version: 66.09
glider: 167
mission: 8
dive: 278
start: 8 9 111 21 14 50
data:
$ID,167
$MISSION,8
$DIVE,278
$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,-56737.406
$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,64
$R_STBD_OVSHOOT,66
$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
$GPS1,090811,210554,1949.957,12339.708,25,1.3,43,-2.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-70.1
$GPS2,090811,211427,1950.033,12339.555,15,99.0,34,-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,88.6,84122,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,120,0.00,0.00,-96.53,0.000,2,0.000,0.000,112,1808,3260,0,0,0,0,0,0
$GC,123,-0.62,-194.6,6.7,-11.7,12,146,10.05,1.95,-5.68,0.000,4,0.233,0.036,2598,451,3634,0,0,0,0,0,0
$GC,172,-0.62,-194.6,34.1,-52.7,19,181,0.00,2.08,0.00,0.000,6,0.000,0.021,2591,1866,3636,0,0,0,0,0,0
$GC,249,-0.62,-194.6,55.8,-22.6,32,257,0.00,2.10,0.00,0.000,4,0.000,0.033,2580,3266,3636,0,0,0,0,0,0
$GC,311,-0.62,-194.6,70.2,-23.6,42,319,0.00,1.70,0.00,0.000,6,0.000,0.018,2580,2058,3636,0,0,0,0,0,0
$GC,388,-0.62,-194.6,88.7,-24.4,55,396,0.00,2.28,0.00,0.000,4,0.000,0.027,2580,474,3636,0,0,0,0,0,0
$GC,416,-0.62,-194.6,95.3,-25.3,59,424,0.10,2.38,0.00,0.000,6,0.186,0.021,2593,2119,3636,0,0,0,0,0,0
$GC,492,-0.62,-194.6,112.0,-21.1,72,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2120,3636,0,0,0,0,0,0
$GC,570,-0.62,-194.6,127.7,-20.4,85,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2120,3636,0,0,0,0,0,0
$GC,649,-0.62,-194.6,144.4,-21.4,98,659,0.00,2.42,0.00,0.000,4,0.000,0.026,2594,478,3636,0,0,0,0,0,0
$GC,678,-0.62,-194.6,150.2,-19.4,102,688,0.00,2.45,0.00,0.000,6,0.000,0.022,2588,2141,3636,0,0,0,0,0,0
$GC,760,-0.62,-194.6,163.0,-16.2,115,768,0.00,2.45,0.00,0.000,4,0.000,0.026,2587,481,3636,0,0,0,0,0,0
$GC,793,-0.62,-194.6,169.2,-17.1,120,802,0.00,2.20,0.00,0.000,6,0.000,0.023,2587,1979,3637,0,0,0,0,0,0
$GC,873,-0.62,-194.6,181.7,-16.4,133,882,0.00,1.92,0.00,0.000,4,0.000,0.034,2584,3270,3636,0,0,0,0,0,0
$GC,913,-0.62,-194.6,188.6,-16.8,139,922,0.00,1.80,0.00,0.000,6,0.000,0.017,2584,1984,3637,0,0,0,0,0,0
$GC,995,-0.62,-194.6,202.7,-18.4,152,999,0.00,2.17,0.00,0.000,4,0.000,0.028,2583,480,3636,0,0,0,0,0,0
$GC,1029,-0.62,-194.6,209.4,-19.4,154,1039,0.00,2.25,0.00,0.000,6,0.000,0.021,2574,2018,3637,0,0,0,0,0,0
$GC,1355,-0.62,-194.6,272.0,-17.7,185,1359,0.00,1.83,0.00,0.000,4,0.000,0.033,2566,3273,3636,0,0,0,0,0,0
$GC,1427,-0.62,-194.6,282.7,-14.5,191,1432,0.12,1.67,0.00,0.000,6,0.156,0.016,2600,1999,3636,0,0,0,0,0,0
$GC,1758,-0.62,-194.6,316.8,-11.4,222,1763,0.00,2.22,0.00,0.000,4,0.000,0.028,2600,475,3636,0,0,0,0,0,0
$GC,1799,-0.62,-194.6,322.0,-12.6,225,1806,0.00,2.33,0.00,0.000,6,0.000,0.021,2600,2082,3636,0,0,0,0,0,0
$GC,2124,-0.62,-194.6,365.5,-13.4,256,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2082,3635,0,0,0,0,0,0
$GC,2449,-0.62,-194.6,402.7,-10.2,286,2452,0.00,1.75,0.00,0.000,4,0.000,0.035,2600,3276,3632,0,0,0,0,0,0
$GC,2465,-0.62,-194.6,405.0,-9.6,287,2471,0.00,1.75,0.00,0.000,6,0.000,0.018,2600,2012,3632,0,0,0,0,0,0
$GC,2791,-0.62,-194.6,436.6,-10.3,318,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2012,3631,0,0,0,0,0,0
$GC,3112,-0.62,-194.6,467.6,-9.5,348,3116,0.00,2.22,0.00,0.000,4,0.000,0.030,2600,473,3629,0,0,0,0,0,0
$GC,3235,-0.62,-194.6,481.0,-10.9,358,3243,0.00,2.33,0.00,0.000,6,0.000,0.021,2600,2074,3628,0,0,0,0,0,0
$GC,3556,-0.62,-194.6,517.1,-11.0,382,3561,0.00,1.77,0.00,0.000,4,0.000,0.036,2600,3265,3625,0,0,0,0,0,0
$GC,3611,-0.62,-194.6,522.2,-8.7,384,3615,0.00,1.67,0.00,0.000,6,0.000,0.018,2600,2031,3625,0,0,0,0,0,0
$GC,3935,-0.62,-194.6,543.3,-6.1,400,3939,0.00,2.25,0.00,0.000,4,0.000,0.030,2600,476,3623,0,0,0,0,0,0
$GC,3967,-0.62,-194.6,545.6,-6.1,401,3974,0.00,2.33,0.00,0.000,6,0.000,0.021,2600,2071,3623,0,0,0,0,0,0
$GC,4285,-0.62,-194.6,566.3,-6.5,417,4290,0.00,2.38,0.00,0.000,4,0.000,0.028,2600,477,3621,0,0,0,0,0,0
$GC,4336,-0.62,-194.6,570.0,-6.8,419,4340,0.00,2.25,0.00,0.000,6,0.000,0.022,2600,2037,3620,0,0,0,0,0,0
$GC,4658,-0.62,-194.6,593.5,-8.2,435,4662,0.00,1.83,0.00,0.000,4,0.000,0.037,2600,3269,3618,0,0,0,0,0,0
$GC,4692,-0.62,-194.6,596.4,-8.5,436,4696,0.00,1.75,0.00,0.000,6,0.000,0.019,2599,2016,3618,0,0,0,0,0,0
$GC,5014,-0.62,-194.6,624.7,-8.6,452,5019,0.00,1.90,0.00,0.000,4,0.000,0.036,2600,3265,3616,0,0,0,0,0,0
$GC,5053,-0.62,-194.6,627.9,-8.3,453,5060,0.00,1.75,0.00,0.000,6,0.000,0.018,2600,2024,3615,0,0,0,0,0,0
$GC,5371,-0.62,-194.6,646.3,-5.2,469,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2023,3613,0,0,0,0,0,0
$GC,5678,-0.62,-194.6,661.4,-5.2,484,5682,0.00,1.88,0.00,0.000,4,0.000,0.037,2600,3265,3610,0,0,0,0,0,0
$GC,5747,-0.62,-194.6,665.0,-5.2,487,5752,0.00,1.73,0.00,0.000,6,0.000,0.019,2600,2034,3610,0,0,0,0,0,0
$GC,6082,-0.62,-194.6,688.7,-8.5,503,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2032,3607,0,0,0,0,0,0
$GC,6389,-0.62,-194.6,719.2,-10.1,518,6392,0.00,1.85,0.00,0.000,4,0.000,0.037,2600,3271,3605,0,0,0,0,0,0
$GC,6448,-0.62,-194.6,724.8,-9.6,520,6452,0.00,1.70,0.00,0.000,6,0.000,0.020,2600,2053,3605,0,0,0,0,0,0
$GC,6771,-0.62,-194.6,753.9,-8.7,536,6775,0.00,1.85,0.00,0.000,4,0.000,0.039,2600,3270,3603,0,0,0,0,0,0
$GC,6827,-0.62,-194.6,758.6,-8.1,538,6831,0.00,1.70,0.00,0.000,6,0.000,0.021,2600,2078,3603,0,0,0,0,0,0
$GC,7150,-0.62,-194.6,780.6,-6.4,554,7154,0.00,2.35,0.00,0.000,4,0.000,0.030,2600,484,3601,0,0,0,0,0,0
$GC,7199,-0.62,-194.6,784.4,-7.0,556,7203,0.00,2.38,0.00,0.000,6,0.000,0.024,2600,2085,3601,0,0,0,0,0,0
$GC,7518,-0.62,-194.6,804.8,-6.4,571,7522,0.00,2.42,0.00,0.000,4,0.000,0.030,2600,477,3598,0,0,0,0,0,0
$GC,7564,-0.62,-194.6,808.2,-6.6,573,7568,0.00,2.38,0.00,0.000,6,0.000,0.024,2600,2063,3598,0,0,0,0,0,0
$GC,7896,-0.62,-194.6,828.5,-5.9,589,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2063,3597,0,0,0,0,0,0
$GC,8207,-0.62,-194.6,846.6,-5.7,604,8211,0.00,2.35,0.00,0.000,4,0.000,0.030,2600,473,3596,0,0,0,0,0,0
$GC,8240,-0.62,-194.6,848.7,-5.7,605,8247,0.00,2.33,0.00,0.000,6,0.000,0.024,2600,2043,3596,0,0,0,0,0,0
$GC,8558,-0.62,-194.6,867.6,-6.0,621,8563,0.00,1.85,0.00,0.000,4,0.000,0.040,2600,3258,3594,0,0,0,0,0,0
$GC,8610,-0.62,-194.6,871.0,-6.2,623,8613,0.00,1.73,0.00,0.000,6,0.000,0.021,2600,2040,3594,0,0,0,0,0,0
$GC,8938,-0.62,-194.6,891.6,-6.4,639,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2038,3592,0,0,0,0,0,0
$GC,9248,-0.62,-194.6,911.5,-6.5,654,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2038,3591,0,0,0,0,0,0
$GC,9556,-0.62,-194.6,932.2,-7.0,669,9560,0.00,1.85,0.00,0.000,4,0.000,0.039,2600,3263,3590,0,0,0,0,0,0
$GC,9595,-0.62,-194.6,935.1,-7.0,670,9602,0.00,1.70,0.00,0.000,6,0.000,0.021,2599,2056,3590,0,0,0,0,0,0
$GC,9913,-0.62,-194.6,958.6,-7.5,686,9917,0.00,1.88,0.00,0.000,4,0.000,0.040,2600,3263,3589,0,0,0,0,0,0
$GC,9963,-0.62,-194.6,962.7,-7.9,688,9966,0.00,1.67,0.00,0.000,6,0.000,0.021,2600,2078,3589,0,0,0,0,0,0
$GC,10292,-0.62,-194.6,986.6,-6.8,704,10296,0.00,2.38,0.00,0.000,4,0.000,0.032,2600,484,3588,0,0,0,0,0,0
$GC,10325,-0.62,-194.6,989.2,-6.9,705,10331,0.00,2.40,0.00,0.000,6,0.000,0.025,2600,2094,3588,0,0,0,0,0,0
$STATE,10351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10351,begin apogee
$GC,10357,-0.20,0.0,990.9,7.1,707,10516,0.38,0.00,154.38,1.396,4,0.115,0.000,2729,2094,2839,0,0,0,0,0,0
$STATE,10517,end apogee,CONTROL_FINISHED_OK
$STATE,10517,begin climb
$GC,10519,0.62,194.6,997.2,0.0,714,10697,0.77,0.00,170.62,1.343,6,0.076,0.000,2998,2094,2044,0,0,0,0,0,0
$GC,11006,0.62,194.6,949.4,10.9,738,11011,0.00,2.15,0.00,0.000,4,0.000,0.038,2999,3465,2034,0,0,0,0,0,0
$GC,11044,0.62,194.6,944.8,11.7,739,11052,0.00,2.05,0.00,0.000,6,0.000,0.021,3007,2101,2033,0,0,0,0,0,0
$GC,11362,0.62,194.6,910.7,10.5,755,11365,0.00,2.10,0.00,0.000,4,0.000,0.033,3017,681,2031,0,0,0,0,0,0
$GC,11503,0.62,194.6,895.9,10.4,761,11507,0.00,2.05,0.00,0.000,6,0.000,0.024,3017,2052,2031,0,0,0,0,0,0
$GC,11826,0.62,194.6,862.8,10.6,777,11827,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2053,2031,0,0,0,0,0,0
$GC,12134,0.62,194.6,828.5,11.1,792,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2053,2030,0,0,0,0,0,0
$GC,12443,0.62,194.6,793.1,11.7,807,12448,0.00,2.08,0.00,0.000,4,0.000,0.032,3024,691,2029,0,0,0,0,0,0
$GC,12505,0.62,194.6,785.4,12.4,809,12512,0.00,1.98,0.00,0.000,6,0.000,0.024,3024,2031,2029,0,0,0,0,0,0
$GC,12821,0.62,194.6,744.8,12.8,825,12825,0.00,2.17,0.00,0.000,4,0.000,0.039,3024,3466,2029,0,0,0,0,0,0
$GC,12866,0.62,194.6,738.7,13.6,827,12870,0.00,2.15,0.00,0.000,6,0.000,0.022,3029,2005,2029,0,0,0,0,0,0
$GC,13188,0.62,194.6,700.3,12.1,843,13192,0.00,2.22,0.00,0.000,4,0.000,0.037,3030,3462,2028,0,0,0,0,0,0
$GC,13222,0.62,194.6,695.5,13.9,844,13230,0.12,2.10,0.00,0.000,6,0.173,0.021,3004,2016,2028,0,0,0,0,0,0
$GC,13540,0.62,194.6,660.8,10.6,860,13544,0.00,1.98,0.00,0.000,4,0.000,0.034,3013,691,2028,0,0,0,0,0,0
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$STATE,20004,end climb,SURFACE_DEPTH_REACHED
$STATE,20004,begin surface coast
$FINISH,0.9,1.021273
$STATE,20036,end surface coast,CONTROL_FINISHED_OK
$STATE,20036,begin surface
$SM_CCo,20114,0.00,0.000,0,0,592,551.19
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$IRIDIUM_FIX,1943.54,12340.13,090811,151540
$TT8_MAMPS,0.028462,0.028462
$HUMID,35.11
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.80
$XPDR_PINGS,50
$24V_AH,22.8,50.691
$10V_AH,9.9,45.524
$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_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329672
$DATA_FILE_SIZE,90113,1512
$CAP_FILE_SIZE,218783,0
$CFSIZE,260165632,115240960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193,298.1,1
$GPS,100811,025106,1951.152,12340.685,24,1.6,24,-2.4