version: 66.09
glider: 167
mission: 8
dive: 144
start: 7 14 111 5 35 18
data:
$ID,167
$MISSION,8
$DIVE,144
$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,-56568.066
$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,75
$R_STBD_OVSHOOT,80
$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
$GPS1,140711,052506,1803.093,12354.766,36,1.2,41,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.6
$GPS2,140711,053456,1803.008,12354.880,14,1.4,14,-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,289.4,180843,-15.4,-8.250
$D_GRID,4536
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-78.53,0.000,2,0.000,0.000,110,1902,2996,0,0,0,0,0,0
$GC,103,-0.56,-146.0,5.4,-9.1,10,129,9.77,2.08,-7.50,0.000,4,0.225,0.038,2618,477,3436,0,0,0,0,0,0
$GC,208,-0.56,-146.0,42.8,-27.2,27,219,0.00,2.03,0.00,0.000,6,0.000,0.019,2610,1862,3437,0,0,0,0,0,0
$GC,286,-0.56,-146.0,61.0,-23.6,40,294,0.00,2.10,0.00,0.000,4,0.000,0.028,2599,3271,3437,0,0,0,0,0,0
$GC,306,-0.56,-146.0,65.8,-25.8,42,314,0.00,2.00,0.00,0.000,6,0.000,0.018,2599,1883,3437,0,0,0,0,0,0
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$GC,429,-0.56,-146.0,93.4,-19.8,63,437,0.00,2.05,0.00,0.000,6,0.000,0.020,2590,1894,3438,0,0,0,0,0,0
$GC,506,-0.56,-146.0,108.8,-20.2,76,515,0.00,2.05,0.00,0.000,4,0.000,0.032,2580,3269,3438,0,0,0,0,0,0
$GC,567,-0.56,-146.0,120.5,-18.3,86,575,0.10,1.73,0.00,0.000,6,0.151,0.018,2610,2030,3439,0,0,0,0,0,0
$GC,642,-0.56,-146.0,133.1,-17.2,99,650,0.00,2.25,0.00,0.000,4,0.000,0.028,2611,492,3438,0,0,0,0,0,0
$GC,693,-0.56,-146.0,142.1,-17.9,107,702,0.00,2.30,0.00,0.000,6,0.000,0.021,2602,2060,3439,0,0,0,0,0,0
$GC,773,-0.56,-146.0,155.7,-16.7,120,782,0.00,2.33,0.00,0.000,4,0.000,0.028,2602,490,3439,0,0,0,0,0,0
$GC,790,-0.56,-146.0,158.6,-16.3,122,798,0.00,2.03,0.00,0.000,6,0.000,0.021,2596,1884,3439,0,0,0,0,0,0
$GC,864,-0.56,-146.0,171.1,-18.1,135,874,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,3267,3439,0,0,0,0,0,0
$GC,905,-0.56,-146.0,179.2,-19.2,141,914,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1895,3440,0,0,0,0,0,0
$GC,982,-0.56,-146.0,192.6,-17.7,154,991,0.10,0.00,0.00,0.000,6,0.184,0.000,2612,1894,3438,0,0,0,0,0,0
$GC,1059,-0.56,-146.0,202.6,-11.9,165,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1894,3439,0,0,0,0,0,0
$GC,1381,-0.56,-146.0,239.8,-10.6,195,1384,0.00,2.03,0.00,0.000,4,0.000,0.028,2612,494,3439,0,0,0,0,0,0
$GC,1452,-0.56,-146.0,248.5,-11.6,201,1460,0.00,2.03,0.00,0.000,6,0.000,0.019,2606,1896,3439,0,0,0,0,0,0
$GC,1780,-0.56,-146.0,281.9,-10.9,232,1784,0.00,2.00,0.00,0.000,4,0.000,0.032,2600,3264,3438,0,0,0,0,0,0
$GC,1847,-0.56,-146.0,289.3,-10.4,238,1851,0.00,1.92,0.00,0.000,6,0.000,0.018,2600,1889,3438,0,0,0,0,0,0
$GC,2178,-0.56,-146.0,322.1,-9.9,269,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1889,3436,0,0,0,0,0,0
$GC,2498,-0.56,-146.0,353.7,-9.3,299,2502,0.00,2.03,0.00,0.000,4,0.000,0.031,2600,494,3434,0,0,0,0,0,0
$GC,2557,-0.56,-146.0,359.1,-9.3,304,2561,0.00,2.03,0.00,0.000,6,0.000,0.021,2601,1908,3434,0,0,0,0,0,0
$GC,2888,-0.56,-146.0,387.8,-8.9,335,2891,0.00,2.00,0.00,0.000,4,0.000,0.033,2600,3274,3432,0,0,0,0,0,0
$GC,2991,-0.56,-146.0,396.1,-7.7,344,2996,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1899,3431,0,0,0,0,0,0
$GC,3322,-0.56,-146.0,424.0,-8.4,375,3326,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,3268,3429,0,0,0,0,0,0
$GC,3440,-0.56,-146.0,434.5,-8.9,385,3447,0.00,1.85,0.00,0.000,6,0.000,0.018,2600,1949,3428,0,0,0,0,0,0
$GC,3766,-0.56,-146.0,463.8,-8.8,416,3770,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,504,3426,0,0,0,0,0,0
$GC,3857,-0.56,-146.0,472.5,-9.4,423,3864,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1893,3425,0,0,0,0,0,0
$GC,4182,-0.56,-146.0,499.4,-7.9,454,4187,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,3267,3423,0,0,0,0,0,0
$GC,4299,-0.56,-146.0,508.1,-7.4,460,4303,0.00,1.85,0.00,0.000,6,0.000,0.018,2600,1950,3422,0,0,0,0,0,0
$GC,4629,-0.56,-146.0,531.3,-7.0,476,4633,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,510,3420,0,0,0,0,0,0
$GC,4766,-0.56,-146.0,541.9,-7.7,482,4771,0.00,2.08,0.00,0.000,6,0.000,0.022,2600,1925,3419,0,0,0,0,0,0
$GC,5093,-0.56,-146.0,564.6,-6.9,498,5097,0.00,1.98,0.00,0.000,4,0.000,0.034,2601,3274,3417,0,0,0,0,0,0
$GC,5177,-0.56,-146.0,570.3,-6.6,501,5184,0.00,1.83,0.00,0.000,6,0.000,0.020,2600,1983,3416,0,0,0,0,0,0
$GC,5493,-0.56,-146.0,593.0,-7.5,517,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1982,3414,0,0,0,0,0,0
$GC,5805,-0.56,-146.0,615.3,-7.1,532,5809,0.00,2.17,0.00,0.000,4,0.000,0.033,2600,503,3412,0,0,0,0,0,0
$GC,5936,-0.56,-146.0,625.6,-7.8,538,5940,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1928,3412,0,0,0,0,0,0
$GC,6271,-0.56,-146.0,647.3,-6.0,554,6274,0.00,2.00,0.00,0.000,4,0.000,0.035,2600,3275,3410,0,0,0,0,0,0
$GC,6326,-0.56,-146.0,650.9,-6.0,556,6329,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1942,3409,0,0,0,0,0,0
$GC,6649,-0.56,-146.0,670.2,-6.1,572,6653,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,500,3407,0,0,0,0,0,0
$GC,6706,-0.56,-146.0,674.2,-7.1,574,6712,0.00,2.10,0.00,0.000,6,0.000,0.023,2600,1939,3406,0,0,0,0,0,0
$GC,7022,-0.56,-146.0,692.7,-5.5,590,7027,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3265,3405,0,0,0,0,0,0
$GC,7140,-0.56,-146.0,699.4,-5.8,595,7144,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1959,3405,0,0,0,0,0,0
$GC,7468,-0.56,-146.0,719.0,-5.9,611,7472,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,520,3403,0,0,0,0,0,0
$GC,7597,-0.56,-146.0,727.9,-7.1,616,7603,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1937,3402,0,0,0,0,0,0
$GC,7913,-0.56,-146.0,746.8,-6.0,632,7918,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3262,3401,0,0,0,0,0,0
$GC,7969,-0.56,-146.0,750.2,-6.0,634,7972,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1946,3401,0,0,0,0,0,0
$GC,8292,-0.56,-146.0,769.6,-5.9,650,8296,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,504,3399,0,0,0,0,0,0
$GC,8423,-0.56,-146.0,778.2,-7.0,656,8427,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1923,3399,0,0,0,0,0,0
$GC,8759,-0.56,-146.0,799.1,-6.4,672,8763,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3268,3398,0,0,0,0,0,0
$GC,8820,-0.56,-146.0,803.4,-6.6,674,8827,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1949,3397,0,0,0,0,0,0
$GC,9138,-0.56,-146.0,825.2,-7.2,690,9143,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,513,3396,0,0,0,0,0,0
$GC,9184,-0.56,-146.0,828.9,-7.7,692,9189,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1918,3396,0,0,0,0,0,0
$GC,9518,-0.56,-146.0,852.7,-6.8,708,9521,0.00,2.03,0.00,0.000,4,0.000,0.038,2600,3269,3395,0,0,0,0,0,0
$GC,9592,-0.56,-146.0,858.1,-7.2,711,9595,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1939,3395,0,0,0,0,0,0
$GC,9919,-0.56,-146.0,880.5,-6.6,727,9924,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,507,3394,0,0,0,0,0,0
$GC,9988,-0.56,-146.0,885.5,-7.4,730,9991,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1936,3394,0,0,0,0,0,0
$GC,10323,-0.56,-146.0,906.4,-6.0,746,10326,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3268,3393,0,0,0,0,0,0
$GC,10413,-0.56,-146.0,911.7,-5.6,750,10417,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1950,3393,0,0,0,0,0,0
$GC,10748,-0.56,-146.0,928.3,-4.7,766,10753,0.00,2.15,0.00,0.000,4,0.000,0.033,2600,515,3392,0,0,0,0,0,0
$GC,10794,-0.56,-146.0,930.8,-4.9,768,10799,0.00,2.15,0.00,0.000,6,0.000,0.024,2600,1962,3392,0,0,0,0,0,0
$GC,11129,-0.56,-146.0,947.1,-4.9,784,11133,0.00,1.98,0.00,0.000,4,0.000,0.039,2600,3275,3391,0,0,0,0,0,0
$GC,11157,-0.56,-146.0,948.7,-4.9,785,11160,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1961,3391,0,0,0,0,0,0
$GC,11486,-0.56,-146.0,965.9,-5.7,801,11490,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,514,3390,0,0,0,0,0,0
$GC,11537,-0.56,-146.0,969.2,-6.0,803,11541,0.00,2.12,0.00,0.000,6,0.000,0.025,2599,1954,3389,0,0,0,0,0,0
$GC,11859,-0.56,-146.0,987.5,-5.6,819,11864,0.00,2.00,0.00,0.000,4,0.000,0.038,2600,3268,3389,0,0,0,0,0,0
$STATE,11905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11905,begin apogee
$GC,11914,-0.20,0.0,990.0,5.7,821,12032,0.38,0.00,112.18,1.412,4,0.120,0.000,2728,2058,2839,0,0,0,0,0,0
$STATE,12032,end apogee,CONTROL_FINISHED_OK
$STATE,12032,begin climb
$GC,12035,0.56,146.0,992.0,0.0,826,12173,0.70,0.00,125.03,1.362,6,0.081,0.000,2973,2058,2240,0,0,0,0,0,0
$GC,12478,0.56,146.0,945.8,11.6,848,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2058,2231,0,0,0,0,0,0
$GC,12788,0.56,146.0,909.8,11.6,863,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2058,2229,0,0,0,0,0,0
$GC,13096,0.56,146.0,873.6,11.6,878,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2058,2228,0,0,0,0,0,0
$GC,13406,0.56,146.0,838.7,11.1,893,13407,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2058,2227,0,0,0,0,0,0
$GC,13717,0.56,146.0,805.7,10.5,908,13721,0.00,2.17,0.00,0.000,4,0.000,0.038,2973,3464,2226,0,0,0,0,0,0
$GC,13755,0.56,146.0,801.0,11.5,909,13762,0.00,2.08,0.00,0.000,6,0.000,0.022,2981,2064,2226,0,0,0,0,0,0
$GC,14071,0.56,146.0,767.9,10.4,925,14072,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2064,2225,0,0,0,0,0,0
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$GC,21379,0.81,343.7,61.0,7.7,1593,21402,0.00,1.85,13.12,0.601,6,0.000,0.019,3071,1960,1435,0,0,0,0,0,0
$GC,21469,0.81,343.7,53.4,8.9,1608,21476,0.00,2.28,0.00,0.000,4,0.000,0.031,3071,3467,1433,0,0,0,0,0,0
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$GC,21574,0.81,343.7,43.0,10.0,1625,21582,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1998,1433,0,0,0,0,0,0
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$STATE,22084,end climb,SURFACE_DEPTH_REACHED
$STATE,22085,begin surface coast
$FINISH,0.8,1.002128
$STATE,22133,end surface coast,CONTROL_FINISHED_OK
$STATE,22133,begin surface
$SM_CCo,22211,0.00,0.000,0,0,1120,421.67
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$TT8_MAMPS,0.028462,0.028462
$HUMID,32.67
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.50
$XPDR_PINGS,12
$24V_AH,23.6,26.636
$10V_AH,10.2,25.519
$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_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329864
$DATA_FILE_SIZE,100272,1715
$CAP_FILE_SIZE,247787,0
$CFSIZE,260165632,127438848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127, 83.0,1
$GPS,140711,114636,1804.044,12353.775,29,0.9,29,-2.0