version: 66.09
glider: 167
mission: 8
dive: 116
start: 7 6 111 19 8 56
data:
$ID,167
$MISSION,8
$DIVE,116
$N_DIVES,0
$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,-56532.824
$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,69
$R_STBD_OVSHOOT,57
$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
$GPS1,060711,185806,1753.024,12426.361,34,1.0,34,-2.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.5
$GPS2,060711,190832,1752.957,12426.541,14,1.1,14,-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,285.6,239458,-15.4,-8.250
$D_GRID,4412
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-76.35,0.000,2,0.000,0.000,108,1795,3267,0,0,0,0,0,0
$GC,100,-0.56,-146.0,6.3,-10.6,10,124,9.98,1.95,-2.58,0.000,4,0.234,0.041,2611,473,3438,0,0,0,0,0,0
$GC,158,-0.56,-146.0,36.3,-38.1,19,166,0.00,2.08,0.00,0.000,6,0.000,0.020,2603,1884,3439,0,0,0,0,0,0
$GC,238,-0.56,-146.0,59.5,-29.4,32,246,0.00,2.08,0.00,0.000,4,0.000,0.030,2593,3273,3439,0,0,0,0,0,0
$GC,275,-0.56,-146.0,68.7,-24.7,37,284,0.00,1.95,0.00,0.000,6,0.000,0.018,2593,1910,3440,0,0,0,0,0,0
$GC,353,-0.56,-146.0,88.6,-25.3,50,362,0.00,2.03,0.00,0.000,4,0.000,0.028,2583,3268,3440,0,0,0,0,0,0
$GC,388,-0.56,-146.0,96.5,-23.3,55,397,0.10,1.62,0.00,0.000,6,0.164,0.017,2613,2086,3440,0,0,0,0,0,0
$GC,466,-0.56,-146.0,111.8,-18.2,68,476,0.00,2.33,0.00,0.000,4,0.000,0.027,2613,502,3440,0,0,0,0,0,0
$GC,501,-0.56,-146.0,118.4,-18.6,73,509,0.00,2.33,0.00,0.000,6,0.000,0.021,2604,2090,3440,0,0,0,0,0,0
$GC,576,-0.56,-146.0,132.7,-19.2,86,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2090,3440,0,0,0,0,0,0
$GC,650,-0.56,-146.0,145.5,-17.0,99,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2090,3440,0,0,0,0,0,0
$GC,721,-0.56,-146.0,158.1,-16.8,112,730,0.00,2.35,0.00,0.000,4,0.000,0.027,2604,497,3440,0,0,0,0,0,0
$GC,747,-0.56,-146.0,161.6,-16.0,115,755,0.00,2.15,0.00,0.000,6,0.000,0.020,2596,1979,3440,0,0,0,0,0,0
$GC,823,-0.56,-146.0,175.1,-18.4,128,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1979,3441,0,0,0,0,0,0
$GC,900,-0.56,-146.0,187.6,-15.7,141,909,0.00,2.17,0.00,0.000,4,0.000,0.026,2597,495,3441,0,0,0,0,0,0
$GC,929,-0.56,-146.0,192.4,-15.6,145,938,0.00,2.12,0.00,0.000,6,0.000,0.019,2588,1961,3441,0,0,0,0,0,0
$GC,1004,-0.56,-146.0,204.1,-16.1,156,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1961,3441,0,0,0,0,0,0
$GC,1327,-0.56,-146.0,247.2,-13.3,186,1335,0.10,0.00,0.00,0.000,6,0.196,0.000,2611,1961,3441,0,0,0,0,0,0
$GC,1654,-0.56,-146.0,283.7,-10.8,217,1659,0.00,1.92,0.00,0.000,4,0.000,0.031,2603,3268,3440,0,0,0,0,0,0
$GC,1680,-0.56,-146.0,286.4,-10.9,219,1684,0.00,1.98,0.00,0.000,6,0.000,0.018,2603,1878,3440,0,0,0,0,0,0
$GC,2010,-0.56,-146.0,320.8,-9.6,250,2014,0.00,2.00,0.00,0.000,4,0.000,0.029,2603,487,3439,0,0,0,0,0,0
$GC,2057,-0.56,-146.0,325.8,-11.0,254,2061,0.00,2.00,0.00,0.000,6,0.000,0.021,2603,1886,3439,0,0,0,0,0,0
$GC,2389,-0.56,-146.0,356.5,-8.8,285,2393,0.00,2.03,0.00,0.000,4,0.000,0.034,2601,3268,3437,0,0,0,0,0,0
$GC,2412,-0.56,-146.0,358.5,-8.6,287,2417,0.00,2.03,0.00,0.000,6,0.000,0.018,2601,1846,3437,0,0,0,0,0,0
$GC,2743,-0.56,-146.0,385.8,-8.3,318,2747,0.00,2.10,0.00,0.000,4,0.000,0.032,2600,3268,3435,0,0,0,0,0,0
$GC,2775,-0.56,-146.0,388.4,-8.1,320,2783,0.00,2.03,0.00,0.000,6,0.000,0.018,2601,1824,3435,0,0,0,0,0,0
$GC,3100,-0.56,-146.0,417.9,-9.3,351,3105,0.00,2.15,0.00,0.000,4,0.000,0.032,2601,3264,3433,0,0,0,0,0,0
$GC,3157,-0.56,-146.0,423.4,-9.5,356,3160,0.00,2.05,0.00,0.000,6,0.000,0.018,2601,1815,3432,0,0,0,0,0,0
$GC,3488,-0.56,-146.0,454.6,-8.8,387,3492,0.00,1.90,0.00,0.000,4,0.000,0.029,2600,491,3430,0,0,0,0,0,0
$GC,3545,-0.56,-146.0,459.9,-9.3,392,3548,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1829,3430,0,0,0,0,0,0
$GC,3876,-0.56,-146.0,486.5,-7.8,423,3880,0.00,2.12,0.00,0.000,4,0.000,0.034,2600,3268,3427,0,0,0,0,0,0
$GC,4018,-0.56,-146.0,496.7,-7.1,435,4023,0.00,2.00,0.00,0.000,6,0.000,0.019,2600,1864,3426,0,0,0,0,0,0
$GC,4353,-0.56,-146.0,523.0,-8.0,453,4357,0.00,2.08,0.00,0.000,4,0.000,0.034,2600,3259,3424,0,0,0,0,0,0
$GC,4402,-0.56,-146.0,527.3,-7.9,455,4407,0.00,2.00,0.00,0.000,6,0.000,0.020,2600,1861,3424,0,0,0,0,0,0
$GC,4725,-0.56,-146.0,551.6,-7.5,471,4729,0.00,1.98,0.00,0.000,4,0.000,0.031,2600,501,3422,0,0,0,0,0,0
$GC,4775,-0.56,-146.0,555.9,-8.2,473,4779,0.00,1.95,0.00,0.000,6,0.000,0.022,2600,1856,3421,0,0,0,0,0,0
$GC,5104,-0.56,-146.0,580.5,-7.4,489,5108,0.00,2.10,0.00,0.000,4,0.000,0.035,2600,3274,3419,0,0,0,0,0,0
$GC,5168,-0.56,-146.0,585.4,-7.6,492,5172,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1879,3418,0,0,0,0,0,0
$GC,5501,-0.56,-146.0,611.2,-7.8,508,5505,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,506,3416,0,0,0,0,0,0
$GC,5535,-0.56,-146.0,614.2,-8.0,509,5539,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1909,3416,0,0,0,0,0,0
$GC,5858,-0.56,-146.0,638.0,-7.3,525,5861,0.00,2.00,0.00,0.000,4,0.000,0.036,2600,3274,3413,0,0,0,0,0,0
$GC,5971,-0.56,-146.0,645.9,-7.0,530,5975,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1940,3413,0,0,0,0,0,0
$GC,6306,-0.56,-146.0,669.0,-6.7,546,6310,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,504,3410,0,0,0,0,0,0
$GC,6357,-0.56,-146.0,672.9,-7.2,548,6361,0.00,2.12,0.00,0.000,6,0.000,0.022,2600,1949,3410,0,0,0,0,0,0
$GC,6679,-0.56,-146.0,694.2,-6.7,564,6683,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3264,3409,0,0,0,0,0,0
$GC,6753,-0.56,-146.0,699.3,-6.6,567,6756,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1954,3409,0,0,0,0,0,0
$GC,7081,-0.56,-146.0,721.6,-6.9,583,7085,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,505,3407,0,0,0,0,0,0
$GC,7139,-0.56,-146.0,725.9,-7.5,585,7146,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1949,3406,0,0,0,0,0,0
$GC,7456,-0.56,-146.0,745.6,-6.0,601,7460,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3271,3405,0,0,0,0,0,0
$GC,7519,-0.56,-146.0,749.5,-6.1,603,7526,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1947,3404,0,0,0,0,0,0
$GC,7835,-0.56,-146.0,769.5,-6.7,619,7840,0.00,2.15,0.00,0.000,4,0.000,0.031,2599,498,3403,0,0,0,0,0,0
$GC,7937,-0.56,-146.0,777.7,-8.1,623,7941,0.00,2.10,0.00,0.000,6,0.000,0.023,2599,1939,3402,0,0,0,0,0,0
$GC,8259,-0.56,-146.0,801.8,-7.4,639,8262,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3261,3401,0,0,0,0,0,0
$GC,8297,-0.56,-146.0,804.8,-7.3,640,8305,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1939,3401,0,0,0,0,0,0
$GC,8615,-0.56,-146.0,827.5,-7.1,656,8620,0.00,2.12,0.00,0.000,4,0.000,0.032,2600,511,3400,0,0,0,0,0,0
$GC,8666,-0.56,-146.0,831.6,-7.9,658,8669,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1936,3399,0,0,0,0,0,0
$GC,8993,-0.56,-146.0,853.0,-6.1,674,8997,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3261,3398,0,0,0,0,0,0
$GC,9094,-0.56,-146.0,859.1,-6.0,678,9098,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,1988,3397,0,0,0,0,0,0
$GC,9417,-0.56,-146.0,876.7,-5.4,694,9421,0.00,2.17,0.00,0.000,4,0.000,0.032,2600,508,3397,0,0,0,0,0,0
$GC,9462,-0.56,-146.0,879.6,-5.5,696,9466,0.00,2.15,0.00,0.000,6,0.000,0.023,2599,1977,3396,0,0,0,0,0,0
$GC,9790,-0.56,-146.0,898.2,-5.7,712,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1977,3396,0,0,0,0,0,0
$GC,10100,-0.56,-146.0,916.8,-6.2,727,10105,0.00,1.95,0.00,0.000,4,0.000,0.039,2599,3263,3395,0,0,0,0,0,0
$GC,10195,-0.56,-146.0,922.8,-6.2,731,10200,0.00,1.85,0.00,0.000,6,0.000,0.021,2600,1975,3394,0,0,0,0,0,0
$GC,10522,-0.56,-146.0,943.2,-6.3,747,10526,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,497,3394,0,0,0,0,0,0
$GC,10564,-0.56,-146.0,946.0,-6.6,749,10568,0.00,2.15,0.00,0.000,6,0.000,0.024,2600,1970,3393,0,0,0,0,0,0
$GC,10892,-0.56,-146.0,967.1,-6.1,765,10893,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1970,3392,0,0,0,0,0,0
$GC,11202,-0.56,-146.0,985.1,-5.6,780,11206,0.00,1.95,0.00,0.000,4,0.000,0.040,2600,3255,3392,0,0,0,0,0,0
$GC,11249,-0.56,-146.0,987.6,-5.5,782,11253,0.00,1.83,0.00,0.000,6,0.000,0.020,2598,1967,3392,0,0,0,0,0,0
$STATE,11291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11291,begin apogee
$GC,11297,-0.20,0.0,990.1,5.4,784,11417,0.38,0.00,111.47,1.416,4,0.123,0.000,2727,2095,2838,0,0,0,0,0,0
$STATE,11418,end apogee,CONTROL_FINISHED_OK
$STATE,11418,begin climb
$GC,11420,0.56,146.0,991.8,0.0,789,11555,0.70,2.20,123.35,1.366,4,0.079,0.041,2981,3438,2243,0,0,0,0,0,0
$GC,11743,0.56,146.0,954.4,13.7,804,11748,0.00,2.05,0.00,0.000,6,0.000,0.021,2991,2097,2234,0,0,0,0,0,0
$GC,12071,0.56,146.0,914.7,11.9,820,12075,0.00,2.08,0.00,0.000,4,0.000,0.037,2990,3449,2232,0,0,0,0,0,0
$GC,12250,0.56,146.0,891.4,13.0,828,12254,0.00,2.10,0.00,0.000,6,0.000,0.022,2999,2028,2231,0,0,0,0,0,0
$GC,12579,0.56,146.0,853.4,11.7,844,12583,0.00,2.00,0.00,0.000,4,0.000,0.034,3009,689,2229,0,0,0,0,0,0
$GC,12603,0.56,146.0,850.4,11.8,845,12606,0.00,1.98,0.00,0.000,6,0.000,0.024,3009,2022,2229,0,0,0,0,0,0
$GC,12936,0.56,146.0,808.6,12.6,861,12941,0.00,2.17,0.00,0.000,4,0.000,0.039,3009,3442,2228,0,0,0,0,0,0
$GC,13059,0.56,146.0,791.3,14.0,866,13064,0.12,2.03,0.00,0.000,6,0.170,0.022,2987,2053,2227,0,0,0,0,0,0
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$STATE,21313,end climb,SURFACE_DEPTH_REACHED
$STATE,21313,begin surface coast
$FINISH,0.7,1.008162
$STATE,21353,end surface coast,CONTROL_FINISHED_OK
$STATE,21353,begin surface
$SM_CCo,21432,0.00,0.000,0,0,959,461.16
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$TT8_MAMPS,0.028462,0.028462
$HUMID,31.53
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,29.10
$XPDR_PINGS,15
$24V_AH,23.8,21.870
$10V_AH,10.2,20.253
$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,1134.626,1267.756,1521.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330504
$DATA_FILE_SIZE,97060,1668
$CAP_FILE_SIZE,242355,0
$CFSIZE,260165632,130670592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 33.9,1
$GPS,070711,010724,1754.549,12424.699,38,1.7,38,-2.0