version: 66.09
glider: 167
mission: 8
dive: 120
start: 7 7 111 20 30 2
data:
$ID,167
$MISSION,8
$DIVE,120
$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,-56537.859
$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,68
$R_STBD_OVSHOOT,82
$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
$GPS1,070711,201924,1755.117,12420.370,39,1.0,39,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-62.7
$GPS2,070711,202938,1755.061,12420.563,14,2.0,14,-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,281.1,228278,-15.4,-8.250
$D_GRID,4907
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-80.30,0.000,2,0.000,0.000,108,1936,3164,0,0,0,0,0,0
$GC,103,-0.56,-146.0,6.1,-10.9,11,129,9.85,2.17,-4.38,0.000,4,0.230,0.038,2615,466,3439,0,0,0,0,0,0
$GC,231,-0.56,-146.0,52.5,-24.6,32,240,0.00,2.03,0.00,0.000,6,0.000,0.019,2607,1858,3440,0,0,0,0,0,0
$GC,307,-0.56,-146.0,72.8,-26.7,45,316,0.00,2.10,0.00,0.000,4,0.000,0.030,2597,3265,3440,0,0,0,0,0,0
$GC,354,-0.56,-146.0,84.4,-25.5,52,363,0.00,1.77,0.00,0.000,6,0.000,0.017,2597,2004,3440,0,0,0,0,0,0
$GC,431,-0.56,-146.0,100.1,-20.7,65,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2003,3440,0,0,0,0,0,0
$GC,505,-0.56,-146.0,115.4,-20.3,78,513,0.00,2.22,0.00,0.000,4,0.000,0.028,2597,485,3440,0,0,0,0,0,0
$GC,543,-0.56,-146.0,122.3,-18.0,84,552,0.00,2.50,0.00,0.000,6,0.000,0.021,2587,2185,3440,0,0,0,0,0,0
$GC,619,-0.56,-146.0,136.9,-18.9,97,629,0.12,1.62,0.00,0.000,4,0.188,0.033,2611,3272,3440,0,0,0,0,0,0
$GC,669,-0.56,-146.0,146.4,-17.7,105,678,0.00,1.50,0.00,0.000,6,0.000,0.017,2611,2173,3440,0,0,0,0,0,0
$GC,749,-0.56,-146.0,159.2,-16.8,118,757,0.00,2.47,0.00,0.000,4,0.000,0.028,2611,481,3440,0,0,0,0,0,0
$GC,819,-0.56,-146.0,171.7,-16.7,130,827,0.00,2.45,0.00,0.000,6,0.000,0.021,2602,2155,3441,0,0,0,0,0,0
$GC,894,-0.56,-146.0,184.6,-16.6,143,902,0.00,2.45,0.00,0.000,4,0.000,0.025,2602,485,3441,0,0,0,0,0,0
$GC,922,-0.56,-146.0,189.7,-18.2,147,931,0.00,2.35,0.00,0.000,6,0.000,0.021,2599,2088,3440,0,0,0,0,0,0
$GC,1004,-0.56,-146.0,203.3,-15.1,159,1008,0.00,2.35,0.00,0.000,4,0.000,0.025,2599,470,3441,0,0,0,0,0,0
$GC,1021,-0.56,-146.0,206.3,-14.9,160,1025,0.00,2.17,0.00,0.000,6,0.000,0.019,2589,1990,3441,0,0,0,0,0,0
$GC,1347,-0.56,-146.0,251.0,-13.2,190,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1991,3441,0,0,0,0,0,0
$GC,1669,-0.56,-146.0,290.2,-11.2,220,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1991,3441,0,0,0,0,0,0
$GC,1999,-0.56,-146.0,326.2,-11.0,251,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1991,3440,0,0,0,0,0,0
$GC,2327,-0.56,-146.0,359.0,-10.0,282,2330,0.00,1.88,0.00,0.000,4,0.000,0.034,2587,3260,3438,0,0,0,0,0,0
$GC,2366,-0.56,-146.0,363.1,-9.7,285,2375,0.10,1.80,0.00,0.000,6,0.165,0.018,2613,1934,3438,0,0,0,0,0,0
$GC,2692,-0.56,-146.0,393.5,-9.1,316,2696,0.00,2.08,0.00,0.000,4,0.000,0.031,2613,483,3435,0,0,0,0,0,0
$GC,2853,-0.56,-146.0,408.6,-9.5,329,2861,0.00,2.03,0.00,0.000,6,0.000,0.021,2613,1905,3434,0,0,0,0,0,0
$GC,3178,-0.56,-146.0,434.5,-7.1,360,3182,0.00,1.98,0.00,0.000,4,0.000,0.034,2613,3267,3431,0,0,0,0,0,0
$GC,3249,-0.56,-146.0,439.3,-7.1,366,3253,0.00,1.85,0.00,0.000,6,0.000,0.018,2613,1938,3432,0,0,0,0,0,0
$GC,3583,-0.56,-146.0,463.1,-7.1,397,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1937,3429,0,0,0,0,0,0
$GC,3911,-0.56,-146.0,487.9,-7.9,428,3915,0.00,1.95,0.00,0.000,4,0.000,0.034,2613,3271,3426,0,0,0,0,0,0
$GC,3968,-0.56,-146.0,492.4,-7.7,433,3972,0.00,1.85,0.00,0.000,6,0.000,0.019,2613,1951,3426,0,0,0,0,0,0
$GC,4306,-0.56,-146.0,516.9,-7.3,454,4310,0.00,2.15,0.00,0.000,4,0.000,0.031,2613,473,3423,0,0,0,0,0,0
$GC,4372,-0.56,-146.0,522.7,-8.2,457,4377,0.00,2.17,0.00,0.000,6,0.000,0.021,2609,1964,3422,0,0,0,0,0,0
$GC,4701,-0.56,-146.0,548.3,-8.5,473,4704,0.00,1.92,0.00,0.000,4,0.000,0.034,2604,3273,3421,0,0,0,0,0,0
$GC,4795,-0.56,-146.0,556.6,-8.6,477,4799,0.00,1.83,0.00,0.000,6,0.000,0.020,2604,1988,3420,0,0,0,0,0,0
$GC,5124,-0.56,-146.0,581.6,-7.1,493,5129,0.00,2.22,0.00,0.000,4,0.000,0.031,2604,484,3418,0,0,0,0,0,0
$GC,5241,-0.56,-146.0,590.7,-7.9,498,5245,0.00,2.15,0.00,0.000,6,0.000,0.021,2603,1972,3418,0,0,0,0,0,0
$GC,5570,-0.56,-146.0,612.3,-6.5,514,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1973,3416,0,0,0,0,0,0
$GC,5880,-0.56,-146.0,633.0,-6.8,529,5884,0.00,1.92,0.00,0.000,4,0.000,0.036,2603,3258,3413,0,0,0,0,0,0
$GC,5940,-0.56,-146.0,637.2,-6.7,531,5947,0.00,1.83,0.00,0.000,6,0.000,0.020,2602,1960,3413,0,0,0,0,0,0
$GC,6258,-0.56,-146.0,656.3,-5.9,547,6262,0.00,2.17,0.00,0.000,4,0.000,0.032,2603,478,3412,0,0,0,0,0,0
$GC,6302,-0.56,-146.0,659.3,-6.0,549,6305,0.00,2.17,0.00,0.000,6,0.000,0.021,2602,1976,3411,0,0,0,0,0,0
$GC,6630,-0.56,-146.0,678.9,-6.2,565,6634,0.00,1.90,0.00,0.000,4,0.000,0.037,2602,3260,3409,0,0,0,0,0,0
$GC,6692,-0.56,-146.0,683.0,-6.3,567,6701,0.00,1.83,0.00,0.000,6,0.000,0.020,2602,1968,3409,0,0,0,0,0,0
$GC,7009,-0.56,-146.0,702.2,-5.8,583,7013,0.00,1.95,0.00,0.000,4,0.000,0.035,2602,3257,3407,0,0,0,0,0,0
$GC,7041,-0.56,-146.0,704.2,-5.7,584,7045,0.00,1.80,0.00,0.000,6,0.000,0.020,2602,1983,3407,0,0,0,0,0,0
$GC,7365,-0.56,-146.0,723.1,-6.0,600,7369,0.00,2.20,0.00,0.000,4,0.000,0.032,2602,486,3405,0,0,0,0,0,0
$GC,7465,-0.56,-146.0,729.8,-6.6,604,7472,0.00,2.17,0.00,0.000,6,0.000,0.022,2602,1980,3404,0,0,0,0,0,0
$GC,7783,-0.56,-146.0,748.0,-5.8,620,7787,0.00,1.90,0.00,0.000,4,0.000,0.037,2602,3258,3404,0,0,0,0,0,0
$GC,7816,-0.56,-146.0,750.2,-5.9,621,7820,0.00,1.85,0.00,0.000,6,0.000,0.021,2602,1954,3403,0,0,0,0,0,0
$GC,8138,-0.56,-146.0,770.8,-6.4,637,8143,0.00,2.17,0.00,0.000,4,0.000,0.033,2602,493,3402,0,0,0,0,0,0
$GC,8200,-0.56,-146.0,775.2,-7.2,639,8207,0.00,2.12,0.00,0.000,6,0.000,0.023,2602,1949,3401,0,0,0,0,0,0
$GC,8517,-0.56,-146.0,795.4,-6.3,655,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1950,3400,0,0,0,0,0,0
$GC,8828,-0.56,-146.0,814.0,-6.0,670,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1950,3399,0,0,0,0,0,0
$GC,9135,-0.56,-146.0,832.6,-6.0,685,9140,0.00,1.98,0.00,0.000,4,0.000,0.038,2602,3257,3398,0,0,0,0,0,0
$GC,9162,-0.56,-146.0,834.3,-5.9,686,9166,0.00,1.92,0.00,0.000,6,0.000,0.020,2602,1909,3397,0,0,0,0,0,0
$GC,9493,-0.56,-146.0,854.3,-6.3,702,9496,0.00,2.08,0.00,0.000,4,0.000,0.033,2602,507,3397,0,0,0,0,0,0
$GC,9532,-0.56,-146.0,857.3,-6.5,703,9539,0.00,2.08,0.00,0.000,6,0.000,0.024,2602,1923,3396,0,0,0,0,0,0
$GC,9848,-0.56,-146.0,876.4,-5.7,719,9852,0.00,2.03,0.00,0.000,4,0.000,0.039,2602,3273,3395,0,0,0,0,0,0
$GC,9911,-0.56,-146.0,880.2,-5.9,721,9919,0.00,1.92,0.00,0.000,6,0.000,0.021,2602,1944,3395,0,0,0,0,0,0
$GC,10227,-0.56,-146.0,896.7,-5.1,737,10231,0.00,2.12,0.00,0.000,4,0.000,0.032,2602,500,3394,0,0,0,0,0,0
$GC,10279,-0.56,-146.0,899.7,-5.7,739,10282,0.00,2.10,0.00,0.000,6,0.000,0.024,2602,1937,3394,0,0,0,0,0,0
$GC,10601,-0.56,-146.0,917.7,-5.9,755,10605,0.00,2.03,0.00,0.000,4,0.000,0.039,2602,3269,3394,0,0,0,0,0,0
$GC,10730,-0.56,-146.0,925.4,-6.2,760,10736,0.00,1.85,0.00,0.000,6,0.000,0.020,2602,1969,3393,0,0,0,0,0,0
$GC,11046,-0.56,-146.0,944.2,-5.9,776,11051,0.00,2.20,0.00,0.000,4,0.000,0.033,2603,497,3392,0,0,0,0,0,0
$GC,11114,-0.56,-146.0,948.5,-6.5,779,11118,0.00,2.17,0.00,0.000,6,0.000,0.024,2603,1981,3392,0,0,0,0,0,0
$GC,11442,-0.56,-146.0,967.4,-5.7,795,11443,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1982,3391,0,0,0,0,0,0
$GC,11751,-0.56,-146.0,984.8,-5.7,810,11755,0.00,1.95,0.00,0.000,4,0.000,0.040,2602,3264,3390,0,0,0,0,0,0
$GC,11785,-0.56,-146.0,986.9,-6.1,811,11788,0.00,1.85,0.00,0.000,6,0.000,0.020,2602,1965,3390,0,0,0,0,0,0
$STATE,11836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11836,begin apogee
$GC,11843,-0.20,0.0,990.0,5.9,814,11961,0.38,0.00,111.80,1.414,4,0.119,0.000,2730,2096,2838,0,0,0,0,0,0
$STATE,11962,end apogee,CONTROL_FINISHED_OK
$STATE,11962,begin climb
$GC,11966,0.56,146.0,993.0,0.0,819,12096,0.70,0.00,123.90,1.364,6,0.079,0.000,2978,2095,2242,0,0,0,0,0,0
$GC,12415,0.56,146.0,953.1,10.0,841,12416,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2095,2231,0,0,0,0,0,0
$GC,12722,0.56,146.0,922.8,9.7,856,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2096,2229,0,0,0,0,0,0
$GC,13031,0.56,146.0,892.3,9.9,871,13035,0.00,2.08,0.00,0.000,4,0.000,0.039,2978,3453,2228,0,0,0,0,0,0
$GC,13093,0.56,146.0,885.5,11.0,873,13100,0.00,2.05,0.00,0.000,6,0.000,0.021,2986,2062,2227,0,0,0,0,0,0
$GC,13410,0.56,146.0,852.0,10.6,889,13413,0.00,2.05,0.00,0.000,4,0.000,0.034,2996,695,2226,0,0,0,0,0,0
$GC,13500,0.56,146.0,842.3,10.7,893,13504,0.00,1.90,0.00,0.000,6,0.000,0.024,2996,2000,2226,0,0,0,0,0,0
$GC,13835,0.56,146.0,806.7,10.5,909,13839,0.00,2.22,0.00,0.000,4,0.000,0.038,2996,3446,2226,0,0,0,0,0,0
$GC,13895,0.56,146.0,799.2,12.0,911,13903,0.00,2.08,0.00,0.000,6,0.000,0.022,3006,2034,2225,0,0,0,0,0,0
$GC,14213,0.56,146.0,763.2,11.5,927,14214,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2034,2225,0,0,0,0,0,0
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$STATE,22441,end climb,SURFACE_DEPTH_REACHED
$STATE,22441,begin surface coast
$FINISH,0.8,1.021322
$STATE,22474,end surface coast,CONTROL_FINISHED_OK
$STATE,22474,begin surface
$SM_CCo,22554,0.00,0.000,0,0,1068,434.43
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$TT8_MAMPS,0.028462,0.028462
$HUMID,32.00
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,29.20
$XPDR_PINGS,14
$24V_AH,23.8,22.540
$10V_AH,10.2,21.005
$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
$DEVICE_SECS,19.825,237.975,470.125,0.000,0.000,29.330,45.832,319.784,3.500,0.000,15.396,4455.868,12892.091,702.353,4060.888,1029.377,0.000,2529.031,0.000,3955.429,0.000,0.544,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1185.109,1333.989,1584.602,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330484
$DATA_FILE_SIZE,100239,1743
$CAP_FILE_SIZE,247141,0
$CFSIZE,260165632,130207744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103, 70.6,1
$GPS,080711,024706,1755.829,12418.992,32,1.0,32,-2.0