version: 66.09
glider: 167
mission: 8
dive: 212
start: 7 26 111 6 57 9
data:
$ID,167
$MISSION,8
$DIVE,212
$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,280
$T_MISSION,340
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$NAV_MODE,1
$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,8
$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,-56653.676
$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,81
$R_STBD_OVSHOOT,65
$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,200
$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
$GPS1,260711,064907,1844.789,12218.340,33,1.3,33,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-61.4
$GPS2,260711,065649,1844.993,12218.196,12,2.0,17,-2.1
$SPEED_LIMITS,0.204,0.330
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$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,53.9,269402,-17.0,-11.786
$D_GRID,999
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.69,-219.0,0.0,0.0,0,111,0.00,0.00,-88.93,0.000,2,0.000,0.000,108,1876,2964,0,0,0,0,0,0
$GC,114,-0.69,-219.0,5.7,-10.8,13,147,10.00,2.15,-12.57,0.000,4,0.235,0.046,2556,3273,3735,0,0,0,0,0,0
$GC,222,-0.69,-219.0,52.4,-40.8,31,230,0.00,2.05,0.00,0.000,6,0.000,0.021,2556,1872,3736,0,0,0,0,0,0
$GC,297,-0.69,-219.0,79.2,-32.4,44,306,0.00,2.03,0.00,0.000,4,0.000,0.024,2556,485,3737,0,0,0,0,0,0
$GC,348,-0.69,-219.0,94.3,-28.1,52,355,0.00,2.20,0.00,0.000,6,0.000,0.020,2546,1983,3737,0,0,0,0,0,0
$GC,422,-0.69,-219.0,111.9,-26.6,65,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1984,3737,0,0,0,0,0,0
$GC,496,-0.69,-219.0,131.0,-24.5,78,505,0.00,2.22,0.00,0.000,4,0.000,0.024,2546,478,3737,0,0,0,0,0,0
$GC,519,-0.69,-219.0,137.4,-26.5,81,527,0.10,2.03,0.00,0.000,6,0.168,0.021,2567,1863,3738,0,0,0,0,0,0
$GC,591,-0.69,-219.0,156.2,-22.8,94,599,0.00,2.10,0.00,0.000,4,0.000,0.031,2559,3268,3738,0,0,0,0,0,0
$GC,651,-0.69,-219.0,168.3,-21.6,104,659,0.00,2.03,0.00,0.000,6,0.000,0.017,2559,1846,3738,0,0,0,0,0,0
$GC,729,-0.69,-219.0,182.4,-17.0,117,737,0.00,2.15,0.00,0.000,4,0.000,0.032,2548,3269,3739,0,0,0,0,0,0
$GC,787,-0.69,-219.0,194.9,-20.6,127,795,0.00,1.77,0.00,0.000,6,0.000,0.028,2548,2007,3738,0,0,0,0,0,0
$GC,864,-0.69,-219.0,209.6,-17.8,135,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2006,3739,0,0,0,0,0,0
$GC,1193,-0.69,-219.0,265.4,-13.7,166,1197,0.00,2.17,0.00,0.000,4,0.000,0.028,2548,503,3739,0,0,0,0,0,0
$GC,1233,-0.69,-219.0,271.9,-15.7,169,1237,0.00,2.25,0.00,0.000,6,0.000,0.022,2547,2052,3739,0,0,0,0,0,0
$GC,1558,-0.69,-219.0,318.7,-15.4,199,1562,0.00,1.77,0.00,0.000,4,0.000,0.033,2547,3267,3738,0,0,0,0,0,0
$GC,1731,-0.69,-219.0,344.6,-15.5,214,1734,0.00,1.65,0.00,0.000,6,0.000,0.018,2548,2077,3737,0,0,0,0,0,0
$GC,2062,-0.69,-219.0,392.7,-13.6,245,2065,0.00,1.80,0.00,0.000,4,0.000,0.037,2545,3273,3734,0,0,0,0,0,0
$GC,2124,-0.69,-219.0,401.6,-13.5,250,2131,0.00,1.52,0.00,0.000,6,0.000,0.019,2544,2173,3734,0,0,0,0,0,0
$GC,2450,-0.69,-219.0,442.5,-11.2,281,2455,0.10,2.45,0.00,0.000,4,0.178,0.029,2570,508,3731,0,0,0,0,0,0
$GC,2628,-0.69,-219.0,461.6,-10.6,296,2634,0.00,2.35,0.00,0.000,6,0.000,0.022,2563,2115,3729,0,0,0,0,0,0
$GC,2955,-0.69,-219.0,496.3,-12.1,327,2959,0.00,1.67,0.00,0.000,4,0.000,0.037,2562,3264,3726,0,0,0,0,0,0
$GC,3006,-0.69,-219.0,502.8,-11.9,331,3010,0.00,1.62,0.00,0.000,6,0.000,0.019,2561,2099,3726,0,0,0,0,0,0
$GC,3333,-0.69,-219.0,543.5,-12.7,347,3338,0.00,2.35,0.00,0.000,4,0.000,0.031,2561,513,3722,0,0,0,0,0,0
$GC,3451,-0.69,-219.0,560.3,-13.6,352,3456,0.00,2.33,0.00,0.000,6,0.000,0.024,2561,2090,3721,0,0,0,0,0,0
$GC,3773,-0.69,-219.0,600.5,-11.9,368,3778,0.00,1.77,0.00,0.000,4,0.000,0.038,2561,3266,3719,0,0,0,0,0,0
$GC,3851,-0.69,-219.0,608.6,-9.4,371,3854,0.00,1.65,0.00,0.000,6,0.000,0.019,2561,2068,3718,0,0,0,0,0,0
$GC,4174,-0.69,-219.0,641.9,-9.5,387,4179,0.00,1.83,0.00,0.000,4,0.000,0.038,2561,3258,3715,0,0,0,0,0,0
$GC,4223,-0.69,-219.0,646.5,-10.1,389,4227,0.00,1.60,0.00,0.000,6,0.000,0.021,2561,2138,3715,0,0,0,0,0,0
$GC,4558,-0.69,-219.0,680.3,-10.4,405,4562,0.00,2.38,0.00,0.000,4,0.000,0.029,2561,507,3711,0,0,0,0,0,0
$GC,4625,-0.69,-219.0,688.3,-11.7,408,4629,0.00,2.40,0.00,0.000,6,0.000,0.026,2561,2123,3711,0,0,0,0,0,0
$GC,4947,-0.69,-219.0,721.5,-9.9,424,4951,0.00,2.40,0.00,0.000,4,0.000,0.028,2561,507,3708,0,0,0,0,0,0
$GC,4993,-0.69,-219.0,726.2,-10.2,426,4997,0.00,2.38,0.00,0.000,6,0.000,0.025,2561,2107,3707,0,0,0,0,0,0
$GC,5315,-0.69,-219.0,754.6,-8.6,442,5320,0.00,2.35,0.00,0.000,4,0.000,0.029,2561,511,3705,0,0,0,0,0,0
$GC,5345,-0.69,-219.0,757.3,-8.5,443,5350,0.00,2.35,0.00,0.000,6,0.000,0.025,2561,2076,3705,0,0,0,0,0,0
$GC,5666,-0.69,-219.0,783.2,-8.0,459,5670,0.00,1.80,0.00,0.000,4,0.000,0.041,2561,3273,3703,0,0,0,0,0,0
$GC,5713,-0.69,-219.0,786.7,-7.6,461,5716,0.00,1.67,0.00,0.000,6,0.000,0.020,2561,2076,3703,0,0,0,0,0,0
$GC,6048,-0.69,-219.0,811.6,-7.7,477,6052,0.00,2.30,0.00,0.000,4,0.000,0.030,2561,501,3700,0,0,0,0,0,0
$GC,6114,-0.69,-219.0,817.4,-8.4,480,6118,0.00,2.30,0.00,0.000,6,0.000,0.026,2561,2050,3700,0,0,0,0,0,0
$GC,6439,-0.69,-219.0,842.4,-8.0,496,6442,0.00,1.83,0.00,0.000,4,0.000,0.041,2561,3261,3699,0,0,0,0,0,0
$GC,6473,-0.69,-219.0,845.4,-7.9,497,6476,0.00,1.70,0.00,0.000,6,0.000,0.020,2561,2063,3699,0,0,0,0,0,0
$GC,6795,-0.69,-219.0,872.5,-8.8,513,6798,0.00,1.85,0.00,0.000,4,0.000,0.040,2561,3271,3697,0,0,0,0,0,0
$GC,6829,-0.69,-219.0,875.2,-8.2,514,6833,0.00,1.70,0.00,0.000,6,0.000,0.020,2561,2057,3697,0,0,0,0,0,0
$GC,7152,-0.69,-219.0,901.7,-9.0,530,7156,0.00,2.30,0.00,0.000,4,0.000,0.031,2561,519,3695,0,0,0,0,0,0
$GC,7220,-0.69,-219.0,908.4,-10.0,533,7224,0.00,2.28,0.00,0.000,6,0.000,0.025,2561,2049,3695,0,0,0,0,0,0
$GC,7548,-0.69,-219.0,938.7,-8.8,549,7553,0.00,1.85,0.00,0.000,4,0.000,0.041,2561,3257,3693,0,0,0,0,0,0
$GC,7594,-0.69,-219.0,942.9,-9.0,551,7599,0.00,1.73,0.00,0.000,6,0.000,0.021,2561,2064,3693,0,0,0,0,0,0
$GC,7928,-0.69,-219.0,970.4,-8.4,567,7932,0.00,1.83,0.00,0.000,4,0.000,0.040,2561,3267,3692,0,0,0,0,0,0
$GC,7955,-0.69,-219.0,973.4,-9.7,568,7959,0.00,1.70,0.00,0.000,6,0.000,0.020,2561,2040,3691,0,0,0,0,0,0
$STATE,8115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8115,begin apogee
$GC,8121,-0.20,0.0,990.6,11.0,576,8299,0.52,0.00,172.43,1.394,4,0.124,0.000,2733,2034,2838,0,0,0,0,0,0
$STATE,8300,end apogee,CONTROL_FINISHED_OK
$STATE,8300,begin climb
$GC,8302,0.69,219.0,1000.4,0.0,584,8503,0.80,2.38,189.40,1.336,4,0.080,0.039,3019,3452,1944,0,0,0,0,0,0
$GC,8673,0.69,219.0,959.7,14.7,601,8677,0.00,2.08,0.00,0.000,6,0.000,0.020,3028,2093,1936,0,0,0,0,0,0
$GC,8989,0.69,219.0,913.2,16.2,616,8993,0.00,2.12,0.00,0.000,4,0.000,0.037,3028,3460,1935,0,0,0,0,0,0
$GC,9149,0.69,219.0,887.2,16.1,623,9153,0.00,2.10,0.00,0.000,6,0.000,0.021,3038,2044,1934,0,0,0,0,0,0
$GC,9471,0.69,219.0,840.1,13.4,639,9474,0.00,2.03,0.00,0.000,4,0.000,0.033,3048,684,1933,0,0,0,0,0,0
$GC,9526,0.69,219.0,832.6,12.8,641,9530,0.00,1.98,0.00,0.000,6,0.000,0.024,3048,1989,1933,0,0,0,0,0,0
$GC,9850,0.69,219.0,786.8,14.2,657,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1990,1932,0,0,0,0,0,0
$GC,10158,0.69,219.0,742.2,14.1,672,10162,0.00,2.22,0.00,0.000,4,0.000,0.039,3048,3463,1932,0,0,0,0,0,0
$GC,10213,0.69,219.0,733.3,15.5,674,10221,0.12,2.12,0.00,0.000,6,0.183,0.021,3027,2009,1931,0,0,0,0,0,0
$GC,10531,0.69,219.0,691.5,13.9,690,10535,0.00,1.95,0.00,0.000,4,0.000,0.034,3035,687,1931,0,0,0,0,0,0
$GC,10609,0.69,219.0,680.7,12.9,693,10613,0.00,1.95,0.00,0.000,6,0.000,0.024,3035,1984,1931,0,0,0,0,0,0
$GC,10932,0.69,219.0,635.9,14.0,709,10937,0.00,2.28,0.00,0.000,4,0.000,0.040,3035,3461,1931,0,0,0,0,0,0
$GC,10993,0.69,219.0,626.4,15.2,711,11000,0.00,2.10,0.00,0.000,6,0.000,0.021,3044,2027,1931,0,0,0,0,0,0
$GC,11309,0.69,219.0,577.4,15.9,727,11313,0.00,2.00,0.00,0.000,4,0.000,0.034,3054,684,1931,0,0,0,0,0,0
$GC,11334,0.69,219.0,573.8,15.7,728,11338,0.00,1.95,0.00,0.000,6,0.000,0.024,3054,2006,1931,0,0,0,0,0,0
$GC,11667,0.69,219.0,523.9,14.8,744,11670,0.00,1.95,0.00,0.000,4,0.000,0.032,3063,685,1931,0,0,0,0,0,0
$GC,11705,0.69,219.0,517.8,15.4,745,11713,0.08,1.95,0.00,0.000,6,0.145,0.024,3029,2003,1931,0,0,0,0,0,0
$GC,12030,0.69,219.0,474.9,12.7,770,12034,0.00,2.22,0.00,0.000,4,0.000,0.039,3029,3465,1930,0,0,0,0,0,0
$GC,12177,0.69,219.0,454.2,14.1,782,12184,0.00,2.05,0.00,0.000,6,0.000,0.021,3038,2045,1930,0,0,0,0,0,0
$GC,12502,0.69,219.0,412.8,12.8,813,12506,0.00,2.03,0.00,0.000,4,0.000,0.034,3048,681,1930,0,0,0,0,0,0
$GC,12667,0.69,219.0,391.4,12.6,827,12673,0.00,1.98,0.00,0.000,6,0.000,0.024,3048,2021,1930,0,0,0,0,0,0
$GC,12992,0.69,219.0,348.2,13.2,858,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2022,1930,0,0,0,0,0,0
$GC,13316,0.69,219.0,304.9,14.1,888,13321,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2021,1930,0,0,0,0,0,0
$GC,13645,0.69,219.0,265.3,12.4,919,13649,0.00,2.17,0.00,0.000,4,0.000,0.037,3048,3464,1931,0,0,0,0,0,0
$GC,13889,0.69,219.0,231.3,13.2,940,13898,0.10,2.17,0.00,0.000,6,0.148,0.020,3026,1982,1930,0,0,0,0,0,0
$GC,14217,0.76,274.3,198.7,9.8,972,14263,0.00,0.00,43.75,0.815,6,0.000,0.000,3025,1980,1720,0,0,0,0,0,0
$GC,14332,0.81,313.1,187.2,10.4,990,14372,0.10,2.33,31.62,0.780,4,0.108,0.034,3074,3469,1562,0,0,0,0,0,0
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$GC,14866,0.85,348.0,115.6,10.8,1077,14897,0.00,2.03,23.25,0.705,4,0.000,0.030,3084,679,1419,0,0,0,0,0,0
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$STATE,15839,end climb,SURFACE_DEPTH_REACHED
$STATE,15839,begin surface coast
$FINISH,0.9,1.021380
$STATE,15863,end surface coast,CONTROL_FINISHED_OK
$STATE,15863,begin surface
$SM_CCo,15940,0.00,0.000,0,0,483,578.17
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$IRIDIUM_FIX,1835.04,12219.37,260711,030300
$TT8_MAMPS,0.028462,0.028462
$HUMID,36.80
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,27.90
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,791.3,999.0
$24V_AH,23.0,36.598
$10V_AH,10.1,35.051
$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,20.325,175.825,653.525,0.000,0.000,23.537,43.152,233.626,3.500,0.000,18.117,2967.831,8903.984,703.784,3058.784,752.476,0.000,2171.397,0.000,2967.485,0.000,2.852,0.000
$DEVICE_MAMPS,234.855,45.900,1393.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
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$SENSOR_SECS,839.630,943.153,1166.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324100
$DATA_FILE_SIZE,73536,1238
$CAP_FILE_SIZE,182971,0
$CFSIZE,260165632,121823232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,112406,1847.702,12218.603,39,1.5,40,-2.1