version: 66.09
glider: 167
mission: 8
dive: 253
start: 8 4 111 5 20 45
data:
$ID,167
$MISSION,8
$DIVE,253
$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,-56705.551
$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,91
$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
$GPS1,040811,050825,1921.687,12312.774,38,1.5,39,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.8
$GPS2,040811,052020,1921.631,12312.597,15,1.3,15,-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,90.9,153249,-15.3,-9.706
$D_GRID,4749
$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,17,-0.62,-194.6,0.0,0.0,0,106,0.00,0.00,-86.50,0.000,2,0.000,0.000,108,1914,3120,0,0,0,0,0,0
$GC,111,-0.62,-194.6,6.2,-12.2,12,135,9.95,2.15,-8.15,0.000,4,0.229,0.037,2596,471,3635,0,0,0,0,0,0
$GC,288,-0.62,-194.6,63.5,-23.2,42,296,0.00,2.00,0.00,0.000,6,0.000,0.019,2589,1849,3637,0,0,0,0,0,0
$GC,366,-0.62,-194.6,78.2,-19.9,55,374,0.00,2.10,0.00,0.000,4,0.000,0.032,2578,3270,3637,0,0,0,0,0,0
$GC,412,-0.62,-194.6,87.3,-19.8,62,420,0.00,1.70,0.00,0.000,6,0.000,0.016,2579,2049,3638,0,0,0,0,0,0
$GC,490,-0.62,-194.6,102.2,-20.8,75,497,0.00,2.28,0.00,0.000,4,0.000,0.027,2579,497,3638,0,0,0,0,0,0
$GC,585,-0.62,-194.6,123.4,-21.9,91,595,0.00,2.08,0.00,0.000,6,0.000,0.021,2573,1913,3638,0,0,0,0,0,0
$GC,665,-0.62,-194.6,139.6,-20.4,104,674,0.00,2.03,0.00,0.000,4,0.000,0.032,2563,3270,3638,0,0,0,0,0,0
$GC,727,-0.62,-194.6,153.2,-21.0,114,736,0.10,1.75,0.00,0.000,6,0.151,0.017,2595,2001,3638,0,0,0,0,0,0
$GC,807,-0.62,-194.6,165.9,-15.1,127,816,0.00,2.20,0.00,0.000,4,0.000,0.028,2594,493,3638,0,0,0,0,0,0
$GC,846,-0.62,-194.6,172.1,-14.7,133,856,0.00,2.25,0.00,0.000,6,0.000,0.021,2588,2028,3638,0,0,0,0,0,0
$GC,925,-0.62,-194.6,182.6,-13.7,146,933,0.00,1.85,0.00,0.000,4,0.000,0.034,2587,3270,3638,0,0,0,0,0,0
$GC,958,-0.62,-194.6,187.3,-13.3,151,967,0.00,1.77,0.00,0.000,6,0.000,0.017,2587,1992,3638,0,0,0,0,0,0
$GC,1035,-0.62,-194.6,197.8,-14.2,164,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1990,3638,0,0,0,0,0,0
$GC,1109,-0.62,-194.6,207.7,-13.2,172,1114,0.00,2.20,0.00,0.000,4,0.000,0.028,2587,487,3638,0,0,0,0,0,0
$GC,1155,-0.62,-194.6,214.0,-13.8,176,1159,0.00,2.25,0.00,0.000,6,0.000,0.021,2587,2046,3638,0,0,0,0,0,0
$GC,1480,-0.62,-194.6,264.5,-16.7,206,1484,0.00,1.77,0.00,0.000,4,0.000,0.034,2579,3275,3638,0,0,0,0,0,0
$GC,1586,-0.62,-194.6,279.2,-12.2,215,1593,0.00,1.67,0.00,0.000,6,0.000,0.017,2579,2050,3637,0,0,0,0,0,0
$GC,1912,-0.62,-194.6,318.8,-11.7,246,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2048,3635,0,0,0,0,0,0
$GC,2233,-0.62,-194.6,355.2,-12.4,276,2237,0.00,1.83,0.00,0.000,4,0.000,0.034,2575,3274,3633,0,0,0,0,0,0
$GC,2282,-0.62,-194.6,361.4,-11.2,280,2292,0.00,1.70,0.00,0.000,6,0.000,0.018,2575,2046,3633,0,0,0,0,0,0
$GC,2608,-0.62,-194.6,399.7,-11.9,311,2612,0.00,2.25,0.00,0.000,4,0.000,0.028,2575,493,3631,0,0,0,0,0,0
$GC,2640,-0.62,-194.6,403.9,-12.2,313,2648,0.00,2.28,0.00,0.000,6,0.000,0.021,2574,2061,3631,0,0,0,0,0,0
$GC,2968,-0.62,-194.6,441.5,-11.9,344,2973,0.00,2.33,0.00,0.000,4,0.000,0.028,2574,497,3629,0,0,0,0,0,0
$GC,2991,-0.62,-194.6,444.4,-11.9,346,2995,0.00,2.28,0.00,0.000,6,0.000,0.021,2573,2062,3629,0,0,0,0,0,0
$GC,3317,-0.62,-194.6,480.2,-11.0,376,3321,0.00,1.80,0.00,0.000,4,0.000,0.036,2574,3279,3626,0,0,0,0,0,0
$GC,3354,-0.62,-194.6,483.9,-10.6,379,3357,0.00,1.73,0.00,0.000,6,0.000,0.019,2574,2040,3626,0,0,0,0,0,0
$GC,3680,-0.62,-194.6,518.2,-11.0,402,3684,0.00,2.25,0.00,0.000,4,0.000,0.028,2574,494,3624,0,0,0,0,0,0
$GC,3775,-0.62,-194.6,528.8,-10.7,406,3779,0.00,2.25,0.00,0.000,6,0.000,0.022,2574,2037,3623,0,0,0,0,0,0
$GC,4091,-0.62,-194.6,564.4,-11.4,421,4096,0.00,1.85,0.00,0.000,4,0.000,0.037,2573,3267,3621,0,0,0,0,0,0
$GC,4123,-0.62,-194.6,568.1,-11.6,422,4127,0.00,1.80,0.00,0.000,6,0.000,0.018,2573,1999,3621,0,0,0,0,0,0
$GC,4448,-0.62,-194.6,601.3,-10.0,438,4452,0.00,2.17,0.00,0.000,4,0.000,0.029,2573,496,3619,0,0,0,0,0,0
$GC,4482,-0.62,-194.6,605.5,-11.0,439,4489,0.00,2.22,0.00,0.000,6,0.000,0.022,2573,2017,3619,0,0,0,0,0,0
$GC,4798,-0.62,-194.6,636.8,-9.7,455,4802,0.00,1.88,0.00,0.000,4,0.000,0.037,2573,3274,3616,0,0,0,0,0,0
$GC,4869,-0.62,-194.6,643.2,-9.1,458,4874,0.00,1.77,0.00,0.000,6,0.000,0.020,2573,2027,3616,0,0,0,0,0,0
$GC,5202,-0.62,-194.6,673.0,-8.3,474,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2026,3613,0,0,0,0,0,0
$GC,5513,-0.62,-194.6,698.1,-8.1,489,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2026,3611,0,0,0,0,0,0
$GC,5821,-0.62,-194.6,725.8,-9.3,504,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2026,3608,0,0,0,0,0,0
$GC,6129,-0.62,-194.6,756.1,-9.9,519,6133,0.00,1.90,0.00,0.000,4,0.000,0.039,2573,3274,3606,0,0,0,0,0,0
$GC,6187,-0.62,-194.6,761.6,-9.3,521,6191,0.00,1.80,0.00,0.000,6,0.000,0.018,2573,2014,3605,0,0,0,0,0,0
$GC,6508,-0.62,-194.6,790.9,-8.9,537,6512,0.00,1.90,0.00,0.000,4,0.000,0.038,2573,3267,3603,0,0,0,0,0,0
$GC,6569,-0.62,-194.6,796.3,-8.5,539,6576,0.00,1.70,0.00,0.000,6,0.000,0.020,2573,2048,3603,0,0,0,0,0,0
$GC,6887,-0.62,-194.6,821.8,-7.7,555,6892,0.00,2.30,0.00,0.000,4,0.000,0.029,2573,503,3601,0,0,0,0,0,0
$GC,6916,-0.62,-194.6,824.3,-7.5,556,6920,0.00,2.35,0.00,0.000,6,0.000,0.024,2573,2084,3601,0,0,0,0,0,0
$GC,7239,-0.62,-194.6,845.6,-6.2,572,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2084,3599,0,0,0,0,0,0
$GC,7546,-0.62,-194.6,864.5,-6.1,587,7551,0.00,2.38,0.00,0.000,4,0.000,0.029,2573,493,3597,0,0,0,0,0,0
$GC,7654,-0.62,-194.6,872.1,-7.4,592,7659,0.00,2.38,0.00,0.000,6,0.000,0.026,2573,2088,3596,0,0,0,0,0,0
$GC,7985,-0.62,-194.6,894.4,-7.1,608,7988,0.00,1.77,0.00,0.000,4,0.000,0.041,2573,3266,3595,0,0,0,0,0,0
$GC,8032,-0.62,-194.6,898.1,-7.0,610,8035,0.00,1.65,0.00,0.000,6,0.000,0.021,2573,2085,3595,0,0,0,0,0,0
$GC,8367,-0.62,-194.6,923.9,-7.8,626,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2083,3594,0,0,0,0,0,0
$GC,8674,-0.62,-194.6,950.2,-8.8,641,8679,0.00,1.83,0.00,0.000,4,0.000,0.040,2573,3263,3592,0,0,0,0,0,0
$GC,8712,-0.62,-194.6,953.5,-8.6,642,8720,0.00,1.67,0.00,0.000,6,0.000,0.021,2573,2106,3592,0,0,0,0,0,0
$GC,9032,-0.62,-194.6,981.7,-9.0,658,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2104,3590,0,0,0,0,0,0
$STATE,9129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9129,begin apogee
$GC,9135,-0.20,0.0,990.9,8.9,663,9293,0.47,0.00,153.20,1.397,4,0.120,0.000,2729,2101,2839,0,0,0,0,0,0
$STATE,9294,end apogee,CONTROL_FINISHED_OK
$STATE,9294,begin climb
$GC,9296,0.62,194.6,998.3,0.0,670,9479,0.75,2.28,169.10,1.341,4,0.080,0.039,3001,3465,2044,0,0,0,0,0,0
$GC,9660,0.62,194.6,961.3,12.6,687,9664,0.00,2.10,0.00,0.000,6,0.000,0.021,3009,2085,2035,0,0,0,0,0,0
$GC,9990,0.62,194.6,922.6,11.8,703,9994,0.00,2.12,0.00,0.000,4,0.000,0.037,3009,3472,2033,0,0,0,0,0,0
$GC,10124,0.62,194.6,904.7,13.0,709,10128,0.00,2.15,0.00,0.000,6,0.000,0.021,3019,2011,2032,0,0,0,0,0,0
$GC,10453,0.62,194.6,865.3,12.2,725,10456,0.00,1.95,0.00,0.000,4,0.000,0.034,3029,685,2031,0,0,0,0,0,0
$GC,10576,0.62,194.6,849.2,13.1,730,10579,0.00,1.90,0.00,0.000,6,0.000,0.024,3029,1952,2032,0,0,0,0,0,0
$GC,10898,0.62,194.6,805.6,13.9,746,10902,0.00,2.28,0.00,0.000,4,0.000,0.038,3029,3463,2030,0,0,0,0,0,0
$GC,10932,0.62,194.6,800.4,15.1,747,10939,0.12,2.22,0.00,0.000,6,0.176,0.021,3005,1949,2030,0,0,0,0,0,0
$GC,11248,0.62,194.6,759.3,12.9,763,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1949,2029,0,0,0,0,0,0
$GC,11558,0.62,194.6,720.5,12.0,778,11563,0.00,1.90,0.00,0.000,4,0.000,0.034,3013,684,2029,0,0,0,0,0,0
$GC,11649,0.62,194.6,710.1,11.0,782,11653,0.00,1.92,0.00,0.000,6,0.000,0.024,3013,1973,2029,0,0,0,0,0,0
$GC,11981,0.62,194.6,674.3,10.3,798,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1973,2029,0,0,0,0,0,0
$GC,12292,0.62,194.6,642.7,10.2,813,12296,0.00,2.25,0.00,0.000,4,0.000,0.038,3013,3470,2028,0,0,0,0,0,0
$GC,12458,0.62,194.6,622.4,12.0,820,12465,0.00,2.08,0.00,0.000,6,0.000,0.021,3023,2040,2028,0,0,0,0,0,0
$GC,12776,0.62,194.6,587.0,11.1,836,12780,0.00,2.00,0.00,0.000,4,0.000,0.033,3033,694,2028,0,0,0,0,0,0
$GC,12853,0.62,194.6,577.5,12.0,839,12858,0.12,1.95,0.00,0.000,6,0.149,0.023,2999,2004,2027,0,0,0,0,0,0
$GC,13177,0.62,194.6,543.0,10.9,855,13178,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2003,2027,0,0,0,0,0,0
$GC,13484,0.62,194.6,509.8,10.8,870,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2004,2027,0,0,0,0,0,0
$GC,13800,0.62,194.6,474.1,10.7,895,13804,0.00,2.20,0.00,0.000,4,0.000,0.037,2998,3464,2027,0,0,0,0,0,0
$GC,13853,0.62,194.6,468.3,11.3,899,13857,0.00,2.12,0.00,0.000,6,0.000,0.021,3006,2002,2027,0,0,0,0,0,0
$GC,14179,0.64,211.5,436.0,9.1,929,14202,0.00,2.00,12.75,0.939,4,0.000,0.032,3015,689,1975,0,0,0,0,0,0
$GC,14251,0.65,219.9,429.4,9.4,935,14266,0.00,1.92,8.75,0.874,6,0.000,0.022,3015,1983,1941,0,0,0,0,0,0
$GC,14594,0.65,219.9,395.1,10.3,967,14598,0.00,1.92,0.00,0.000,4,0.000,0.031,3022,682,1938,0,0,0,0,0,0
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$STATE,18574,end climb,SURFACE_DEPTH_REACHED
$STATE,18574,begin surface coast
$FINISH,0.7,1.010017
$STATE,18610,end surface coast,CONTROL_FINISHED_OK
$STATE,18610,begin surface
$SM_CCo,18689,0.00,0.000,0,0,485,577.44
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$IRIDIUM_FIX,1913.80,12319.24,030811,232356
$TT8_MAMPS,0.028462,0.028462
$HUMID,34.99
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.60
$XPDR_PINGS,46
$24V_AH,22.9,45.119
$10V_AH,9.9,41.476
$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,19.675,186.700,637.575,0.000,0.000,28.668,21.106,484.966,11.500,0.000,16.022,3730.502,10290.647,729.622,3682.229,948.811,0.000,2354.743,0.000,3484.674,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,40.545,1396.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1008.266,1166.692,1477.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329844
$DATA_FILE_SIZE,86702,1487
$CAP_FILE_SIZE,207010,0
$CFSIZE,260165632,117764096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,276.2,1
$GPS,040811,103331,1921.769,12314.009,37,1.3,38,-2.3