version: 66.09
glider: 167
mission: 8
dive: 152
start: 7 16 111 8 57 20
data:
$ID,167
$MISSION,8
$DIVE,152
$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,-56578.223
$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,79
$R_STBD_OVSHOOT,63
$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
$GPS1,160711,084630,1805.574,12346.935,41,1.0,41,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-71.3
$GPS2,160711,085656,1805.371,12346.964,16,1.6,16,-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,288.5,166271,-15.4,-8.250
$D_GRID,4703
$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,14,begin dive
$GC,17,-0.56,-146.0,0.0,0.0,0,88,0.00,0.00,-68.28,0.000,2,0.000,0.000,111,1858,3142,0,0,0,0,0,0
$GC,91,-0.56,-146.0,6.5,-12.0,9,115,9.93,2.15,-4.70,0.000,4,0.230,0.041,2596,3274,3436,0,0,0,0,0,0
$GC,219,-0.56,-146.0,49.2,-20.8,31,229,0.00,2.03,0.00,0.000,6,0.000,0.018,2596,1877,3438,0,0,0,0,0,0
$GC,297,-0.56,-146.0,66.6,-23.1,44,305,0.00,2.05,0.00,0.000,4,0.000,0.028,2596,484,3438,0,0,0,0,0,0
$GC,333,-0.56,-146.0,75.8,-25.9,49,342,0.00,1.95,0.00,0.000,6,0.000,0.020,2587,1820,3438,0,0,0,0,0,0
$GC,412,-0.56,-146.0,94.4,-21.3,62,421,0.12,0.00,0.00,0.000,6,0.189,0.000,2617,1821,3438,0,0,0,0,0,0
$GC,489,-0.56,-146.0,108.7,-19.5,75,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1821,3439,0,0,0,0,0,0
$GC,569,-0.56,-146.0,121.5,-16.4,88,578,0.00,2.15,0.00,0.000,4,0.000,0.031,2608,3264,3439,0,0,0,0,0,0
$GC,609,-0.56,-146.0,128.2,-15.9,94,618,0.00,2.30,0.00,0.000,6,0.000,0.018,2608,1681,3439,0,0,0,0,0,0
$GC,686,-0.56,-146.0,139.8,-15.6,107,694,0.00,2.38,0.00,0.000,4,0.000,0.029,2600,3263,3439,0,0,0,0,0,0
$GC,715,-0.56,-146.0,143.8,-14.3,111,723,0.00,2.08,0.00,0.000,6,0.000,0.017,2600,1806,3439,0,0,0,0,0,0
$GC,795,-0.56,-146.0,154.9,-14.9,124,804,0.00,1.92,0.00,0.000,4,0.000,0.028,2600,484,3440,0,0,0,0,0,0
$GC,855,-0.56,-146.0,164.3,-15.3,134,863,0.00,1.73,0.00,0.000,6,0.000,0.019,2599,1698,3440,0,0,0,0,0,0
$GC,934,-0.56,-146.0,175.3,-14.3,147,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1698,3440,0,0,0,0,0,0
$GC,1011,-0.56,-146.0,187.1,-15.6,160,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1698,3440,0,0,0,0,0,0
$GC,1084,-0.56,-146.0,198.1,-13.1,173,1095,0.00,2.33,0.00,0.000,4,0.000,0.031,2589,3263,3440,0,0,0,0,0,0
$GC,1136,-0.56,-146.0,204.6,-12.6,178,1140,0.00,2.28,0.00,0.000,6,0.000,0.018,2589,1670,3440,0,0,0,0,0,0
$GC,1462,-0.56,-146.0,248.9,-13.9,208,1466,0.00,1.67,0.00,0.000,4,0.000,0.029,2590,490,3440,0,0,0,0,0,0
$GC,1509,-0.56,-146.0,255.8,-15.4,212,1514,0.10,1.67,0.00,0.000,6,0.178,0.019,2613,1691,3440,0,0,0,0,0,0
$GC,1842,-0.56,-146.0,289.1,-9.2,243,1846,0.00,2.30,0.00,0.000,4,0.000,0.031,2603,3273,3439,0,0,0,0,0,0
$GC,1988,-0.56,-146.0,302.7,-9.1,255,1996,0.00,2.20,0.00,0.000,6,0.000,0.018,2603,1725,3438,0,0,0,0,0,0
$GC,2314,-0.56,-146.0,332.9,-8.7,286,2318,0.00,2.30,0.00,0.000,4,0.000,0.031,2600,3278,3437,0,0,0,0,0,0
$GC,2353,-0.56,-146.0,336.3,-8.5,289,2357,0.00,2.17,0.00,0.000,6,0.000,0.019,2600,1745,3437,0,0,0,0,0,0
$GC,2679,-0.56,-146.0,364.5,-8.7,319,2683,0.00,2.25,0.00,0.000,4,0.000,0.031,2601,3266,3435,0,0,0,0,0,0
$GC,2742,-0.56,-146.0,369.8,-8.6,324,2746,0.00,2.10,0.00,0.000,6,0.000,0.018,2600,1765,3435,0,0,0,0,0,0
$GC,3067,-0.56,-146.0,399.4,-8.8,354,3071,0.00,2.22,0.00,0.000,4,0.000,0.031,2600,3270,3433,0,0,0,0,0,0
$GC,3110,-0.56,-146.0,403.1,-8.2,357,3117,0.00,2.08,0.00,0.000,6,0.000,0.018,2600,1797,3432,0,0,0,0,0,0
$GC,3437,-0.56,-146.0,427.4,-7.4,388,3441,0.00,1.90,0.00,0.000,4,0.000,0.031,2600,485,3430,0,0,0,0,0,0
$GC,3541,-0.56,-146.0,435.5,-7.6,397,3545,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1790,3430,0,0,0,0,0,0
$GC,3872,-0.56,-146.0,457.4,-6.8,428,3876,0.00,2.17,0.00,0.000,4,0.000,0.034,2600,3265,3428,0,0,0,0,0,0
$GC,3924,-0.56,-146.0,460.9,-6.9,432,3928,0.00,2.12,0.00,0.000,6,0.000,0.019,2600,1787,3427,0,0,0,0,0,0
$GC,4254,-0.56,-146.0,485.2,-7.8,463,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1786,3425,0,0,0,0,0,0
$GC,4569,-0.56,-146.0,511.1,-8.4,487,4573,0.00,2.20,0.00,0.000,4,0.000,0.032,2600,3265,3423,0,0,0,0,0,0
$GC,4648,-0.56,-146.0,517.5,-8.0,490,4655,0.00,2.12,0.00,0.000,6,0.000,0.019,2600,1773,3422,0,0,0,0,0,0
$GC,4964,-0.56,-146.0,541.8,-7.5,506,4969,0.00,2.25,0.00,0.000,4,0.000,0.034,2600,3263,3419,0,0,0,0,0,0
$GC,5060,-0.56,-146.0,548.5,-6.6,510,5064,0.00,2.08,0.00,0.000,6,0.000,0.020,2600,1821,3419,0,0,0,0,0,0
$GC,5387,-0.56,-146.0,569.3,-6.0,526,5390,0.00,1.92,0.00,0.000,4,0.000,0.031,2600,500,3417,0,0,0,0,0,0
$GC,5481,-0.56,-146.0,575.9,-7.3,530,5485,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1823,3417,0,0,0,0,0,0
$GC,5810,-0.56,-146.0,598.9,-7.2,546,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1823,3414,0,0,0,0,0,0
$GC,6118,-0.56,-146.0,622.0,-7.7,561,6122,0.00,2.17,0.00,0.000,4,0.000,0.036,2600,3263,3413,0,0,0,0,0,0
$GC,6236,-0.56,-146.0,631.0,-7.5,566,6239,0.00,2.05,0.00,0.000,6,0.000,0.019,2600,1826,3412,0,0,0,0,0,0
$GC,6563,-0.56,-146.0,654.3,-6.8,582,6568,0.00,2.17,0.00,0.000,4,0.000,0.034,2600,3263,3410,0,0,0,0,0,0
$GC,6647,-0.56,-146.0,660.1,-6.8,585,6654,0.00,2.03,0.00,0.000,6,0.000,0.020,2600,1841,3409,0,0,0,0,0,0
$GC,6964,-0.56,-146.0,682.1,-7.2,601,6968,0.00,2.15,0.00,0.000,4,0.000,0.035,2600,3259,3408,0,0,0,0,0,0
$GC,7009,-0.56,-146.0,685.5,-7.2,603,7014,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1859,3408,0,0,0,0,0,0
$GC,7344,-0.56,-146.0,708.8,-6.6,619,7347,0.00,2.00,0.00,0.000,4,0.000,0.031,2600,494,3406,0,0,0,0,0,0
$GC,7435,-0.56,-146.0,715.5,-7.2,623,7439,0.00,1.92,0.00,0.000,6,0.000,0.021,2599,1829,3405,0,0,0,0,0,0
$GC,7770,-0.56,-146.0,735.8,-6.0,639,7774,0.00,2.12,0.00,0.000,4,0.000,0.037,2600,3263,3404,0,0,0,0,0,0
$GC,7865,-0.56,-146.0,741.4,-5.8,643,7868,0.00,2.03,0.00,0.000,6,0.000,0.021,2600,1848,3404,0,0,0,0,0,0
$GC,8188,-0.56,-146.0,758.8,-5.5,659,8193,0.00,2.15,0.00,0.000,4,0.000,0.034,2600,3261,3403,0,0,0,0,0,0
$GC,8221,-0.56,-146.0,760.8,-5.7,660,8224,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1862,3403,0,0,0,0,0,0
$GC,8544,-0.56,-146.0,777.8,-5.2,676,8548,0.00,2.12,0.00,0.000,4,0.000,0.036,2600,3269,3401,0,0,0,0,0,0
$GC,8590,-0.56,-146.0,780.3,-5.3,678,8594,0.00,1.98,0.00,0.000,6,0.000,0.021,2600,1889,3401,0,0,0,0,0,0
$GC,8917,-0.56,-146.0,797.6,-5.4,694,8921,0.00,2.05,0.00,0.000,4,0.000,0.031,2600,497,3400,0,0,0,0,0,0
$GC,8976,-0.56,-146.0,801.2,-6.2,696,8980,0.00,2.05,0.00,0.000,6,0.000,0.023,2600,1898,3399,0,0,0,0,0,0
$GC,9299,-0.56,-146.0,820.0,-5.8,712,9302,0.00,2.05,0.00,0.000,4,0.000,0.038,2600,3263,3398,0,0,0,0,0,0
$GC,9404,-0.56,-146.0,826.4,-5.9,716,9412,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1928,3398,0,0,0,0,0,0
$GC,9723,-0.56,-146.0,844.7,-5.8,732,9727,0.00,2.10,0.00,0.000,4,0.000,0.031,2600,501,3397,0,0,0,0,0,0
$GC,9801,-0.56,-146.0,850.2,-6.8,735,9809,0.00,2.08,0.00,0.000,6,0.000,0.023,2600,1920,3397,0,0,0,0,0,0
$GC,10119,-0.56,-146.0,869.3,-6.2,751,10122,0.00,2.00,0.00,0.000,4,0.000,0.039,2600,3264,3396,0,0,0,0,0,0
$GC,10225,-0.56,-146.0,875.9,-6.1,755,10233,0.00,1.90,0.00,0.000,6,0.000,0.020,2600,1946,3396,0,0,0,0,0,0
$GC,10543,-0.56,-146.0,894.1,-6.0,771,10547,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,503,3395,0,0,0,0,0,0
$GC,10609,-0.56,-146.0,898.8,-6.8,774,10614,0.00,2.12,0.00,0.000,6,0.000,0.022,2600,1939,3395,0,0,0,0,0,0
$GC,10936,-0.56,-146.0,916.5,-5.1,790,10940,0.00,1.98,0.00,0.000,4,0.000,0.039,2600,3267,3394,0,0,0,0,0,0
$GC,11009,-0.56,-146.0,920.1,-5.1,793,11012,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1947,3394,0,0,0,0,0,0
$GC,11342,-0.56,-146.0,937.7,-5.4,809,11346,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,503,3393,0,0,0,0,0,0
$GC,11407,-0.56,-146.0,941.5,-6.3,812,11411,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1952,3393,0,0,0,0,0,0
$GC,11740,-0.56,-146.0,959.1,-5.2,828,11744,0.00,1.95,0.00,0.000,4,0.000,0.038,2600,3265,3393,0,0,0,0,0,0
$GC,11850,-0.56,-146.0,964.6,-5.0,832,11857,0.00,1.88,0.00,0.000,6,0.000,0.019,2600,1946,3392,0,0,0,0,0,0
$GC,12167,-0.56,-146.0,978.7,-4.2,848,12171,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,489,3392,0,0,0,0,0,0
$GC,12211,-0.56,-146.0,980.9,-4.3,850,12215,0.00,2.15,0.00,0.000,6,0.000,0.022,2600,1957,3392,0,0,0,0,0,0
$STATE,12433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12433,begin apogee
$GC,12441,-0.20,0.0,990.3,4.1,861,12560,0.38,0.00,112.18,1.418,4,0.124,0.000,2727,2088,2838,0,0,0,0,0,0
$STATE,12560,end apogee,CONTROL_FINISHED_OK
$STATE,12560,begin climb
$GC,12565,0.56,146.0,990.7,0.0,866,12699,0.70,2.22,124.85,1.366,4,0.080,0.031,2981,708,2242,0,0,0,0,0,0
$GC,12895,0.56,146.0,956.4,11.8,881,12899,0.00,2.05,0.00,0.000,6,0.000,0.024,2981,2056,2232,0,0,0,0,0,0
$GC,13216,0.56,146.0,920.0,11.3,897,13220,0.00,2.05,0.00,0.000,4,0.000,0.031,2990,707,2228,0,0,0,0,0,0
$GC,13444,0.56,146.0,894.7,11.0,907,13449,0.00,2.10,0.00,0.000,6,0.000,0.024,2989,2102,2228,0,0,0,0,0,0
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$STATE,22760,end climb,SURFACE_DEPTH_REACHED
$STATE,22760,begin surface coast
$FINISH,0.9,1.015014
$STATE,22789,end surface coast,CONTROL_FINISHED_OK
$STATE,22789,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,32.67
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.60
$XPDR_PINGS,15
$24V_AH,23.5,28.002
$10V_AH,10.1,27.035
$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
$DEVICE_SECS,19.750,255.750,504.250,0.000,0.000,28.372,45.290,329.728,3.750,0.000,17.652,4577.554,12799.030,703.720,4310.583,1073.298,0.000,2638.068,0.000,4195.672,0.000,0.543,0.000
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$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,103642,1769
$CAP_FILE_SIZE,258045,0
$CFSIZE,260165632,126496768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103, 41.6,1
$GPS,160711,151936,1807.283,12345.333,32,1.3,32,-2.0