version: 66.09
glider: 167
mission: 8
dive: 136
start: 7 12 111 1 54 7
data:
$ID,167
$MISSION,8
$DIVE,136
$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,-6
$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,-56557.996
$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,66
$R_STBD_OVSHOOT,62
$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
$GPS1,120711,014336,1800.098,12402.573,30,0.9,30,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.7
$GPS2,120711,015344,1759.952,12402.643,10,1.2,10,-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,289.3,195537,-15.4,-8.250
$D_GRID,4821
$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,-146.0,0.0,0.0,0,88,0.00,0.00,-68.60,0.000,2,0.000,0.000,109,1813,3186,0,0,0,0,0,0
$GC,91,-0.56,-146.0,6.6,-12.0,9,115,9.85,2.20,-3.95,0.000,4,0.228,0.038,2600,3291,3437,0,0,0,0,0,0
$GC,253,-0.56,-146.0,64.1,-22.0,37,261,0.00,2.08,0.00,0.000,6,0.000,0.018,2599,1859,3439,0,0,0,0,0,0
$GC,327,-0.56,-146.0,80.8,-22.3,50,335,0.00,2.03,0.00,0.000,4,0.000,0.028,2599,484,3439,0,0,0,0,0,0
$GC,370,-0.56,-146.0,89.0,-21.2,56,377,0.00,1.77,0.00,0.000,6,0.000,0.019,2591,1718,3440,0,0,0,0,0,0
$GC,445,-0.56,-146.0,105.7,-22.9,69,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1718,3440,0,0,0,0,0,0
$GC,519,-0.56,-146.0,120.9,-19.3,82,527,0.00,2.33,0.00,0.000,4,0.000,0.031,2581,3274,3440,0,0,0,0,0,0
$GC,542,-0.56,-146.0,125.3,-20.5,85,550,0.12,2.42,0.00,0.000,6,0.178,0.019,2612,1592,3440,0,0,0,0,0,0
$GC,618,-0.56,-146.0,139.3,-17.3,98,627,0.00,1.60,0.00,0.000,4,0.000,0.030,2612,487,3440,0,0,0,0,0,0
$GC,673,-0.56,-146.0,148.7,-16.5,107,682,0.00,1.50,0.00,0.000,6,0.000,0.019,2606,1565,3441,0,0,0,0,0,0
$GC,753,-0.56,-146.0,161.1,-16.4,120,761,0.00,2.55,0.00,0.000,4,0.000,0.031,2600,3268,3441,0,0,0,0,0,0
$GC,842,-0.56,-146.0,176.4,-15.6,136,850,0.00,2.38,0.00,0.000,6,0.000,0.018,2600,1638,3441,0,0,0,0,0,0
$GC,915,-0.56,-146.0,188.0,-15.8,149,923,0.00,2.45,0.00,0.000,4,0.000,0.031,2600,3263,3441,0,0,0,0,0,0
$GC,957,-0.56,-146.0,194.1,-15.3,155,966,0.00,2.30,0.00,0.000,6,0.000,0.018,2600,1678,3441,0,0,0,0,0,0
$GC,1038,-0.56,-146.0,206.1,-14.1,165,1042,0.00,1.70,0.00,0.000,4,0.000,0.028,2600,483,3441,0,0,0,0,0,0
$GC,1064,-0.56,-146.0,209.6,-14.7,167,1067,0.00,1.67,0.00,0.000,6,0.000,0.020,2600,1676,3441,0,0,0,0,0,0
$GC,1397,-0.56,-146.0,252.0,-11.6,198,1401,0.00,2.35,0.00,0.000,4,0.000,0.031,2600,3274,3441,0,0,0,0,0,0
$GC,1560,-0.56,-146.0,269.5,-10.6,212,1568,0.00,2.30,0.00,0.000,6,0.000,0.019,2600,1691,3441,0,0,0,0,0,0
$GC,1886,-0.56,-146.0,305.2,-10.9,243,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1691,3441,0,0,0,0,0,0
$GC,2209,-0.56,-146.0,338.9,-11.0,273,2213,0.00,2.33,0.00,0.000,4,0.000,0.031,2600,3272,3439,0,0,0,0,0,0
$GC,2342,-0.56,-146.0,353.5,-10.2,284,2349,0.00,2.25,0.00,0.000,6,0.000,0.019,2600,1707,3439,0,0,0,0,0,0
$GC,2667,-0.56,-146.0,386.7,-10.0,315,2672,0.00,2.35,0.00,0.000,4,0.000,0.033,2600,3269,3437,0,0,0,0,0,0
$GC,2735,-0.56,-146.0,393.2,-9.4,321,2739,0.00,2.20,0.00,0.000,6,0.000,0.019,2599,1730,3436,0,0,0,0,0,0
$GC,3063,-0.56,-146.0,423.7,-9.2,351,3066,0.00,1.77,0.00,0.000,4,0.000,0.031,2600,495,3434,0,0,0,0,0,0
$GC,3124,-0.56,-146.0,430.2,-9.8,356,3131,0.00,1.75,0.00,0.000,6,0.000,0.021,2599,1723,3434,0,0,0,0,0,0
$GC,3452,-0.56,-146.0,457.3,-8.0,387,3456,0.00,2.30,0.00,0.000,4,0.000,0.034,2600,3276,3431,0,0,0,0,0,0
$GC,3630,-0.56,-146.0,471.9,-8.0,402,3637,0.00,2.12,0.00,0.000,6,0.000,0.021,2600,1790,3431,0,0,0,0,0,0
$GC,3956,-0.56,-146.0,498.4,-8.5,433,3960,0.00,2.20,0.00,0.000,4,0.000,0.034,2600,3268,3428,0,0,0,0,0,0
$GC,4000,-0.56,-146.0,502.4,-8.6,435,4004,0.00,2.05,0.00,0.000,6,0.000,0.019,2599,1818,3428,0,0,0,0,0,0
$GC,4328,-0.56,-146.0,529.9,-8.0,451,4333,0.00,2.17,0.00,0.000,4,0.000,0.034,2599,3263,3425,0,0,0,0,0,0
$GC,4435,-0.56,-146.0,538.0,-7.1,455,4443,0.00,2.00,0.00,0.000,6,0.000,0.019,2599,1853,3425,0,0,0,0,0,0
$GC,4751,-0.56,-146.0,561.0,-7.3,471,4755,0.00,1.98,0.00,0.000,4,0.000,0.031,2600,497,3423,0,0,0,0,0,0
$GC,4799,-0.56,-146.0,564.8,-8.3,473,4802,0.00,1.95,0.00,0.000,6,0.000,0.021,2597,1856,3422,0,0,0,0,0,0
$GC,5132,-0.56,-146.0,592.3,-8.4,489,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1856,3420,0,0,0,0,0,0
$GC,5441,-0.56,-146.0,618.5,-8.4,504,5445,0.00,2.10,0.00,0.000,4,0.000,0.035,2596,3270,3418,0,0,0,0,0,0
$GC,5537,-0.56,-146.0,625.9,-7.5,508,5541,0.00,1.98,0.00,0.000,6,0.000,0.019,2596,1879,3417,0,0,0,0,0,0
$GC,5859,-0.56,-146.0,648.7,-6.8,524,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1878,3415,0,0,0,0,0,0
$GC,6170,-0.56,-146.0,669.4,-7.0,539,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1878,3414,0,0,0,0,0,0
$GC,6478,-0.56,-146.0,689.1,-6.2,554,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1878,3412,0,0,0,0,0,0
$GC,6791,-0.56,-146.0,707.9,-6.1,569,6795,0.00,2.03,0.00,0.000,4,0.000,0.033,2596,497,3410,0,0,0,0,0,0
$GC,6862,-0.56,-146.0,712.8,-7.1,572,6865,0.00,2.03,0.00,0.000,6,0.000,0.021,2590,1894,3409,0,0,0,0,0,0
$GC,7195,-0.56,-146.0,734.0,-6.3,588,7199,0.00,2.05,0.00,0.000,4,0.000,0.037,2588,3263,3407,0,0,0,0,0,0
$GC,7230,-0.56,-146.0,736.3,-6.0,589,7234,0.00,1.98,0.00,0.000,6,0.000,0.020,2588,1879,3407,0,0,0,0,0,0
$GC,7552,-0.56,-146.0,756.5,-6.5,605,7554,0.10,0.00,0.00,0.000,6,0.171,0.000,2614,1878,3406,0,0,0,0,0,0
$GC,7862,-0.56,-146.0,776.6,-6.8,620,7866,0.00,2.03,0.00,0.000,4,0.000,0.031,2614,497,3404,0,0,0,0,0,0
$GC,7897,-0.56,-146.0,779.2,-7.0,621,7900,0.00,2.05,0.00,0.000,6,0.000,0.022,2614,1905,3404,0,0,0,0,0,0
$GC,8219,-0.56,-146.0,800.9,-6.5,637,8223,0.00,2.05,0.00,0.000,4,0.000,0.038,2614,3258,3403,0,0,0,0,0,0
$GC,8297,-0.56,-146.0,805.8,-6.1,640,8301,0.00,1.92,0.00,0.000,6,0.000,0.020,2614,1907,3403,0,0,0,0,0,0
$GC,8620,-0.56,-146.0,822.0,-4.7,656,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1907,3401,0,0,0,0,0,0
$GC,8929,-0.56,-146.0,836.4,-4.8,671,8933,0.00,2.08,0.00,0.000,4,0.000,0.033,2614,508,3400,0,0,0,0,0,0
$GC,8965,-0.56,-146.0,838.2,-4.9,672,8969,0.00,2.08,0.00,0.000,6,0.000,0.023,2614,1923,3400,0,0,0,0,0,0
$GC,9288,-0.56,-146.0,855.2,-5.6,688,9291,0.00,2.03,0.00,0.000,4,0.000,0.039,2614,3273,3399,0,0,0,0,0,0
$GC,9343,-0.56,-146.0,858.5,-5.7,690,9348,0.00,1.90,0.00,0.000,6,0.000,0.020,2614,1954,3398,0,0,0,0,0,0
$GC,9666,-0.56,-146.0,875.7,-5.3,706,9670,0.00,2.15,0.00,0.000,4,0.000,0.032,2614,496,3397,0,0,0,0,0,0
$GC,9721,-0.56,-146.0,879.4,-6.4,708,9728,0.00,2.12,0.00,0.000,6,0.000,0.024,2615,1946,3397,0,0,0,0,0,0
$GC,10040,-0.56,-146.0,895.9,-5.2,724,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1946,3396,0,0,0,0,0,0
$GC,10347,-0.56,-146.0,912.0,-5.2,739,10352,0.00,2.00,0.00,0.000,4,0.000,0.040,2614,3261,3396,0,0,0,0,0,0
$GC,10398,-0.56,-146.0,914.7,-5.2,741,10402,0.00,1.85,0.00,0.000,6,0.000,0.021,2614,1965,3396,0,0,0,0,0,0
$GC,10727,-0.56,-146.0,931.8,-5.3,757,10731,0.00,2.15,0.00,0.000,4,0.000,0.033,2614,507,3394,0,0,0,0,0,0
$GC,10760,-0.56,-146.0,933.9,-5.2,758,10766,0.00,2.15,0.00,0.000,6,0.000,0.023,2614,1972,3394,0,0,0,0,0,0
$GC,11077,-0.56,-146.0,951.5,-5.5,774,11081,0.00,1.95,0.00,0.000,4,0.000,0.040,2614,3270,3394,0,0,0,0,0,0
$GC,11124,-0.56,-146.0,954.2,-5.7,776,11128,0.00,1.88,0.00,0.000,6,0.000,0.020,2614,1952,3393,0,0,0,0,0,0
$GC,11458,-0.56,-146.0,971.1,-4.7,792,11462,0.00,2.15,0.00,0.000,4,0.000,0.032,2614,493,3393,0,0,0,0,0,0
$GC,11515,-0.56,-146.0,974.4,-5.1,794,11522,0.00,2.15,0.00,0.000,6,0.000,0.024,2614,1957,3393,0,0,0,0,0,0
$GC,11832,-0.56,-146.0,988.1,-4.1,810,11836,0.00,2.00,0.00,0.000,4,0.000,0.041,2614,3266,3392,0,0,0,0,0,0
$STATE,11880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11880,begin apogee
$GC,11889,-0.20,0.0,990.2,4.2,812,12007,0.32,0.00,111.93,1.416,4,0.118,0.000,2727,2059,2839,0,0,0,0,0,0
$STATE,12008,end apogee,CONTROL_FINISHED_OK
$STATE,12008,begin climb
$GC,12010,0.56,146.0,991.6,0.0,817,12149,0.75,2.28,124.20,1.366,4,0.086,0.041,2977,3461,2241,0,0,0,0,0,0
$GC,12332,0.56,146.0,954.6,13.7,832,12336,0.00,2.08,0.00,0.000,6,0.000,0.021,2986,2092,2233,0,0,0,0,0,0
$GC,12660,0.56,146.0,913.4,12.4,848,12664,0.00,2.15,0.00,0.000,4,0.000,0.037,2986,3466,2231,0,0,0,0,0,0
$GC,12858,0.56,146.0,887.0,12.7,857,12862,0.00,2.15,0.00,0.000,6,0.000,0.023,2996,2025,2230,0,0,0,0,0,0
$GC,13184,0.56,146.0,848.4,11.4,873,13189,0.00,2.05,0.00,0.000,4,0.000,0.034,3006,678,2228,0,0,0,0,0,0
$GC,13291,0.56,146.0,835.5,11.9,877,13298,0.00,1.92,0.00,0.000,6,0.000,0.024,3006,1971,2228,0,0,0,0,0,0
$GC,13607,0.56,146.0,797.6,12.3,893,13611,0.00,2.28,0.00,0.000,4,0.000,0.039,3006,3466,2227,0,0,0,0,0,0
$GC,13662,0.56,146.0,790.0,13.9,895,13671,0.10,2.20,0.00,0.000,6,0.151,0.022,2985,1990,2227,0,0,0,0,0,0
$GC,13979,0.56,146.0,753.4,11.4,911,13983,0.00,1.92,0.00,0.000,4,0.000,0.035,2993,682,2226,0,0,0,0,0,0
$GC,14012,0.56,146.0,749.2,11.7,912,14016,0.00,1.92,0.00,0.000,6,0.000,0.023,2993,1968,2226,0,0,0,0,0,0
$GC,14335,0.56,146.0,712.0,11.4,928,14339,0.00,2.28,0.00,0.000,4,0.000,0.039,2994,3462,2226,0,0,0,0,0,0
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$STATE,22196,end climb,SURFACE_DEPTH_REACHED
$STATE,22197,begin surface coast
$FINISH,0.7,1.019690
$STATE,22227,end surface coast,CONTROL_FINISHED_OK
$STATE,22227,begin surface
$SM_CCo,22307,0.00,0.000,0,0,547,562.23
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$TT8_MAMPS,0.028462,0.028462
$HUMID,31.61
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,29.10
$XPDR_PINGS,12
$24V_AH,23.7,25.262
$10V_AH,10.2,24.009
$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
$DEVICE_SECS,19.975,253.325,579.200,0.000,0.000,29.232,40.095,321.134,3.000,0.000,11.542,4433.263,12537.317,747.557,4110.747,1055.688,0.000,2621.626,0.000,4033.070,0.000,0.545,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.518,1344.113,1613.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329884
$DATA_FILE_SIZE,100189,1731
$CAP_FILE_SIZE,251955,0
$CFSIZE,260165632,128364544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120, 93.3,1
$GPS,120711,080706,1800.809,12401.765,34,1.3,34,-2.0