version: 66.09
glider: 167
mission: 8
dive: 131
start: 7 10 111 18 2 47
data:
$ID,167
$MISSION,8
$DIVE,131
$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,-56551.703
$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,79
$R_STBD_OVSHOOT,71
$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
$GPS1,100711,175230,1758.538,12407.387,39,1.0,39,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.0
$GPS2,100711,180225,1758.644,12407.530,11,1.5,16,-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,283.5,204452,-15.4,-8.250
$D_GRID,4735
$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,-146.0,0.0,0.0,0,102,0.00,0.00,-81.03,0.000,2,0.000,0.000,107,1874,3014,0,0,0,0,0,0
$GC,105,-0.56,-146.0,5.6,-10.3,11,132,9.82,2.05,-7.07,0.000,4,0.229,0.037,2617,483,3438,0,0,0,0,0,0
$GC,301,-0.56,-146.0,61.1,-22.5,45,310,0.00,2.03,0.00,0.000,6,0.000,0.020,2608,1867,3438,0,0,0,0,0,0
$GC,379,-0.56,-146.0,77.7,-22.4,58,387,0.00,2.08,0.00,0.000,4,0.000,0.031,2598,3263,3439,0,0,0,0,0,0
$GC,403,-0.56,-146.0,83.3,-22.4,61,412,0.00,1.90,0.00,0.000,6,0.000,0.016,2598,1904,3438,0,0,0,0,0,0
$GC,482,-0.56,-146.0,99.2,-19.1,74,489,0.00,2.03,0.00,0.000,4,0.000,0.025,2598,511,3439,0,0,0,0,0,0
$GC,503,-0.56,-146.0,104.1,-20.1,77,512,0.00,2.08,0.00,0.000,6,0.000,0.020,2589,1942,3438,0,0,0,0,0,0
$GC,584,-0.56,-146.0,120.2,-20.8,90,592,0.00,1.98,0.00,0.000,4,0.000,0.031,2579,3274,3439,0,0,0,0,0,0
$GC,605,-0.56,-146.0,124.6,-18.8,93,613,0.12,1.85,0.00,0.000,6,0.149,0.017,2618,1936,3439,0,0,0,0,0,0
$GC,682,-0.56,-146.0,138.3,-17.4,106,690,0.00,2.05,0.00,0.000,4,0.000,0.026,2618,524,3439,0,0,0,0,0,0
$GC,712,-0.56,-146.0,142.7,-16.2,110,720,0.00,2.10,0.00,0.000,6,0.000,0.021,2611,1970,3439,0,0,0,0,0,0
$GC,793,-0.56,-146.0,156.6,-16.5,123,801,0.00,1.92,0.00,0.000,4,0.000,0.031,2601,3273,3439,0,0,0,0,0,0
$GC,852,-0.56,-146.0,166.8,-16.7,133,860,0.00,1.73,0.00,0.000,6,0.000,0.017,2601,2014,3439,0,0,0,0,0,0
$GC,931,-0.56,-146.0,178.8,-15.4,146,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2012,3439,0,0,0,0,0,0
$GC,1005,-0.56,-146.0,190.0,-13.5,159,1012,0.00,2.12,0.00,0.000,4,0.000,0.024,2602,518,3439,0,0,0,0,0,0
$GC,1053,-0.56,-146.0,196.3,-13.5,167,1062,0.00,2.22,0.00,0.000,6,0.000,0.021,2600,2046,3439,0,0,0,0,0,0
$GC,1137,-0.56,-146.0,207.0,-13.0,176,1141,0.00,1.80,0.00,0.000,4,0.000,0.033,2599,3269,3440,0,0,0,0,0,0
$GC,1184,-0.56,-146.0,212.8,-11.6,180,1188,0.00,1.65,0.00,0.000,6,0.000,0.016,2599,2068,3439,0,0,0,0,0,0
$GC,1519,-0.56,-146.0,253.6,-11.4,211,1523,0.00,2.22,0.00,0.000,4,0.000,0.027,2599,519,3439,0,0,0,0,0,0
$GC,1607,-0.56,-146.0,264.2,-12.0,218,1611,0.00,2.20,0.00,0.000,6,0.000,0.020,2591,2058,3439,0,0,0,0,0,0
$GC,1932,-0.56,-146.0,301.4,-10.3,248,1936,0.00,1.80,0.00,0.000,4,0.000,0.034,2588,3277,3438,0,0,0,0,0,0
$GC,2002,-0.56,-146.0,307.9,-9.4,254,2006,0.00,1.62,0.00,0.000,6,0.000,0.018,2588,2105,3438,0,0,0,0,0,0
$GC,2334,-0.56,-146.0,344.2,-12.1,285,2339,0.10,2.30,0.00,0.000,4,0.171,0.028,2614,519,3436,0,0,0,0,0,0
$GC,2460,-0.56,-146.0,358.5,-11.3,295,2466,0.00,2.25,0.00,0.000,6,0.000,0.021,2614,2075,3435,0,0,0,0,0,0
$GC,2787,-0.56,-146.0,388.2,-8.3,326,2792,0.00,2.30,0.00,0.000,4,0.000,0.029,2614,520,3433,0,0,0,0,0,0
$GC,2873,-0.56,-146.0,395.6,-8.4,333,2880,0.00,2.17,0.00,0.000,6,0.000,0.022,2613,2028,3432,0,0,0,0,0,0
$GC,3200,-0.56,-146.0,420.3,-7.5,364,3204,0.00,2.20,0.00,0.000,4,0.000,0.029,2613,523,3430,0,0,0,0,0,0
$GC,3245,-0.56,-146.0,424.2,-8.1,367,3252,0.00,2.15,0.00,0.000,6,0.000,0.021,2612,2019,3430,0,0,0,0,0,0
$GC,3571,-0.56,-146.0,448.6,-7.9,398,3574,0.00,1.85,0.00,0.000,4,0.000,0.035,2612,3267,3428,0,0,0,0,0,0
$GC,3656,-0.56,-146.0,455.7,-8.4,405,3663,0.00,1.67,0.00,0.000,6,0.000,0.018,2612,2052,3427,0,0,0,0,0,0
$GC,3982,-0.56,-146.0,481.0,-7.7,436,3986,0.00,2.22,0.00,0.000,4,0.000,0.031,2612,523,3425,0,0,0,0,0,0
$GC,4166,-0.56,-146.0,496.6,-8.4,452,4170,0.00,2.17,0.00,0.000,6,0.000,0.021,2609,2028,3424,0,0,0,0,0,0
$GC,4485,-0.56,-146.0,520.0,-7.2,469,4489,0.00,1.80,0.00,0.000,4,0.000,0.036,2609,3268,3421,0,0,0,0,0,0
$GC,4621,-0.56,-146.0,529.4,-6.8,475,4625,0.00,1.67,0.00,0.000,6,0.000,0.019,2609,2060,3420,0,0,0,0,0,0
$GC,4954,-0.56,-146.0,550.7,-6.4,491,4959,0.00,2.25,0.00,0.000,4,0.000,0.030,2608,531,3418,0,0,0,0,0,0
$GC,5039,-0.56,-146.0,556.8,-7.3,494,5046,0.00,2.20,0.00,0.000,6,0.000,0.021,2603,2046,3417,0,0,0,0,0,0
$GC,5356,-0.56,-146.0,578.9,-7.3,510,5361,0.00,2.25,0.00,0.000,4,0.000,0.029,2603,532,3415,0,0,0,0,0,0
$GC,5394,-0.56,-146.0,581.8,-7.2,511,5401,0.00,2.17,0.00,0.000,6,0.000,0.022,2603,2038,3416,0,0,0,0,0,0
$GC,5711,-0.56,-146.0,604.0,-7.1,527,5715,0.00,2.22,0.00,0.000,4,0.000,0.031,2603,529,3413,0,0,0,0,0,0
$GC,5744,-0.56,-146.0,606.7,-7.1,528,5751,0.00,2.20,0.00,0.000,6,0.000,0.023,2603,2039,3412,0,0,0,0,0,0
$GC,6062,-0.56,-146.0,627.8,-6.6,544,6066,0.00,1.83,0.00,0.000,4,0.000,0.037,2603,3274,3411,0,0,0,0,0,0
$GC,6100,-0.56,-146.0,630.7,-6.7,545,6108,0.00,1.70,0.00,0.000,6,0.000,0.020,2603,2056,3411,0,0,0,0,0,0
$GC,6417,-0.56,-146.0,652.6,-7.0,561,6422,0.00,2.28,0.00,0.000,4,0.000,0.032,2603,524,3409,0,0,0,0,0,0
$GC,6535,-0.56,-146.0,661.6,-7.6,566,6539,0.00,2.15,0.00,0.000,6,0.000,0.023,2603,1996,3407,0,0,0,0,0,0
$GC,6858,-0.56,-146.0,682.0,-5.9,582,6862,0.00,1.88,0.00,0.000,4,0.000,0.037,2602,3263,3406,0,0,0,0,0,0
$GC,6938,-0.56,-146.0,686.7,-5.8,585,6943,0.00,1.75,0.00,0.000,6,0.000,0.021,2602,2033,3406,0,0,0,0,0,0
$GC,7259,-0.56,-146.0,706.2,-6.4,601,7263,0.00,2.22,0.00,0.000,4,0.000,0.031,2603,519,3404,0,0,0,0,0,0
$GC,7339,-0.56,-146.0,712.3,-7.5,604,7346,0.00,2.15,0.00,0.000,6,0.000,0.024,2602,1987,3403,0,0,0,0,0,0
$GC,7655,-0.56,-146.0,734.1,-6.8,620,7659,0.00,1.90,0.00,0.000,4,0.000,0.038,2602,3263,3402,0,0,0,0,0,0
$GC,7705,-0.56,-146.0,737.7,-7.0,622,7709,0.00,1.73,0.00,0.000,6,0.000,0.021,2603,2035,3402,0,0,0,0,0,0
$GC,8035,-0.56,-146.0,759.7,-6.6,638,8039,0.00,2.22,0.00,0.000,4,0.000,0.031,2602,522,3400,0,0,0,0,0,0
$GC,8121,-0.56,-146.0,766.1,-7.6,642,8125,0.00,2.15,0.00,0.000,6,0.000,0.024,2602,1992,3399,0,0,0,0,0,0
$GC,8450,-0.56,-146.0,786.0,-6.0,658,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1992,3398,0,0,0,0,0,0
$GC,8757,-0.56,-146.0,803.9,-5.7,673,8762,0.00,1.92,0.00,0.000,4,0.000,0.038,2602,3266,3397,0,0,0,0,0,0
$GC,8842,-0.56,-146.0,808.6,-5.6,676,8849,0.00,1.80,0.00,0.000,6,0.000,0.020,2602,1992,3396,0,0,0,0,0,0
$GC,9159,-0.56,-146.0,826.4,-5.6,692,9163,0.00,2.17,0.00,0.000,4,0.000,0.032,2602,530,3396,0,0,0,0,0,0
$GC,9253,-0.56,-146.0,832.8,-6.9,696,9258,0.00,2.05,0.00,0.000,6,0.000,0.023,2602,1919,3395,0,0,0,0,0,0
$GC,9582,-0.56,-146.0,853.5,-6.2,712,9585,0.00,2.03,0.00,0.000,4,0.000,0.039,2602,3268,3394,0,0,0,0,0,0
$GC,9681,-0.56,-146.0,859.6,-5.7,716,9685,0.00,1.83,0.00,0.000,6,0.000,0.020,2602,1982,3394,0,0,0,0,0,0
$GC,10005,-0.56,-146.0,876.2,-4.8,732,10009,0.00,2.15,0.00,0.000,4,0.000,0.032,2602,523,3393,0,0,0,0,0,0
$GC,10071,-0.56,-146.0,880.3,-5.9,735,10075,0.00,2.08,0.00,0.000,6,0.000,0.024,2602,1936,3393,0,0,0,0,0,0
$GC,10401,-0.56,-146.0,897.0,-5.3,751,10405,0.00,2.00,0.00,0.000,4,0.000,0.039,2602,3268,3392,0,0,0,0,0,0
$GC,10451,-0.56,-146.0,900.1,-5.4,753,10455,0.00,1.85,0.00,0.000,6,0.000,0.020,2603,1968,3392,0,0,0,0,0,0
$GC,10779,-0.56,-146.0,918.9,-6.0,769,10783,0.00,2.15,0.00,0.000,4,0.000,0.033,2602,526,3391,0,0,0,0,0,0
$GC,10818,-0.56,-146.0,921.6,-6.2,770,10826,0.00,2.08,0.00,0.000,6,0.000,0.024,2602,1927,3391,0,0,0,0,0,0
$GC,11135,-0.56,-146.0,941.5,-6.2,786,11139,0.00,2.03,0.00,0.000,4,0.000,0.038,2603,3276,3390,0,0,0,0,0,0
$GC,11231,-0.56,-146.0,947.4,-6.2,790,11235,0.00,1.83,0.00,0.000,6,0.000,0.020,2602,1991,3390,0,0,0,0,0,0
$GC,11560,-0.56,-146.0,964.9,-5.0,806,11564,0.00,2.17,0.00,0.000,4,0.000,0.032,2603,532,3389,0,0,0,0,0,0
$GC,11643,-0.56,-146.0,969.8,-5.8,809,11651,0.00,2.08,0.00,0.000,6,0.000,0.024,2603,1947,3389,0,0,0,0,0,0
$GC,11961,-0.56,-146.0,984.6,-4.8,825,11965,0.00,2.00,0.00,0.000,4,0.000,0.040,2602,3262,3387,0,0,0,0,0,0
$GC,12021,-0.56,-146.0,987.6,-4.8,827,12028,0.00,1.80,0.00,0.000,6,0.000,0.021,2602,1998,3387,0,0,0,0,0,0
$STATE,12088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12088,begin apogee
$GC,12095,-0.20,0.0,990.7,4.6,831,12212,0.38,0.00,111.18,1.419,4,0.119,0.000,2730,2104,2839,0,0,0,0,0,0
$STATE,12213,end apogee,CONTROL_FINISHED_OK
$STATE,12213,begin climb
$GC,12216,0.56,146.0,992.1,0.0,836,12351,0.68,2.17,124.80,1.366,4,0.081,0.041,2979,3426,2241,0,0,0,0,0,0
$GC,12548,0.56,146.0,954.6,13.3,851,12553,0.00,2.00,0.00,0.000,6,0.000,0.021,2989,2120,2232,0,0,0,0,0,0
$GC,12869,0.56,146.0,916.9,11.3,867,12873,0.00,2.05,0.00,0.000,4,0.000,0.038,2989,3436,2229,0,0,0,0,0,0
$GC,13105,0.56,146.0,887.9,12.3,877,13109,0.00,2.08,0.00,0.000,6,0.000,0.022,2997,2044,2228,0,0,0,0,0,0
$GC,13427,0.56,146.0,850.2,12.0,893,13432,0.00,2.05,0.00,0.000,4,0.000,0.034,3007,688,2227,0,0,0,0,0,0
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$STATE,22422,end climb,SURFACE_DEPTH_REACHED
$STATE,22422,begin surface coast
$FINISH,0.9,1.021287
$STATE,22452,end surface coast,CONTROL_FINISHED_OK
$STATE,22452,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,31.68
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,28.80
$XPDR_PINGS,9
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$10V_AH,10.2,23.061
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,330504
$DATA_FILE_SIZE,100071,1738
$CAP_FILE_SIZE,260257,0
$CFSIZE,260165632,128942080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,101.4,1
$GPS,110711,001936,1758.794,12406.617,40,0.9,40,-2.0