version: 66.09
glider: 167
mission: 8
dive: 265
start: 8 6 111 23 21 1
data:
$ID,167
$MISSION,8
$DIVE,265
$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,-56720.953
$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,102
$R_STBD_OVSHOOT,65
$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
$GPS1,060811,230824,1933.462,12323.037,42,1.5,60,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.5
$GPS2,060811,232036,1933.650,12322.886,15,1.4,31,-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,95.6,125350,-15.3,-9.706
$D_GRID,5000
$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,14,begin dive
$GC,17,-0.62,-194.6,0.0,0.0,0,106,0.00,0.00,-86.57,0.000,2,0.000,0.000,111,1839,3021,0,0,0,0,0,0
$GC,111,-0.62,-194.6,5.2,-7.3,11,142,10.02,2.17,-10.38,0.000,4,0.231,0.041,2583,3277,3636,0,0,0,0,0,0
$GC,189,-0.62,-194.6,36.2,-32.0,23,197,0.00,2.00,0.00,0.000,6,0.000,0.018,2584,1897,3636,0,0,0,0,0,0
$GC,265,-0.62,-194.6,56.3,-25.8,36,275,0.00,2.05,0.00,0.000,4,0.000,0.029,2576,3265,3637,0,0,0,0,0,0
$GC,325,-0.62,-194.6,70.8,-24.6,45,333,0.00,1.80,0.00,0.000,6,0.000,0.017,2576,1996,3637,0,0,0,0,0,0
$GC,400,-0.62,-194.6,88.1,-20.9,58,408,0.00,2.20,0.00,0.000,4,0.000,0.027,2576,490,3637,0,0,0,0,0,0
$GC,433,-0.62,-194.6,94.3,-19.4,63,441,0.08,2.05,0.00,0.000,6,0.163,0.020,2592,1899,3637,0,0,0,0,0,0
$GC,509,-0.62,-194.6,107.9,-17.6,76,518,0.00,2.03,0.00,0.000,4,0.000,0.031,2583,3263,3637,0,0,0,0,0,0
$GC,563,-0.62,-194.6,117.4,-17.5,85,571,0.00,1.85,0.00,0.000,6,0.000,0.024,2583,1955,3637,0,0,0,0,0,0
$GC,639,-0.62,-194.6,129.5,-16.4,98,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1955,3637,0,0,0,0,0,0
$GC,714,-0.62,-194.6,141.3,-15.1,111,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1955,3638,0,0,0,0,0,0
$GC,789,-0.62,-194.6,153.0,-14.8,124,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1955,3638,0,0,0,0,0,0
$GC,864,-0.62,-194.6,163.8,-13.8,137,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1955,3638,0,0,0,0,0,0
$GC,940,-0.62,-194.6,175.7,-17.2,150,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1955,3638,0,0,0,0,0,0
$GC,1015,-0.62,-194.6,189.4,-18.1,163,1023,0.00,2.15,0.00,0.000,4,0.000,0.029,2583,493,3638,0,0,0,0,0,0
$GC,1044,-0.62,-194.6,194.1,-16.7,167,1052,0.00,2.20,0.00,0.000,6,0.000,0.021,2574,2003,3638,0,0,0,0,0,0
$GC,1128,-0.62,-194.6,207.2,-15.9,177,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2003,3638,0,0,0,0,0,0
$GC,1455,-0.62,-194.6,260.0,-14.9,208,1459,0.00,1.90,0.00,0.000,4,0.000,0.034,2566,3269,3637,0,0,0,0,0,0
$GC,1515,-0.62,-194.6,269.0,-14.2,213,1523,0.08,1.77,0.00,0.000,6,0.144,0.018,2591,1987,3637,0,0,0,0,0,0
$GC,1841,-0.62,-194.6,311.1,-15.4,244,1845,0.00,2.15,0.00,0.000,4,0.000,0.028,2591,492,3636,0,0,0,0,0,0
$GC,1904,-0.62,-194.6,321.0,-15.6,249,1908,0.00,2.22,0.00,0.000,6,0.000,0.021,2587,2017,3636,0,0,0,0,0,0
$GC,2234,-0.62,-194.6,376.2,-15.4,280,2237,0.00,1.83,0.00,0.000,4,0.000,0.034,2587,3263,3634,0,0,0,0,0,0
$GC,2306,-0.62,-194.6,385.9,-12.1,286,2313,0.00,1.77,0.00,0.000,6,0.000,0.018,2587,1993,3633,0,0,0,0,0,0
$GC,2633,-0.62,-194.6,417.9,-7.7,317,2637,0.00,2.20,0.00,0.000,4,0.000,0.029,2587,496,3632,0,0,0,0,0,0
$GC,2704,-0.62,-194.6,423.4,-7.4,323,2711,0.00,2.12,0.00,0.000,6,0.000,0.021,2588,1971,3631,0,0,0,0,0,0
$GC,3030,-0.62,-194.6,450.1,-9.2,354,3034,0.00,1.88,0.00,0.000,4,0.000,0.034,2587,3263,3629,0,0,0,0,0,0
$GC,3099,-0.62,-194.6,456.1,-8.1,360,3104,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1981,3628,0,0,0,0,0,0
$GC,3429,-0.62,-194.6,489.3,-10.3,391,3433,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,490,3626,0,0,0,0,0,0
$GC,3496,-0.62,-194.6,495.9,-9.7,396,3504,0.00,2.20,0.00,0.000,6,0.000,0.022,2587,2005,3625,0,0,0,0,0,0
$GC,3815,-0.62,-194.6,525.9,-9.3,414,3819,0.00,1.88,0.00,0.000,4,0.000,0.036,2587,3273,3623,0,0,0,0,0,0
$GC,3871,-0.62,-194.6,530.9,-8.3,416,3875,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1983,3624,0,0,0,0,0,0
$GC,4194,-0.62,-194.6,560.5,-9.3,432,4197,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,497,3621,0,0,0,0,0,0
$GC,4257,-0.62,-194.6,566.8,-9.7,435,4261,0.00,2.12,0.00,0.000,6,0.000,0.023,2588,1938,3621,0,0,0,0,0,0
$GC,4589,-0.62,-194.6,600.2,-10.5,451,4593,0.00,1.98,0.00,0.000,4,0.000,0.037,2587,3263,3618,0,0,0,0,0,0
$GC,4628,-0.62,-194.6,604.2,-9.9,452,4636,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1918,3618,0,0,0,0,0,0
$GC,4944,-0.62,-194.6,635.0,-8.5,468,4949,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,505,3616,0,0,0,0,0,0
$GC,4990,-0.62,-194.6,638.5,-7.3,470,4995,0.00,2.10,0.00,0.000,6,0.000,0.022,2587,1932,3615,0,0,0,0,0,0
$GC,5324,-0.62,-194.6,655.0,-3.8,486,5328,0.00,2.00,0.00,0.000,4,0.000,0.036,2587,3271,3613,0,0,0,0,0,0
$GC,5394,-0.62,-194.6,657.2,-3.5,489,5398,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1940,3612,0,0,0,0,0,0
$GC,5730,-0.62,-194.6,675.3,-7.6,505,5733,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,493,3610,0,0,0,0,0,0
$GC,5774,-0.62,-194.6,680.0,-10.0,507,5778,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1950,3610,0,0,0,0,0,0
$GC,6102,-0.62,-194.6,716.1,-11.6,523,6106,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3267,3607,0,0,0,0,0,0
$GC,6248,-0.62,-194.6,731.9,-10.3,529,6252,0.00,1.75,0.00,0.000,6,0.000,0.019,2587,2004,3606,0,0,0,0,0,0
$GC,6571,-0.62,-194.6,761.7,-8.3,545,6576,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,511,3605,0,0,0,0,0,0
$GC,6623,-0.62,-194.6,766.0,-8.2,547,6627,0.00,2.17,0.00,0.000,6,0.000,0.024,2587,1990,3604,0,0,0,0,0,0
$GC,6945,-0.62,-194.6,787.9,-6.5,563,6949,0.00,1.90,0.00,0.000,4,0.000,0.039,2587,3258,3602,0,0,0,0,0,0
$GC,6984,-0.62,-194.6,790.5,-6.4,564,6992,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2027,3601,0,0,0,0,0,0
$GC,7302,-0.62,-194.6,809.4,-6.3,580,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2027,3600,0,0,0,0,0,0
$GC,7610,-0.62,-194.6,832.2,-7.9,595,7615,0.00,2.28,0.00,0.000,4,0.000,0.031,2587,507,3598,0,0,0,0,0,0
$GC,7680,-0.62,-194.6,838.5,-9.5,598,7684,0.00,2.17,0.00,0.000,6,0.000,0.025,2587,1993,3598,0,0,0,0,0,0
$GC,8007,-0.62,-194.6,868.7,-9.4,614,8012,0.00,1.92,0.00,0.000,4,0.000,0.040,2587,3252,3596,0,0,0,0,0,0
$GC,8058,-0.62,-194.6,873.5,-9.4,616,8062,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,2007,3596,0,0,0,0,0,0
$GC,8387,-0.62,-194.6,901.5,-7.9,632,8391,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,504,3594,0,0,0,0,0,0
$GC,8509,-0.62,-194.6,911.8,-8.1,637,8516,0.00,2.17,0.00,0.000,6,0.000,0.025,2587,1972,3594,0,0,0,0,0,0
$GC,8827,-0.62,-194.6,931.5,-5.9,653,8831,0.00,1.95,0.00,0.000,4,0.000,0.041,2587,3261,3593,0,0,0,0,0,0
$GC,8896,-0.62,-194.6,935.5,-5.7,656,8900,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,1999,3592,0,0,0,0,0,0
$GC,9231,-0.62,-194.6,955.1,-6.1,672,9235,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,496,3591,0,0,0,0,0,0
$GC,9280,-0.62,-194.6,958.8,-7.1,674,9285,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,1968,3591,0,0,0,0,0,0
$GC,9602,-0.62,-194.6,980.9,-7.1,690,9606,0.00,1.92,0.00,0.000,4,0.000,0.041,2587,3257,3590,0,0,0,0,0,0
$GC,9636,-0.62,-194.6,983.4,-7.0,691,9640,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,1998,3589,0,0,0,0,0,0
$STATE,9728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9728,begin apogee
$GC,9735,-0.20,0.0,990.1,7.1,696,9895,0.43,0.00,153.60,1.394,4,0.115,0.000,2730,2096,2838,0,0,0,0,0,0
$STATE,9896,end apogee,CONTROL_FINISHED_OK
$STATE,9896,begin climb
$GC,9898,0.62,194.6,996.0,0.0,703,10076,0.75,2.22,169.50,1.343,4,0.079,0.040,3000,3436,2044,0,0,0,0,0,0
$GC,10261,0.62,194.6,953.7,14.7,719,10265,0.00,2.05,0.00,0.000,6,0.000,0.021,3010,2078,2035,0,0,0,0,0,0
$GC,10591,0.62,194.6,907.7,14.1,735,10595,0.00,2.10,0.00,0.000,4,0.000,0.037,3009,3442,2033,0,0,0,0,0,0
$GC,10732,0.62,194.6,886.0,14.9,741,10736,0.00,2.08,0.00,0.000,6,0.000,0.021,3019,2040,2032,0,0,0,0,0,0
$GC,11049,0.62,194.6,842.7,13.2,756,11053,0.00,2.03,0.00,0.000,4,0.000,0.034,3029,682,2032,0,0,0,0,0,0
$GC,11154,0.62,194.6,828.7,12.6,760,11163,0.00,1.95,0.00,0.000,6,0.000,0.024,3029,1980,2031,0,0,0,0,0,0
$GC,11471,0.62,194.6,788.9,12.3,776,11475,0.00,2.22,0.00,0.000,4,0.000,0.038,3029,3446,2031,0,0,0,0,0,0
$GC,11580,0.62,194.6,774.0,14.0,781,11585,0.10,2.05,0.00,0.000,6,0.146,0.021,3005,2057,2030,0,0,0,0,0,0
$GC,11915,0.62,194.6,732.2,12.7,797,11919,0.00,2.05,0.00,0.000,4,0.000,0.034,3014,687,2030,0,0,0,0,0,0
$GC,12056,0.62,194.6,713.7,13.0,803,12060,0.00,1.92,0.00,0.000,6,0.000,0.024,3014,1987,2030,0,0,0,0,0,0
$GC,12384,0.62,194.6,671.3,12.9,819,12388,0.00,2.17,0.00,0.000,4,0.000,0.039,3014,3437,2029,0,0,0,0,0,0
$GC,12463,0.62,194.6,660.0,13.9,822,12470,0.00,2.03,0.00,0.000,6,0.000,0.021,3023,2066,2029,0,0,0,0,0,0
$GC,12779,0.62,194.6,620.7,11.8,838,12782,0.00,2.03,0.00,0.000,4,0.000,0.034,3034,688,2029,0,0,0,0,0,0
$GC,12959,0.62,194.6,599.3,12.1,846,12963,0.12,1.90,0.00,0.000,6,0.155,0.024,3000,1976,2028,0,0,0,0,0,0
$GC,13291,0.62,194.6,562.9,11.6,862,13296,0.00,2.22,0.00,0.000,4,0.000,0.039,2999,3429,2028,0,0,0,0,0,0
$GC,13338,0.62,194.6,557.1,12.6,864,13343,0.00,2.05,0.00,0.000,6,0.000,0.021,3007,2038,2028,0,0,0,0,0,0
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$STATE,18104,end climb,SURFACE_DEPTH_REACHED
$STATE,18104,begin surface coast
$FINISH,0.8,1.003548
$STATE,18128,end surface coast,CONTROL_FINISHED_OK
$STATE,18128,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,37.36
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,27.80
$XPDR_PINGS,71
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$10V_AH,9.9,43.454
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,329772
$DATA_FILE_SIZE,83515,1404
$CAP_FILE_SIZE,208107,0
$CFSIZE,260165632,116547584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.237,303.1,1
$GPS,070811,042537,1934.629,12323.371,30,1.0,31,-2.3