version: 66.09
glider: 167
mission: 8
dive: 228
start: 7 29 111 12 12 29
data:
$ID,167
$MISSION,8
$DIVE,228
$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,340
$T_MISSION,380
$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,200
$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,-56673.906
$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,74
$R_STBD_OVSHOOT,68
$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
$GPS1,290711,115107,1906.698,12236.574,26,1.8,27,-2.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-69.2
$GPS2,290711,121206,1906.778,12236.526,14,1.0,30,-2.2
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,SDOG
$TGT_LATLONG,1910.550,12302.760
$TGT_RADIUS,5000.000
$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,103.6,46417,-15.3,-9.706
$D_GRID,2764
$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,-0.62,-194.6,0.0,0.0,0,115,0.00,0.00,-93.47,0.000,2,0.000,0.000,110,1804,3128,0,0,0,0,0,0
$GC,119,-0.62,-194.6,6.1,-11.2,13,146,10.00,0.00,-8.00,0.000,6,0.232,0.000,2591,1804,3635,0,0,0,0,0,0
$GC,216,-0.62,-194.6,42.1,-27.2,28,224,0.00,2.20,0.00,0.000,4,0.000,0.031,2581,3261,3636,0,0,0,0,0,0
$GC,258,-0.62,-194.6,54.0,-28.0,35,266,0.00,2.03,0.00,0.000,6,0.000,0.027,2581,1864,3636,0,0,0,0,0,0
$GC,341,-0.62,-194.6,75.5,-31.1,48,349,0.00,2.00,0.00,0.000,4,0.000,0.027,2581,493,3636,0,0,0,0,0,0
$GC,373,-0.62,-194.6,86.1,-30.1,53,382,0.00,2.03,0.00,0.000,6,0.000,0.021,2572,1880,3636,0,0,0,0,0,0
$GC,450,-0.62,-194.6,104.9,-24.6,66,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1880,3636,0,0,0,0,0,0
$GC,527,-0.62,-194.6,122.7,-22.1,79,536,0.00,2.05,0.00,0.000,4,0.000,0.025,2572,487,3636,0,0,0,0,0,0
$GC,555,-0.62,-194.6,129.1,-21.5,83,565,0.10,1.98,0.00,0.000,6,0.152,0.020,2594,1851,3636,0,0,0,0,0,0
$GC,632,-0.62,-194.6,144.8,-19.2,96,640,0.00,2.10,0.00,0.000,4,0.000,0.031,2586,3267,3636,0,0,0,0,0,0
$GC,693,-0.62,-194.6,156.1,-18.9,106,703,0.00,1.92,0.00,0.000,6,0.000,0.017,2586,1902,3636,0,0,0,0,0,0
$GC,773,-0.62,-194.6,171.1,-18.9,119,782,0.00,2.03,0.00,0.000,4,0.000,0.027,2586,510,3636,0,0,0,0,0,0
$GC,838,-0.62,-194.6,183.8,-18.6,130,848,0.00,1.95,0.00,0.000,6,0.000,0.019,2577,1863,3637,0,0,0,0,0,0
$GC,917,-0.62,-194.6,198.5,-19.2,143,924,0.00,2.08,0.00,0.000,4,0.000,0.031,2568,3293,3637,0,0,0,0,0,0
$GC,935,-0.62,-194.6,202.6,-18.2,145,943,0.12,2.00,0.00,0.000,6,0.164,0.017,2600,1847,3637,0,0,0,0,0,0
$GC,1261,-0.62,-194.6,250.5,-13.9,176,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1847,3637,0,0,0,0,0,0
$GC,1582,-0.62,-194.6,291.7,-12.4,206,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1846,3636,0,0,0,0,0,0
$GC,1913,-0.62,-194.6,329.4,-10.5,237,1917,0.00,2.10,0.00,0.000,4,0.000,0.031,2599,3267,3634,0,0,0,0,0,0
$GC,1947,-0.62,-194.6,333.4,-10.4,239,1954,0.00,1.98,0.00,0.000,6,0.000,0.017,2600,1850,3633,0,0,0,0,0,0
$GC,2273,-0.62,-194.6,365.4,-8.9,270,2277,0.00,2.10,0.00,0.000,4,0.000,0.031,2596,3269,3631,0,0,0,0,0,0
$GC,2307,-0.62,-194.6,368.5,-8.5,272,2313,0.00,1.98,0.00,0.000,6,0.000,0.018,2597,1855,3631,0,0,0,0,0,0
$GC,2634,-0.62,-194.6,400.5,-10.3,303,2638,0.00,2.08,0.00,0.000,4,0.000,0.031,2596,3268,3629,0,0,0,0,0,0
$GC,2755,-0.62,-194.6,411.8,-8.8,313,2759,0.00,1.90,0.00,0.000,6,0.000,0.018,2596,1921,3627,0,0,0,0,0,0
$GC,3085,-0.62,-194.6,445.7,-10.6,344,3088,0.00,2.05,0.00,0.000,4,0.000,0.028,2597,513,3625,0,0,0,0,0,0
$GC,3113,-0.62,-194.6,448.7,-10.3,346,3121,0.00,2.03,0.00,0.000,6,0.000,0.020,2597,1913,3625,0,0,0,0,0,0
$GC,3438,-0.62,-194.6,481.3,-9.0,377,3442,0.00,2.00,0.00,0.000,4,0.000,0.034,2597,3265,3622,0,0,0,0,0,0
$GC,3464,-0.62,-194.6,483.4,-8.9,379,3467,0.00,1.90,0.00,0.000,6,0.000,0.018,2596,1905,3622,0,0,0,0,0,0
$GC,3804,-0.62,-194.6,509.2,-7.1,405,3807,0.00,2.03,0.00,0.000,4,0.000,0.033,2597,3264,3619,0,0,0,0,0,0
$GC,3888,-0.62,-194.6,515.0,-6.5,408,3895,0.00,1.90,0.00,0.000,6,0.000,0.018,2596,1908,3618,0,0,0,0,0,0
$GC,4205,-0.62,-194.6,534.9,-6.1,424,4209,0.00,2.05,0.00,0.000,4,0.000,0.034,2596,3261,3615,0,0,0,0,0,0
$GC,4282,-0.62,-194.6,539.4,-5.8,427,4286,0.00,1.83,0.00,0.000,6,0.000,0.020,2596,1967,3615,0,0,0,0,0,0
$GC,4607,-0.62,-194.6,558.4,-5.9,443,4610,0.00,1.95,0.00,0.000,4,0.000,0.034,2596,3270,3612,0,0,0,0,0,0
$GC,4645,-0.62,-194.6,561.0,-6.0,444,4652,0.00,1.85,0.00,0.000,6,0.000,0.018,2596,1954,3612,0,0,0,0,0,0
$GC,4963,-0.62,-194.6,582.2,-7.0,460,4967,0.00,2.10,0.00,0.000,4,0.000,0.030,2596,516,3609,0,0,0,0,0,0
$GC,4991,-0.62,-194.6,584.5,-7.0,461,4995,0.00,2.08,0.00,0.000,6,0.000,0.021,2596,1957,3609,0,0,0,0,0,0
$GC,5313,-0.62,-194.6,607.3,-7.2,477,5317,0.00,1.92,0.00,0.000,4,0.000,0.037,2596,3262,3606,0,0,0,0,0,0
$GC,5387,-0.62,-194.6,612.8,-7.7,480,5391,0.00,1.80,0.00,0.000,6,0.000,0.019,2596,1985,3606,0,0,0,0,0,0
$GC,5715,-0.62,-194.6,640.1,-9.0,496,5719,0.00,2.17,0.00,0.000,4,0.000,0.031,2596,519,3603,0,0,0,0,0,0
$GC,5747,-0.62,-194.6,643.4,-9.7,497,5751,0.00,2.10,0.00,0.000,6,0.000,0.022,2590,1955,3603,0,0,0,0,0,0
$GC,6064,-0.62,-194.6,673.1,-9.2,512,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1954,3601,0,0,0,0,0,0
$GC,6373,-0.62,-194.6,698.8,-8.1,527,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1955,3599,0,0,0,0,0,0
$GC,6684,-0.62,-194.6,721.2,-6.8,542,6688,0.00,1.98,0.00,0.000,4,0.000,0.037,2590,3256,3597,0,0,0,0,0,0
$GC,6721,-0.62,-194.6,723.8,-6.7,543,6728,0.00,1.83,0.00,0.000,6,0.000,0.020,2590,1985,3598,0,0,0,0,0,0
$GC,7038,-0.62,-194.6,743.1,-6.2,559,7042,0.00,1.92,0.00,0.000,4,0.000,0.036,2589,3260,3595,0,0,0,0,0,0
$GC,7068,-0.62,-194.6,744.9,-6.2,560,7072,0.00,1.80,0.00,0.000,6,0.000,0.021,2589,1995,3595,0,0,0,0,0,0
$GC,7396,-0.62,-194.6,765.4,-6.5,576,7400,0.00,2.17,0.00,0.000,4,0.000,0.030,2589,517,3593,0,0,0,0,0,0
$GC,7468,-0.62,-194.6,771.1,-7.8,579,7472,0.00,2.12,0.00,0.000,6,0.000,0.022,2590,1966,3592,0,0,0,0,0,0
$GC,7792,-0.62,-194.6,794.9,-7.5,595,7796,0.00,1.95,0.00,0.000,4,0.000,0.038,2590,3261,3591,0,0,0,0,0,0
$GC,7876,-0.62,-194.6,801.2,-7.2,598,7884,0.00,1.80,0.00,0.000,6,0.000,0.021,2590,1994,3590,0,0,0,0,0,0
$GC,8194,-0.62,-194.6,822.7,-6.5,614,8198,0.00,1.95,0.00,0.000,4,0.000,0.037,2589,3260,3589,0,0,0,0,0,0
$GC,8232,-0.62,-194.6,825.4,-6.4,615,8239,0.00,1.80,0.00,0.000,6,0.000,0.020,2590,2010,3589,0,0,0,0,0,0
$GC,8549,-0.62,-194.6,846.7,-7.0,631,8553,0.00,1.90,0.00,0.000,4,0.000,0.037,2588,3260,3587,0,0,0,0,0,0
$GC,8606,-0.62,-194.6,850.7,-6.9,633,8609,0.00,1.75,0.00,0.000,6,0.000,0.021,2589,2027,3587,0,0,0,0,0,0
$GC,8928,-0.62,-194.6,875.3,-8.3,649,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2026,3586,0,0,0,0,0,0
$GC,9238,-0.62,-194.6,900.9,-8.3,664,9243,0.00,1.90,0.00,0.000,4,0.000,0.040,2589,3254,3585,0,0,0,0,0,0
$GC,9265,-0.62,-194.6,903.4,-8.1,665,9269,0.00,1.73,0.00,0.000,6,0.000,0.021,2589,2037,3585,0,0,0,0,0,0
$GC,9594,-0.62,-194.6,929.3,-7.6,681,9598,0.00,2.22,0.00,0.000,4,0.000,0.031,2589,520,3583,0,0,0,0,0,0
$GC,9630,-0.62,-194.6,932.2,-7.6,682,9638,0.00,2.20,0.00,0.000,6,0.000,0.023,2589,2010,3583,0,0,0,0,0,0
$GC,9947,-0.62,-194.6,953.9,-6.2,698,9950,0.00,1.90,0.00,0.000,4,0.000,0.041,2589,3266,3582,0,0,0,0,0,0
$GC,10025,-0.62,-194.6,958.9,-6.2,701,10029,0.00,1.75,0.00,0.000,6,0.000,0.022,2589,2038,3582,0,0,0,0,0,0
$GC,10348,-0.62,-194.6,978.1,-6.1,717,10352,0.00,2.25,0.00,0.000,4,0.000,0.031,2589,508,3581,0,0,0,0,0,0
$GC,10381,-0.62,-194.6,980.5,-6.5,718,10389,0.00,2.25,0.00,0.000,6,0.000,0.023,2589,2030,3580,0,0,0,0,0,0
$STATE,10530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10530,begin apogee
$GC,10537,-0.20,0.0,991.0,7.0,726,10695,0.43,0.00,151.75,1.400,4,0.120,0.000,2732,2030,2839,0,0,0,0,0,0
$STATE,10696,end apogee,CONTROL_FINISHED_OK
$STATE,10696,begin climb
$GC,10699,0.62,194.6,997.4,0.0,733,10882,0.73,2.35,169.02,1.341,4,0.079,0.040,2998,3453,2043,0,0,0,0,0,0
$GC,11028,0.62,194.6,962.5,14.1,748,11033,0.00,2.10,0.00,0.000,6,0.000,0.021,3008,2101,2036,0,0,0,0,0,0
$GC,11349,0.62,194.6,919.1,13.5,764,11353,0.00,2.10,0.00,0.000,4,0.000,0.037,3008,3466,2033,0,0,0,0,0,0
$GC,11474,0.62,194.6,900.8,14.8,769,11481,0.00,2.17,0.00,0.000,6,0.000,0.021,3017,2009,2032,0,0,0,0,0,0
$GC,11790,0.62,194.6,856.6,13.7,785,11794,0.00,2.00,0.00,0.000,4,0.000,0.034,3027,680,2032,0,0,0,0,0,0
$GC,11830,0.62,194.6,851.0,13.7,786,11837,0.00,1.92,0.00,0.000,6,0.000,0.023,3026,1976,2032,0,0,0,0,0,0
$GC,12147,0.62,194.6,806.5,14.0,802,12151,0.00,2.25,0.00,0.000,4,0.000,0.037,3027,3456,2031,0,0,0,0,0,0
$GC,12276,0.62,194.6,786.9,15.2,808,12281,0.12,2.08,0.00,0.000,6,0.175,0.021,3004,2040,2030,0,0,0,0,0,0
$GC,12608,0.62,194.6,748.5,11.4,824,12612,0.00,2.00,0.00,0.000,4,0.000,0.034,3012,682,2030,0,0,0,0,0,0
$GC,12720,0.62,194.6,734.7,11.8,829,12724,0.00,1.95,0.00,0.000,6,0.000,0.023,3012,2006,2030,0,0,0,0,0,0
$GC,13055,0.62,194.6,693.4,12.7,845,13057,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2006,2029,0,0,0,0,0,0
$GC,13363,0.62,194.6,654.2,12.7,860,13366,0.00,1.98,0.00,0.000,4,0.000,0.032,3020,687,2029,0,0,0,0,0,0
$GC,13412,0.62,194.6,647.4,13.3,862,13416,0.00,1.92,0.00,0.000,6,0.000,0.023,3020,1979,2029,0,0,0,0,0,0
$GC,13741,0.62,194.6,602.4,14.1,878,13746,0.00,2.28,0.00,0.000,4,0.000,0.038,3020,3462,2029,0,0,0,0,0,0
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$STATE,19510,end climb,SURFACE_DEPTH_REACHED
$STATE,19510,begin surface coast
$FINISH,2.1,1.021320
$STATE,19520,end surface coast,CONTROL_FINISHED_OK
$STATE,19520,begin surface
$SM_CCo,19600,0.00,0.000,0,0,486,577.44
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$IRIDIUM_FIX,1900.10,12236.85,290711,111118
$TT8_MAMPS,0.027713,0.027713
$HUMID,33.81
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,29.10
$XPDR_PINGS,46
$24V_AH,23.0,39.990
$10V_AH,10.0,37.395
$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
$DEVICE_SECS,19.900,217.800,637.725,0.000,0.000,114.018,80.086,646.346,11.500,0.000,30.928,3835.045,11114.029,795.567,4116.835,975.240,0.000,2500.446,0.000,3527.262,0.000,0.544,0.000
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$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.862,1142.021,1390.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323968
$DATA_FILE_SIZE,86856,1513
$CAP_FILE_SIZE,228298,0
$CFSIZE,260165632,120279040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,307.1,1
$GPS,290711,174024,1906.970,12237.965,37,1.5,38,-2.2