version: 66.09
glider: 167
mission: 8
dive: 150
start: 7 15 111 20 8 12
data:
$ID,167
$MISSION,8
$DIVE,150
$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,-56575.707
$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,63
$R_STBD_OVSHOOT,66
$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
$GPS1,150711,195737,1806.165,12348.786,33,1.1,33,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.8
$GPS2,150711,200750,1806.022,12348.977,13,1.1,13,-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,265.5,169318,-15.4,-8.250
$D_GRID,4549
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.56,-146.0,0.0,0.0,0,101,0.00,0.00,-78.97,0.000,2,0.000,0.000,111,1884,3194,0,0,0,0,0,0
$GC,104,-0.56,-146.0,6.3,-11.6,10,128,9.90,2.08,-3.85,0.000,4,0.230,0.034,2600,3298,3440,0,0,0,0,0,0
$GC,154,-0.56,-146.0,29.0,-40.9,17,163,0.00,2.10,0.00,0.000,6,0.000,0.018,2600,1868,3440,0,0,0,0,0,0
$GC,230,-0.56,-146.0,50.3,-26.9,30,237,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1867,3441,0,0,0,0,0,0
$GC,306,-0.56,-146.0,69.4,-26.3,43,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1867,3440,0,0,0,0,0,0
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$GC,461,-0.56,-146.0,106.7,-20.7,69,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1866,3441,0,0,0,0,0,0
$GC,534,-0.56,-146.0,121.9,-20.3,82,542,0.00,2.10,0.00,0.000,4,0.000,0.029,2590,3271,3441,0,0,0,0,0,0
$GC,588,-0.56,-146.0,131.9,-17.3,91,595,0.00,2.08,0.00,0.000,6,0.000,0.018,2590,1829,3441,0,0,0,0,0,0
$GC,664,-0.56,-146.0,145.4,-18.2,104,673,0.00,1.95,0.00,0.000,4,0.000,0.028,2590,494,3441,0,0,0,0,0,0
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$GC,774,-0.56,-146.0,163.4,-16.0,121,782,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,3262,3442,0,0,0,0,0,0
$GC,805,-0.56,-146.0,169.0,-16.8,126,813,0.00,2.05,0.00,0.000,6,0.000,0.019,2600,1831,3442,0,0,0,0,0,0
$GC,878,-0.56,-146.0,181.3,-16.6,139,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1829,3442,0,0,0,0,0,0
$GC,951,-0.56,-146.0,193.2,-17.6,152,960,0.00,1.95,0.00,0.000,4,0.000,0.028,2600,493,3442,0,0,0,0,0,0
$GC,974,-0.56,-146.0,197.2,-16.9,155,983,0.00,1.88,0.00,0.000,6,0.000,0.019,2591,1808,3443,0,0,0,0,0,0
$GC,1050,-0.56,-146.0,208.1,-14.4,163,1054,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,3261,3442,0,0,0,0,0,0
$GC,1104,-0.56,-146.0,215.4,-13.6,167,1108,0.10,1.90,0.00,0.000,6,0.171,0.018,2612,1892,3442,0,0,0,0,0,0
$GC,1434,-0.56,-146.0,255.2,-12.2,198,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1891,3442,0,0,0,0,0,0
$GC,1756,-0.56,-146.0,288.4,-9.0,228,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1891,3441,0,0,0,0,0,0
$GC,2083,-0.56,-146.0,313.9,-7.8,259,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1892,3440,0,0,0,0,0,0
$GC,2405,-0.56,-146.0,339.7,-8.1,289,2409,0.00,2.00,0.00,0.000,4,0.000,0.031,2606,3268,3438,0,0,0,0,0,0
$GC,2455,-0.56,-146.0,344.1,-8.0,293,2462,0.00,1.95,0.00,0.000,6,0.000,0.018,2606,1873,3438,0,0,0,0,0,0
$GC,2781,-0.56,-146.0,370.6,-7.7,324,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1873,3436,0,0,0,0,0,0
$GC,3103,-0.56,-146.0,396.4,-8.4,354,3106,0.00,2.05,0.00,0.000,4,0.000,0.031,2603,3257,3434,0,0,0,0,0,0
$GC,3184,-0.56,-146.0,403.3,-8.3,361,3188,0.00,1.88,0.00,0.000,6,0.000,0.018,2603,1919,3433,0,0,0,0,0,0
$GC,3516,-0.56,-146.0,430.9,-7.9,392,3519,0.00,2.05,0.00,0.000,4,0.000,0.030,2603,505,3431,0,0,0,0,0,0
$GC,3609,-0.56,-146.0,438.7,-8.5,400,3613,0.00,2.03,0.00,0.000,6,0.000,0.021,2603,1915,3430,0,0,0,0,0,0
$GC,3940,-0.56,-146.0,462.3,-7.2,431,3943,0.00,2.08,0.00,0.000,4,0.000,0.029,2602,504,3428,0,0,0,0,0,0
$GC,3999,-0.56,-146.0,466.9,-8.0,436,4003,0.00,2.00,0.00,0.000,6,0.000,0.021,2602,1890,3428,0,0,0,0,0,0
$GC,4330,-0.56,-146.0,492.9,-7.8,467,4334,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3262,3425,0,0,0,0,0,0
$GC,4399,-0.56,-146.0,498.0,-7.6,473,4403,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1942,3425,0,0,0,0,0,0
$GC,4723,-0.56,-146.0,521.9,-6.9,490,4726,0.00,1.98,0.00,0.000,4,0.000,0.033,2600,3270,3422,0,0,0,0,0,0
$GC,4784,-0.56,-146.0,526.3,-7.0,492,4792,0.00,1.85,0.00,0.000,6,0.000,0.019,2601,1953,3422,0,0,0,0,0,0
$GC,5102,-0.56,-146.0,547.7,-6.9,508,5106,0.00,2.12,0.00,0.000,4,0.000,0.031,2601,516,3420,0,0,0,0,0,0
$GC,5140,-0.56,-146.0,551.1,-7.6,509,5147,0.00,2.05,0.00,0.000,6,0.000,0.021,2600,1937,3420,0,0,0,0,0,0
$GC,5458,-0.56,-146.0,577.0,-8.6,525,5461,0.00,1.98,0.00,0.000,4,0.000,0.036,2600,3268,3418,0,0,0,0,0,0
$GC,5557,-0.56,-146.0,585.8,-8.5,529,5561,0.00,1.83,0.00,0.000,6,0.000,0.019,2600,1984,3417,0,0,0,0,0,0
$GC,5880,-0.56,-146.0,610.6,-7.3,545,5885,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,517,3415,0,0,0,0,0,0
$GC,6004,-0.56,-146.0,620.4,-7.8,550,6007,0.00,2.08,0.00,0.000,6,0.000,0.022,2600,1944,3414,0,0,0,0,0,0
$GC,6326,-0.56,-146.0,641.7,-6.4,566,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1945,3413,0,0,0,0,0,0
$GC,6637,-0.56,-146.0,661.7,-6.7,581,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1945,3411,0,0,0,0,0,0
$GC,6944,-0.56,-146.0,683.9,-7.5,596,6949,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3258,3409,0,0,0,0,0,0
$GC,7082,-0.56,-146.0,694.7,-8.0,602,7086,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1939,3408,0,0,0,0,0,0
$GC,7414,-0.56,-146.0,722.5,-8.5,618,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1938,3407,0,0,0,0,0,0
$GC,7724,-0.56,-146.0,746.7,-7.4,633,7728,0.00,2.10,0.00,0.000,4,0.000,0.032,2600,512,3406,0,0,0,0,0,0
$GC,7765,-0.56,-146.0,750.0,-7.4,635,7769,0.00,2.12,0.00,0.000,6,0.000,0.022,2600,1969,3405,0,0,0,0,0,0
$GC,8094,-0.56,-146.0,772.8,-6.6,651,8097,0.00,1.90,0.00,0.000,4,0.000,0.037,2600,3262,3404,0,0,0,0,0,0
$GC,8142,-0.56,-146.0,775.9,-6.2,653,8146,0.00,1.77,0.00,0.000,6,0.000,0.021,2600,2007,3404,0,0,0,0,0,0
$GC,8476,-0.56,-146.0,796.0,-5.7,669,8481,0.00,2.22,0.00,0.000,4,0.000,0.032,2600,513,3402,0,0,0,0,0,0
$GC,8598,-0.56,-146.0,804.2,-6.7,674,8602,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1966,3401,0,0,0,0,0,0
$GC,8922,-0.56,-146.0,820.8,-4.9,690,8927,0.00,1.95,0.00,0.000,4,0.000,0.038,2600,3257,3400,0,0,0,0,0,0
$GC,9019,-0.56,-146.0,825.3,-4.7,694,9022,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,1995,3400,0,0,0,0,0,0
$GC,9348,-0.56,-146.0,839.4,-4.5,710,9352,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,514,3399,0,0,0,0,0,0
$GC,9442,-0.56,-146.0,844.7,-5.8,714,9446,0.00,2.12,0.00,0.000,6,0.000,0.022,2600,1967,3399,0,0,0,0,0,0
$GC,9765,-0.56,-146.0,859.8,-4.9,730,9769,0.00,1.95,0.00,0.000,4,0.000,0.038,2600,3268,3398,0,0,0,0,0,0
$GC,9850,-0.56,-146.0,864.2,-5.0,733,9857,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1967,3398,0,0,0,0,0,0
$GC,10167,-0.56,-146.0,880.5,-5.3,749,10171,0.00,2.15,0.00,0.000,4,0.000,0.032,2601,511,3397,0,0,0,0,0,0
$GC,10201,-0.56,-146.0,882.5,-5.5,750,10208,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1949,3396,0,0,0,0,0,0
$GC,10517,-0.56,-146.0,901.9,-6.3,766,10521,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3267,3396,0,0,0,0,0,0
$GC,10569,-0.56,-146.0,905.0,-6.3,768,10573,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1931,3396,0,0,0,0,0,0
$GC,10897,-0.56,-146.0,925.2,-6.1,784,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1931,3395,0,0,0,0,0,0
$GC,11207,-0.56,-146.0,943.6,-5.7,799,11211,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,509,3395,0,0,0,0,0,0
$GC,11280,-0.56,-146.0,948.4,-6.5,802,11285,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1906,3394,0,0,0,0,0,0
$GC,11602,-0.56,-146.0,965.0,-5.0,818,11605,0.00,2.05,0.00,0.000,4,0.000,0.037,2600,3272,3394,0,0,0,0,0,0
$GC,11672,-0.56,-146.0,968.4,-4.9,821,11677,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1939,3394,0,0,0,0,0,0
$GC,12006,-0.56,-146.0,985.0,-5.0,837,12009,0.00,2.10,0.00,0.000,4,0.000,0.033,2600,516,3393,0,0,0,0,0,0
$GC,12056,-0.56,-146.0,988.0,-5.1,839,12059,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1934,3393,0,0,0,0,0,0
$STATE,12107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12107,begin apogee
$GC,12114,-0.20,0.0,990.7,5.4,842,12233,0.38,0.00,112.55,1.412,4,0.124,0.000,2727,2098,2839,0,0,0,0,0,0
$STATE,12234,end apogee,CONTROL_FINISHED_OK
$STATE,12234,begin climb
$GC,12238,0.56,146.0,992.4,0.0,847,12374,0.70,0.00,124.80,1.363,6,0.080,0.000,2974,2098,2241,0,0,0,0,0,0
$GC,12683,0.56,146.0,948.1,11.2,869,12687,0.00,2.17,0.00,0.000,4,0.000,0.032,2982,708,2232,0,0,0,0,0,0
$GC,12754,0.56,146.0,939.5,11.1,872,12758,0.00,2.00,0.00,0.000,6,0.000,0.024,2982,2038,2231,0,0,0,0,0,0
$GC,13083,0.56,146.0,903.4,11.0,888,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2038,2229,0,0,0,0,0,0
$GC,13393,0.56,146.0,870.4,10.6,903,13397,0.00,2.17,0.00,0.000,4,0.000,0.038,2982,3465,2228,0,0,0,0,0,0
$GC,13459,0.56,146.0,862.2,12.1,906,13463,0.00,2.05,0.00,0.000,6,0.000,0.021,2992,2072,2228,0,0,0,0,0,0
$GC,13787,0.56,146.0,824.7,11.7,922,13791,0.00,2.05,0.00,0.000,4,0.000,0.034,3001,689,2227,0,0,0,0,0,0
$GC,13838,0.56,146.0,818.3,12.2,924,13842,0.00,2.05,0.00,0.000,6,0.000,0.024,3001,2067,2226,0,0,0,0,0,0
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$STATE,22203,end climb,SURFACE_DEPTH_REACHED
$STATE,22203,begin surface coast
$FINISH,0.8,1.008941
$STATE,22251,end surface coast,CONTROL_FINISHED_OK
$STATE,22251,begin surface
$SM_CCo,22330,0.00,0.000,0,0,1168,409.90
$SM_GC,1.84,7.57,0.00,0.00,0.034,0.000,0.000,115,1787,1168,-8.31,-2.49,409.90,0,0,0,0,0,0
$IRIDIUM_FIX,1758.70,12350.21,150711,131359
$TT8_MAMPS,0.028462,0.028462
$HUMID,33.10
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,28.40
$XPDR_PINGS,18
$24V_AH,23.6,27.675
$10V_AH,10.2,26.656
$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
$DEVICE_SECS,19.400,215.925,459.975,0.000,0.000,40.898,37.830,313.568,4.500,0.000,14.585,4483.446,12645.172,651.112,4107.680,1026.889,0.000,2482.909,0.000,4029.046,0.000,0.543,0.000
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$SENSOR_SECS,1187.298,1328.443,1572.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,100238,1742
$CAP_FILE_SIZE,243869,0
$CFSIZE,260165632,126742528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144, 75.9,1
$GPS,160711,022136,1806.210,12347.917,36,1.2,36,-2.0