version: 66.09
glider: 167
mission: 8
dive: 148
start: 7 15 111 7 18 1
data:
$ID,167
$MISSION,8
$DIVE,148
$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,-56573.188
$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,72
$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
$GPS1,150711,065706,1804.320,12351.247,31,1.2,31,-2.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.4
$GPS2,150711,071736,1803.900,12351.355,32,1.5,32,-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,291.9,174442,-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,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,-78.55,0.000,2,0.000,0.000,117,1892,3161,0,0,0,0,0,0
$GC,102,-0.56,-146.0,5.9,-10.2,10,127,9.82,2.08,-4.47,0.000,4,0.229,0.039,2599,3276,3435,0,0,0,0,0,0
$GC,222,-0.56,-146.0,45.4,-25.0,29,230,0.00,2.05,0.00,0.000,6,0.000,0.018,2599,1853,3437,0,0,0,0,0,0
$GC,298,-0.56,-146.0,64.9,-25.5,42,306,0.00,2.00,0.00,0.000,4,0.000,0.028,2599,488,3437,0,0,0,0,0,0
$GC,322,-0.56,-146.0,71.1,-26.0,45,330,0.00,2.00,0.00,0.000,6,0.000,0.019,2590,1865,3438,0,0,0,0,0,0
$GC,403,-0.56,-146.0,89.2,-21.8,58,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1865,3437,0,0,0,0,0,0
$GC,481,-0.56,-146.0,107.7,-21.8,71,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1865,3437,0,0,0,0,0,0
$GC,556,-0.56,-146.0,124.2,-20.7,84,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1865,3438,0,0,0,0,0,0
$GC,632,-0.56,-146.0,137.9,-16.9,97,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1866,3438,0,0,0,0,0,0
$GC,705,-0.56,-146.0,150.3,-16.5,110,713,0.00,2.08,0.00,0.000,4,0.000,0.031,2579,3267,3438,0,0,0,0,0,0
$GC,755,-0.56,-146.0,158.0,-15.6,118,764,0.10,2.28,0.00,0.000,6,0.146,0.017,2611,1679,3438,0,0,0,0,0,0
$GC,832,-0.56,-146.0,168.2,-12.3,131,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1679,3438,0,0,0,0,0,0
$GC,907,-0.56,-146.0,178.5,-14.0,144,916,0.00,2.38,0.00,0.000,4,0.000,0.028,2602,3268,3439,0,0,0,0,0,0
$GC,957,-0.56,-146.0,185.3,-13.8,152,965,0.00,2.30,0.00,0.000,6,0.000,0.018,2602,1670,3438,0,0,0,0,0,0
$GC,1038,-0.56,-146.0,195.8,-14.0,165,1045,0.00,1.70,0.00,0.000,4,0.000,0.028,2602,487,3438,0,0,0,0,0,0
$GC,1112,-0.56,-146.0,206.5,-14.7,173,1116,0.00,1.58,0.00,0.000,6,0.000,0.019,2600,1611,3438,0,0,0,0,0,0
$GC,1444,-0.56,-146.0,247.9,-10.9,204,1448,0.00,2.45,0.00,0.000,4,0.000,0.031,2599,3276,3438,0,0,0,0,0,0
$GC,1621,-0.56,-146.0,267.0,-10.8,219,1626,0.00,2.25,0.00,0.000,6,0.000,0.018,2599,1708,3437,0,0,0,0,0,0
$GC,1951,-0.56,-146.0,304.1,-10.7,250,1955,0.00,2.28,0.00,0.000,4,0.000,0.031,2599,3263,3435,0,0,0,0,0,0
$GC,2062,-0.56,-146.0,315.3,-9.9,259,2069,0.00,2.12,0.00,0.000,6,0.000,0.018,2599,1740,3435,0,0,0,0,0,0
$GC,2389,-0.56,-146.0,347.7,-10.5,290,2393,0.00,2.25,0.00,0.000,4,0.000,0.030,2599,3266,3432,0,0,0,0,0,0
$GC,2473,-0.56,-146.0,356.2,-9.6,297,2477,0.00,2.05,0.00,0.000,6,0.000,0.018,2599,1809,3432,0,0,0,0,0,0
$GC,2804,-0.56,-146.0,387.9,-8.7,328,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1802,3430,0,0,0,0,0,0
$GC,3127,-0.56,-146.0,412.8,-7.2,358,3131,0.00,2.15,0.00,0.000,4,0.000,0.031,2599,3274,3427,0,0,0,0,0,0
$GC,3202,-0.56,-146.0,418.1,-6.9,364,3207,0.00,2.08,0.00,0.000,6,0.000,0.019,2599,1821,3427,0,0,0,0,0,0
$GC,3532,-0.56,-146.0,445.4,-8.6,395,3536,0.00,2.12,0.00,0.000,4,0.000,0.032,2599,3270,3424,0,0,0,0,0,0
$GC,3619,-0.56,-146.0,452.5,-8.0,402,3623,0.00,2.00,0.00,0.000,6,0.000,0.018,2599,1846,3423,0,0,0,0,0,0
$GC,3950,-0.56,-146.0,479.0,-7.6,433,3954,0.00,2.10,0.00,0.000,4,0.000,0.032,2599,3264,3421,0,0,0,0,0,0
$GC,3981,-0.56,-146.0,480.9,-7.3,435,3985,0.00,1.92,0.00,0.000,6,0.000,0.018,2599,1887,3421,0,0,0,0,0,0
$GC,4312,-0.56,-146.0,506.5,-7.7,462,4315,0.00,2.03,0.00,0.000,4,0.000,0.033,2596,3263,3418,0,0,0,0,0,0
$GC,4352,-0.56,-146.0,509.8,-7.8,463,4359,0.00,1.90,0.00,0.000,6,0.000,0.019,2596,1914,3418,0,0,0,0,0,0
$GC,4668,-0.56,-146.0,534.2,-7.7,479,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1913,3415,0,0,0,0,0,0
$GC,4977,-0.56,-146.0,559.2,-8.3,494,4981,0.00,2.05,0.00,0.000,4,0.000,0.031,2596,514,3413,0,0,0,0,0,0
$GC,5078,-0.56,-146.0,568.3,-9.1,498,5083,0.00,2.08,0.00,0.000,6,0.000,0.021,2589,1931,3413,0,0,0,0,0,0
$GC,5400,-0.56,-146.0,595.8,-8.2,514,5403,0.00,1.95,0.00,0.000,4,0.000,0.034,2587,3267,3410,0,0,0,0,0,0
$GC,5547,-0.56,-146.0,606.7,-7.5,520,5551,0.00,1.77,0.00,0.000,6,0.000,0.018,2588,1996,3409,0,0,0,0,0,0
$GC,5870,-0.56,-146.0,629.8,-7.0,536,5875,0.10,2.20,0.00,0.000,4,0.171,0.030,2614,500,3407,0,0,0,0,0,0
$GC,5937,-0.56,-146.0,634.5,-6.7,539,5942,0.00,2.17,0.00,0.000,6,0.000,0.021,2614,1979,3406,0,0,0,0,0,0
$GC,6265,-0.56,-146.0,654.3,-6.2,555,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1979,3405,0,0,0,0,0,0
$GC,6574,-0.56,-146.0,672.7,-5.8,570,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1979,3402,0,0,0,0,0,0
$GC,6885,-0.56,-146.0,690.5,-5.7,585,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1979,3401,0,0,0,0,0,0
$GC,7192,-0.56,-146.0,707.4,-5.4,600,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1980,3399,0,0,0,0,0,0
$GC,7502,-0.56,-146.0,724.0,-5.2,615,7505,0.00,1.92,0.00,0.000,4,0.000,0.037,2614,3271,3398,0,0,0,0,0,0
$GC,7531,-0.56,-146.0,725.5,-5.4,616,7535,0.00,1.85,0.00,0.000,6,0.000,0.019,2614,1946,3397,0,0,0,0,0,0
$GC,7859,-0.56,-146.0,742.4,-5.4,632,7863,0.00,2.12,0.00,0.000,4,0.000,0.031,2614,513,3396,0,0,0,0,0,0
$GC,7896,-0.56,-146.0,744.7,-5.6,633,7903,0.00,2.08,0.00,0.000,6,0.000,0.021,2614,1948,3395,0,0,0,0,0,0
$GC,8215,-0.56,-146.0,762.5,-5.8,649,8219,0.00,1.95,0.00,0.000,4,0.000,0.036,2614,3260,3395,0,0,0,0,0,0
$GC,8249,-0.56,-146.0,764.6,-5.7,650,8253,0.00,1.83,0.00,0.000,6,0.000,0.020,2614,1956,3394,0,0,0,0,0,0
$GC,8572,-0.56,-146.0,781.9,-5.3,666,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1955,3393,0,0,0,0,0,0
$GC,8881,-0.56,-146.0,798.1,-5.3,681,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1955,3392,0,0,0,0,0,0
$GC,9190,-0.56,-146.0,814.5,-5.4,696,9194,0.00,2.12,0.00,0.000,4,0.000,0.032,2614,514,3391,0,0,0,0,0,0
$GC,9258,-0.56,-146.0,818.7,-6.3,699,9262,0.00,2.05,0.00,0.000,6,0.000,0.022,2614,1923,3390,0,0,0,0,0,0
$GC,9585,-0.56,-146.0,836.3,-5.6,715,9590,0.00,2.03,0.00,0.000,4,0.000,0.037,2614,3261,3389,0,0,0,0,0,0
$GC,9642,-0.56,-146.0,839.2,-5.4,717,9646,0.00,1.90,0.00,0.000,6,0.000,0.021,2614,1927,3388,0,0,0,0,0,0
$GC,9964,-0.56,-146.0,854.3,-4.4,733,9968,0.00,2.10,0.00,0.000,4,0.000,0.032,2614,510,3388,0,0,0,0,0,0
$GC,10011,-0.56,-146.0,856.5,-4.4,735,10015,0.00,2.08,0.00,0.000,6,0.000,0.022,2614,1925,3388,0,0,0,0,0,0
$GC,10345,-0.56,-146.0,870.8,-4.3,751,10349,0.00,1.98,0.00,0.000,4,0.000,0.037,2614,3264,3387,0,0,0,0,0,0
$GC,10446,-0.56,-146.0,875.7,-5.0,755,10449,0.00,1.85,0.00,0.000,6,0.000,0.021,2614,1958,3387,0,0,0,0,0,0
$GC,10770,-0.56,-146.0,892.2,-5.4,771,10774,0.00,2.12,0.00,0.000,4,0.000,0.031,2614,514,3386,0,0,0,0,0,0
$GC,10837,-0.56,-146.0,896.6,-6.4,774,10840,0.00,2.10,0.00,0.000,6,0.000,0.022,2614,1950,3386,0,0,0,0,0,0
$GC,11166,-0.56,-146.0,914.8,-5.5,790,11170,0.00,1.95,0.00,0.000,4,0.000,0.037,2614,3268,3384,0,0,0,0,0,0
$GC,11257,-0.56,-146.0,919.8,-5.4,794,11260,0.00,1.83,0.00,0.000,6,0.000,0.020,2614,1980,3384,0,0,0,0,0,0
$GC,11590,-0.56,-146.0,936.8,-5.0,810,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1979,3384,0,0,0,0,0,0
$GC,11901,-0.56,-146.0,950.5,-4.1,825,11906,0.00,1.98,0.00,0.000,4,0.000,0.038,2614,3264,3384,0,0,0,0,0,0
$GC,11952,-0.56,-146.0,952.9,-4.0,827,11955,0.00,1.80,0.00,0.000,6,0.000,0.021,2614,1998,3384,0,0,0,0,0,0
$GC,12281,-0.56,-146.0,966.0,-4.1,843,12284,0.00,1.92,0.00,0.000,4,0.000,0.038,2614,3264,3383,0,0,0,0,0,0
$GC,12330,-0.56,-146.0,968.1,-4.1,845,12334,0.00,1.75,0.00,0.000,6,0.000,0.020,2614,2019,3383,0,0,0,0,0,0
$GC,12659,-0.56,-146.0,980.8,-3.8,861,12663,0.00,2.22,0.00,0.000,4,0.000,0.031,2614,513,3383,0,0,0,0,0,0
$GC,12704,-0.56,-146.0,982.9,-3.9,863,12708,0.00,2.20,0.00,0.000,6,0.000,0.023,2614,2009,3382,0,0,0,0,0,0
$STATE,12878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12878,begin apogee
$GC,12884,-0.20,0.0,990.1,4.0,872,13004,0.35,0.00,110.50,1.418,4,0.119,0.000,2734,2009,2839,0,0,0,0,0,0
$STATE,13004,end apogee,CONTROL_FINISHED_OK
$STATE,13004,begin climb
$GC,13007,0.56,146.0,991.3,0.0,877,13139,0.70,0.00,125.07,1.365,6,0.078,0.000,2981,2009,2241,0,0,0,0,0,0
$GC,13458,0.56,146.0,941.5,12.4,899,13462,0.00,2.28,0.00,0.000,4,0.000,0.037,2981,3471,2230,0,0,0,0,0,0
$GC,13479,0.56,146.0,938.2,12.5,900,13484,0.00,2.00,0.00,0.000,6,0.000,0.021,2990,2140,2230,0,0,0,0,0,0
$GC,13808,0.56,146.0,897.4,12.3,916,13811,0.00,2.15,0.00,0.000,4,0.000,0.032,3000,709,2227,0,0,0,0,0,0
$GC,13894,0.56,146.0,886.9,12.2,920,13898,0.00,2.05,0.00,0.000,6,0.000,0.024,3001,2075,2227,0,0,0,0,0,0
$GC,14227,0.56,146.0,845.8,12.4,936,14229,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2075,2227,0,0,0,0,0,0
$GC,14538,0.56,146.0,807.0,12.7,951,14539,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2075,2226,0,0,0,0,0,0
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$STATE,23075,end climb,SURFACE_DEPTH_REACHED
$STATE,23075,begin surface coast
$FINISH,0.8,1.019841
$STATE,23109,end surface coast,CONTROL_FINISHED_OK
$STATE,23109,begin surface
$SM_CCo,23186,0.00,0.000,0,0,764,509.00
$SM_GC,1.72,7.88,0.00,0.00,0.039,0.000,0.000,122,1864,764,-8.30,-0.31,509.00,0,0,0,0,0,0
$IRIDIUM_FIX,1756.43,12348.95,150711,070720
$TT8_MAMPS,0.028462,0.028462
$HUMID,33.42
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.50
$XPDR_PINGS,21
$24V_AH,23.6,27.348
$10V_AH,10.2,26.284
$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,19.600,221.150,549.500,0.000,0.000,83.518,96.146,631.588,5.250,0.000,33.058,4575.940,13402.536,684.891,4627.517,1100.177,0.000,2559.887,0.000,4081.383,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,39.015,1418.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1214.403,1355.974,1612.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329872
$DATA_FILE_SIZE,103458,1782
$CAP_FILE_SIZE,258456,0
$CFSIZE,260165632,126955520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 66.5,1
$GPS,150711,134537,1805.525,12349.938,31,0.9,31,-2.0