version: 66.09
glider: 167
mission: 8
dive: 220
start: 7 27 111 19 45 0
data:
$ID,167
$MISSION,8
$DIVE,220
$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,-56663.84
$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,67
$R_STBD_OVSHOOT,53
$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
$GPS1,270711,193655,1859.913,12224.931,37,1.8,38,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.1
$GPS2,270711,194438,1900.116,12224.777,12,1.0,12,-2.2
$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,92.9,243546,-17.0,-11.786
$D_GRID,1904
$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,-219.0,0.0,0.0,0,117,0.00,0.00,-94.10,0.000,2,0.000,0.000,109,1826,3135,0,0,0,0,0,0
$GC,120,-0.69,-219.0,6.3,-11.5,13,147,10.07,2.17,-9.38,0.000,4,0.238,0.041,2554,3288,3736,0,0,0,0,0,0
$GC,172,-0.69,-219.0,32.8,-47.5,20,181,0.00,2.08,0.00,0.000,6,0.000,0.018,2554,1865,3737,0,0,0,0,0,0
$GC,250,-0.69,-219.0,59.5,-34.0,33,258,0.00,2.15,0.00,0.000,4,0.000,0.032,2545,3276,3737,0,0,0,0,0,0
$GC,334,-0.69,-219.0,85.9,-28.8,47,342,0.08,1.55,0.00,0.000,6,0.173,0.017,2567,2159,3737,0,0,0,0,0,0
$GC,410,-0.69,-219.0,106.1,-28.7,60,418,0.00,2.47,0.00,0.000,4,0.000,0.028,2567,484,3738,0,0,0,0,0,0
$GC,484,-0.69,-219.0,122.3,-19.9,72,492,0.00,2.35,0.00,0.000,6,0.000,0.021,2560,2073,3738,0,0,0,0,0,0
$GC,559,-0.69,-219.0,138.1,-19.8,85,567,0.00,1.80,0.00,0.000,4,0.000,0.033,2552,3281,3739,0,0,0,0,0,0
$GC,590,-0.69,-219.0,145.5,-22.9,90,599,0.00,1.88,0.00,0.000,6,0.000,0.028,2552,1976,3739,0,0,0,0,0,0
$GC,668,-0.69,-219.0,161.9,-20.6,103,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1973,3739,0,0,0,0,0,0
$GC,744,-0.69,-219.0,178.3,-20.2,116,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1974,3739,0,0,0,0,0,0
$GC,818,-0.69,-219.0,191.7,-18.8,129,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1973,3739,0,0,0,0,0,0
$GC,897,-0.69,-219.0,207.6,-21.6,139,901,0.00,1.95,0.00,0.000,4,0.000,0.034,2547,3281,3740,0,0,0,0,0,0
$GC,923,-0.69,-219.0,213.6,-21.8,141,927,0.00,1.92,0.00,0.000,6,0.000,0.018,2547,1906,3740,0,0,0,0,0,0
$GC,1256,-0.69,-219.0,274.6,-18.2,172,1259,0.00,2.05,0.00,0.000,4,0.000,0.032,2541,3283,3740,0,0,0,0,0,0
$GC,1307,-0.69,-219.0,285.3,-20.4,176,1316,0.08,1.83,0.00,0.000,6,0.155,0.017,2565,1971,3740,0,0,0,0,0,0
$GC,1633,-0.69,-219.0,331.5,-14.3,207,1638,0.00,1.98,0.00,0.000,4,0.000,0.032,2561,3270,3739,0,0,0,0,0,0
$GC,1672,-0.69,-219.0,336.7,-12.9,210,1680,0.00,1.80,0.00,0.000,6,0.000,0.017,2561,1985,3739,0,0,0,0,0,0
$GC,1998,-0.69,-219.0,378.6,-11.9,241,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1984,3736,0,0,0,0,0,0
$GC,2322,-0.69,-219.0,421.4,-13.4,271,2326,0.00,2.15,0.00,0.000,4,0.000,0.030,2561,510,3734,0,0,0,0,0,0
$GC,2374,-0.69,-219.0,429.0,-13.0,275,2378,0.00,2.15,0.00,0.000,6,0.000,0.022,2561,1989,3733,0,0,0,0,0,0
$GC,2699,-0.69,-219.0,467.9,-10.7,305,2704,0.00,1.92,0.00,0.000,4,0.000,0.036,2561,3271,3731,0,0,0,0,0,0
$GC,2768,-0.69,-219.0,475.2,-10.6,311,2771,0.00,1.75,0.00,0.000,6,0.000,0.018,2561,2001,3730,0,0,0,0,0,0
$GC,3099,-0.69,-219.0,512.8,-11.6,337,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2000,3726,0,0,0,0,0,0
$GC,3405,-0.69,-219.0,547.8,-10.9,352,3409,0.00,1.95,0.00,0.000,4,0.000,0.037,2560,3274,3724,0,0,0,0,0,0
$GC,3438,-0.69,-219.0,551.6,-11.0,353,3442,0.00,1.70,0.00,0.000,6,0.000,0.019,2560,2038,3723,0,0,0,0,0,0
$GC,3762,-0.69,-219.0,587.1,-11.3,369,3766,0.00,1.88,0.00,0.000,4,0.000,0.037,2560,3265,3721,0,0,0,0,0,0
$GC,3863,-0.69,-219.0,598.4,-10.6,373,3866,0.00,1.67,0.00,0.000,6,0.000,0.019,2560,2054,3719,0,0,0,0,0,0
$GC,4186,-0.69,-219.0,633.4,-10.8,389,4190,0.00,2.28,0.00,0.000,4,0.000,0.029,2560,500,3717,0,0,0,0,0,0
$GC,4214,-0.69,-219.0,636.6,-10.2,390,4218,0.00,2.35,0.00,0.000,6,0.000,0.024,2560,2091,3716,0,0,0,0,0,0
$GC,4530,-0.69,-219.0,667.1,-8.8,405,4534,0.00,1.77,0.00,0.000,4,0.000,0.038,2560,3280,3714,0,0,0,0,0,0
$GC,4595,-0.69,-219.0,673.0,-9.6,407,4602,0.00,1.67,0.00,0.000,6,0.000,0.021,2560,2088,3714,0,0,0,0,0,0
$GC,4912,-0.69,-219.0,702.6,-8.8,423,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2086,3711,0,0,0,0,0,0
$GC,5222,-0.69,-219.0,729.9,-9.4,438,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2086,3709,0,0,0,0,0,0
$GC,5532,-0.69,-219.0,759.2,-9.7,453,5535,0.00,1.77,0.00,0.000,4,0.000,0.039,2560,3270,3706,0,0,0,0,0,0
$GC,5571,-0.69,-219.0,763.3,-9.7,454,5578,0.00,1.65,0.00,0.000,6,0.000,0.019,2560,2079,3706,0,0,0,0,0,0
$GC,5888,-0.69,-219.0,790.9,-8.2,470,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2078,3703,0,0,0,0,0,0
$GC,6196,-0.69,-219.0,815.1,-8.0,485,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2077,3701,0,0,0,0,0,0
$GC,6506,-0.69,-219.0,840.5,-8.7,500,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2076,3699,0,0,0,0,0,0
$GC,6815,-0.69,-219.0,866.8,-8.2,515,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2076,3699,0,0,0,0,0,0
$GC,7124,-0.69,-219.0,890.4,-7.6,530,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2076,3696,0,0,0,0,0,0
$GC,7434,-0.69,-219.0,916.0,-8.1,545,7438,0.00,1.85,0.00,0.000,4,0.000,0.041,2561,3267,3695,0,0,0,0,0,0
$GC,7486,-0.69,-219.0,920.3,-8.3,547,7489,0.00,1.65,0.00,0.000,6,0.000,0.020,2561,2092,3695,0,0,0,0,0,0
$GC,7814,-0.69,-219.0,948.3,-8.4,563,7818,0.00,2.33,0.00,0.000,4,0.000,0.029,2561,516,3693,0,0,0,0,0,0
$GC,7860,-0.69,-219.0,952.3,-8.5,565,7865,0.00,2.35,0.00,0.000,6,0.000,0.024,2560,2079,3692,0,0,0,0,0,0
$GC,8187,-0.69,-219.0,981.5,-9.5,581,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2080,3691,0,0,0,0,0,0
$STATE,8287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8287,begin apogee
$GC,8293,-0.20,0.0,991.5,9.6,586,8473,0.52,0.00,173.07,1.392,4,0.127,0.000,2731,2080,2838,0,0,0,0,0,0
$STATE,8474,end apogee,CONTROL_FINISHED_OK
$STATE,8474,begin climb
$GC,8476,0.69,219.0,999.2,0.0,594,8675,0.80,2.22,190.93,1.330,4,0.073,0.031,3019,723,1945,0,0,0,0,0,0
$GC,8770,0.69,219.0,968.5,14.3,607,8776,0.00,2.15,0.00,0.000,6,0.000,0.023,3019,2069,1937,0,0,0,0,0,0
$GC,9099,0.69,219.0,921.4,14.3,623,9103,0.00,2.08,0.00,0.000,4,0.000,0.032,3025,721,1931,0,0,0,0,0,0
$GC,9335,0.69,219.0,887.3,14.2,633,9339,0.00,2.08,0.00,0.000,6,0.000,0.024,3025,2083,1930,0,0,0,0,0,0
$GC,9658,0.69,219.0,840.9,14.1,649,9662,0.00,2.15,0.00,0.000,4,0.000,0.039,3025,3472,1928,0,0,0,0,0,0
$GC,9684,0.69,219.0,836.4,15.0,650,9688,0.00,2.00,0.00,0.000,6,0.000,0.021,3034,2124,1928,0,0,0,0,0,0
$GC,10014,0.69,219.0,788.4,14.8,666,10018,0.00,2.12,0.00,0.000,4,0.000,0.034,3045,687,1927,0,0,0,0,0,0
$GC,10122,0.69,219.0,772.3,14.5,671,10126,0.00,2.03,0.00,0.000,6,0.000,0.024,3045,2065,1927,0,0,0,0,0,0
$GC,10458,0.69,219.0,720.0,16.0,687,10461,0.00,2.12,0.00,0.000,4,0.000,0.038,3045,3465,1926,0,0,0,0,0,0
$GC,10479,0.69,219.0,715.7,16.1,688,10485,0.08,2.08,0.00,0.000,6,0.160,0.021,3030,2065,1926,0,0,0,0,0,0
$GC,10807,0.69,219.0,668.9,13.9,704,10810,0.00,2.03,0.00,0.000,4,0.000,0.034,3039,692,1925,0,0,0,0,0,0
$GC,10903,0.69,219.0,656.0,13.5,708,10906,0.00,1.92,0.00,0.000,6,0.000,0.023,3039,2013,1925,0,0,0,0,0,0
$GC,11230,0.69,219.0,614.3,12.5,724,11234,0.00,2.22,0.00,0.000,4,0.000,0.038,3039,3464,1925,0,0,0,0,0,0
$GC,11262,0.69,219.0,609.5,14.1,725,11266,0.00,2.17,0.00,0.000,6,0.000,0.021,3049,1982,1925,0,0,0,0,0,0
$GC,11586,0.69,219.0,567.2,12.8,741,11587,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1981,1925,0,0,0,0,0,0
$GC,11893,0.69,219.0,523.3,14.6,756,11897,0.00,1.90,0.00,0.000,4,0.000,0.033,3059,688,1924,0,0,0,0,0,0
$GC,11921,0.69,219.0,518.9,14.9,757,11926,0.12,1.92,0.00,0.000,6,0.155,0.023,3026,2017,1925,0,0,0,0,0,0
$GC,12247,0.69,219.0,476.0,13.5,781,12251,0.00,2.20,0.00,0.000,4,0.000,0.037,3026,3470,1924,0,0,0,0,0,0
$GC,12320,0.69,219.0,465.6,14.5,787,12324,0.00,2.15,0.00,0.000,6,0.000,0.021,3034,2007,1924,0,0,0,0,0,0
$GC,12646,0.69,219.0,420.8,14.1,817,12650,0.00,1.92,0.00,0.000,4,0.000,0.034,3043,689,1924,0,0,0,0,0,0
$GC,12675,0.69,219.0,416.8,13.4,819,12682,0.00,1.95,0.00,0.000,6,0.000,0.022,3043,2024,1924,0,0,0,0,0,0
$GC,13001,0.69,219.0,373.3,13.4,850,13004,0.00,1.98,0.00,0.000,4,0.000,0.031,3052,688,1924,0,0,0,0,0,0
$GC,13046,0.69,219.0,367.2,13.3,854,13051,0.00,1.92,0.00,0.000,6,0.000,0.022,3052,1983,1924,0,0,0,0,0,0
$GC,13377,0.69,219.0,323.9,12.5,885,13381,0.00,2.25,0.00,0.000,4,0.000,0.037,3052,3468,1924,0,0,0,0,0,0
$GC,13443,0.69,219.0,315.0,13.1,890,13451,0.12,2.10,0.00,0.000,6,0.174,0.021,3029,2020,1924,0,0,0,0,0,0
$GC,13769,0.71,230.1,280.0,11.4,921,13782,0.00,2.28,7.10,0.769,4,0.000,0.035,3029,3478,1900,0,0,0,0,0,0
$GC,13810,0.71,230.1,274.9,12.2,924,13818,0.00,2.08,0.00,0.000,6,0.000,0.020,3037,2068,1900,0,0,0,0,0,0
$GC,14138,0.73,251.0,237.4,11.0,955,14164,0.00,2.05,19.45,0.826,4,0.000,0.029,3047,688,1814,0,0,0,0,0,0
$GC,14301,0.79,294.4,220.3,10.2,969,14342,0.00,1.98,36.22,0.812,6,0.000,0.021,3047,2051,1637,0,0,0,0,0,0
$GC,14666,0.80,304.4,178.5,11.4,1019,14681,0.00,0.00,8.25,0.679,6,0.000,0.000,3047,2051,1598,0,0,0,0,0,0
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$STATE,16055,end climb,SURFACE_DEPTH_REACHED
$STATE,16055,begin surface coast
$FINISH,0.9,1.020939
$STATE,16072,end surface coast,CONTROL_FINISHED_OK
$STATE,16072,begin surface
$SM_CCo,16149,0.00,0.000,0,0,483,577.93
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$IRIDIUM_FIX,1850.98,12223.03,270711,141405
$TT8_MAMPS,0.028462,0.028462
$HUMID,36.49
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,27.70
$XPDR_PINGS,16
$24V_AH,23.0,38.298
$10V_AH,10.1,36.155
$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
$DEVICE_SECS,20.275,154.650,651.600,0.000,0.000,30.262,38.385,231.709,4.000,0.000,13.709,3111.899,9103.050,705.412,2927.850,744.040,0.000,2098.813,0.000,2848.818,0.000,0.541,0.000
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$SENSOR_SECS,843.136,947.883,1150.442,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324108
$DATA_FILE_SIZE,73767,1242
$CAP_FILE_SIZE,175616,0
$CFSIZE,260165632,121110528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260,316.5,1
$GPS,280711,001530,1901.545,12225.722,37,1.3,44,-2.2