version: 66.09
glider: 167
mission: 8
dive: 142
start: 7 13 111 16 46 38
data:
$ID,167
$MISSION,8
$DIVE,142
$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,-56565.547
$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,80
$R_STBD_OVSHOOT,60
$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
$GPS1,130711,163606,1802.738,12356.586,32,0.9,32,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.5
$GPS2,130711,164614,1802.625,12356.749,13,1.1,13,-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,283.3,184190,-15.4,-8.250
$D_GRID,4680
$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,15,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,101,0.00,0.00,-80.85,0.000,2,0.000,0.000,110,1858,3128,0,0,0,0,0,0
$GC,103,-0.56,-146.0,6.4,-12.0,11,130,9.68,2.03,-4.97,0.000,4,0.223,0.041,2616,487,3440,0,0,0,0,0,0
$GC,194,-0.56,-146.0,45.4,-31.2,25,203,0.00,2.05,0.00,0.000,6,0.000,0.020,2608,1879,3441,0,0,0,0,0,0
$GC,270,-0.56,-146.0,65.3,-24.5,38,277,0.00,2.08,0.00,0.000,4,0.000,0.031,2598,3268,3441,0,0,0,0,0,0
$GC,324,-0.56,-146.0,76.9,-21.1,46,332,0.00,1.83,0.00,0.000,6,0.000,0.017,2598,1979,3441,0,0,0,0,0,0
$GC,402,-0.56,-146.0,93.0,-22.2,59,409,0.00,2.20,0.00,0.000,4,0.000,0.030,2598,491,3441,0,0,0,0,0,0
$GC,508,-0.56,-146.0,115.7,-19.9,78,516,0.00,2.05,0.00,0.000,6,0.000,0.020,2588,1898,3441,0,0,0,0,0,0
$GC,584,-0.56,-146.0,130.9,-20.3,91,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1898,3441,0,0,0,0,0,0
$GC,660,-0.56,-146.0,145.6,-18.4,104,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1898,3441,0,0,0,0,0,0
$GC,735,-0.56,-146.0,159.5,-19.1,117,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1899,3442,0,0,0,0,0,0
$GC,811,-0.56,-146.0,172.4,-17.2,130,820,0.10,0.00,0.00,0.000,6,0.192,0.000,2611,1898,3441,0,0,0,0,0,0
$GC,888,-0.56,-146.0,183.9,-14.1,143,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1899,3442,0,0,0,0,0,0
$GC,960,-0.56,-146.0,194.6,-14.9,156,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1899,3442,0,0,0,0,0,0
$GC,1040,-0.56,-146.0,206.7,-15.5,166,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1899,3443,0,0,0,0,0,0
$GC,1357,-0.56,-146.0,244.9,-11.2,196,1362,0.00,2.03,0.00,0.000,4,0.000,0.031,2603,3271,3442,0,0,0,0,0,0
$GC,1450,-0.56,-146.0,255.6,-10.4,204,1458,0.00,1.95,0.00,0.000,6,0.000,0.018,2603,1885,3442,0,0,0,0,0,0
$GC,1776,-0.56,-146.0,288.1,-10.3,235,1780,0.00,2.00,0.00,0.000,4,0.000,0.029,2603,495,3441,0,0,0,0,0,0
$GC,1833,-0.56,-146.0,295.0,-12.1,240,1837,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1865,3442,0,0,0,0,0,0
$GC,2163,-0.56,-146.0,331.8,-11.0,271,2167,0.00,2.05,0.00,0.000,4,0.000,0.033,2600,3263,3440,0,0,0,0,0,0
$GC,2328,-0.56,-146.0,346.7,-8.3,285,2336,0.00,1.88,0.00,0.000,6,0.000,0.018,2601,1917,3439,0,0,0,0,0,0
$GC,2654,-0.56,-146.0,374.4,-8.6,316,2657,0.00,2.03,0.00,0.000,4,0.000,0.029,2600,515,3437,0,0,0,0,0,0
$GC,2703,-0.56,-146.0,379.4,-9.8,320,2710,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1929,3437,0,0,0,0,0,0
$GC,3030,-0.56,-146.0,410.9,-9.0,351,3033,0.00,1.95,0.00,0.000,4,0.000,0.033,2600,3263,3435,0,0,0,0,0,0
$GC,3059,-0.56,-146.0,413.4,-9.0,353,3067,0.00,1.90,0.00,0.000,6,0.000,0.018,2600,1902,3435,0,0,0,0,0,0
$GC,3385,-0.56,-146.0,440.3,-7.6,384,3388,0.00,2.03,0.00,0.000,4,0.000,0.030,2600,506,3432,0,0,0,0,0,0
$GC,3423,-0.56,-146.0,443.8,-8.6,387,3430,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1890,3432,0,0,0,0,0,0
$GC,3749,-0.56,-146.0,472.0,-9.2,418,3753,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,3267,3430,0,0,0,0,0,0
$GC,3831,-0.56,-146.0,479.8,-9.1,425,3839,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1863,3429,0,0,0,0,0,0
$GC,4157,-0.56,-146.0,507.7,-8.4,452,4161,0.00,2.08,0.00,0.000,4,0.000,0.033,2600,3257,3427,0,0,0,0,0,0
$GC,4248,-0.56,-146.0,515.4,-8.0,456,4252,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1909,3426,0,0,0,0,0,0
$GC,4583,-0.56,-146.0,541.8,-7.8,472,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1909,3425,0,0,0,0,0,0
$GC,4891,-0.56,-146.0,565.2,-7.2,487,4894,0.00,2.05,0.00,0.000,4,0.000,0.032,2600,512,3422,0,0,0,0,0,0
$GC,4975,-0.56,-146.0,571.9,-7.9,490,4981,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1959,3422,0,0,0,0,0,0
$GC,5293,-0.56,-146.0,592.4,-6.5,506,5297,0.00,1.92,0.00,0.000,4,0.000,0.036,2600,3260,3420,0,0,0,0,0,0
$GC,5332,-0.56,-146.0,594.9,-6.4,507,5338,0.00,1.80,0.00,0.000,6,0.000,0.019,2600,1973,3419,0,0,0,0,0,0
$GC,5649,-0.56,-146.0,613.5,-6.1,523,5654,0.00,2.17,0.00,0.000,4,0.000,0.031,2598,504,3417,0,0,0,0,0,0
$GC,5733,-0.56,-146.0,619.5,-6.8,526,5739,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1953,3416,0,0,0,0,0,0
$GC,6050,-0.56,-146.0,638.8,-6.2,542,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1953,3415,0,0,0,0,0,0
$GC,6360,-0.56,-146.0,658.5,-6.2,557,6364,0.00,1.95,0.00,0.000,4,0.000,0.036,2600,3253,3413,0,0,0,0,0,0
$GC,6392,-0.56,-146.0,660.6,-6.1,558,6395,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1963,3412,0,0,0,0,0,0
$GC,6714,-0.56,-146.0,679.8,-6.1,574,6718,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,514,3411,0,0,0,0,0,0
$GC,6750,-0.56,-146.0,682.3,-6.2,575,6757,0.00,2.10,0.00,0.000,6,0.000,0.021,2599,1962,3411,0,0,0,0,0,0
$GC,7066,-0.56,-146.0,701.7,-6.5,591,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1962,3408,0,0,0,0,0,0
$GC,7377,-0.56,-146.0,721.8,-6.6,606,7381,0.00,1.95,0.00,0.000,4,0.000,0.037,2599,3271,3407,0,0,0,0,0,0
$GC,7424,-0.56,-146.0,724.8,-6.7,608,7427,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1962,3407,0,0,0,0,0,0
$GC,7757,-0.56,-146.0,745.9,-6.3,624,7761,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,514,3406,0,0,0,0,0,0
$GC,7803,-0.56,-146.0,749.1,-6.7,626,7806,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1959,3405,0,0,0,0,0,0
$GC,8132,-0.56,-146.0,768.2,-5.5,642,8135,0.00,1.95,0.00,0.000,4,0.000,0.037,2599,3266,3404,0,0,0,0,0,0
$GC,8187,-0.56,-146.0,771.3,-5.5,644,8191,0.00,1.85,0.00,0.000,6,0.000,0.019,2599,1956,3404,0,0,0,0,0,0
$GC,8511,-0.56,-146.0,786.6,-4.9,660,8515,0.00,2.12,0.00,0.000,4,0.000,0.032,2599,512,3402,0,0,0,0,0,0
$GC,8588,-0.56,-146.0,791.4,-6.2,663,8595,0.00,2.08,0.00,0.000,6,0.000,0.022,2599,1936,3402,0,0,0,0,0,0
$GC,8906,-0.56,-146.0,809.5,-6.0,679,8910,0.00,2.00,0.00,0.000,4,0.000,0.037,2599,3259,3400,0,0,0,0,0,0
$GC,9011,-0.56,-146.0,816.3,-6.4,683,9017,0.00,1.80,0.00,0.000,6,0.000,0.021,2599,1989,3400,0,0,0,0,0,0
$GC,9328,-0.56,-146.0,835.9,-6.5,699,9332,0.00,2.17,0.00,0.000,4,0.000,0.032,2599,516,3399,0,0,0,0,0,0
$GC,9362,-0.56,-146.0,838.6,-6.5,700,9368,0.00,2.17,0.00,0.000,6,0.000,0.022,2599,2006,3399,0,0,0,0,0,0
$GC,9678,-0.56,-146.0,859.0,-6.5,716,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2006,3398,0,0,0,0,0,0
$GC,9989,-0.56,-146.0,878.9,-6.3,731,9992,0.00,1.88,0.00,0.000,4,0.000,0.039,2600,3260,3397,0,0,0,0,0,0
$GC,10039,-0.56,-146.0,882.2,-5.9,733,10043,0.00,1.83,0.00,0.000,6,0.000,0.021,2599,1993,3397,0,0,0,0,0,0
$GC,10367,-0.56,-146.0,899.7,-5.2,749,10371,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,515,3396,0,0,0,0,0,0
$GC,10430,-0.56,-146.0,903.4,-6.1,752,10434,0.00,2.12,0.00,0.000,6,0.000,0.022,2600,1953,3396,0,0,0,0,0,0
$GC,10762,-0.56,-146.0,921.1,-5.4,768,10766,0.00,1.95,0.00,0.000,4,0.000,0.037,2599,3271,3395,0,0,0,0,0,0
$GC,10833,-0.56,-146.0,925.0,-5.7,771,10836,0.00,1.80,0.00,0.000,6,0.000,0.020,2599,1998,3395,0,0,0,0,0,0
$GC,11166,-0.56,-146.0,943.7,-5.4,787,11170,0.00,2.20,0.00,0.000,4,0.000,0.031,2599,506,3394,0,0,0,0,0,0
$GC,11239,-0.56,-146.0,948.2,-6.2,790,11243,0.00,2.15,0.00,0.000,6,0.000,0.023,2599,1971,3394,0,0,0,0,0,0
$GC,11561,-0.56,-146.0,965.2,-5.3,806,11565,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3259,3393,0,0,0,0,0,0
$GC,11600,-0.56,-146.0,967.3,-5.3,807,11607,0.00,1.83,0.00,0.000,6,0.000,0.020,2600,1972,3394,0,0,0,0,0,0
$GC,11918,-0.56,-146.0,983.5,-5.1,823,11919,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1972,3393,0,0,0,0,0,0
$STATE,12058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12059,begin apogee
$GC,12065,-0.20,0.0,990.7,5.0,830,12184,0.38,0.00,112.57,1.414,4,0.123,0.000,2726,2089,2839,0,0,0,0,0,0
$STATE,12185,end apogee,CONTROL_FINISHED_OK
$STATE,12185,begin climb
$GC,12188,0.56,146.0,992.2,0.0,835,12325,0.75,2.17,124.68,1.364,4,0.085,0.039,2978,3445,2241,0,0,0,0,0,0
$GC,12509,0.56,146.0,955.7,13.0,850,12513,0.00,2.08,0.00,0.000,6,0.000,0.021,2988,2080,2233,0,0,0,0,0,0
$GC,12839,0.56,146.0,916.9,11.9,866,12843,0.00,2.12,0.00,0.000,4,0.000,0.037,2987,3448,2230,0,0,0,0,0,0
$GC,13081,0.56,146.0,885.2,13.4,877,13085,0.00,2.08,0.00,0.000,6,0.000,0.023,2995,2051,2229,0,0,0,0,0,0
$GC,13409,0.56,146.0,845.7,11.8,893,13414,0.00,2.08,0.00,0.000,4,0.000,0.034,3004,684,2228,0,0,0,0,0,0
$GC,13469,0.56,146.0,838.3,11.9,895,13476,0.00,2.03,0.00,0.000,6,0.000,0.023,3004,2031,2228,0,0,0,0,0,0
$GC,13787,0.56,146.0,800.9,11.7,911,13791,0.00,2.17,0.00,0.000,4,0.000,0.038,3005,3464,2227,0,0,0,0,0,0
$GC,13850,0.56,146.0,792.7,13.0,914,13855,0.12,2.08,0.00,0.000,6,0.171,0.021,2982,2045,2227,0,0,0,0,0,0
$GC,14179,0.56,146.0,759.4,10.0,930,14183,0.00,2.00,0.00,0.000,4,0.000,0.033,2990,684,2226,0,0,0,0,0,0
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$STATE,22194,end climb,SURFACE_DEPTH_REACHED
$STATE,22194,begin surface coast
$FINISH,0.9,1.021172
$STATE,22237,end surface coast,CONTROL_FINISHED_OK
$STATE,22237,begin surface
$SM_CCo,22315,0.00,0.000,0,0,855,486.68
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$IRIDIUM_FIX,1754.17,12404.02,130711,101024
$TT8_MAMPS,0.027713,0.027713
$HUMID,31.72
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,28.50
$XPDR_PINGS,14
$24V_AH,23.6,26.307
$10V_AH,10.2,25.144
$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,19.700,227.225,514.900,0.000,0.000,27.338,37.382,325.833,3.500,0.000,14.838,4412.998,12600.889,738.898,4105.275,1037.859,0.000,2594.622,0.000,4016.189,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,75.735,1413.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1174.555,1326.746,1586.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,100035,1728
$CAP_FILE_SIZE,247721,0
$CFSIZE,260165632,127668224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124, 85.7,1
$GPS,130711,225954,1803.327,12355.710,25,1.3,43,-2.0