version: 66.09
glider: 167
mission: 8
dive: 179
start: 7 23 111 13 28 30
data:
$ID,167
$MISSION,8
$DIVE,179
$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,-56612.195
$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,78
$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
$GPS1,230711,131724,1828.588,12237.062,40,1.0,40,-2.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-72.2
$GPS2,230711,132806,1828.866,12236.923,17,1.1,33,-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,262.0,36434,-15.4,-8.250
$D_GRID,2055
$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,-146.0,0.0,0.0,0,94,0.00,0.00,-74.28,0.000,2,0.000,0.000,120,1832,3097,0,0,0,0,0,0
$GC,97,-0.56,-146.0,6.3,-11.4,10,121,9.95,2.00,-5.43,0.000,4,0.230,0.039,2610,462,3437,0,0,0,0,0,0
$GC,267,-0.56,-146.0,62.8,-27.4,39,275,0.00,2.05,0.00,0.000,6,0.000,0.021,2602,1856,3438,0,0,0,0,0,0
$GC,343,-0.56,-146.0,79.3,-20.1,52,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1857,3438,0,0,0,0,0,0
$GC,424,-0.56,-146.0,94.8,-17.7,65,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1857,3439,0,0,0,0,0,0
$GC,500,-0.56,-146.0,109.4,-19.2,78,509,0.00,2.10,0.00,0.000,4,0.000,0.030,2592,3270,3439,0,0,0,0,0,0
$GC,517,-0.56,-146.0,112.4,-18.0,80,526,0.00,2.10,0.00,0.000,6,0.000,0.018,2591,1806,3439,0,0,0,0,0,0
$GC,597,-0.56,-146.0,126.8,-19.9,93,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1806,3440,0,0,0,0,0,0
$GC,671,-0.56,-146.0,140.8,-17.4,106,679,0.00,2.20,0.00,0.000,4,0.000,0.030,2583,3271,3440,0,0,0,0,0,0
$GC,697,-0.56,-146.0,145.6,-18.1,110,706,0.08,2.08,0.00,0.000,6,0.155,0.017,2607,1809,3440,0,0,0,0,0,0
$GC,778,-0.56,-146.0,157.4,-15.1,123,787,0.00,1.95,0.00,0.000,4,0.000,0.028,2607,474,3440,0,0,0,0,0,0
$GC,826,-0.56,-146.0,164.4,-14.8,130,834,0.00,1.83,0.00,0.000,6,0.000,0.019,2602,1748,3440,0,0,0,0,0,0
$GC,902,-0.56,-146.0,176.0,-15.0,143,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1748,3441,0,0,0,0,0,0
$GC,978,-0.56,-146.0,187.1,-14.3,156,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1748,3441,0,0,0,0,0,0
$GC,1055,-0.56,-146.0,196.6,-11.7,169,1063,0.00,2.25,0.00,0.000,4,0.000,0.031,2596,3264,3441,0,0,0,0,0,0
$GC,1084,-0.56,-146.0,199.8,-11.4,173,1091,0.00,2.30,0.00,0.000,6,0.000,0.018,2596,1677,3441,0,0,0,0,0,0
$GC,1154,-0.56,-146.0,208.3,-11.9,180,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1677,3441,0,0,0,0,0,0
$GC,1478,-0.56,-146.0,247.5,-11.5,210,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1677,3441,0,0,0,0,0,0
$GC,1808,-0.56,-146.0,284.2,-11.8,241,1813,0.00,2.38,0.00,0.000,4,0.000,0.030,2587,3276,3439,0,0,0,0,0,0
$GC,1873,-0.56,-146.0,291.9,-10.8,246,1877,0.00,2.33,0.00,0.000,6,0.000,0.018,2588,1657,3439,0,0,0,0,0,0
$GC,2198,-0.56,-146.0,324.5,-10.0,276,2203,0.10,2.42,0.00,0.000,4,0.169,0.031,2613,3269,3437,0,0,0,0,0,0
$GC,2250,-0.56,-146.0,328.9,-8.5,280,2255,0.00,2.25,0.00,0.000,6,0.000,0.018,2612,1715,3437,0,0,0,0,0,0
$GC,2581,-0.56,-146.0,354.4,-8.3,311,2585,0.00,2.33,0.00,0.000,4,0.000,0.031,2613,3273,3435,0,0,0,0,0,0
$GC,2678,-0.56,-146.0,362.3,-8.0,319,2683,0.00,2.22,0.00,0.000,6,0.000,0.019,2613,1736,3434,0,0,0,0,0,0
$GC,3009,-0.56,-146.0,386.4,-6.4,350,3013,0.00,2.28,0.00,0.000,4,0.000,0.031,2613,3277,3431,0,0,0,0,0,0
$GC,3141,-0.56,-146.0,395.0,-6.9,361,3146,0.00,2.15,0.00,0.000,6,0.000,0.020,2612,1789,3431,0,0,0,0,0,0
$GC,3473,-0.56,-146.0,421.9,-8.9,392,3476,0.00,1.90,0.00,0.000,4,0.000,0.031,2613,478,3428,0,0,0,0,0,0
$GC,3535,-0.56,-146.0,427.8,-9.3,397,3541,0.00,1.90,0.00,0.000,6,0.000,0.021,2610,1812,3428,0,0,0,0,0,0
$GC,3860,-0.56,-146.0,452.5,-7.0,428,3864,0.00,2.15,0.00,0.000,4,0.000,0.033,2603,3268,3425,0,0,0,0,0,0
$GC,3970,-0.56,-146.0,460.2,-7.1,437,3974,0.00,2.05,0.00,0.000,6,0.000,0.019,2603,1824,3424,0,0,0,0,0,0
$GC,4305,-0.56,-146.0,485.3,-7.6,468,4309,0.00,1.95,0.00,0.000,4,0.000,0.031,2602,487,3422,0,0,0,0,0,0
$GC,4388,-0.56,-146.0,492.6,-8.4,475,4395,0.00,1.95,0.00,0.000,6,0.000,0.021,2602,1829,3421,0,0,0,0,0,0
$GC,4718,-0.56,-146.0,516.3,-6.8,496,4722,0.00,2.15,0.00,0.000,4,0.000,0.034,2601,3276,3419,0,0,0,0,0,0
$GC,4859,-0.56,-146.0,525.6,-6.6,502,4863,0.00,1.98,0.00,0.000,6,0.000,0.020,2600,1890,3418,0,0,0,0,0,0
$GC,5181,-0.56,-146.0,548.4,-7.5,518,5184,0.00,2.05,0.00,0.000,4,0.000,0.032,2600,498,3416,0,0,0,0,0,0
$GC,5268,-0.56,-146.0,555.5,-8.4,521,5275,0.00,2.05,0.00,0.000,6,0.000,0.022,2600,1905,3415,0,0,0,0,0,0
$GC,5585,-0.56,-146.0,578.5,-7.1,537,5588,0.00,2.03,0.00,0.000,4,0.000,0.036,2600,3274,3414,0,0,0,0,0,0
$GC,5636,-0.56,-146.0,582.1,-6.7,539,5641,0.00,1.95,0.00,0.000,6,0.000,0.021,2600,1929,3413,0,0,0,0,0,0
$GC,5963,-0.56,-146.0,605.8,-7.4,555,5967,0.00,2.00,0.00,0.000,4,0.000,0.035,2600,3272,3411,0,0,0,0,0,0
$GC,5987,-0.56,-146.0,607.6,-7.5,556,5992,0.00,1.92,0.00,0.000,6,0.000,0.020,2600,1932,3410,0,0,0,0,0,0
$GC,6321,-0.56,-146.0,633.7,-7.9,572,6325,0.00,2.03,0.00,0.000,4,0.000,0.035,2601,3275,3409,0,0,0,0,0,0
$GC,6348,-0.56,-146.0,636.0,-7.7,573,6352,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1952,3408,0,0,0,0,0,0
$GC,6678,-0.56,-146.0,658.6,-6.4,589,6682,0.00,2.15,0.00,0.000,4,0.000,0.031,2600,505,3407,0,0,0,0,0,0
$GC,6780,-0.56,-146.0,665.5,-6.6,593,6783,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1937,3406,0,0,0,0,0,0
$GC,7102,-0.56,-146.0,684.2,-5.7,609,7106,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3273,3404,0,0,0,0,0,0
$GC,7203,-0.56,-146.0,690.0,-5.8,613,7208,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1988,3404,0,0,0,0,0,0
$GC,7526,-0.56,-146.0,711.8,-7.0,629,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1987,3402,0,0,0,0,0,0
$GC,7835,-0.56,-146.0,733.8,-7.2,644,7839,0.00,1.95,0.00,0.000,4,0.000,0.037,2600,3273,3401,0,0,0,0,0,0
$GC,7881,-0.56,-146.0,737.2,-7.3,646,7884,0.00,1.83,0.00,0.000,6,0.000,0.021,2600,1995,3401,0,0,0,0,0,0
$GC,8214,-0.56,-146.0,760.1,-6.8,662,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1994,3399,0,0,0,0,0,0
$GC,8526,-0.56,-146.0,780.8,-6.4,677,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1994,3398,0,0,0,0,0,0
$GC,8832,-0.56,-146.0,800.4,-6.5,692,8836,0.00,2.20,0.00,0.000,4,0.000,0.031,2600,503,3397,0,0,0,0,0,0
$GC,8907,-0.56,-146.0,805.5,-7.1,695,8911,0.00,2.22,0.00,0.000,6,0.000,0.024,2600,2012,3396,0,0,0,0,0,0
$GC,9224,-0.56,-146.0,825.2,-5.9,710,9227,0.00,1.90,0.00,0.000,4,0.000,0.040,2602,3272,3396,0,0,0,0,0,0
$GC,9257,-0.56,-146.0,827.1,-5.8,711,9261,0.00,1.80,0.00,0.000,6,0.000,0.021,2600,2009,3395,0,0,0,0,0,0
$GC,9580,-0.56,-146.0,845.5,-5.9,727,9584,0.00,2.22,0.00,0.000,4,0.000,0.031,2601,504,3395,0,0,0,0,0,0
$GC,9613,-0.56,-146.0,847.9,-6.1,728,9621,0.00,2.25,0.00,0.000,6,0.000,0.024,2600,2025,3394,0,0,0,0,0,0
$GC,9929,-0.56,-146.0,867.4,-6.5,744,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2025,3393,0,0,0,0,0,0
$GC,10240,-0.56,-146.0,888.3,-7.1,759,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2026,3393,0,0,0,0,0,0
$GC,10548,-0.56,-146.0,910.3,-7.1,774,10552,0.00,1.90,0.00,0.000,4,0.000,0.040,2600,3267,3392,0,0,0,0,0,0
$GC,10580,-0.56,-146.0,912.8,-7.0,775,10584,0.00,1.80,0.00,0.000,6,0.000,0.020,2600,1998,3392,0,0,0,0,0,0
$GC,10905,-0.56,-146.0,934.8,-6.5,791,10909,0.00,2.22,0.00,0.000,4,0.000,0.031,2600,492,3391,0,0,0,0,0,0
$GC,10949,-0.56,-146.0,938.1,-6.6,793,10953,0.00,2.22,0.00,0.000,6,0.000,0.024,2600,1999,3391,0,0,0,0,0,0
$GC,11273,-0.56,-146.0,956.3,-5.5,809,11276,0.00,1.92,0.00,0.000,4,0.000,0.040,2600,3273,3391,0,0,0,0,0,0
$GC,11323,-0.56,-146.0,959.2,-5.3,811,11328,0.00,1.83,0.00,0.000,6,0.000,0.020,2600,2005,3390,0,0,0,0,0,0
$GC,11651,-0.56,-146.0,978.0,-5.7,827,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2004,3390,0,0,0,0,0,0
$STATE,11874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11874,begin apogee
$GC,11880,-0.20,0.0,990.3,5.5,838,12003,0.38,0.00,112.97,1.417,4,0.122,0.000,2727,2086,2839,0,0,0,0,0,0
$STATE,12003,end apogee,CONTROL_FINISHED_OK
$STATE,12003,begin climb
$GC,12006,0.56,146.0,992.5,0.0,843,12144,0.75,2.20,126.20,1.366,4,0.085,0.040,2978,3448,2241,0,0,0,0,0,0
$GC,12283,0.56,146.0,963.1,13.3,856,12288,0.00,2.12,0.00,0.000,6,0.000,0.021,2987,2086,2234,0,0,0,0,0,0
$GC,12610,0.56,146.0,924.1,11.7,872,12614,0.00,2.15,0.00,0.000,4,0.000,0.037,2987,3461,2231,0,0,0,0,0,0
$GC,12801,0.56,146.0,899.3,13.1,880,12810,0.00,2.12,0.00,0.000,6,0.000,0.021,2995,2034,2229,0,0,0,0,0,0
$GC,13118,0.56,146.0,863.0,11.5,896,13123,0.00,2.05,0.00,0.000,4,0.000,0.034,3006,688,2229,0,0,0,0,0,0
$GC,13236,0.56,146.0,848.8,11.5,901,13240,0.00,1.90,0.00,0.000,6,0.000,0.024,3006,1968,2228,0,0,0,0,0,0
$GC,13564,0.56,146.0,811.9,11.1,917,13568,0.00,2.28,0.00,0.000,4,0.000,0.038,3006,3446,2227,0,0,0,0,0,0
$GC,13620,0.56,146.0,805.0,12.2,919,13624,0.12,2.10,0.00,0.000,6,0.168,0.022,2984,2021,2227,0,0,0,0,0,0
$GC,13936,0.56,146.0,775.4,9.3,934,13939,0.00,2.00,0.00,0.000,4,0.000,0.033,2991,679,2226,0,0,0,0,0,0
$GC,14053,0.56,146.0,763.5,10.1,939,14057,0.00,1.88,0.00,0.000,6,0.000,0.024,2992,1947,2226,0,0,0,0,0,0
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$STATE,22422,end climb,SURFACE_DEPTH_REACHED
$STATE,22422,begin surface coast
$FINISH,0.8,0.999863
$STATE,22452,end surface coast,CONTROL_FINISHED_OK
$STATE,22452,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,33.14
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,28.70
$XPDR_PINGS,23
$24V_AH,23.3,32.700
$10V_AH,10.0,32.093
$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
$DEVICE_SECS,19.625,239.250,546.400,0.000,0.000,24.830,41.456,335.910,5.750,0.000,34.234,4540.205,12576.445,724.057,4234.974,1068.271,0.000,2624.339,0.000,4121.125,0.000,0.543,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1203.200,1352.311,1637.023,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,103530,1767
$CAP_FILE_SIZE,252950,0
$CFSIZE,260165632,123412480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,327.7,1
$GPS,230711,194506,1829.461,12233.526,29,1.1,29,-2.0