version: 66.09
glider: 167
mission: 8
dive: 219
start: 7 27 111 14 59 14
data:
$ID,167
$MISSION,8
$DIVE,219
$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,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,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,-56662.582
$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,73
$R_STBD_OVSHOOT,58
$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
$GPS1,270711,145036,1858.714,12223.778,27,1.3,27,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.9
$GPS2,270711,145852,1858.930,12223.661,15,1.9,17,-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,90.7,246392,-17.0,-11.786
$D_GRID,1852
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.69,-219.0,0.0,0.0,0,115,0.00,0.00,-92.50,0.000,2,0.000,0.000,108,1864,3075,0,0,0,0,0,0
$GC,118,-0.69,-219.0,6.0,-10.6,13,150,10.10,2.12,-10.68,0.000,4,0.239,0.043,2558,3271,3736,0,0,0,0,0,0
$GC,251,-0.69,-219.0,60.3,-36.4,35,259,0.00,2.05,0.00,0.000,6,0.000,0.020,2557,1877,3737,0,0,0,0,0,0
$GC,329,-0.69,-219.0,85.3,-29.8,48,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1876,3737,0,0,0,0,0,0
$GC,408,-0.69,-219.0,106.7,-23.5,61,416,0.00,2.10,0.00,0.000,4,0.000,0.030,2547,3271,3738,0,0,0,0,0,0
$GC,436,-0.69,-219.0,113.8,-24.9,65,444,0.00,2.00,0.00,0.000,6,0.000,0.018,2547,1883,3738,0,0,0,0,0,0
$GC,516,-0.69,-219.0,131.4,-22.4,78,524,0.00,2.05,0.00,0.000,4,0.000,0.028,2547,487,3738,0,0,0,0,0,0
$GC,531,-0.69,-219.0,135.4,-21.4,80,540,0.10,2.05,0.00,0.000,6,0.161,0.022,2568,1887,3739,0,0,0,0,0,0
$GC,610,-0.69,-219.0,151.4,-20.3,93,618,0.00,2.08,0.00,0.000,4,0.000,0.033,2561,3271,3739,0,0,0,0,0,0
$GC,690,-0.69,-219.0,167.7,-21.6,106,698,0.00,1.75,0.00,0.000,6,0.000,0.017,2561,2035,3739,0,0,0,0,0,0
$GC,766,-0.69,-219.0,186.0,-23.0,119,775,0.00,2.25,0.00,0.000,4,0.000,0.028,2561,503,3739,0,0,0,0,0,0
$GC,814,-0.69,-219.0,195.6,-19.7,127,823,0.00,2.20,0.00,0.000,6,0.000,0.022,2552,2000,3740,0,0,0,0,0,0
$GC,895,-0.69,-219.0,210.4,-18.4,136,900,0.00,1.92,0.00,0.000,4,0.000,0.034,2544,3273,3740,0,0,0,0,0,0
$GC,929,-0.69,-219.0,217.3,-19.3,139,933,0.12,1.77,0.00,0.000,6,0.175,0.017,2574,1982,3739,0,0,0,0,0,0
$GC,1259,-0.69,-219.0,271.7,-14.1,170,1263,0.00,2.15,0.00,0.000,4,0.000,0.028,2575,497,3739,0,0,0,0,0,0
$GC,1288,-0.69,-219.0,275.8,-14.1,172,1292,0.00,2.20,0.00,0.000,6,0.000,0.021,2575,2017,3740,0,0,0,0,0,0
$GC,1615,-0.69,-219.0,317.3,-13.0,202,1619,0.00,1.88,0.00,0.000,4,0.000,0.034,2574,3277,3739,0,0,0,0,0,0
$GC,1677,-0.69,-219.0,324.8,-11.1,207,1685,0.00,1.77,0.00,0.000,6,0.000,0.018,2574,1995,3738,0,0,0,0,0,0
$GC,2002,-0.69,-219.0,366.6,-12.5,238,2006,0.00,1.95,0.00,0.000,4,0.000,0.034,2574,3284,3736,0,0,0,0,0,0
$GC,2094,-0.69,-219.0,377.1,-11.0,246,2099,0.00,1.73,0.00,0.000,6,0.000,0.018,2574,2035,3735,0,0,0,0,0,0
$GC,2427,-0.69,-219.0,414.8,-11.3,277,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2034,3732,0,0,0,0,0,0
$GC,2746,-0.69,-219.0,449.0,-10.8,307,2750,0.00,1.85,0.00,0.000,4,0.000,0.035,2574,3273,3731,0,0,0,0,0,0
$GC,2792,-0.69,-219.0,453.7,-9.8,311,2796,0.00,1.73,0.00,0.000,6,0.000,0.018,2574,2032,3730,0,0,0,0,0,0
$GC,3122,-0.69,-219.0,487.4,-10.3,342,3127,0.00,2.25,0.00,0.000,4,0.000,0.030,2574,494,3727,0,0,0,0,0,0
$GC,3185,-0.69,-219.0,493.9,-10.5,347,3190,0.00,2.25,0.00,0.000,6,0.000,0.022,2573,2023,3727,0,0,0,0,0,0
$GC,3520,-0.69,-219.0,529.6,-11.0,366,3523,0.00,1.85,0.00,0.000,4,0.000,0.036,2573,3273,3723,0,0,0,0,0,0
$GC,3558,-0.69,-219.0,533.9,-10.3,367,3566,0.00,1.73,0.00,0.000,6,0.000,0.018,2573,2004,3723,0,0,0,0,0,0
$GC,3876,-0.69,-219.0,565.1,-9.4,383,3881,0.00,1.92,0.00,0.000,4,0.000,0.037,2573,3264,3720,0,0,0,0,0,0
$GC,3931,-0.69,-219.0,570.2,-8.4,385,3935,0.00,1.73,0.00,0.000,6,0.000,0.019,2573,2003,3720,0,0,0,0,0,0
$GC,4253,-0.69,-219.0,598.2,-8.3,401,4257,0.00,1.90,0.00,0.000,4,0.000,0.037,2567,3274,3717,0,0,0,0,0,0
$GC,4346,-0.69,-219.0,606.1,-9.1,405,4350,0.00,1.70,0.00,0.000,6,0.000,0.020,2567,2040,3716,0,0,0,0,0,0
$GC,4680,-0.69,-219.0,637.0,-9.3,421,4683,0.00,1.85,0.00,0.000,4,0.000,0.037,2562,3277,3714,0,0,0,0,0,0
$GC,4718,-0.69,-219.0,641.1,-10.0,422,4725,0.00,1.70,0.00,0.000,6,0.000,0.021,2561,2045,3713,0,0,0,0,0,0
$GC,5036,-0.69,-219.0,672.7,-10.0,438,5040,0.00,1.88,0.00,0.000,4,0.000,0.038,2562,3280,3710,0,0,0,0,0,0
$GC,5075,-0.69,-219.0,676.7,-9.5,439,5083,0.00,1.73,0.00,0.000,6,0.000,0.020,2561,2069,3710,0,0,0,0,0,0
$GC,5393,-0.69,-219.0,707.4,-10.2,455,5398,0.00,2.33,0.00,0.000,4,0.000,0.030,2562,504,3708,0,0,0,0,0,0
$GC,5420,-0.69,-219.0,710.6,-10.1,456,5424,0.00,2.33,0.00,0.000,6,0.000,0.024,2561,2077,3707,0,0,0,0,0,0
$GC,5743,-0.69,-219.0,739.9,-8.9,472,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2077,3705,0,0,0,0,0,0
$GC,6053,-0.69,-219.0,767.5,-9.0,487,6056,0.00,1.80,0.00,0.000,4,0.000,0.040,2561,3273,3703,0,0,0,0,0,0
$GC,6108,-0.69,-219.0,772.5,-8.5,489,6112,0.00,1.67,0.00,0.000,6,0.000,0.020,2562,2070,3702,0,0,0,0,0,0
$GC,6432,-0.69,-219.0,798.9,-8.2,505,6436,0.00,1.85,0.00,0.000,4,0.000,0.040,2561,3264,3701,0,0,0,0,0,0
$GC,6478,-0.69,-219.0,802.5,-7.7,507,6482,0.00,1.65,0.00,0.000,6,0.000,0.020,2561,2074,3700,0,0,0,0,0,0
$GC,6811,-0.69,-219.0,826.9,-7.4,523,6815,0.00,1.83,0.00,0.000,4,0.000,0.041,2562,3278,3698,0,0,0,0,0,0
$GC,6852,-0.69,-219.0,830.1,-7.6,524,6859,0.00,1.65,0.00,0.000,6,0.000,0.020,2561,2132,3698,0,0,0,0,0,0
$GC,7169,-0.69,-219.0,856.1,-8.3,540,7174,0.00,2.42,0.00,0.000,4,0.000,0.029,2561,507,3696,0,0,0,0,0,0
$GC,7224,-0.69,-219.0,861.2,-8.9,542,7228,0.00,2.40,0.00,0.000,6,0.000,0.024,2561,2121,3696,0,0,0,0,0,0
$GC,7542,-0.69,-219.0,888.4,-8.6,557,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2121,3695,0,0,0,0,0,0
$GC,7850,-0.69,-219.0,917.5,-9.3,572,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2121,3693,0,0,0,0,0,0
$GC,8160,-0.69,-219.0,941.4,-8.2,587,8164,0.00,1.73,0.00,0.000,4,0.000,0.041,2561,3276,3692,0,0,0,0,0,0
$GC,8188,-0.69,-219.0,944.1,-8.1,588,8191,0.00,1.65,0.00,0.000,6,0.000,0.019,2561,2130,3691,0,0,0,0,0,0
$GC,8516,-0.69,-219.0,966.9,-6.9,604,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2126,3691,0,0,0,0,0,0
$STATE,8822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8822,begin apogee
$GC,8829,-0.20,0.0,991.4,8.2,619,9007,0.52,0.00,172.62,1.388,4,0.126,0.000,2733,2124,2839,0,0,0,0,0,0
$STATE,9008,end apogee,CONTROL_FINISHED_OK
$STATE,9008,begin climb
$GC,9011,0.69,219.0,997.3,0.0,627,9207,0.82,0.00,190.00,1.330,6,0.077,0.000,3017,2125,1946,0,0,0,0,0,0
$GC,9518,0.69,219.0,924.6,18.1,651,9523,0.00,2.22,0.00,0.000,4,0.000,0.034,3025,698,1935,0,0,0,0,0,0
$GC,9556,0.69,219.0,917.8,16.8,652,9564,0.00,2.08,0.00,0.000,6,0.000,0.023,3024,2051,1935,0,0,0,0,0,0
$GC,9873,0.69,219.0,868.6,15.5,668,9877,0.00,2.17,0.00,0.000,4,0.000,0.037,3024,3470,1933,0,0,0,0,0,0
$GC,9908,0.69,219.0,863.0,16.0,669,9915,0.00,2.08,0.00,0.000,6,0.000,0.021,3033,2077,1933,0,0,0,0,0,0
$GC,10224,0.69,219.0,814.0,15.2,685,10228,0.00,2.10,0.00,0.000,4,0.000,0.034,3044,678,1932,0,0,0,0,0,0
$GC,10315,0.69,219.0,799.8,15.5,689,10318,0.00,2.00,0.00,0.000,6,0.000,0.023,3044,2024,1932,0,0,0,0,0,0
$GC,10643,0.69,219.0,750.9,14.7,705,10647,0.00,2.20,0.00,0.000,4,0.000,0.037,3044,3470,1932,0,0,0,0,0,0
$GC,10714,0.69,219.0,739.3,15.5,708,10718,0.00,2.08,0.00,0.000,6,0.000,0.021,3053,2059,1931,0,0,0,0,0,0
$GC,11039,0.69,219.0,692.1,15.0,724,11043,0.00,2.03,0.00,0.000,4,0.000,0.034,3064,691,1931,0,0,0,0,0,0
$GC,11184,0.69,219.0,668.7,15.3,730,11189,0.10,1.95,0.00,0.000,6,0.144,0.023,3023,2000,1931,0,0,0,0,0,0
$GC,11507,0.69,219.0,627.7,12.9,746,11511,0.00,2.25,0.00,0.000,4,0.000,0.037,3023,3477,1931,0,0,0,0,0,0
$GC,11562,0.69,219.0,619.7,13.9,748,11569,0.00,2.20,0.00,0.000,6,0.000,0.021,3031,2001,1930,0,0,0,0,0,0
$GC,11880,0.69,219.0,577.3,13.1,764,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2002,1930,0,0,0,0,0,0
$GC,12188,0.69,219.0,536.6,12.9,779,12191,0.00,1.95,0.00,0.000,4,0.000,0.034,3041,688,1929,0,0,0,0,0,0
$GC,12288,0.69,219.0,523.7,12.7,783,12292,0.00,1.95,0.00,0.000,6,0.000,0.023,3040,1993,1930,0,0,0,0,0,0
$GC,12615,0.69,219.0,480.9,13.6,805,12620,0.00,2.25,0.00,0.000,4,0.000,0.037,3040,3461,1929,0,0,0,0,0,0
$GC,12687,0.69,219.0,469.7,14.8,811,12694,0.00,2.20,0.00,0.000,6,0.000,0.021,3050,1966,1929,0,0,0,0,0,0
$GC,13013,0.69,219.0,425.3,13.8,842,13016,0.00,1.90,0.00,0.000,4,0.000,0.035,3060,685,1929,0,0,0,0,0,0
$GC,13059,0.69,219.0,418.8,14.3,846,13063,0.12,1.83,0.00,0.000,6,0.155,0.021,3027,1962,1929,0,0,0,0,0,0
$GC,13389,0.69,219.0,375.6,12.7,877,13390,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1962,1928,0,0,0,0,0,0
$GC,13709,0.70,226.0,339.6,11.5,907,13722,0.00,2.28,4.72,0.700,4,0.000,0.037,3027,3472,1917,0,0,0,0,0,0
$GC,13807,0.70,226.0,326.8,12.9,915,13815,0.00,2.25,0.00,0.000,6,0.000,0.021,3034,1933,1916,0,0,0,0,0,0
$GC,14133,0.71,235.2,287.5,11.5,946,14149,0.00,2.40,9.77,0.817,4,0.000,0.034,3035,3472,1879,0,0,0,0,0,0
$GC,14170,0.71,235.2,283.3,11.9,949,14174,0.00,2.20,0.00,0.000,6,0.000,0.021,3045,1968,1878,0,0,0,0,0,0
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$STATE,16484,end climb,SURFACE_DEPTH_REACHED
$STATE,16484,begin surface coast
$FINISH,1.0,1.021447
$STATE,16506,end surface coast,CONTROL_FINISHED_OK
$STATE,16506,begin surface
$SM_CCo,16584,0.00,0.000,0,0,483,577.93
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$IRIDIUM_FIX,1850.98,12221.10,270711,101011
$TT8_MAMPS,0.028462,0.028462
$HUMID,35.62
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,28.10
$XPDR_PINGS,12
$24V_AH,23.0,38.084
$10V_AH,10.0,36.019
$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,20.400,160.875,652.875,0.000,0.000,27.396,43.490,254.044,3.000,0.000,18.199,3191.326,9378.629,721.786,3023.909,747.035,0.000,2148.779,0.000,2904.437,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,42.840,1387.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324080
$DATA_FILE_SIZE,73503,1279
$CAP_FILE_SIZE,180666,0
$CFSIZE,260165632,121196544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,306.6,1
$GPS,270711,193655,1859.913,12224.931,37,1.8,38,-2.2