version: 66.09
glider: 167
mission: 8
dive: 250
start: 8 3 111 13 10 39
data:
$ID,167
$MISSION,8
$DIVE,250
$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,-6
$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,-56701.68
$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,70
$R_STBD_OVSHOOT,69
$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
$GPS1,030811,130107,1918.562,12311.103,29,1.2,30,-2.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-68.6
$GPS2,030811,131013,1918.538,12310.944,11,1.2,16,-2.3
$SPEED_LIMITS,0.168,0.293
$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,65.8,159158,-15.3,-9.706
$D_GRID,4674
$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,18,-0.62,-194.6,0.0,0.0,0,116,0.00,0.00,-95.40,0.000,2,0.000,0.000,110,1804,3187,0,0,0,0,0,0
$GC,118,-0.62,-194.6,6.7,-12.5,13,145,10.00,1.95,-6.97,0.000,4,0.232,0.032,2595,449,3635,0,0,0,0,0,0
$GC,234,-0.62,-194.6,49.3,-27.5,32,242,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1861,3637,0,0,0,0,0,0
$GC,308,-0.62,-194.6,69.7,-28.5,45,316,0.00,2.10,0.00,0.000,4,0.000,0.031,2576,3264,3637,0,0,0,0,0,0
$GC,399,-0.62,-194.6,90.7,-22.9,60,407,0.00,1.88,0.00,0.000,6,0.000,0.017,2577,1939,3638,0,0,0,0,0,0
$GC,478,-0.62,-194.6,106.3,-21.3,73,486,0.00,2.12,0.00,0.000,4,0.000,0.028,2576,486,3637,0,0,0,0,0,0
$GC,522,-0.62,-194.6,115.6,-19.7,80,531,0.00,2.10,0.00,0.000,6,0.000,0.021,2570,1929,3638,0,0,0,0,0,0
$GC,601,-0.62,-194.6,130.5,-20.4,93,610,0.10,2.00,0.00,0.000,4,0.200,0.031,2586,3265,3638,0,0,0,0,0,0
$GC,638,-0.62,-194.6,136.2,-16.1,98,647,0.00,1.90,0.00,0.000,6,0.000,0.017,2585,1917,3638,0,0,0,0,0,0
$GC,715,-0.62,-194.6,148.3,-16.4,111,723,0.00,2.05,0.00,0.000,4,0.000,0.027,2585,509,3638,0,0,0,0,0,0
$GC,737,-0.62,-194.6,152.0,-16.6,114,745,0.00,2.15,0.00,0.000,6,0.000,0.020,2575,2011,3639,0,0,0,0,0,0
$GC,816,-0.62,-194.6,165.4,-18.9,127,823,0.00,1.90,0.00,0.000,4,0.000,0.035,2571,3271,3639,0,0,0,0,0,0
$GC,844,-0.62,-194.6,170.8,-18.6,131,852,0.00,1.73,0.00,0.000,6,0.000,0.017,2572,2040,3639,0,0,0,0,0,0
$GC,924,-0.62,-194.6,184.2,-17.6,144,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2038,3638,0,0,0,0,0,0
$GC,999,-0.62,-194.6,196.9,-17.1,157,1007,0.00,2.22,0.00,0.000,4,0.000,0.028,2571,515,3638,0,0,0,0,0,0
$GC,1025,-0.62,-194.6,202.2,-17.7,160,1030,0.12,2.22,0.00,0.000,6,0.171,0.021,2594,2069,3638,0,0,0,0,0,0
$GC,1350,-0.62,-194.6,247.9,-12.3,190,1355,0.00,2.28,0.00,0.000,4,0.000,0.026,2594,507,3638,0,0,0,0,0,0
$GC,1394,-0.62,-194.6,253.3,-13.0,193,1399,0.00,2.20,0.00,0.000,6,0.000,0.021,2588,2014,3637,0,0,0,0,0,0
$GC,1724,-0.62,-194.6,299.9,-13.9,224,1728,0.00,1.85,0.00,0.000,4,0.000,0.035,2587,3271,3637,0,0,0,0,0,0
$GC,1763,-0.62,-194.6,305.3,-13.5,227,1770,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1993,3637,0,0,0,0,0,0
$GC,2088,-0.62,-194.6,349.1,-12.4,258,2092,0.00,2.12,0.00,0.000,4,0.000,0.028,2587,508,3635,0,0,0,0,0,0
$GC,2198,-0.62,-194.6,362.6,-12.0,267,2203,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1930,3634,0,0,0,0,0,0
$GC,2528,-0.62,-194.6,401.1,-10.7,298,2532,0.00,1.98,0.00,0.000,4,0.000,0.034,2579,3276,3633,0,0,0,0,0,0
$GC,2598,-0.62,-194.6,408.1,-10.0,304,2601,0.00,1.85,0.00,0.000,6,0.000,0.018,2579,1955,3632,0,0,0,0,0,0
$GC,2929,-0.62,-194.6,445.2,-10.2,335,2934,0.00,2.12,0.00,0.000,4,0.000,0.031,2579,513,3630,0,0,0,0,0,0
$GC,3008,-0.62,-194.6,453.2,-9.8,342,3012,0.00,2.05,0.00,0.000,6,0.000,0.021,2575,1924,3629,0,0,0,0,0,0
$GC,3338,-0.62,-194.6,484.4,-9.5,373,3342,0.00,1.95,0.00,0.000,4,0.000,0.034,2574,3263,3627,0,0,0,0,0,0
$GC,3385,-0.62,-194.6,488.9,-9.6,377,3388,0.00,1.85,0.00,0.000,6,0.000,0.018,2575,1938,3627,0,0,0,0,0,0
$GC,3711,-0.62,-194.6,521.5,-9.9,398,3714,0.00,1.98,0.00,0.000,4,0.000,0.034,2575,3263,3624,0,0,0,0,0,0
$GC,3757,-0.62,-194.6,526.0,-9.3,400,3761,0.00,1.85,0.00,0.000,6,0.000,0.019,2574,1941,3624,0,0,0,0,0,0
$GC,4091,-0.62,-194.6,558.3,-10.3,416,4095,0.00,1.98,0.00,0.000,4,0.000,0.034,2574,3273,3622,0,0,0,0,0,0
$GC,4117,-0.62,-194.6,560.9,-10.5,417,4120,0.00,1.88,0.00,0.000,6,0.000,0.019,2575,1946,3622,0,0,0,0,0,0
$GC,4450,-0.62,-194.6,599.0,-11.8,433,4454,0.00,2.08,0.00,0.000,4,0.000,0.031,2575,514,3619,0,0,0,0,0,0
$GC,4529,-0.62,-194.6,608.4,-11.5,436,4536,0.00,2.03,0.00,0.000,6,0.000,0.021,2575,1913,3619,0,0,0,0,0,0
$GC,4845,-0.62,-194.6,636.5,-7.9,452,4850,0.00,2.03,0.00,0.000,4,0.000,0.037,2575,3257,3616,0,0,0,0,0,0
$GC,4937,-0.62,-194.6,642.4,-6.4,456,4942,0.00,1.88,0.00,0.000,6,0.000,0.021,2574,1952,3615,0,0,0,0,0,0
$GC,5270,-0.62,-194.6,661.9,-6.0,472,5274,0.00,1.95,0.00,0.000,4,0.000,0.036,2575,3263,3612,0,0,0,0,0,0
$GC,5303,-0.62,-194.6,664.1,-6.0,473,5307,0.00,1.83,0.00,0.000,6,0.000,0.021,2575,1976,3612,0,0,0,0,0,0
$GC,5627,-0.62,-194.6,688.5,-8.6,489,5630,0.00,1.92,0.00,0.000,4,0.000,0.037,2574,3264,3609,0,0,0,0,0,0
$GC,5660,-0.62,-194.6,691.7,-9.1,490,5663,0.00,1.80,0.00,0.000,6,0.000,0.020,2575,1987,3609,0,0,0,0,0,0
$GC,5982,-0.62,-194.6,720.0,-8.8,506,5986,0.00,2.20,0.00,0.000,4,0.000,0.031,2574,514,3606,0,0,0,0,0,0
$GC,6030,-0.62,-194.6,724.2,-9.2,508,6034,0.00,2.15,0.00,0.000,6,0.000,0.023,2575,1981,3606,0,0,0,0,0,0
$GC,6358,-0.62,-194.6,752.3,-8.3,524,6361,0.00,1.90,0.00,0.000,4,0.000,0.038,2575,3263,3605,0,0,0,0,0,0
$GC,6455,-0.62,-194.6,760.4,-8.3,528,6459,0.00,1.77,0.00,0.000,6,0.000,0.020,2574,2024,3603,0,0,0,0,0,0
$GC,6782,-0.62,-194.6,788.3,-8.7,544,6786,0.00,2.22,0.00,0.000,4,0.000,0.030,2574,514,3601,0,0,0,0,0,0
$GC,6822,-0.62,-194.6,792.0,-9.0,546,6826,0.00,2.20,0.00,0.000,6,0.000,0.024,2575,2007,3601,0,0,0,0,0,0
$GC,7150,-0.62,-194.6,819.9,-8.5,562,7155,0.00,1.92,0.00,0.000,4,0.000,0.040,2574,3264,3599,0,0,0,0,0,0
$GC,7198,-0.62,-194.6,823.8,-8.1,564,7202,0.00,1.77,0.00,0.000,6,0.000,0.019,2574,2007,3599,0,0,0,0,0,0
$GC,7533,-0.62,-194.6,851.0,-8.0,580,7537,0.00,2.20,0.00,0.000,4,0.000,0.030,2575,515,3598,0,0,0,0,0,0
$GC,7560,-0.62,-194.6,853.6,-8.1,581,7564,0.00,2.17,0.00,0.000,6,0.000,0.024,2575,2006,3597,0,0,0,0,0,0
$GC,7877,-0.62,-194.6,879.4,-8.1,596,7880,0.00,1.88,0.00,0.000,4,0.000,0.040,2574,3261,3596,0,0,0,0,0,0
$GC,7969,-0.62,-194.6,886.7,-7.9,600,7973,0.00,1.73,0.00,0.000,6,0.000,0.023,2574,2054,3595,0,0,0,0,0,0
$GC,8303,-0.62,-194.6,912.9,-7.8,616,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2053,3594,0,0,0,0,0,0
$GC,8614,-0.62,-194.6,935.8,-7.1,631,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2053,3592,0,0,0,0,0,0
$GC,8921,-0.62,-194.6,956.1,-6.3,646,8925,0.00,2.28,0.00,0.000,4,0.000,0.031,2575,517,3591,0,0,0,0,0,0
$GC,8992,-0.62,-194.6,961.2,-7.1,649,8996,0.00,2.25,0.00,0.000,6,0.000,0.025,2575,2034,3591,0,0,0,0,0,0
$GC,9310,-0.62,-194.6,980.9,-6.2,664,9313,0.00,1.88,0.00,0.000,4,0.000,0.041,2574,3268,3590,0,0,0,0,0,0
$GC,9371,-0.62,-194.6,985.0,-6.3,666,9379,0.00,1.75,0.00,0.000,6,0.000,0.021,2575,2053,3590,0,0,0,0,0,0
$STATE,9459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9459,begin apogee
$GC,9467,-0.20,0.0,990.5,6.5,671,9625,0.47,0.00,153.50,1.395,4,0.119,0.000,2732,2047,2838,0,0,0,0,0,0
$STATE,9626,end apogee,CONTROL_FINISHED_OK
$STATE,9626,begin climb
$GC,9629,0.62,194.6,995.3,0.0,678,9806,0.73,2.35,169.15,1.338,4,0.078,0.040,2996,3455,2045,0,0,0,0,0,0
$GC,9992,0.62,194.6,956.3,12.7,694,9996,0.00,2.05,0.00,0.000,6,0.000,0.021,3005,2101,2035,0,0,0,0,0,0
$GC,10321,0.62,194.6,919.0,11.4,710,10324,0.00,2.12,0.00,0.000,4,0.000,0.037,3005,3470,2033,0,0,0,0,0,0
$GC,10529,0.62,194.6,892.0,13.0,719,10533,0.00,2.10,0.00,0.000,6,0.000,0.021,3014,2050,2032,0,0,0,0,0,0
$GC,10850,0.62,194.6,850.6,13.1,735,10855,0.00,2.05,0.00,0.000,4,0.000,0.034,3024,689,2031,0,0,0,0,0,0
$GC,10910,0.62,194.6,842.5,13.3,737,10917,0.00,1.98,0.00,0.000,6,0.000,0.024,3024,2004,2031,0,0,0,0,0,0
$GC,11228,0.62,194.6,798.8,14.1,753,11232,0.00,2.22,0.00,0.000,4,0.000,0.038,3025,3465,2030,0,0,0,0,0,0
$GC,11272,0.62,194.6,791.7,15.5,755,11276,0.12,2.08,0.00,0.000,6,0.173,0.022,3000,2038,2030,0,0,0,0,0,0
$GC,11601,0.62,194.6,749.6,12.8,771,11605,0.00,2.03,0.00,0.000,4,0.000,0.034,3009,679,2030,0,0,0,0,0,0
$GC,11673,0.62,194.6,739.9,12.9,774,11678,0.00,2.00,0.00,0.000,6,0.000,0.023,3008,2020,2030,0,0,0,0,0,0
$GC,12001,0.62,194.6,699.0,12.1,790,12003,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2021,2029,0,0,0,0,0,0
$GC,12309,0.62,194.6,662.2,11.6,805,12313,0.00,2.17,0.00,0.000,4,0.000,0.038,3009,3460,2029,0,0,0,0,0,0
$GC,12375,0.62,194.6,654.3,12.7,808,12379,0.00,2.12,0.00,0.000,6,0.000,0.021,3017,2005,2028,0,0,0,0,0,0
$GC,12704,0.62,194.6,616.4,11.2,824,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2004,2028,0,0,0,0,0,0
$GC,13011,0.62,194.6,584.0,10.5,839,13015,0.00,1.92,0.00,0.000,4,0.000,0.034,3027,687,2028,0,0,0,0,0,0
$GC,13079,0.62,194.6,576.7,11.1,842,13083,0.00,1.98,0.00,0.000,6,0.000,0.023,3027,2032,2028,0,0,0,0,0,0
$GC,13413,0.62,194.6,540.0,10.7,858,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2033,2028,0,0,0,0,0,0
$GC,13721,0.62,194.6,506.0,11.3,873,13725,0.00,2.20,0.00,0.000,4,0.000,0.039,3027,3464,2027,0,0,0,0,0,0
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$GC,17101,0.80,339.0,161.9,9.0,1209,17126,0.00,0.00,18.23,0.716,6,0.000,0.000,3032,1998,1455,0,0,0,0,0,0
$GC,17191,0.82,359.3,153.7,9.0,1224,17213,0.00,0.00,17.48,0.700,6,0.000,0.000,3032,1998,1373,0,0,0,0,0,0
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$STATE,18606,end climb,SURFACE_DEPTH_REACHED
$STATE,18606,begin surface coast
$FINISH,0.7,1.021142
$STATE,18632,end surface coast,CONTROL_FINISHED_OK
$STATE,18632,begin surface
$SM_CCo,18711,0.00,0.000,0,0,514,570.32
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$TT8_MAMPS,0.028462,0.028462
$HUMID,36.69
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.20
$XPDR_PINGS,40
$24V_AH,22.9,44.461
$10V_AH,9.9,40.978
$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
$DEVICE_SECS,19.875,198.625,628.625,0.000,0.000,27.636,38.567,299.537,10.000,0.000,17.381,3701.353,10378.266,721.378,3552.152,883.512,0.000,2349.185,0.000,3434.566,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329668
$DATA_FILE_SIZE,86870,1455
$CAP_FILE_SIZE,206912,0
$CFSIZE,260165632,118067200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,293.5,1
$GPS,030811,182337,1920.147,12312.189,27,1.4,28,-2.3