version: 66.09
glider: 167
mission: 8
dive: 147
start: 7 15 111 0 48 49
data:
$ID,167
$MISSION,8
$DIVE,147
$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,-56571.836
$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,81
$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
$GPS1,150711,003806,1804.697,12352.236,29,1.1,29,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-72.6
$GPS2,150711,004825,1804.492,12352.319,11,1.8,16,-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,277.3,175747,-15.4,-8.250
$D_GRID,4447
$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,-146.0,0.0,0.0,0,87,0.00,0.00,-67.38,0.000,2,0.000,0.000,121,1856,3165,0,0,0,0,0,0
$GC,90,-0.56,-146.0,6.2,-10.7,9,114,9.88,2.12,-4.43,0.000,4,0.230,0.035,2596,3291,3439,0,0,0,0,0,0
$GC,206,-0.56,-146.0,46.1,-23.8,28,215,0.00,2.08,0.00,0.000,6,0.000,0.018,2596,1869,3441,0,0,0,0,0,0
$GC,283,-0.56,-146.0,65.5,-22.9,41,292,0.00,2.03,0.00,0.000,4,0.000,0.028,2596,492,3441,0,0,0,0,0,0
$GC,314,-0.56,-146.0,72.5,-22.5,45,323,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1905,3442,0,0,0,0,0,0
$GC,391,-0.56,-146.0,90.5,-22.9,58,399,0.12,2.05,0.00,0.000,4,0.192,0.031,2608,3271,3441,0,0,0,0,0,0
$GC,466,-0.56,-146.0,105.9,-18.3,71,475,0.00,1.77,0.00,0.000,6,0.000,0.017,2608,2010,3442,0,0,0,0,0,0
$GC,541,-0.56,-146.0,118.5,-17.0,84,549,0.00,2.22,0.00,0.000,4,0.000,0.028,2608,491,3442,0,0,0,0,0,0
$GC,602,-0.56,-146.0,129.5,-17.0,94,611,0.00,2.30,0.00,0.000,6,0.000,0.021,2600,2062,3442,0,0,0,0,0,0
$GC,679,-0.56,-146.0,141.3,-14.8,107,687,0.00,1.80,0.00,0.000,4,0.000,0.031,2592,3271,3443,0,0,0,0,0,0
$GC,698,-0.56,-146.0,144.1,-16.3,109,706,0.00,1.85,0.00,0.000,6,0.000,0.017,2592,1961,3442,0,0,0,0,0,0
$GC,776,-0.56,-146.0,158.3,-17.6,122,784,0.00,2.15,0.00,0.000,4,0.000,0.028,2592,490,3443,0,0,0,0,0,0
$GC,827,-0.56,-146.0,166.3,-16.4,130,835,0.00,2.12,0.00,0.000,6,0.000,0.020,2587,1952,3443,0,0,0,0,0,0
$GC,905,-0.56,-146.0,178.2,-15.0,143,916,0.10,1.95,0.00,0.000,4,0.193,0.030,2603,3278,3443,0,0,0,0,0,0
$GC,935,-0.56,-146.0,183.1,-15.5,147,945,0.00,2.00,0.00,0.000,6,0.000,0.018,2603,1872,3443,0,0,0,0,0,0
$GC,1013,-0.56,-146.0,194.9,-16.3,160,1020,0.00,2.00,0.00,0.000,4,0.000,0.028,2602,500,3443,0,0,0,0,0,0
$GC,1075,-0.56,-146.0,205.2,-15.7,168,1083,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1848,3443,0,0,0,0,0,0
$GC,1401,-0.56,-146.0,245.6,-11.3,199,1405,0.00,2.08,0.00,0.000,4,0.000,0.032,2600,3264,3443,0,0,0,0,0,0
$GC,1556,-0.56,-146.0,261.6,-9.9,212,1560,0.00,1.88,0.00,0.000,6,0.000,0.017,2600,1909,3443,0,0,0,0,0,0
$GC,1888,-0.56,-146.0,298.2,-11.1,243,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1908,3442,0,0,0,0,0,0
$GC,2211,-0.56,-146.0,329.0,-8.5,273,2214,0.00,2.03,0.00,0.000,4,0.000,0.032,2600,3267,3440,0,0,0,0,0,0
$GC,2248,-0.56,-146.0,332.5,-8.6,276,2252,0.00,1.80,0.00,0.000,6,0.000,0.018,2600,1964,3440,0,0,0,0,0,0
$GC,2579,-0.56,-146.0,363.6,-9.6,307,2583,0.00,2.08,0.00,0.000,4,0.000,0.030,2600,518,3439,0,0,0,0,0,0
$GC,2622,-0.56,-146.0,368.6,-11.3,310,2630,0.00,2.08,0.00,0.000,6,0.000,0.020,2600,1952,3438,0,0,0,0,0,0
$GC,2948,-0.56,-146.0,401.1,-9.6,341,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1951,3437,0,0,0,0,0,0
$GC,3268,-0.56,-146.0,430.1,-8.6,371,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1952,3434,0,0,0,0,0,0
$GC,3590,-0.56,-146.0,456.8,-8.2,401,3594,0.00,1.92,0.00,0.000,4,0.000,0.034,2600,3263,3433,0,0,0,0,0,0
$GC,3707,-0.56,-146.0,467.2,-8.5,411,3715,0.00,1.88,0.00,0.000,6,0.000,0.018,2600,1934,3431,0,0,0,0,0,0
$GC,4033,-0.56,-146.0,493.2,-7.6,442,4036,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,516,3430,0,0,0,0,0,0
$GC,4138,-0.56,-146.0,502.1,-8.5,450,4145,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1876,3429,0,0,0,0,0,0
$GC,4456,-0.56,-146.0,528.0,-8.1,466,4459,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,3257,3426,0,0,0,0,0,0
$GC,4636,-0.56,-146.0,542.1,-7.6,474,4639,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1944,3425,0,0,0,0,0,0
$GC,4970,-0.56,-146.0,567.8,-7.5,490,4975,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,521,3423,0,0,0,0,0,0
$GC,5109,-0.56,-146.0,579.3,-8.3,496,5114,0.00,2.03,0.00,0.000,6,0.000,0.022,2600,1906,3422,0,0,0,0,0,0
$GC,5438,-0.56,-146.0,603.8,-7.6,512,5442,0.00,2.03,0.00,0.000,4,0.000,0.035,2600,3274,3420,0,0,0,0,0,0
$GC,5538,-0.56,-146.0,611.7,-7.6,516,5541,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1948,3420,0,0,0,0,0,0
$GC,5862,-0.56,-146.0,636.1,-7.6,532,5866,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,527,3417,0,0,0,0,0,0
$GC,5963,-0.56,-146.0,645.3,-9.0,536,5967,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1893,3416,0,0,0,0,0,0
$GC,6286,-0.56,-146.0,671.8,-8.1,552,6289,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3264,3414,0,0,0,0,0,0
$GC,6333,-0.56,-146.0,675.4,-7.6,554,6337,0.00,1.92,0.00,0.000,6,0.000,0.019,2600,1903,3414,0,0,0,0,0,0
$GC,6666,-0.56,-146.0,699.5,-6.7,570,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1903,3412,0,0,0,0,0,0
$GC,6975,-0.56,-146.0,717.8,-5.6,585,6978,0.00,2.05,0.00,0.000,4,0.000,0.031,2600,506,3411,0,0,0,0,0,0
$GC,7004,-0.56,-146.0,719.5,-5.7,586,7008,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1884,3411,0,0,0,0,0,0
$GC,7332,-0.56,-146.0,738.8,-6.0,602,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1884,3409,0,0,0,0,0,0
$GC,7643,-0.56,-146.0,759.0,-6.8,617,7647,0.00,2.08,0.00,0.000,4,0.000,0.036,2600,3261,3408,0,0,0,0,0,0
$GC,7712,-0.56,-146.0,763.7,-7.1,620,7715,0.00,1.92,0.00,0.000,6,0.000,0.019,2600,1902,3407,0,0,0,0,0,0
$GC,8046,-0.56,-146.0,786.2,-6.4,636,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1901,3406,0,0,0,0,0,0
$GC,8356,-0.56,-146.0,806.0,-6.1,651,8360,0.00,2.05,0.00,0.000,4,0.000,0.031,2600,511,3405,0,0,0,0,0,0
$GC,8384,-0.56,-146.0,808.1,-6.1,652,8389,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1886,3405,0,0,0,0,0,0
$GC,8712,-0.56,-146.0,827.5,-6.1,668,8715,0.00,2.08,0.00,0.000,4,0.000,0.037,2599,3271,3404,0,0,0,0,0,0
$GC,8797,-0.56,-146.0,832.7,-6.1,671,8805,0.00,1.92,0.00,0.000,6,0.000,0.019,2600,1916,3403,0,0,0,0,0,0
$GC,9113,-0.56,-146.0,851.5,-5.8,687,9117,0.00,2.08,0.00,0.000,4,0.000,0.031,2600,506,3402,0,0,0,0,0,0
$GC,9146,-0.56,-146.0,853.6,-5.8,688,9153,0.00,2.05,0.00,0.000,6,0.000,0.022,2600,1914,3402,0,0,0,0,0,0
$GC,9463,-0.56,-146.0,872.2,-5.7,704,9468,0.00,2.05,0.00,0.000,4,0.000,0.038,2600,3263,3401,0,0,0,0,0,0
$GC,9535,-0.56,-146.0,876.1,-5.3,707,9539,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1941,3400,0,0,0,0,0,0
$GC,9865,-0.56,-146.0,891.6,-4.6,723,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1939,3400,0,0,0,0,0,0
$GC,10173,-0.56,-146.0,906.2,-4.9,738,10177,0.00,2.12,0.00,0.000,4,0.000,0.032,2600,504,3399,0,0,0,0,0,0
$GC,10202,-0.56,-146.0,908.0,-5.1,739,10207,0.00,2.10,0.00,0.000,6,0.000,0.022,2599,1925,3398,0,0,0,0,0,0
$GC,10523,-0.56,-146.0,926.5,-5.9,755,10527,0.00,2.03,0.00,0.000,4,0.000,0.037,2600,3275,3398,0,0,0,0,0,0
$GC,10607,-0.56,-146.0,931.5,-5.9,758,10614,0.00,1.85,0.00,0.000,6,0.000,0.020,2599,1959,3398,0,0,0,0,0,0
$GC,10925,-0.56,-146.0,950.0,-5.8,774,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1959,3397,0,0,0,0,0,0
$GC,11233,-0.56,-146.0,967.2,-5.5,789,11237,0.00,2.15,0.00,0.000,4,0.000,0.032,2599,505,3396,0,0,0,0,0,0
$GC,11261,-0.56,-146.0,968.9,-5.6,790,11265,0.00,2.12,0.00,0.000,6,0.000,0.024,2599,1952,3396,0,0,0,0,0,0
$GC,11578,-0.56,-146.0,985.9,-5.2,805,11581,0.00,1.98,0.00,0.000,4,0.000,0.038,2600,3268,3396,0,0,0,0,0,0
$GC,11650,-0.56,-146.0,989.6,-5.0,808,11654,0.00,1.83,0.00,0.000,6,0.000,0.020,2599,1966,3396,0,0,0,0,0,0
$STATE,11658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11658,begin apogee
$GC,11667,-0.20,0.0,990.0,4.8,808,11785,0.38,0.00,112.70,1.414,4,0.119,0.000,2727,2099,2839,0,0,0,0,0,0
$STATE,11786,end apogee,CONTROL_FINISHED_OK
$STATE,11786,begin climb
$GC,11789,0.56,146.0,991.6,0.0,814,11923,0.73,0.00,124.45,1.362,6,0.080,0.000,2981,2099,2241,0,0,0,0,0,0
$GC,12246,0.56,146.0,941.2,12.4,836,12250,0.00,2.10,0.00,0.000,4,0.000,0.037,2981,3452,2231,0,0,0,0,0,0
$GC,12347,0.56,146.0,927.4,13.3,840,12354,0.00,1.98,0.00,0.000,6,0.000,0.021,2989,2122,2229,0,0,0,0,0,0
$GC,12665,0.56,146.0,888.5,12.1,856,12669,0.00,2.15,0.00,0.000,4,0.000,0.034,3001,692,2229,0,0,0,0,0,0
$GC,12775,0.56,146.0,874.9,12.1,861,12779,0.00,2.00,0.00,0.000,6,0.000,0.023,3000,2039,2229,0,0,0,0,0,0
$GC,13108,0.56,146.0,835.7,11.3,877,13112,0.00,2.17,0.00,0.000,4,0.000,0.037,3000,3466,2227,0,0,0,0,0,0
$GC,13125,0.56,146.0,833.6,11.1,878,13129,0.00,2.08,0.00,0.000,6,0.000,0.021,3010,2055,2227,0,0,0,0,0,0
$GC,13459,0.56,146.0,796.0,11.0,894,13463,0.00,2.05,0.00,0.000,4,0.000,0.033,3020,681,2227,0,0,0,0,0,0
$GC,13505,0.56,146.0,790.9,11.1,896,13510,0.12,2.03,0.00,0.000,6,0.161,0.023,2987,2060,2226,0,0,0,0,0,0
$GC,13834,0.56,146.0,758.9,10.1,912,13838,0.00,2.12,0.00,0.000,4,0.000,0.037,2987,3466,2226,0,0,0,0,0,0
$GC,13867,0.56,146.0,754.9,11.0,913,13874,0.00,2.10,0.00,0.000,6,0.000,0.022,2994,2033,2226,0,0,0,0,0,0
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$STATE,21942,end climb,SURFACE_DEPTH_REACHED
$STATE,21942,begin surface coast
$FINISH,1.0,1.020965
$STATE,21950,end surface coast,CONTROL_FINISHED_OK
$STATE,21950,begin surface
$SM_CCo,22029,0.00,0.000,0,0,901,475.39
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$TT8_MAMPS,0.027713,0.027713
$HUMID,32.20
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,29.30
$XPDR_PINGS,3
$24V_AH,23.6,27.151
$10V_AH,10.1,26.087
$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_SECS,1164.002,1302.554,1584.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329904
$DATA_FILE_SIZE,100165,1713
$CAP_FILE_SIZE,252634,0
$CFSIZE,260165632,127086592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,111.9,1
$GPS,150711,065706,1804.320,12351.247,31,1.2,31,-2.0