version: 66.09
glider: 167
mission: 8
dive: 178
start: 7 23 111 7 4 48
data:
$ID,167
$MISSION,8
$DIVE,178
$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,-56610.938
$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,70
$R_STBD_OVSHOOT,97
$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
$GPS1,230711,065436,1827.572,12240.495,31,1.0,31,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-70.7
$GPS2,230711,070426,1827.750,12240.451,11,1.8,11,-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,265.5,42863,-15.4,-8.250
$D_GRID,3378
$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,-146.0,0.0,0.0,0,94,0.00,0.00,-72.65,0.000,2,0.000,0.000,124,1924,3072,0,0,0,0,0,0
$GC,97,-0.56,-146.0,6.3,-11.7,10,122,9.93,2.12,-6.03,0.000,4,0.229,0.038,2615,475,3439,0,0,0,0,0,0
$GC,265,-0.56,-146.0,61.2,-25.0,39,274,0.00,2.00,0.00,0.000,6,0.000,0.019,2607,1844,3441,0,0,0,0,0,0
$GC,343,-0.56,-146.0,76.2,-18.4,52,353,0.00,2.12,0.00,0.000,4,0.000,0.032,2596,3259,3441,0,0,0,0,0,0
$GC,397,-0.56,-146.0,87.3,-22.9,60,407,0.00,2.00,0.00,0.000,6,0.000,0.018,2597,1862,3441,0,0,0,0,0,0
$GC,477,-0.56,-146.0,103.6,-19.6,73,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1862,3441,0,0,0,0,0,0
$GC,555,-0.56,-146.0,118.1,-17.2,86,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1861,3442,0,0,0,0,0,0
$GC,632,-0.56,-146.0,131.6,-17.3,99,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1861,3443,0,0,0,0,0,0
$GC,703,-0.56,-146.0,143.7,-16.5,112,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1862,3443,0,0,0,0,0,0
$GC,782,-0.56,-146.0,156.1,-16.0,125,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1862,3443,0,0,0,0,0,0
$GC,857,-0.56,-146.0,167.3,-13.6,138,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1861,3443,0,0,0,0,0,0
$GC,935,-0.56,-146.0,177.2,-13.0,151,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1861,3443,0,0,0,0,0,0
$GC,1012,-0.56,-146.0,187.5,-13.3,164,1021,0.00,2.00,0.00,0.000,4,0.000,0.028,2597,494,3443,0,0,0,0,0,0
$GC,1052,-0.56,-146.0,193.0,-13.7,170,1060,0.00,1.98,0.00,0.000,6,0.000,0.020,2588,1862,3443,0,0,0,0,0,0
$GC,1139,-0.56,-146.0,204.2,-13.1,181,1143,0.10,2.08,0.00,0.000,4,0.185,0.032,2603,3264,3443,0,0,0,0,0,0
$GC,1182,-0.56,-146.0,210.9,-13.3,184,1192,0.00,1.83,0.00,0.000,6,0.000,0.017,2603,1953,3443,0,0,0,0,0,0
$GC,1509,-0.56,-146.0,250.7,-11.6,215,1513,0.00,2.12,0.00,0.000,4,0.000,0.028,2603,501,3443,0,0,0,0,0,0
$GC,1600,-0.56,-146.0,261.2,-11.8,223,1604,0.00,2.08,0.00,0.000,6,0.000,0.021,2601,1948,3443,0,0,0,0,0,0
$GC,1933,-0.56,-146.0,295.0,-11.0,254,1937,0.00,2.12,0.00,0.000,4,0.000,0.027,2601,488,3442,0,0,0,0,0,0
$GC,1994,-0.56,-146.0,302.2,-11.4,259,1998,0.00,2.05,0.00,0.000,6,0.000,0.021,2600,1921,3441,0,0,0,0,0,0
$GC,2325,-0.56,-146.0,337.1,-8.9,290,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1921,3439,0,0,0,0,0,0
$GC,2648,-0.56,-146.0,365.3,-8.7,320,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1921,3438,0,0,0,0,0,0
$GC,2976,-0.56,-146.0,394.4,-7.9,351,2980,0.00,1.95,0.00,0.000,4,0.000,0.034,2600,3264,3435,0,0,0,0,0,0
$GC,3120,-0.56,-146.0,405.4,-7.4,363,3126,0.00,1.98,0.00,0.000,6,0.000,0.018,2600,1860,3434,0,0,0,0,0,0
$GC,3445,-0.56,-146.0,432.9,-8.9,394,3448,0.00,2.12,0.00,0.000,4,0.000,0.033,2600,3266,3432,0,0,0,0,0,0
$GC,3539,-0.56,-146.0,441.3,-8.3,402,3546,0.00,1.92,0.00,0.000,6,0.000,0.018,2600,1904,3431,0,0,0,0,0,0
$GC,3865,-0.56,-146.0,467.4,-7.6,433,3869,0.00,2.05,0.00,0.000,4,0.000,0.031,2600,497,3429,0,0,0,0,0,0
$GC,3900,-0.56,-146.0,470.3,-7.6,436,3904,0.00,2.00,0.00,0.000,6,0.000,0.021,2600,1886,3430,0,0,0,0,0,0
$GC,4230,-0.56,-146.0,496.1,-8.6,467,4234,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3267,3427,0,0,0,0,0,0
$GC,4269,-0.56,-146.0,499.7,-8.7,470,4276,0.00,1.95,0.00,0.000,6,0.000,0.018,2600,1898,3426,0,0,0,0,0,0
$GC,4598,-0.56,-146.0,528.2,-9.0,487,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1898,3424,0,0,0,0,0,0
$GC,4905,-0.56,-146.0,555.0,-9.2,502,4909,0.00,2.03,0.00,0.000,4,0.000,0.034,2600,3261,3422,0,0,0,0,0,0
$GC,5034,-0.56,-146.0,566.4,-7.9,507,5041,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1897,3421,0,0,0,0,0,0
$GC,5352,-0.56,-146.0,592.3,-8.5,523,5355,0.00,2.05,0.00,0.000,4,0.000,0.035,2600,3261,3419,0,0,0,0,0,0
$GC,5412,-0.56,-146.0,597.3,-7.9,525,5419,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1952,3419,0,0,0,0,0,0
$GC,5732,-0.56,-146.0,620.8,-7.1,541,5735,0.00,2.10,0.00,0.000,4,0.000,0.030,2600,516,3417,0,0,0,0,0,0
$GC,5772,-0.56,-146.0,624.2,-7.3,543,5776,0.00,2.10,0.00,0.000,6,0.000,0.022,2600,1963,3416,0,0,0,0,0,0
$GC,6105,-0.56,-146.0,648.5,-7.3,559,6110,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3254,3414,0,0,0,0,0,0
$GC,6198,-0.56,-146.0,655.5,-7.5,563,6202,0.00,1.80,0.00,0.000,6,0.000,0.020,2599,1996,3414,0,0,0,0,0,0
$GC,6530,-0.56,-146.0,681.6,-7.8,579,6534,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,517,3412,0,0,0,0,0,0
$GC,6586,-0.56,-146.0,686.3,-8.3,581,6594,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1977,3411,0,0,0,0,0,0
$GC,6904,-0.56,-146.0,709.4,-7.0,597,6908,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,3264,3409,0,0,0,0,0,0
$GC,7018,-0.56,-146.0,716.8,-6.4,602,7021,0.00,1.77,0.00,0.000,6,0.000,0.020,2600,2007,3408,0,0,0,0,0,0
$GC,7353,-0.56,-146.0,736.3,-5.8,618,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2007,3407,0,0,0,0,0,0
$GC,7661,-0.56,-146.0,755.7,-6.8,633,7665,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,513,3405,0,0,0,0,0,0
$GC,7728,-0.56,-146.0,760.8,-7.8,636,7732,0.00,2.15,0.00,0.000,6,0.000,0.023,2600,1979,3405,0,0,0,0,0,0
$GC,8055,-0.56,-146.0,784.1,-6.6,652,8059,0.00,2.17,0.00,0.000,4,0.000,0.030,2600,517,3403,0,0,0,0,0,0
$GC,8076,-0.56,-146.0,785.7,-6.9,653,8080,0.00,2.17,0.00,0.000,6,0.000,0.023,2600,1997,3404,0,0,0,0,0,0
$GC,8400,-0.56,-146.0,802.8,-4.7,669,8404,0.00,1.90,0.00,0.000,4,0.000,0.038,2600,3264,3402,0,0,0,0,0,0
$GC,8501,-0.56,-146.0,807.6,-4.8,673,8506,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,2009,3402,0,0,0,0,0,0
$GC,8825,-0.56,-146.0,822.8,-5.0,689,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2009,3401,0,0,0,0,0,0
$GC,9132,-0.56,-146.0,839.1,-5.6,704,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2009,3399,0,0,0,0,0,0
$GC,9441,-0.56,-146.0,857.1,-5.9,719,9445,0.00,1.90,0.00,0.000,4,0.000,0.038,2599,3260,3398,0,0,0,0,0,0
$GC,9481,-0.56,-146.0,859.6,-6.0,720,9489,0.00,1.77,0.00,0.000,6,0.000,0.020,2600,2009,3398,0,0,0,0,0,0
$GC,9798,-0.56,-146.0,880.9,-7.1,736,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2009,3397,0,0,0,0,0,0
$GC,10107,-0.56,-146.0,901.4,-5.9,751,10112,0.00,1.92,0.00,0.000,4,0.000,0.039,2599,3257,3397,0,0,0,0,0,0
$GC,10130,-0.56,-146.0,902.7,-5.8,752,10134,0.00,1.75,0.00,0.000,6,0.000,0.020,2599,2022,3397,0,0,0,0,0,0
$GC,10465,-0.56,-146.0,918.0,-4.6,768,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2021,3396,0,0,0,0,0,0
$GC,10775,-0.56,-146.0,933.5,-5.2,783,10779,0.00,1.90,0.00,0.000,4,0.000,0.039,2600,3267,3395,0,0,0,0,0,0
$GC,10814,-0.56,-146.0,935.8,-5.3,784,10822,0.00,1.75,0.00,0.000,6,0.000,0.020,2599,2031,3395,0,0,0,0,0,0
$GC,11130,-0.56,-146.0,952.5,-5.1,800,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2030,3394,0,0,0,0,0,0
$GC,11441,-0.56,-146.0,969.0,-5.2,815,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2030,3394,0,0,0,0,0,0
$GC,11749,-0.56,-146.0,985.0,-5.0,830,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2030,3393,0,0,0,0,0,0
$STATE,11849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11849,begin apogee
$GC,11857,-0.20,0.0,990.5,5.3,835,11979,0.40,0.00,113.70,1.414,4,0.122,0.000,2733,2027,2838,0,0,0,0,0,0
$STATE,11980,end apogee,CONTROL_FINISHED_OK
$STATE,11980,begin climb
$GC,11982,0.56,146.0,993.0,0.0,840,12121,0.70,0.00,126.18,1.363,6,0.080,0.000,2979,2027,2240,0,0,0,0,0,0
$GC,12427,0.56,146.0,951.5,10.6,862,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2027,2231,0,0,0,0,0,0
$GC,12737,0.56,146.0,918.4,10.6,877,12741,0.00,2.25,0.00,0.000,4,0.000,0.038,2979,3458,2228,0,0,0,0,0,0
$GC,12791,0.56,146.0,912.0,11.6,879,12795,0.00,2.03,0.00,0.000,6,0.000,0.021,2982,2090,2228,0,0,0,0,0,0
$GC,13113,0.56,146.0,878.4,10.7,895,13117,0.00,2.10,0.00,0.000,4,0.000,0.033,2993,691,2227,0,0,0,0,0,0
$GC,13203,0.56,146.0,868.4,11.1,899,13206,0.00,2.03,0.00,0.000,6,0.000,0.024,2993,2042,2227,0,0,0,0,0,0
$GC,13531,0.56,146.0,832.4,10.7,915,13535,0.00,2.17,0.00,0.000,4,0.000,0.038,2993,3468,2226,0,0,0,0,0,0
$GC,13558,0.56,146.0,829.1,10.6,916,13563,0.00,2.12,0.00,0.000,6,0.000,0.022,3003,2042,2226,0,0,0,0,0,0
$GC,13881,0.56,146.0,794.2,11.3,932,13884,0.00,2.00,0.00,0.000,4,0.000,0.034,3013,687,2225,0,0,0,0,0,0
$GC,13905,0.56,146.0,791.4,11.2,933,13910,0.12,2.08,0.00,0.000,6,0.159,0.024,2981,2084,2225,0,0,0,0,0,0
$GC,14233,0.56,146.0,757.6,10.3,949,14237,0.00,2.10,0.00,0.000,4,0.000,0.039,2981,3463,2225,0,0,0,0,0,0
$GC,14283,0.56,146.0,751.6,11.8,951,14288,0.00,2.05,0.00,0.000,6,0.000,0.021,2987,2076,2224,0,0,0,0,0,0
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$STATE,22166,end climb,SURFACE_DEPTH_REACHED
$STATE,22166,begin surface coast
$FINISH,0.8,0.996739
$STATE,22199,end surface coast,CONTROL_FINISHED_OK
$STATE,22199,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,33.26
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,28.80
$XPDR_PINGS,17
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$10V_AH,10.1,31.900
$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
$DEVICE_SECS,19.650,202.200,501.750,0.000,0.000,28.431,16.801,320.781,4.250,0.000,12.407,4399.483,12723.087,677.429,4002.271,1033.657,0.000,2488.759,0.000,3948.935,0.000,0.543,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324144
$DATA_FILE_SIZE,100245,1727
$CAP_FILE_SIZE,238297,0
$CFSIZE,260165632,123543552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,332.2,1
$GPS,230711,131724,1828.588,12237.062,40,1.0,40,-2.0