version: 66.09
glider: 167
mission: 8
dive: 175
start: 7 22 111 11 15 2
data:
$ID,167
$MISSION,8
$DIVE,175
$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,-5
$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,-56607.164
$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,80
$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
$GPS1,220711,110423,1824.998,12251.207,23,1.8,40,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.5
$GPS2,220711,111420,1825.197,12251.124,14,1.3,14,-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,256.1,62140,-15.4,-8.250
$D_GRID,3880
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-79.95,0.000,2,0.000,0.000,123,1941,2986,0,0,0,0,0,0
$GC,103,-0.56,-146.0,5.7,-10.3,11,130,9.85,2.15,-7.45,0.000,4,0.228,0.037,2615,474,3437,0,0,0,0,0,0
$GC,346,-0.56,-146.0,76.9,-22.2,54,354,0.00,2.05,0.00,0.000,6,0.000,0.019,2607,1884,3437,0,0,0,0,0,0
$GC,424,-0.56,-146.0,93.7,-20.4,67,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1884,3437,0,0,0,0,0,0
$GC,503,-0.56,-146.0,109.6,-20.0,80,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1884,3438,0,0,0,0,0,0
$GC,578,-0.56,-146.0,123.9,-15.7,93,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1884,3438,0,0,0,0,0,0
$GC,656,-0.56,-146.0,135.4,-15.3,106,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1884,3438,0,0,0,0,0,0
$GC,732,-0.56,-146.0,147.2,-15.1,119,740,0.00,2.05,0.00,0.000,4,0.000,0.027,2607,490,3438,0,0,0,0,0,0
$GC,777,-0.56,-146.0,153.9,-15.4,126,786,0.00,2.03,0.00,0.000,6,0.000,0.020,2600,1890,3438,0,0,0,0,0,0
$GC,854,-0.56,-146.0,166.4,-17.0,139,862,0.00,2.05,0.00,0.000,4,0.000,0.034,2600,3263,3439,0,0,0,0,0,0
$GC,935,-0.56,-146.0,180.3,-15.6,153,944,0.00,1.77,0.00,0.000,6,0.000,0.017,2600,1996,3438,0,0,0,0,0,0
$GC,1016,-0.56,-146.0,193.0,-16.5,166,1024,0.00,2.20,0.00,0.000,4,0.000,0.029,2600,489,3438,0,0,0,0,0,0
$GC,1067,-0.56,-146.0,202.4,-17.8,173,1071,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1939,3439,0,0,0,0,0,0
$GC,1396,-0.56,-146.0,247.7,-11.3,203,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1940,3439,0,0,0,0,0,0
$GC,1727,-0.56,-146.0,282.0,-11.4,234,1730,0.00,1.95,0.00,0.000,4,0.000,0.034,2599,3271,3438,0,0,0,0,0,0
$GC,1794,-0.56,-146.0,289.9,-10.3,240,1798,0.00,1.88,0.00,0.000,6,0.000,0.018,2599,1910,3438,0,0,0,0,0,0
$GC,2125,-0.56,-146.0,325.6,-10.0,271,2129,0.00,2.00,0.00,0.000,4,0.000,0.028,2599,517,3436,0,0,0,0,0,0
$GC,2170,-0.56,-146.0,330.2,-10.0,275,2175,0.00,2.05,0.00,0.000,6,0.000,0.020,2590,1936,3436,0,0,0,0,0,0
$GC,2502,-0.56,-146.0,359.4,-9.8,306,2506,0.00,1.95,0.00,0.000,4,0.000,0.034,2587,3267,3434,0,0,0,0,0,0
$GC,2604,-0.56,-146.0,369.2,-9.2,315,2609,0.00,1.80,0.00,0.000,6,0.000,0.018,2588,1987,3433,0,0,0,0,0,0
$GC,2937,-0.56,-146.0,398.0,-8.3,346,2941,0.10,2.15,0.00,0.000,4,0.175,0.029,2614,516,3431,0,0,0,0,0,0
$GC,2969,-0.56,-146.0,400.9,-7.9,348,2976,0.00,2.10,0.00,0.000,6,0.000,0.021,2613,1972,3431,0,0,0,0,0,0
$GC,3297,-0.56,-146.0,425.5,-7.5,379,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1972,3428,0,0,0,0,0,0
$GC,3625,-0.56,-146.0,445.3,-5.6,410,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1972,3425,0,0,0,0,0,0
$GC,3953,-0.56,-146.0,466.9,-7.1,441,3957,0.00,2.15,0.00,0.000,4,0.000,0.031,2613,514,3423,0,0,0,0,0,0
$GC,4009,-0.56,-146.0,471.5,-7.9,445,4017,0.00,2.08,0.00,0.000,6,0.000,0.021,2613,1954,3422,0,0,0,0,0,0
$GC,4337,-0.56,-146.0,494.0,-7.0,476,4341,0.00,1.92,0.00,0.000,4,0.000,0.035,2614,3261,3420,0,0,0,0,0,0
$GC,4473,-0.56,-146.0,504.2,-7.5,486,4478,0.00,1.75,0.00,0.000,6,0.000,0.019,2613,2026,3419,0,0,0,0,0,0
$GC,4807,-0.56,-146.0,530.3,-7.7,502,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2024,3417,0,0,0,0,0,0
$GC,5115,-0.56,-146.0,551.7,-6.7,517,5119,0.00,2.22,0.00,0.000,4,0.000,0.032,2613,511,3415,0,0,0,0,0,0
$GC,5181,-0.56,-146.0,556.7,-7.2,520,5185,0.00,2.20,0.00,0.000,6,0.000,0.022,2613,2022,3414,0,0,0,0,0,0
$GC,5504,-0.56,-146.0,577.6,-6.3,536,5508,0.00,2.22,0.00,0.000,4,0.000,0.029,2614,517,3411,0,0,0,0,0,0
$GC,5576,-0.56,-146.0,582.8,-7.0,539,5580,0.00,2.15,0.00,0.000,6,0.000,0.022,2613,1989,3411,0,0,0,0,0,0
$GC,5894,-0.56,-146.0,602.1,-6.1,554,5898,0.00,1.88,0.00,0.000,4,0.000,0.036,2614,3267,3409,0,0,0,0,0,0
$GC,5918,-0.56,-146.0,603.8,-6.1,555,5922,0.00,1.77,0.00,0.000,6,0.000,0.020,2613,2006,3409,0,0,0,0,0,0
$GC,6251,-0.56,-146.0,624.0,-5.9,571,6256,0.00,2.20,0.00,0.000,4,0.000,0.031,2613,525,3407,0,0,0,0,0,0
$GC,6321,-0.56,-146.0,628.4,-6.6,574,6325,0.00,2.10,0.00,0.000,6,0.000,0.023,2613,1965,3406,0,0,0,0,0,0
$GC,6656,-0.56,-146.0,647.4,-5.7,590,6660,0.00,1.95,0.00,0.000,4,0.000,0.037,2613,3269,3404,0,0,0,0,0,0
$GC,6702,-0.56,-146.0,650.3,-5.9,592,6706,0.00,1.83,0.00,0.000,6,0.000,0.018,2613,1971,3404,0,0,0,0,0,0
$GC,7037,-0.56,-146.0,669.9,-5.4,608,7040,0.00,2.12,0.00,0.000,4,0.000,0.031,2613,523,3403,0,0,0,0,0,0
$GC,7115,-0.56,-146.0,674.6,-5.6,611,7121,0.00,2.08,0.00,0.000,6,0.000,0.023,2613,1946,3402,0,0,0,0,0,0
$GC,7432,-0.56,-146.0,693.5,-5.6,627,7437,0.00,2.00,0.00,0.000,4,0.000,0.038,2613,3264,3400,0,0,0,0,0,0
$GC,7465,-0.56,-146.0,696.3,-6.4,628,7469,0.00,1.85,0.00,0.000,6,0.000,0.021,2613,1965,3400,0,0,0,0,0,0
$GC,7789,-0.56,-146.0,715.6,-5.9,644,7793,0.00,1.92,0.00,0.000,4,0.000,0.036,2613,3258,3398,0,0,0,0,0,0
$GC,7836,-0.56,-146.0,718.5,-6.0,646,7840,0.00,1.80,0.00,0.000,6,0.000,0.020,2613,1985,3398,0,0,0,0,0,0
$GC,8169,-0.56,-146.0,739.3,-6.4,662,8174,0.00,2.17,0.00,0.000,4,0.000,0.031,2613,526,3397,0,0,0,0,0,0
$GC,8226,-0.56,-146.0,743.6,-7.5,664,8230,0.00,2.08,0.00,0.000,6,0.000,0.023,2613,1944,3396,0,0,0,0,0,0
$GC,8548,-0.56,-146.0,765.1,-6.5,680,8552,0.00,1.95,0.00,0.000,4,0.000,0.038,2612,3261,3395,0,0,0,0,0,0
$GC,8595,-0.56,-146.0,768.1,-6.4,682,8599,0.00,1.85,0.00,0.000,6,0.000,0.021,2613,1963,3395,0,0,0,0,0,0
$GC,8930,-0.56,-146.0,787.0,-5.4,698,8934,0.00,2.12,0.00,0.000,4,0.000,0.032,2612,524,3394,0,0,0,0,0,0
$GC,8985,-0.56,-146.0,790.5,-5.6,700,8992,0.00,2.08,0.00,0.000,6,0.000,0.023,2612,1943,3393,0,0,0,0,0,0
$GC,9303,-0.56,-146.0,806.4,-4.9,716,9308,0.00,2.00,0.00,0.000,4,0.000,0.038,2612,3258,3393,0,0,0,0,0,0
$GC,9394,-0.56,-146.0,810.7,-4.6,720,9398,0.00,1.83,0.00,0.000,6,0.000,0.021,2612,1996,3393,0,0,0,0,0,0
$GC,9726,-0.56,-146.0,825.9,-4.6,736,9730,0.00,2.17,0.00,0.000,4,0.000,0.031,2613,520,3392,0,0,0,0,0,0
$GC,9761,-0.56,-146.0,827.8,-4.6,737,9769,0.00,2.12,0.00,0.000,6,0.000,0.024,2613,1967,3392,0,0,0,0,0,0
$GC,10077,-0.56,-146.0,845.1,-5.8,753,10082,0.00,1.95,0.00,0.000,4,0.000,0.039,2612,3250,3391,0,0,0,0,0,0
$GC,10151,-0.56,-146.0,849.4,-6.0,756,10154,0.00,1.77,0.00,0.000,6,0.000,0.020,2613,2000,3391,0,0,0,0,0,0
$GC,10479,-0.56,-146.0,868.9,-5.9,772,10480,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2000,3390,0,0,0,0,0,0
$GC,10788,-0.56,-146.0,884.7,-4.8,787,10792,0.00,2.20,0.00,0.000,4,0.000,0.031,2613,514,3389,0,0,0,0,0,0
$GC,10839,-0.56,-146.0,887.8,-4.9,789,10843,0.00,2.17,0.00,0.000,6,0.000,0.024,2613,1988,3389,0,0,0,0,0,0
$GC,11155,-0.56,-146.0,903.2,-4.7,804,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1987,3388,0,0,0,0,0,0
$GC,11466,-0.56,-146.0,916.5,-4.2,819,11470,0.00,1.90,0.00,0.000,4,0.000,0.041,2612,3260,3387,0,0,0,0,0,0
$GC,11512,-0.56,-146.0,918.5,-4.2,821,11516,0.00,1.77,0.00,0.000,6,0.000,0.021,2612,2019,3387,0,0,0,0,0,0
$GC,11845,-0.56,-146.0,932.5,-4.3,837,11849,0.00,2.22,0.00,0.000,4,0.000,0.031,2612,515,3386,0,0,0,0,0,0
$GC,11897,-0.56,-146.0,935.3,-4.6,839,11900,0.00,2.17,0.00,0.000,6,0.000,0.024,2613,1987,3386,0,0,0,0,0,0
$GC,12219,-0.56,-146.0,951.3,-5.1,855,12223,0.00,1.90,0.00,0.000,4,0.000,0.040,2612,3261,3385,0,0,0,0,0,0
$GC,12270,-0.56,-146.0,954.0,-5.3,857,12274,0.00,1.77,0.00,0.000,6,0.000,0.023,2613,2016,3385,0,0,0,0,0,0
$GC,12598,-0.56,-146.0,970.1,-4.9,873,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2015,3385,0,0,0,0,0,0
$GC,12907,-0.56,-146.0,983.5,-3.9,888,12908,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2015,3384,0,0,0,0,0,0
$STATE,13131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13132,begin apogee
$GC,13139,-0.20,0.0,990.6,3.0,899,13256,0.35,0.00,111.75,1.418,4,0.117,0.000,2731,2012,2839,0,0,0,0,0,0
$STATE,13257,end apogee,CONTROL_FINISHED_OK
$STATE,13257,begin climb
$GC,13261,0.56,146.0,990.5,0.0,904,13395,0.70,0.00,126.20,1.362,6,0.081,0.000,2977,2011,2243,0,0,0,0,0,0
$GC,13712,0.56,146.0,942.7,10.9,926,13716,0.00,2.25,0.00,0.000,4,0.000,0.038,2977,3452,2232,0,0,0,0,0,0
$GC,13836,0.56,146.0,927.7,12.0,931,13843,0.00,1.98,0.00,0.000,6,0.000,0.021,2984,2143,2230,0,0,0,0,0,0
$GC,14152,0.56,146.0,891.1,11.8,947,14156,0.00,2.15,0.00,0.000,4,0.000,0.032,2994,715,2229,0,0,0,0,0,0
$GC,14308,0.56,146.0,871.9,12.1,954,14313,0.00,2.03,0.00,0.000,6,0.000,0.024,2994,2056,2228,0,0,0,0,0,0
$GC,14638,0.56,146.0,833.4,11.4,970,14642,0.00,2.17,0.00,0.000,4,0.000,0.040,2994,3475,2227,0,0,0,0,0,0
$GC,14701,0.56,146.0,825.8,12.3,973,14705,0.00,2.00,0.00,0.000,6,0.000,0.021,3004,2111,2227,0,0,0,0,0,0
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$STATE,23463,end climb,SURFACE_DEPTH_REACHED
$STATE,23463,begin surface coast
$FINISH,0.9,0.999705
$STATE,23491,end surface coast,CONTROL_FINISHED_OK
$STATE,23491,begin surface
$SM_CCo,23570,0.00,0.000,0,0,658,535.00
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$TT8_MAMPS,0.028462,0.028462
$HUMID,33.06
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.70
$XPDR_PINGS,20
$24V_AH,23.3,32.015
$10V_AH,10.1,31.335
$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
$DEVICE_SECS,19.750,228.300,564.325,0.000,0.000,27.739,17.688,323.469,5.000,0.000,15.625,4660.511,13428.352,707.035,4278.325,1082.549,0.000,2639.522,0.000,4220.855,0.000,0.544,0.000
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$SENSOR_SECS,1235.209,1385.155,1625.771,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324312
$DATA_FILE_SIZE,103612,1813
$CAP_FILE_SIZE,254910,0
$CFSIZE,260165632,123871232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,316.3,1
$GPS,220711,174906,1825.338,12247.609,36,1.0,36,-2.0