.6,752,10549,0.00,2.12,0.00,0.000,4,0.000,0.034,2613,513,3393,0,0,0,0,0,0
$GC,10608,-0.56,-146.0,917.3,-4.9,755,10612,0.00,2.05,0.00,0.000,6,0.000,0.024,2613,1920,3393,0,0,0,0,0,0
$GC,10942,-0.56,-146.0,932.2,-4.4,771,10946,0.00,2.03,0.00,0.000,4,0.000,0.038,2613,3272,3392,0,0,0,0,0,0
$GC,11016,-0.56,-146.0,935.4,-4.3,774,11021,0.00,1.90,0.00,0.000,6,0.000,0.021,2613,1959,3391,0,0,0,0,0,0
$GC,11343,-0.56,-146.0,948.8,-4.0,790,11347,0.00,2.15,0.00,0.000,4,0.000,0.035,2613,510,3391,0,0,0,0,0,0
$GC,11400,-0.56,-146.0,951.5,-4.1,792,11407,0.00,2.08,0.00,0.000,6,0.000,0.024,2613,1923,3391,0,0,0,0,0,0
$GC,11717,-0.56,-146.0,964.4,-4.3,808,11721,0.00,2.03,0.00,0.000,4,0.000,0.039,2613,3259,3390,0,0,0,0,0,0
$GC,11767,-0.56,-146.0,966.6,-4.5,810,11771,0.00,1.90,0.00,0.000,6,0.000,0.021,2613,1932,3390,0,0,0,0,0,0
$GC,12096,-0.56,-146.0,981.9,-5.0,826,12097,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1933,3390,0,0,0,0,0,0
$STATE,12278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12278,begin apogee
$GC,12285,-0.20,0.0,990.8,4.8,835,12404,0.32,0.00,111.30,1.419,4,0.119,0.000,2728,2078,2838,0,0,0,0,0,0
$STATE,12405,end apogee,CONTROL_FINISHED_OK
$STATE,12405,begin climb
$GC,12407,0.56,146.0,992.9,0.0,840,12540,0.70,0.00,123.78,1.370,6,0.080,0.000,2976,2078,2241,0,0,0,0,0,0
$GC,12857,0.56,146.0,944.4,12.4,862,12861,0.00,2.15,0.00,0.000,4,0.000,0.039,2976,3462,2231,0,0,0,0,0,0
$GC,12897,0.56,146.0,939.0,13.6,864,12900,0.00,2.03,0.00,0.000,6,0.000,0.021,2983,2109,2230,0,0,0,0,0,0
$GC,13231,0.56,146.0,897.0,12.5,880,13235,0.00,2.15,0.00,0.000,4,0.000,0.036,2992,685,2229,0,0,0,0,0,0
$GC,13315,0.56,146.0,886.6,11.9,884,13319,0.00,2.08,0.00,0.000,6,0.000,0.025,2993,2068,2228,0,0,0,0,0,0
$GC,13650,0.56,146.0,846.5,12.2,900,13653,0.00,2.12,0.00,0.000,4,0.000,0.039,2993,3468,2228,0,0,0,0,0,0
$GC,13690,0.56,146.0,841.0,13.7,902,13693,0.00,2.05,0.00,0.000,6,0.000,0.022,3002,2078,2227,0,0,0,0,0,0
$GC,14023,0.56,146.0,796.2,13.8,918,14027,0.00,2.10,0.00,0.000,4,0.000,0.037,3012,691,2226,0,0,0,0,0,0
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$STATE,22335,end climb,SURFACE_DEPTH_REACHED
$STATE,22335,begin surface coast
$FINISH,1.1,1.021128
$STATE,22357,end surface coast,CONTROL_FINISHED_OK
$STATE,22357,begin surface
$SM_CCo,22437,0.00,0.000,0,0,1006,449.39
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$TT8_MAMPS,0.028462,0.028462
$HUMID,31.65
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,28.80
$XPDR_PINGS,15
$24V_AH,23.8,21.383
$10V_AH,10.2,19.700
$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
$DEVICE_SECS,19.625,224.775,492.150,0.000,0.000,27.119,19.908,321.840,3.750,0.000,13.335,4413.059,12968.645,684.586,3915.467,1010.008,0.000,2464.775,0.000,3849.246,0.000,0.544,0.000
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$SENSOR_SECS,1178.677,1303.885,1548.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330496
$DATA_FILE_SIZE,100112,1732
$CAP_FILE_SIZE,241201,0
$CFSIZE,260165632,131010560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106, 46.7,1
$GPS,060711,061426,1752.758,12430.205,25,2.3,44,-2.0