version: 66.09
glider: 167
mission: 8
dive: 274
start: 8 8 111 23 53 9
data:
$ID,167
$MISSION,8
$DIVE,274
$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,-56732.371
$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,68
$R_STBD_OVSHOOT,62
$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
$GPS1,080811,233401,1945.354,12333.341,39,1.3,40,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-67.6
$GPS2,080811,235244,1945.650,12333.218,14,1.3,14,-2.4
$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,102.7,97786,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.62,-194.6,0.0,0.0,0,112,0.00,0.00,-92.28,0.000,2,0.000,0.000,111,1854,3089,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.8,-9.6,12,142,10.05,2.08,-8.68,0.000,4,0.233,0.042,2603,476,3637,0,0,0,0,0,0
$GC,223,-0.62,-194.6,47.8,-27.4,29,231,0.00,2.05,0.00,0.000,6,0.000,0.021,2595,1871,3638,0,0,0,0,0,0
$GC,301,-0.62,-194.6,68.1,-27.0,42,310,0.00,2.10,0.00,0.000,4,0.000,0.031,2584,3277,3638,0,0,0,0,0,0
$GC,376,-0.62,-194.6,91.7,-29.9,54,384,0.00,2.10,0.00,0.000,6,0.000,0.018,2584,1823,3638,0,0,0,0,0,0
$GC,455,-0.62,-194.6,111.0,-24.4,67,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1823,3638,0,0,0,0,0,0
$GC,536,-0.62,-194.6,130.1,-22.4,80,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1822,3638,0,0,0,0,0,0
$GC,613,-0.62,-194.6,147.7,-21.2,93,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1822,3639,0,0,0,0,0,0
$GC,691,-0.62,-194.6,163.7,-20.4,106,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1822,3638,0,0,0,0,0,0
$GC,773,-0.62,-194.6,178.1,-17.7,119,781,0.00,2.17,0.00,0.000,4,0.000,0.030,2575,3279,3638,0,0,0,0,0,0
$GC,801,-0.62,-194.6,183.6,-18.5,123,809,0.00,1.90,0.00,0.000,6,0.000,0.017,2574,1928,3639,0,0,0,0,0,0
$GC,879,-0.62,-194.6,197.5,-17.3,136,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1928,3639,0,0,0,0,0,0
$GC,956,-0.62,-194.6,210.4,-16.0,144,961,0.00,2.10,0.00,0.000,4,0.000,0.028,2574,484,3639,0,0,0,0,0,0
$GC,992,-0.62,-194.6,215.8,-15.9,147,997,0.12,2.10,0.00,0.000,6,0.165,0.021,2600,1949,3639,0,0,0,0,0,0
$GC,1319,-0.62,-194.6,257.6,-13.9,177,1323,0.00,1.95,0.00,0.000,4,0.000,0.032,2592,3285,3638,0,0,0,0,0,0
$GC,1360,-0.62,-194.6,263.6,-14.5,180,1368,0.00,1.95,0.00,0.000,6,0.000,0.018,2592,1900,3638,0,0,0,0,0,0
$GC,1686,-0.62,-194.6,314.7,-16.1,211,1689,0.00,2.00,0.00,0.000,4,0.000,0.028,2592,512,3637,0,0,0,0,0,0
$GC,1720,-0.62,-194.6,320.4,-16.5,214,1724,0.00,2.00,0.00,0.000,6,0.000,0.021,2590,1909,3637,0,0,0,0,0,0
$GC,2051,-0.62,-194.6,368.9,-13.0,245,2055,0.00,2.00,0.00,0.000,4,0.000,0.033,2587,3271,3634,0,0,0,0,0,0
$GC,2108,-0.62,-194.6,375.3,-10.7,250,2112,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1922,3634,0,0,0,0,0,0
$GC,2440,-0.62,-194.6,409.5,-10.7,281,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1922,3632,0,0,0,0,0,0
$GC,2760,-0.62,-194.6,445.6,-10.9,311,2763,0.00,2.05,0.00,0.000,4,0.000,0.029,2587,517,3630,0,0,0,0,0,0
$GC,2806,-0.62,-194.6,450.9,-10.7,315,2811,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1908,3630,0,0,0,0,0,0
$GC,3137,-0.62,-194.6,481.0,-8.7,346,3141,0.00,2.00,0.00,0.000,4,0.000,0.034,2588,3265,3627,0,0,0,0,0,0
$GC,3241,-0.62,-194.6,489.1,-7.6,355,3246,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1955,3627,0,0,0,0,0,0
$GC,3569,-0.62,-194.6,514.4,-7.4,377,3573,0.00,2.10,0.00,0.000,4,0.000,0.030,2587,511,3625,0,0,0,0,0,0
$GC,3633,-0.62,-194.6,519.7,-7.9,380,3637,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1932,3624,0,0,0,0,0,0
$GC,3969,-0.62,-194.6,548.5,-9.1,396,3972,0.00,1.98,0.00,0.000,4,0.000,0.035,2587,3267,3621,0,0,0,0,0,0
$GC,4044,-0.62,-194.6,554.9,-8.1,399,4047,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1945,3620,0,0,0,0,0,0
$GC,4372,-0.62,-194.6,585.1,-9.2,415,4376,0.00,1.98,0.00,0.000,4,0.000,0.033,2587,3268,3618,0,0,0,0,0,0
$GC,4405,-0.62,-194.6,588.6,-9.2,416,4409,0.00,1.77,0.00,0.000,6,0.000,0.018,2587,1994,3618,0,0,0,0,0,0
$GC,4729,-0.62,-194.6,618.8,-9.6,432,4733,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,508,3615,0,0,0,0,0,0
$GC,4778,-0.62,-194.6,624.2,-10.2,434,4783,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,1975,3615,0,0,0,0,0,0
$GC,5102,-0.62,-194.6,654.8,-9.6,450,5105,0.00,1.90,0.00,0.000,4,0.000,0.036,2587,3267,3612,0,0,0,0,0,0
$GC,5192,-0.62,-194.6,662.9,-8.6,454,5196,0.00,1.77,0.00,0.000,6,0.000,0.018,2587,1998,3612,0,0,0,0,0,0
$GC,5526,-0.62,-194.6,688.6,-6.9,470,5530,0.00,2.17,0.00,0.000,4,0.000,0.029,2587,510,3608,0,0,0,0,0,0
$GC,5556,-0.62,-194.6,690.8,-6.8,471,5561,0.00,2.20,0.00,0.000,6,0.000,0.022,2587,2000,3608,0,0,0,0,0,0
$GC,5878,-0.62,-194.6,711.1,-6.3,487,5882,0.00,1.88,0.00,0.000,4,0.000,0.037,2587,3270,3606,0,0,0,0,0,0
$GC,6021,-0.62,-194.6,719.6,-5.7,493,6025,0.00,1.70,0.00,0.000,6,0.000,0.019,2587,2046,3605,0,0,0,0,0,0
$GC,6351,-0.62,-194.6,741.8,-7.3,509,6355,0.00,2.28,0.00,0.000,4,0.000,0.029,2587,515,3603,0,0,0,0,0,0
$GC,6419,-0.62,-194.6,747.4,-8.2,512,6423,0.00,2.22,0.00,0.000,6,0.000,0.022,2587,2034,3602,0,0,0,0,0,0
$GC,6747,-0.62,-194.6,770.0,-6.5,528,6752,0.00,1.85,0.00,0.000,4,0.000,0.040,2587,3253,3600,0,0,0,0,0,0
$GC,6774,-0.62,-194.6,771.8,-6.2,529,6778,0.00,1.73,0.00,0.000,6,0.000,0.021,2587,2036,3600,0,0,0,0,0,0
$GC,7105,-0.62,-194.6,789.7,-5.4,545,7109,0.00,1.88,0.00,0.000,4,0.000,0.038,2587,3270,3598,0,0,0,0,0,0
$GC,7185,-0.62,-194.6,794.0,-5.1,548,7189,0.00,1.70,0.00,0.000,6,0.000,0.021,2587,2058,3597,0,0,0,0,0,0
$GC,7507,-0.62,-194.6,810.0,-5.1,564,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2057,3596,0,0,0,0,0,0
$GC,7819,-0.62,-194.6,828.4,-6.4,579,7822,0.00,1.83,0.00,0.000,4,0.000,0.038,2587,3260,3594,0,0,0,0,0,0
$GC,7857,-0.62,-194.6,831.3,-6.5,580,7864,0.00,1.67,0.00,0.000,6,0.000,0.021,2587,2065,3593,0,0,0,0,0,0
$GC,8175,-0.62,-194.6,854.7,-7.8,596,8180,0.00,1.85,0.00,0.000,4,0.000,0.039,2587,3261,3592,0,0,0,0,0,0
$GC,8208,-0.62,-194.6,857.5,-7.8,597,8212,0.00,1.67,0.00,0.000,6,0.000,0.020,2587,2084,3592,0,0,0,0,0,0
$GC,8531,-0.62,-194.6,882.3,-7.7,613,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2082,3591,0,0,0,0,0,0
$GC,8841,-0.62,-194.6,906.0,-7.5,628,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2082,3590,0,0,0,0,0,0
$GC,9149,-0.62,-194.6,928.4,-7.1,643,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2081,3589,0,0,0,0,0,0
$GC,9458,-0.62,-194.6,949.8,-6.7,658,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2082,3588,0,0,0,0,0,0
$GC,9769,-0.62,-194.6,968.9,-5.8,673,9770,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2082,3586,0,0,0,0,0,0
$GC,10077,-0.62,-194.6,987.3,-6.0,688,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2082,3585,0,0,0,0,0,0
$STATE,10137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10137,begin apogee
$GC,10142,-0.20,0.0,990.9,5.8,691,10301,0.43,0.00,152.80,1.404,4,0.115,0.000,2731,2078,2839,0,0,0,0,0,0
$STATE,10302,end apogee,CONTROL_FINISHED_OK
$STATE,10302,begin climb
$GC,10305,0.62,194.6,994.7,0.0,698,10483,0.73,2.30,170.00,1.345,4,0.076,0.039,2998,3457,2045,0,0,0,0,0,0
$GC,10665,0.62,194.6,951.7,13.8,714,10669,0.00,2.05,0.00,0.000,6,0.000,0.021,3007,2100,2035,0,0,0,0,0,0
$GC,10998,0.62,194.6,907.7,12.8,730,11002,0.00,2.10,0.00,0.000,4,0.000,0.037,3007,3466,2034,0,0,0,0,0,0
$GC,11167,0.62,194.6,884.9,13.5,737,11174,0.00,2.10,0.00,0.000,6,0.000,0.021,3016,2042,2033,0,0,0,0,0,0
$GC,11483,0.62,194.6,844.1,12.7,753,11487,0.00,2.03,0.00,0.000,4,0.000,0.033,3025,682,2032,0,0,0,0,0,0
$GC,11560,0.62,194.6,833.8,13.0,756,11564,0.00,2.00,0.00,0.000,6,0.000,0.023,3025,2025,2032,0,0,0,0,0,0
$GC,11884,0.62,194.6,795.5,10.9,772,11888,0.00,2.15,0.00,0.000,4,0.000,0.038,3025,3462,2031,0,0,0,0,0,0
$GC,11939,0.62,194.6,788.9,11.4,774,11948,0.10,2.10,0.00,0.000,6,0.145,0.021,3002,2034,2030,0,0,0,0,0,0
$GC,12258,0.68,244.8,763.1,8.0,790,12306,0.00,2.10,42.03,1.246,4,0.000,0.034,3010,690,1840,0,0,0,0,0,0
$GC,12360,0.73,285.5,754.6,8.3,794,12402,0.00,1.98,36.40,1.209,6,0.000,0.022,3010,2022,1674,0,0,0,0,0,0
$GC,12725,0.73,285.5,717.5,10.7,812,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2022,1666,0,0,0,0,0,0
$GC,13034,0.73,285.5,682.3,11.5,827,13038,0.00,2.17,0.00,0.000,4,0.000,0.038,3010,3466,1664,0,0,0,0,0,0
$GC,13079,0.73,285.5,676.6,12.7,829,13083,0.00,2.15,0.00,0.000,6,0.000,0.021,3018,1992,1663,0,0,0,0,0,0
$GC,13401,0.73,285.5,636.9,12.6,845,13405,0.00,1.92,0.00,0.000,4,0.000,0.034,3028,683,1663,0,0,0,0,0,0
$GC,13539,0.73,285.5,620.3,12.0,851,13543,0.00,1.83,0.00,0.000,6,0.000,0.022,3028,1930,1663,0,0,0,0,0,0
$GC,13874,0.73,285.5,579.6,12.1,867,13878,0.00,2.30,0.00,0.000,4,0.000,0.037,3028,3464,1662,0,0,0,0,0,0
$GC,14004,0.73,285.5,561.8,13.6,873,14008,0.00,2.12,0.00,0.000,6,0.000,0.022,3037,2012,1661,0,0,0,0,0,0
$GC,14333,0.73,285.5,518.5,13.2,889,14337,0.00,1.98,0.00,0.000,4,0.000,0.034,3047,697,1660,0,0,0,0,0,0
$GC,14455,0.73,285.5,503.0,12.0,894,14459,0.00,1.85,0.00,0.000,6,0.000,0.021,3047,1946,1660,0,0,0,0,0,0
$GC,14786,0.73,285.5,461.1,12.7,924,14791,0.00,2.30,0.00,0.000,4,0.000,0.037,3047,3465,1660,0,0,0,0,0,0
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$STATE,18725,end climb,SURFACE_DEPTH_REACHED
$STATE,18725,begin surface coast
$FINISH,0.9,1.008118
$STATE,18747,end surface coast,CONTROL_FINISHED_OK
$STATE,18748,begin surface
$SM_CCo,18825,0.00,0.000,0,0,484,577.68
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$IRIDIUM_FIX,1938.95,12333.78,080811,232344
$TT8_MAMPS,0.028462,0.028462
$HUMID,36.06
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,28.40
$XPDR_PINGS,78
$24V_AH,22.8,49.823
$10V_AH,9.9,44.887
$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,19.875,186.025,640.225,0.000,0.000,53.208,60.521,734.545,19.500,0.000,15.132,3604.992,10745.573,721.443,3900.607,953.683,0.000,2328.746,0.000,3349.985,0.000,0.545,0.000
$DEVICE_MAMPS,232.560,42.075,1403.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,959.540,1054.656,1255.771,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329876
$DATA_FILE_SIZE,83484,1414
$CAP_FILE_SIZE,212710,0
$CFSIZE,260165632,115650560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.169,325.2,1
$GPS,090811,050807,1946.369,12334.885,33,1.0,34,-2.4