version: 66.09
glider: 167
mission: 8
dive: 290
start: 8 12 111 14 31 27
data:
$ID,167
$MISSION,8
$DIVE,290
$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,-56752.523
$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,85
$R_STBD_OVSHOOT,39
$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
$GPS1,120811,142307,2005.771,12402.688,26,1.3,27,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.5
$GPS2,120811,143104,2005.793,12402.649,14,99.0,33,-2.5
$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,99.2,34635,-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,-194.6,0.0,0.0,0,117,0.00,0.00,-93.45,0.000,2,0.000,0.000,111,1873,3137,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.0,-10.4,12,144,9.95,2.17,-7.95,0.000,4,0.230,0.041,2581,3311,3636,0,0,0,0,0,0
$GC,193,-0.62,-194.6,37.8,-31.4,23,202,0.00,2.08,0.00,0.000,6,0.000,0.018,2581,1881,3637,0,0,0,0,0,0
$GC,271,-0.62,-194.6,57.8,-24.3,36,279,0.00,2.05,0.00,0.000,4,0.000,0.028,2581,484,3637,0,0,0,0,0,0
$GC,301,-0.62,-194.6,65.1,-23.6,40,309,0.00,1.67,0.00,0.000,6,0.000,0.020,2573,1648,3638,0,0,0,0,0,0
$GC,379,-0.62,-194.6,82.8,-21.9,53,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1648,3638,0,0,0,0,0,0
$GC,458,-0.62,-194.6,101.5,-23.7,66,467,0.00,2.45,0.00,0.000,4,0.000,0.031,2562,3284,3638,0,0,0,0,0,0
$GC,492,-0.62,-194.6,109.6,-22.4,71,502,0.10,2.55,0.00,0.000,6,0.151,0.019,2592,1538,3638,0,0,0,0,0,0
$GC,570,-0.62,-194.6,124.2,-18.3,84,578,0.00,2.62,0.00,0.000,4,0.000,0.029,2584,3284,3638,0,0,0,0,0,0
$GC,605,-0.62,-194.6,130.5,-18.8,89,613,0.00,2.47,0.00,0.000,6,0.000,0.018,2584,1591,3639,0,0,0,0,0,0
$GC,683,-0.62,-194.6,144.8,-18.0,102,692,0.00,2.55,0.00,0.000,4,0.000,0.029,2573,3287,3638,0,0,0,0,0,0
$GC,712,-0.62,-194.6,150.1,-17.6,106,721,0.00,2.42,0.00,0.000,6,0.000,0.018,2573,1622,3638,0,0,0,0,0,0
$GC,793,-0.62,-194.6,164.2,-18.1,119,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1622,3638,0,0,0,0,0,0
$GC,868,-0.62,-194.6,177.3,-16.8,132,876,0.00,2.50,0.00,0.000,4,0.000,0.031,2565,3286,3638,0,0,0,0,0,0
$GC,939,-0.62,-194.6,189.0,-16.1,144,948,0.10,2.20,0.00,0.000,6,0.144,0.018,2597,1743,3638,0,0,0,0,0,0
$GC,1018,-0.62,-194.6,200.8,-14.6,157,1023,0.00,1.83,0.00,0.000,4,0.000,0.028,2597,482,3638,0,0,0,0,0,0
$GC,1066,-0.62,-194.6,208.9,-15.4,161,1073,0.00,1.75,0.00,0.000,6,0.000,0.018,2591,1717,3638,0,0,0,0,0,0
$GC,1392,-0.62,-194.6,259.7,-16.1,192,1396,0.00,2.33,0.00,0.000,4,0.000,0.032,2588,3289,3638,0,0,0,0,0,0
$GC,1493,-0.62,-194.6,274.0,-13.8,200,1501,0.00,2.30,0.00,0.000,6,0.000,0.019,2588,1703,3638,0,0,0,0,0,0
$GC,1820,-0.62,-194.6,316.6,-11.5,231,1824,0.00,2.40,0.00,0.000,4,0.000,0.031,2587,3301,3637,0,0,0,0,0,0
$GC,1882,-0.62,-194.6,323.5,-10.3,236,1887,0.00,2.25,0.00,0.000,6,0.000,0.018,2587,1735,3636,0,0,0,0,0,0
$GC,2213,-0.62,-194.6,365.1,-13.9,267,2217,0.00,2.35,0.00,0.000,4,0.000,0.031,2587,3299,3635,0,0,0,0,0,0
$GC,2257,-0.62,-194.6,370.7,-12.2,270,2265,0.00,2.17,0.00,0.000,6,0.000,0.018,2587,1768,3635,0,0,0,0,0,0
$GC,2583,-0.62,-194.6,408.7,-11.5,301,2587,0.00,2.28,0.00,0.000,4,0.000,0.031,2587,3298,3633,0,0,0,0,0,0
$GC,2636,-0.62,-194.6,414.3,-10.5,305,2640,0.00,2.12,0.00,0.000,6,0.000,0.018,2587,1798,3633,0,0,0,0,0,0
$GC,2962,-0.62,-194.6,452.8,-10.9,335,2967,0.00,2.25,0.00,0.000,4,0.000,0.032,2587,3291,3631,0,0,0,0,0,0
$GC,3054,-0.62,-194.6,461.8,-9.2,343,3058,0.00,2.08,0.00,0.000,6,0.000,0.018,2587,1829,3631,0,0,0,0,0,0
$GC,3386,-0.62,-194.6,494.0,-8.8,374,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1819,3629,0,0,0,0,0,0
$GC,3709,-0.62,-194.6,522.8,-8.7,393,3713,0.00,2.22,0.00,0.000,4,0.000,0.034,2587,3290,3627,0,0,0,0,0,0
$GC,3736,-0.62,-194.6,525.3,-8.7,394,3740,0.00,2.08,0.00,0.000,6,0.000,0.019,2587,1830,3626,0,0,0,0,0,0
$GC,4058,-0.62,-194.6,560.3,-12.6,410,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1828,3624,0,0,0,0,0,0
$GC,4368,-0.62,-194.6,598.8,-11.1,425,4373,0.00,2.20,0.00,0.000,4,0.000,0.033,2587,3284,3623,0,0,0,0,0,0
$GC,4415,-0.62,-194.6,603.3,-9.3,427,4419,0.00,2.10,0.00,0.000,6,0.000,0.019,2587,1823,3622,0,0,0,0,0,0
$GC,4749,-0.62,-194.6,630.2,-7.3,443,4754,0.00,2.20,0.00,0.000,4,0.000,0.034,2587,3290,3620,0,0,0,0,0,0
$GC,4839,-0.62,-194.6,635.5,-5.2,447,4843,0.00,2.03,0.00,0.000,6,0.000,0.019,2587,1862,3619,0,0,0,0,0,0
$GC,5168,-0.62,-194.6,654.0,-6.0,463,5171,0.00,1.95,0.00,0.000,4,0.000,0.030,2587,507,3617,0,0,0,0,0,0
$GC,5225,-0.62,-194.6,658.0,-6.8,465,5229,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1886,3616,0,0,0,0,0,0
$GC,5546,-0.62,-194.6,681.3,-7.8,481,5551,0.00,2.08,0.00,0.000,4,0.000,0.036,2587,3261,3613,0,0,0,0,0,0
$GC,5661,-0.62,-194.6,690.1,-8.0,486,5665,0.00,1.95,0.00,0.000,6,0.000,0.019,2587,1886,3613,0,0,0,0,0,0
$GC,5994,-0.62,-194.6,721.8,-10.2,502,5999,0.00,2.05,0.00,0.000,4,0.000,0.030,2587,504,3611,0,0,0,0,0,0
$GC,6026,-0.62,-194.6,725.5,-10.9,503,6030,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1895,3611,0,0,0,0,0,0
$GC,6351,-0.62,-194.6,754.8,-8.3,519,6355,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3273,3608,0,0,0,0,0,0
$GC,6401,-0.62,-194.6,758.8,-7.2,521,6405,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1892,3608,0,0,0,0,0,0
$GC,6731,-0.62,-194.6,778.3,-5.6,537,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1892,3606,0,0,0,0,0,0
$GC,7039,-0.62,-194.6,796.2,-6.0,552,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1892,3604,0,0,0,0,0,0
$GC,7349,-0.62,-194.6,818.8,-7.8,567,7353,0.00,2.10,0.00,0.000,4,0.000,0.037,2587,3260,3602,0,0,0,0,0,0
$GC,7400,-0.62,-194.6,822.9,-7.6,569,7403,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1883,3602,0,0,0,0,0,0
$GC,7727,-0.62,-194.6,850.8,-8.7,585,7731,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,495,3599,0,0,0,0,0,0
$GC,7751,-0.62,-194.6,853.1,-8.7,586,7755,0.00,2.05,0.00,0.000,6,0.000,0.023,2587,1888,3600,0,0,0,0,0,0
$GC,8085,-0.62,-194.6,881.3,-8.2,602,8090,0.00,2.10,0.00,0.000,4,0.000,0.039,2587,3265,3598,0,0,0,0,0,0
$GC,8208,-0.62,-194.6,890.3,-7.0,607,8212,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1916,3598,0,0,0,0,0,0
$GC,8531,-0.62,-194.6,911.3,-6.3,623,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1915,3596,0,0,0,0,0,0
$GC,8839,-0.62,-194.6,930.5,-6.1,638,8843,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3263,3595,0,0,0,0,0,0
$GC,8908,-0.62,-194.6,934.9,-6.4,641,8912,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1948,3595,0,0,0,0,0,0
$GC,9242,-0.62,-194.6,956.8,-6.8,657,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1947,3593,0,0,0,0,0,0
$GC,9551,-0.62,-194.6,977.1,-6.3,672,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1948,3592,0,0,0,0,0,0
$STATE,9775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9775,begin apogee
$GC,9783,-0.20,0.0,990.9,5.9,683,9942,0.43,0.00,154.48,1.389,4,0.115,0.000,2730,2089,2839,0,0,0,0,0,0
$STATE,9943,end apogee,CONTROL_FINISHED_OK
$STATE,9943,begin climb
$GC,9947,0.62,194.6,994.6,0.0,690,10125,0.80,2.20,169.68,1.336,4,0.082,0.040,2997,3450,2045,0,0,0,0,0,0
$GC,10297,0.62,194.6,954.2,13.7,706,10304,0.00,2.05,0.00,0.000,6,0.000,0.021,3006,2090,2036,0,0,0,0,0,0
$GC,10614,0.62,194.6,916.0,11.6,722,10618,0.00,2.12,0.00,0.000,4,0.000,0.036,3006,3451,2033,0,0,0,0,0,0
$GC,10754,0.62,194.6,899.3,12.3,728,10759,0.00,2.12,0.00,0.000,6,0.000,0.021,3015,2020,2033,0,0,0,0,0,0
$GC,11081,0.62,194.6,862.6,11.4,744,11085,0.00,1.95,0.00,0.000,4,0.000,0.033,3024,688,2032,0,0,0,0,0,0
$GC,11166,0.62,194.6,852.6,11.7,747,11174,0.00,1.92,0.00,0.000,6,0.000,0.023,3024,1990,2031,0,0,0,0,0,0
$GC,11482,0.62,194.6,812.9,12.9,763,11486,0.00,2.22,0.00,0.000,4,0.000,0.038,3024,3459,2031,0,0,0,0,0,0
$GC,11547,0.62,194.6,804.2,14.2,766,11552,0.12,2.08,0.00,0.000,6,0.166,0.021,3000,2034,2030,0,0,0,0,0,0
$GC,11877,0.62,194.6,768.2,10.7,782,11881,0.00,1.98,0.00,0.000,4,0.000,0.034,3008,688,2030,0,0,0,0,0,0
$GC,11955,0.62,194.6,759.2,10.9,785,11959,0.00,1.98,0.00,0.000,6,0.000,0.024,3008,2014,2030,0,0,0,0,0,0
$GC,12278,0.62,194.6,723.4,10.8,801,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2014,2030,0,0,0,0,0,0
$GC,12587,0.62,194.6,692.2,10.0,816,12591,0.00,2.00,0.00,0.000,4,0.000,0.031,3016,691,2029,0,0,0,0,0,0
$GC,12613,0.62,194.6,689.3,10.0,817,12617,0.00,1.98,0.00,0.000,6,0.000,0.023,3016,2039,2029,0,0,0,0,0,0
$GC,12943,0.62,194.6,656.0,11.0,833,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2040,2029,0,0,0,0,0,0
$GC,13251,0.62,194.6,622.3,10.6,848,13255,0.00,2.17,0.00,0.000,4,0.000,0.038,3016,3469,2029,0,0,0,0,0,0
$GC,13278,0.62,194.6,618.9,10.8,849,13282,0.00,2.15,0.00,0.000,6,0.000,0.021,3026,1997,2028,0,0,0,0,0,0
$GC,13602,0.62,194.6,585.3,9.8,865,13606,0.00,2.25,0.00,0.000,4,0.000,0.035,3026,3469,2028,0,0,0,0,0,0
$GC,13634,0.62,194.6,581.5,10.8,866,13642,0.12,2.08,0.00,0.000,6,0.166,0.021,3002,2038,2027,0,0,0,0,0,0
$GC,13952,0.62,196.8,552.1,9.6,882,13957,0.00,2.03,0.00,0.000,4,0.000,0.034,3010,692,2028,0,0,0,0,0,0
$GC,14149,0.62,196.8,531.2,10.6,890,14156,0.00,1.90,0.00,0.000,6,0.000,0.022,3010,1994,2027,0,0,0,0,0,0
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$STATE,19346,end climb,SURFACE_DEPTH_REACHED
$STATE,19346,begin surface coast
$FINISH,1.0,1.008142
$STATE,19385,end surface coast,CONTROL_FINISHED_OK
$STATE,19385,begin surface
$SM_CCo,19465,0.00,0.000,0,0,689,527.40
$SM_GC,1.65,7.72,0.00,0.00,0.037,0.000,0.000,118,1930,689,-8.30,1.55,527.40,0,0,0,0,0,0
$IRIDIUM_FIX,1957.29,12400.50,120811,090942
$TT8_MAMPS,0.028462,0.028462
$HUMID,35.78
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,28.60
$XPDR_PINGS,55
$24V_AH,22.8,53.152
$10V_AH,9.8,47.444
$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,19.625,201.725,597.425,0.000,0.000,23.774,23.273,228.674,13.750,0.000,35.613,3806.517,10919.883,730.501,3572.026,889.002,0.000,2387.057,0.000,3518.500,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,98.685,1389.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.547,1133.037,1389.577,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329656
$DATA_FILE_SIZE,86909,1502
$CAP_FILE_SIZE,211089,0
$CFSIZE,260165632,114040832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140, 53.1,1
$GPS,120811,195707,2006.108,12406.736,35,1.1,36,-2.5