version: 66.09
glider: 167
mission: 8
dive: 239
start: 8 1 111 1 15 34
data:
$ID,167
$MISSION,8
$DIVE,239
$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,-56687.738
$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,79
$R_STBD_OVSHOOT,81
$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
$GPS1,010811,010637,1909.213,12255.784,42,1.3,43,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.0
$GPS2,010811,011508,1909.211,12255.647,16,1.6,16,-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,101.3,12686,-15.3,-9.706
$D_GRID,4657
$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,15,begin dive
$GC,17,-0.62,-194.6,0.0,0.0,0,109,0.00,0.00,-89.40,0.000,2,0.000,0.000,116,1866,2960,0,0,0,0,0,0
$GC,112,-0.62,-194.6,5.0,-6.3,12,145,9.90,2.10,-11.65,0.000,4,0.229,0.043,2579,3257,3636,0,0,0,0,0,0
$GC,153,-0.62,-194.6,22.6,-37.5,17,161,0.00,2.00,0.00,0.000,6,0.000,0.018,2583,1875,3636,0,0,0,0,0,0
$GC,227,-0.62,-194.6,45.5,-30.6,30,236,0.00,2.08,0.00,0.000,4,0.000,0.029,2583,488,3637,0,0,0,0,0,0
$GC,258,-0.62,-194.6,53.3,-25.1,34,266,0.00,1.95,0.00,0.000,6,0.000,0.021,2577,1821,3637,0,0,0,0,0,0
$GC,333,-0.62,-194.6,71.2,-23.7,47,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1821,3637,0,0,0,0,0,0
$GC,409,-0.62,-194.6,86.9,-21.6,60,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1821,3637,0,0,0,0,0,0
$GC,486,-0.62,-194.6,103.4,-19.8,73,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1821,3637,0,0,0,0,0,0
$GC,561,-0.62,-194.6,118.5,-20.8,86,570,0.00,2.12,0.00,0.000,4,0.000,0.031,2566,3247,3638,0,0,0,0,0,0
$GC,628,-0.62,-194.6,132.1,-20.6,97,637,0.10,2.03,0.00,0.000,6,0.156,0.017,2597,1813,3638,0,0,0,0,0,0
$GC,705,-0.62,-194.6,146.6,-17.7,110,714,0.00,1.92,0.00,0.000,4,0.000,0.028,2597,494,3639,0,0,0,0,0,0
$GC,762,-0.62,-194.6,156.9,-17.6,119,770,0.00,1.83,0.00,0.000,6,0.000,0.018,2590,1770,3639,0,0,0,0,0,0
$GC,837,-0.62,-194.6,169.5,-17.0,132,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1770,3639,0,0,0,0,0,0
$GC,911,-0.62,-194.6,181.6,-15.7,145,919,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,3244,3639,0,0,0,0,0,0
$GC,976,-0.62,-194.6,191.8,-14.7,156,983,0.00,2.03,0.00,0.000,6,0.000,0.017,2587,1820,3639,0,0,0,0,0,0
$GC,1051,-0.62,-194.6,203.9,-17.6,167,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1820,3639,0,0,0,0,0,0
$GC,1378,-0.62,-194.6,254.0,-13.8,198,1382,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,3258,3639,0,0,0,0,0,0
$GC,1397,-0.62,-194.6,256.5,-13.6,199,1401,0.00,2.03,0.00,0.000,6,0.000,0.018,2587,1826,3638,0,0,0,0,0,0
$GC,1728,-0.62,-194.6,300.2,-12.2,230,1732,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,3255,3637,0,0,0,0,0,0
$GC,1816,-0.62,-194.6,310.5,-10.0,237,1823,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1881,3636,0,0,0,0,0,0
$GC,2142,-0.62,-194.6,346.6,-10.7,268,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1881,3635,0,0,0,0,0,0
$GC,2464,-0.62,-194.6,384.1,-11.2,298,2467,0.00,2.03,0.00,0.000,4,0.000,0.031,2587,3249,3633,0,0,0,0,0,0
$GC,2531,-0.62,-194.6,391.4,-9.8,304,2535,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1872,3633,0,0,0,0,0,0
$GC,2863,-0.62,-194.6,424.5,-10.0,335,2867,0.00,2.05,0.00,0.000,4,0.000,0.032,2587,3248,3631,0,0,0,0,0,0
$GC,2893,-0.62,-194.6,427.6,-10.0,337,2900,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1915,3630,0,0,0,0,0,0
$GC,3218,-0.62,-194.6,456.7,-8.5,368,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1914,3628,0,0,0,0,0,0
$GC,3539,-0.62,-194.6,486.0,-9.5,398,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1913,3626,0,0,0,0,0,0
$GC,3850,-0.62,-194.6,517.9,-10.7,420,3854,0.00,2.10,0.00,0.000,4,0.000,0.032,2587,501,3624,0,0,0,0,0,0
$GC,3874,-0.62,-194.6,520.4,-10.5,421,3878,0.00,2.03,0.00,0.000,6,0.000,0.021,2586,1901,3624,0,0,0,0,0,0
$GC,4208,-0.62,-194.6,554.6,-10.1,437,4211,0.00,2.03,0.00,0.000,4,0.000,0.036,2586,3273,3621,0,0,0,0,0,0
$GC,4348,-0.62,-194.6,567.6,-8.8,443,4352,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1944,3620,0,0,0,0,0,0
$GC,4676,-0.62,-194.6,597.0,-9.2,459,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1943,3617,0,0,0,0,0,0
$GC,4985,-0.62,-194.6,624.9,-9.1,474,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1943,3615,0,0,0,0,0,0
$GC,5296,-0.62,-194.6,652.9,-9.2,489,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1943,3613,0,0,0,0,0,0
$GC,5603,-0.62,-194.6,680.1,-9.0,504,5607,0.00,2.00,0.00,0.000,4,0.000,0.036,2587,3267,3610,0,0,0,0,0,0
$GC,5637,-0.62,-194.6,683.1,-8.8,505,5640,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1975,3610,0,0,0,0,0,0
$GC,5960,-0.62,-194.6,710.6,-8.5,521,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1973,3608,0,0,0,0,0,0
$GC,6268,-0.62,-194.6,737.0,-8.6,536,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1973,3606,0,0,0,0,0,0
$GC,6579,-0.62,-194.6,761.6,-7.7,551,6584,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,514,3604,0,0,0,0,0,0
$GC,6629,-0.62,-194.6,765.9,-8.1,553,6633,0.00,2.17,0.00,0.000,6,0.000,0.022,2587,1998,3604,0,0,0,0,0,0
$GC,6953,-0.62,-194.6,789.1,-7.1,569,6957,0.00,1.90,0.00,0.000,4,0.000,0.038,2587,3263,3602,0,0,0,0,0,0
$GC,7027,-0.62,-194.6,794.4,-7.0,572,7031,0.00,1.77,0.00,0.000,6,0.000,0.020,2587,2005,3601,0,0,0,0,0,0
$GC,7355,-0.62,-194.6,819.2,-7.7,588,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2003,3600,0,0,0,0,0,0
$GC,7666,-0.62,-194.6,844.8,-8.5,603,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2004,3598,0,0,0,0,0,0
$GC,7973,-0.62,-194.6,869.8,-7.8,618,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2003,3597,0,0,0,0,0,0
$GC,8283,-0.62,-194.6,892.7,-7.2,633,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2003,3595,0,0,0,0,0,0
$GC,8594,-0.62,-194.6,913.4,-6.5,648,8598,0.00,1.95,0.00,0.000,4,0.000,0.039,2587,3263,3594,0,0,0,0,0,0
$GC,8639,-0.62,-194.6,916.4,-6.3,650,8644,0.00,1.85,0.00,0.000,6,0.000,0.022,2586,1992,3594,0,0,0,0,0,0
$GC,8972,-0.62,-194.6,937.8,-6.4,666,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1991,3593,0,0,0,0,0,0
$GC,9283,-0.62,-194.6,956.3,-5.7,681,9286,0.00,1.95,0.00,0.000,4,0.000,0.038,2586,3266,3592,0,0,0,0,0,0
$GC,9316,-0.62,-194.6,958.4,-5.5,682,9319,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,2000,3592,0,0,0,0,0,0
$GC,9638,-0.62,-194.6,976.6,-5.9,698,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1999,3591,0,0,0,0,0,0
$STATE,9862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9862,begin apogee
$GC,9870,-0.20,0.0,990.1,6.0,709,10028,0.43,0.00,153.10,1.395,4,0.117,0.000,2729,2070,2839,0,0,0,0,0,0
$STATE,10028,end apogee,CONTROL_FINISHED_OK
$STATE,10028,begin climb
$GC,10033,0.62,194.6,994.4,0.0,716,10211,0.75,2.33,169.73,1.336,4,0.077,0.039,3001,3471,2045,0,0,0,0,0,0
$GC,10357,0.62,194.6,957.0,14.5,730,10362,0.00,2.12,0.00,0.000,6,0.000,0.021,3010,2100,2036,0,0,0,0,0,0
$GC,10678,0.62,194.6,914.0,13.6,746,10682,0.00,2.12,0.00,0.000,4,0.000,0.037,3010,3472,2033,0,0,0,0,0,0
$GC,10868,0.62,194.6,885.7,14.7,754,10875,0.00,2.12,0.00,0.000,6,0.000,0.021,3020,2043,2032,0,0,0,0,0,0
$GC,11184,0.62,194.6,840.8,14.3,770,11189,0.00,2.05,0.00,0.000,4,0.000,0.033,3030,686,2031,0,0,0,0,0,0
$GC,11299,0.62,194.6,824.5,14.4,775,11303,0.00,2.00,0.00,0.000,6,0.000,0.023,3030,2037,2031,0,0,0,0,0,0
$GC,11632,0.62,194.6,774.5,14.7,791,11637,0.00,2.20,0.00,0.000,4,0.000,0.039,3030,3466,2030,0,0,0,0,0,0
$GC,11694,0.62,194.6,764.5,16.4,793,11702,0.15,2.10,0.00,0.000,6,0.165,0.021,3000,2031,2030,0,0,0,0,0,0
$GC,12010,0.62,194.6,725.2,12.2,809,12014,0.00,2.00,0.00,0.000,4,0.000,0.034,3008,691,2029,0,0,0,0,0,0
$GC,12133,0.62,194.6,709.6,12.9,814,12137,0.00,1.95,0.00,0.000,6,0.000,0.023,3008,2012,2029,0,0,0,0,0,0
$GC,12455,0.62,194.6,671.0,11.6,830,12459,0.00,2.17,0.00,0.000,4,0.000,0.038,3007,3462,2029,0,0,0,0,0,0
$GC,12498,0.62,194.6,665.1,13.4,832,12502,0.00,2.12,0.00,0.000,6,0.000,0.021,3016,2009,2029,0,0,0,0,0,0
$GC,12828,0.62,194.6,626.3,11.7,848,12831,0.00,1.95,0.00,0.000,4,0.000,0.034,3026,692,2029,0,0,0,0,0,0
$GC,12877,0.62,194.6,620.2,11.4,850,12881,0.00,1.92,0.00,0.000,6,0.000,0.023,3026,1985,2028,0,0,0,0,0,0
$GC,13206,0.62,194.6,581.6,11.7,866,13211,0.00,2.25,0.00,0.000,4,0.000,0.038,3027,3454,2028,0,0,0,0,0,0
$GC,13256,0.62,194.6,574.9,13.1,868,13261,0.12,2.12,0.00,0.000,6,0.173,0.021,3002,1994,2028,0,0,0,0,0,0
$GC,13579,0.63,200.9,543.7,9.5,884,13583,0.00,1.92,0.00,0.000,4,0.000,0.033,3010,693,2027,0,0,0,0,0,0
$GC,13659,0.63,200.9,535.6,9.9,887,13662,0.00,1.90,0.00,0.000,6,0.000,0.022,3010,1989,2027,0,0,0,0,0,0
$GC,13981,0.63,200.9,502.2,10.6,903,13986,0.00,2.25,0.00,0.000,4,0.000,0.038,3010,3459,2027,0,0,0,0,0,0
$GC,14020,0.63,200.9,497.5,11.9,905,14029,0.00,2.17,0.00,0.000,6,0.000,0.021,3019,1960,2027,0,0,0,0,0,0
$GC,14345,0.63,200.9,460.2,11.2,936,14348,0.00,1.88,0.00,0.000,4,0.000,0.032,3029,691,2027,0,0,0,0,0,0
$GC,14416,0.63,200.9,452.1,11.2,942,14424,0.00,1.83,0.00,0.000,6,0.000,0.021,3029,1931,2027,0,0,0,0,0,0
$GC,14742,0.63,200.9,416.5,11.0,973,14747,0.00,2.35,0.00,0.000,4,0.000,0.037,3029,3466,2027,0,0,0,0,0,0
$GC,14836,0.63,200.9,404.3,13.2,981,14844,0.12,2.15,0.00,0.000,6,0.171,0.021,3004,1990,2027,0,0,0,0,0,0
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$STATE,18753,end climb,SURFACE_DEPTH_REACHED
$STATE,18753,begin surface coast
$FINISH,0.9,0.997598
$STATE,18785,end surface coast,CONTROL_FINISHED_OK
$STATE,18785,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,35.66
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.10
$XPDR_PINGS,41
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$10V_AH,10.0,39.196
$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
$DEVICE_SECS,19.950,183.425,567.375,0.000,0.000,27.433,18.197,283.824,10.250,0.000,16.999,3702.872,10632.865,703.947,3443.331,874.905,0.000,2297.045,0.000,3369.251,0.000,0.545,0.000
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$SENSOR_SECS,999.766,1129.046,1376.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323872
$DATA_FILE_SIZE,86776,1472
$CAP_FILE_SIZE,202730,0
$CFSIZE,260165632,119173120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,308.6,1
$GPS,010811,063107,1909.436,12257.355,27,1.8,28,-2.2