version: 66.09
glider: 167
mission: 8
dive: 276
start: 8 9 111 10 43 26
data:
$ID,167
$MISSION,8
$DIVE,276
$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,-56734.887
$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,74
$R_STBD_OVSHOOT,49
$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
$GPS1,090811,103037,1948.222,12336.259,35,0.9,36,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.7
$GPS2,090811,104302,1948.413,12336.114,14,1.6,14,-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,104.5,90768,-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,18,-0.62,-194.6,0.0,0.0,0,115,0.00,0.00,-95.20,0.000,2,0.000,0.000,111,1922,3207,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.5,-11.5,12,144,10.07,0.00,-6.47,0.000,6,0.232,0.000,2591,1922,3635,0,0,0,0,0,0
$GC,214,-0.62,-194.6,50.0,-33.8,27,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1922,3637,0,0,0,0,0,0
$GC,294,-0.62,-194.6,70.3,-24.7,40,302,0.00,2.12,0.00,0.000,4,0.000,0.028,2591,485,3637,0,0,0,0,0,0
$GC,318,-0.62,-194.6,77.5,-26.3,43,325,0.00,2.05,0.00,0.000,6,0.000,0.021,2583,1887,3637,0,0,0,0,0,0
$GC,395,-0.62,-194.6,96.1,-25.3,56,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1888,3637,0,0,0,0,0,0
$GC,473,-0.62,-194.6,115.0,-22.3,69,482,0.00,2.05,0.00,0.000,4,0.000,0.031,2573,3271,3637,0,0,0,0,0,0
$GC,503,-0.62,-194.6,121.5,-22.4,73,512,0.00,2.12,0.00,0.000,6,0.000,0.017,2573,1787,3637,0,0,0,0,0,0
$GC,583,-0.62,-194.6,139.1,-22.2,86,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1787,3637,0,0,0,0,0,0
$GC,662,-0.62,-194.6,155.1,-19.9,99,671,0.00,2.22,0.00,0.000,4,0.000,0.028,2563,3277,3637,0,0,0,0,0,0
$GC,709,-0.62,-194.6,164.9,-21.8,106,719,0.10,2.05,0.00,0.000,6,0.147,0.027,2595,1836,3637,0,0,0,0,0,0
$GC,792,-0.62,-194.6,180.0,-18.3,119,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1836,3637,0,0,0,0,0,0
$GC,867,-0.62,-194.6,194.2,-19.0,132,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1836,3637,0,0,0,0,0,0
$GC,942,-0.62,-194.6,207.7,-18.0,141,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1836,3637,0,0,0,0,0,0
$GC,1269,-0.62,-194.6,255.7,-12.4,172,1273,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,3261,3637,0,0,0,0,0,0
$GC,1326,-0.62,-194.6,262.1,-10.9,177,1330,0.00,1.98,0.00,0.000,6,0.000,0.017,2587,1849,3637,0,0,0,0,0,0
$GC,1657,-0.62,-194.6,306.0,-15.1,208,1661,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,3267,3637,0,0,0,0,0,0
$GC,1686,-0.62,-194.6,310.2,-14.6,210,1690,0.00,1.95,0.00,0.000,6,0.000,0.017,2587,1874,3637,0,0,0,0,0,0
$GC,2017,-0.62,-194.6,358.5,-14.2,241,2021,0.00,2.08,0.00,0.000,4,0.000,0.031,2585,3275,3635,0,0,0,0,0,0
$GC,2048,-0.62,-194.6,362.6,-14.4,243,2052,0.00,1.92,0.00,0.000,6,0.000,0.018,2584,1898,3635,0,0,0,0,0,0
$GC,2378,-0.62,-194.6,406.1,-12.0,274,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1896,3633,0,0,0,0,0,0
$GC,2699,-0.62,-194.6,438.8,-9.0,304,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1896,3631,0,0,0,0,0,0
$GC,3021,-0.62,-194.6,467.9,-10.2,334,3024,0.00,2.05,0.00,0.000,4,0.000,0.031,2578,3275,3629,0,0,0,0,0,0
$GC,3071,-0.62,-194.6,473.3,-9.2,338,3078,0.00,1.90,0.00,0.000,6,0.000,0.018,2578,1925,3629,0,0,0,0,0,0
$GC,3397,-0.62,-194.6,507.4,-11.1,366,3401,0.00,2.05,0.00,0.000,4,0.000,0.029,2578,501,3626,0,0,0,0,0,0
$GC,3437,-0.62,-194.6,512.5,-11.8,368,3441,0.00,2.05,0.00,0.000,6,0.000,0.021,2575,1924,3626,0,0,0,0,0,0
$GC,3772,-0.62,-194.6,546.0,-9.2,384,3776,0.00,2.00,0.00,0.000,4,0.000,0.035,2575,3273,3623,0,0,0,0,0,0
$GC,3855,-0.62,-194.6,553.4,-7.8,387,3862,0.00,1.88,0.00,0.000,6,0.000,0.018,2574,1937,3622,0,0,0,0,0,0
$GC,4172,-0.62,-194.6,576.7,-8.0,403,4176,0.00,2.10,0.00,0.000,4,0.000,0.030,2574,498,3620,0,0,0,0,0,0
$GC,4218,-0.62,-194.6,582.0,-11.4,405,4222,0.00,2.08,0.00,0.000,6,0.000,0.022,2574,1941,3620,0,0,0,0,0,0
$GC,4540,-0.62,-194.6,625.3,-13.7,421,4544,0.00,1.95,0.00,0.000,4,0.000,0.036,2574,3267,3617,0,0,0,0,0,0
$GC,4734,-0.62,-194.6,649.9,-11.6,429,4741,0.00,1.80,0.00,0.000,6,0.000,0.018,2574,1990,3617,0,0,0,0,0,0
$GC,5051,-0.62,-194.6,682.0,-9.2,445,5055,0.00,2.17,0.00,0.000,4,0.000,0.029,2574,501,3614,0,0,0,0,0,0
$GC,5130,-0.62,-194.6,688.5,-7.7,448,5137,0.00,2.10,0.00,0.000,6,0.000,0.021,2574,1947,3612,0,0,0,0,0,0
$GC,5447,-0.62,-194.6,705.7,-5.1,464,5451,0.00,2.00,0.00,0.000,4,0.000,0.037,2574,3270,3610,0,0,0,0,0,0
$GC,5552,-0.62,-194.6,711.9,-5.8,468,5558,0.00,1.77,0.00,0.000,6,0.000,0.019,2574,2002,3610,0,0,0,0,0,0
$GC,5870,-0.62,-194.6,734.5,-7.5,484,5873,0.00,1.90,0.00,0.000,4,0.000,0.037,2575,3271,3607,0,0,0,0,0,0
$GC,5920,-0.62,-194.6,738.5,-7.6,486,5923,0.00,1.75,0.00,0.000,6,0.000,0.019,2574,2019,3607,0,0,0,0,0,0
$GC,6249,-0.62,-194.6,768.3,-10.9,502,6254,0.00,2.22,0.00,0.000,4,0.000,0.029,2574,501,3605,0,0,0,0,0,0
$GC,6338,-0.62,-194.6,780.1,-13.1,506,6342,0.00,2.22,0.00,0.000,6,0.000,0.023,2573,2018,3604,0,0,0,0,0,0
$GC,6667,-0.62,-194.6,813.5,-8.5,522,6670,0.00,1.85,0.00,0.000,4,0.000,0.037,2574,3268,3602,0,0,0,0,0,0
$GC,6785,-0.62,-194.6,822.3,-7.4,527,6789,0.00,1.67,0.00,0.000,6,0.000,0.019,2574,2061,3601,0,0,0,0,0,0
$GC,7113,-0.62,-194.6,840.0,-4.3,543,7118,0.00,2.30,0.00,0.000,4,0.000,0.029,2574,514,3599,0,0,0,0,0,0
$GC,7142,-0.62,-194.6,841.3,-4.2,544,7146,0.00,2.30,0.00,0.000,6,0.000,0.023,2574,2074,3599,0,0,0,0,0,0
$GC,7464,-0.62,-194.6,855.3,-4.7,560,7467,0.00,1.80,0.00,0.000,4,0.000,0.039,2574,3270,3597,0,0,0,0,0,0
$GC,7510,-0.62,-194.6,857.5,-4.8,562,7514,0.00,1.70,0.00,0.000,6,0.000,0.019,2574,2048,3597,0,0,0,0,0,0
$GC,7845,-0.62,-194.6,878.6,-7.2,578,7849,0.00,2.28,0.00,0.000,4,0.000,0.029,2574,516,3595,0,0,0,0,0,0
$GC,7871,-0.62,-194.6,881.0,-7.4,579,7875,0.00,2.28,0.00,0.000,6,0.000,0.023,2574,2061,3595,0,0,0,0,0,0
$GC,8196,-0.62,-194.6,907.6,-8.8,595,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2061,3593,0,0,0,0,0,0
$GC,8503,-0.62,-194.6,935.3,-8.7,610,8507,0.00,1.83,0.00,0.000,4,0.000,0.041,2574,3269,3591,0,0,0,0,0,0
$GC,8572,-0.62,-194.6,941.1,-8.3,613,8575,0.00,1.67,0.00,0.000,6,0.000,0.020,2574,2076,3592,0,0,0,0,0,0
$GC,8907,-0.62,-194.6,966.2,-6.9,629,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2075,3591,0,0,0,0,0,0
$GC,9214,-0.62,-194.6,984.5,-5.7,644,9218,0.00,1.83,0.00,0.000,4,0.000,0.041,2574,3265,3589,0,0,0,0,0,0
$GC,9269,-0.62,-194.6,987.7,-5.6,646,9273,0.00,1.67,0.00,0.000,6,0.000,0.021,2574,2084,3589,0,0,0,0,0,0
$STATE,9320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9321,begin apogee
$GC,9328,-0.20,0.0,990.7,5.8,649,9486,0.47,0.00,153.27,1.388,4,0.116,0.000,2732,2079,2839,0,0,0,0,0,0
$STATE,9487,end apogee,CONTROL_FINISHED_OK
$STATE,9487,begin climb
$GC,9491,0.62,194.6,993.4,0.0,656,9673,0.73,2.30,169.10,1.333,4,0.076,0.039,2997,3462,2044,0,0,0,0,0,0
$GC,9876,0.62,194.6,948.6,13.6,674,9880,0.00,2.05,0.00,0.000,6,0.000,0.021,3006,2098,2035,0,0,0,0,0,0
$GC,10208,0.62,194.6,909.2,11.9,690,10212,0.00,2.10,0.00,0.000,4,0.000,0.037,3006,3468,2033,0,0,0,0,0,0
$GC,10369,0.62,194.6,887.0,15.1,697,10373,0.00,2.12,0.00,0.000,6,0.000,0.022,3015,2031,2033,0,0,0,0,0,0
$GC,10690,0.62,194.6,842.7,13.4,713,10694,0.00,1.98,0.00,0.000,4,0.000,0.034,3024,686,2032,0,0,0,0,0,0
$GC,10786,0.62,194.6,830.3,12.5,717,10789,0.00,1.95,0.00,0.000,6,0.000,0.023,3024,2013,2032,0,0,0,0,0,0
$GC,11114,0.62,194.6,789.5,12.5,733,11118,0.00,2.20,0.00,0.000,4,0.000,0.037,3024,3464,2031,0,0,0,0,0,0
$GC,11200,0.62,194.6,777.6,14.3,737,11205,0.12,2.08,0.00,0.000,6,0.168,0.021,3000,2040,2030,0,0,0,0,0,0
$GC,11529,0.62,194.6,741.4,11.3,753,11533,0.00,1.98,0.00,0.000,4,0.000,0.033,3008,694,2030,0,0,0,0,0,0
$GC,11676,0.62,194.6,722.9,12.9,759,11681,0.00,1.95,0.00,0.000,6,0.000,0.023,3008,2007,2030,0,0,0,0,0,0
$GC,11998,0.62,194.6,683.8,11.5,775,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2007,2029,0,0,0,0,0,0
$GC,12307,0.62,194.6,648.2,11.2,790,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2007,2029,0,0,0,0,0,0
$GC,12618,0.62,194.6,616.4,9.8,805,12622,0.00,2.20,0.00,0.000,4,0.000,0.037,3008,3464,2029,0,0,0,0,0,0
$GC,12727,0.62,194.6,604.5,11.0,810,12731,0.00,2.08,0.00,0.000,6,0.000,0.021,3017,2040,2028,0,0,0,0,0,0
$GC,13062,0.62,194.6,563.8,12.1,826,13066,0.00,1.98,0.00,0.000,4,0.000,0.033,3028,686,2028,0,0,0,0,0,0
$GC,13222,0.62,194.6,545.3,11.3,833,13226,0.00,1.85,0.00,0.000,6,0.000,0.022,3028,1956,2028,0,0,0,0,0,0
$GC,13557,0.62,196.1,510.5,9.7,849,13561,0.00,2.28,0.00,0.000,4,0.000,0.037,3028,3464,2028,0,0,0,0,0,0
$GC,13634,0.62,196.1,501.6,11.5,852,13642,0.12,2.20,0.00,0.000,6,0.163,0.021,3005,1954,2028,0,0,0,0,0,0
$GC,13961,0.62,196.1,468.4,11.2,882,13965,0.00,1.88,0.00,0.000,4,0.000,0.033,3012,684,2028,0,0,0,0,0,0
$GC,13996,0.62,196.1,464.3,11.3,885,14000,0.00,1.83,0.00,0.000,6,0.000,0.021,3012,1962,2028,0,0,0,0,0,0
$GC,14327,0.62,196.1,425.9,10.2,916,14332,0.00,2.28,0.00,0.000,4,0.000,0.037,3012,3457,2028,0,0,0,0,0,0
$GC,14452,0.64,209.7,413.8,9.3,927,14468,0.00,2.17,11.38,0.900,6,0.000,0.021,3022,1973,1984,0,0,0,0,0,0
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$STATE,18151,end climb,SURFACE_DEPTH_REACHED
$STATE,18152,begin surface coast
$FINISH,0.8,1.020239
$STATE,18188,end surface coast,CONTROL_FINISHED_OK
$STATE,18188,begin surface
$SM_CCo,18266,0.00,0.000,0,0,486,577.19
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$IRIDIUM_FIX,1938.95,12333.78,090811,050541
$TT8_MAMPS,0.027713,0.027713
$HUMID,35.94
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,28.80
$XPDR_PINGS,69
$24V_AH,22.9,50.270
$10V_AH,9.9,45.205
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,946.409,1052.971,1251.974,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329816
$DATA_FILE_SIZE,80303,1397
$CAP_FILE_SIZE,206185,0
$CFSIZE,260165632,115458048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,350.6,1
$GPS,090811,154907,1948.829,12338.604,35,0.9,36,-2.4