version: 66.09
glider: 167
mission: 8
dive: 295
start: 8 13 111 18 23 1
data:
$ID,167
$MISSION,8
$DIVE,295
$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,-56758.91
$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,101
$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
$GPS1,130811,181431,2013.344,12416.753,41,0.9,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.0
$GPS2,130811,182226,2013.385,12416.782,11,1.4,11,-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,93.5,6341,-24.9,-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,20,-0.71,-75.4,0.0,0.0,0,110,0.00,0.00,-86.03,0.000,6,0.000,0.000,110,1932,3148,0,0,0,0,0,0
$GC,113,-0.71,-75.4,6.6,-11.6,12,130,9.93,1.90,0.00,0.000,4,0.231,0.021,2551,3256,3149,0,0,0,0,0,0
$GC,138,-0.71,-75.4,20.3,-38.5,15,146,0.00,2.00,0.00,0.000,6,0.000,0.018,2558,1864,3150,0,0,0,0,0,0
$GC,212,-0.71,-75.4,43.6,-28.0,28,220,0.00,2.00,0.00,0.000,4,0.000,0.026,2562,497,3150,0,0,0,0,0,0
$GC,275,-0.71,-75.4,58.7,-19.6,38,282,0.00,1.92,0.00,0.000,6,0.000,0.030,2556,1820,3151,0,0,0,0,0,0
$GC,351,-0.71,-75.4,72.4,-17.1,51,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1820,3151,0,0,0,0,0,0
$GC,434,-0.71,-75.4,85.9,-17.6,64,441,0.00,1.95,0.00,0.000,4,0.000,0.027,2556,494,3151,0,0,0,0,0,0
$GC,455,-0.71,-75.4,89.8,-16.3,67,462,0.00,1.73,0.00,0.000,6,0.000,0.018,2548,1716,3152,0,0,0,0,0,0
$GC,529,-0.71,-75.4,101.3,-15.9,80,537,0.00,2.25,0.00,0.000,4,0.000,0.031,2537,3229,3152,0,0,0,0,0,0
$GC,573,-0.71,-75.4,108.8,-17.3,87,582,0.08,2.05,0.00,0.000,6,0.169,0.018,2559,1788,3152,0,0,0,0,0,0
$GC,649,-0.71,-75.4,121.7,-17.6,100,657,0.00,1.88,0.00,0.000,4,0.000,0.028,2560,498,3152,0,0,0,0,0,0
$GC,671,-0.71,-75.4,125.9,-17.6,103,680,0.00,1.75,0.00,0.000,6,0.000,0.019,2553,1732,3152,0,0,0,0,0,0
$GC,751,-0.71,-75.4,138.7,-15.6,116,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1732,3152,0,0,0,0,0,0
$GC,827,-0.71,-75.4,149.8,-14.3,129,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1732,3153,0,0,0,0,0,0
$GC,903,-0.71,-75.4,161.2,-14.7,142,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1733,3153,0,0,0,0,0,0
$GC,978,-0.71,-75.4,172.1,-14.2,155,986,0.00,2.22,0.00,0.000,4,0.000,0.030,2542,3238,3153,0,0,0,0,0,0
$GC,1054,-0.71,-75.4,183.4,-15.5,168,1063,0.00,2.05,0.00,0.000,6,0.000,0.018,2542,1802,3153,0,0,0,0,0,0
$GC,1131,-0.71,-75.4,195.3,-14.8,181,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1802,3153,0,0,0,0,0,0
$GC,1212,-0.71,-75.4,206.0,-12.9,191,1216,0.00,1.85,0.00,0.000,4,0.000,0.030,2542,495,3153,0,0,0,0,0,0
$GC,1297,-0.71,-75.4,218.4,-15.2,198,1306,0.10,1.85,0.00,0.000,6,0.161,0.018,2565,1798,3153,0,0,0,0,0,0
$GC,1625,-0.71,-75.4,263.4,-13.6,229,1629,0.00,2.10,0.00,0.000,4,0.000,0.031,2557,3237,3153,0,0,0,0,0,0
$GC,1847,-0.71,-75.4,294.1,-12.7,248,1855,0.00,1.88,0.00,0.000,6,0.000,0.018,2556,1912,3152,0,0,0,0,0,0
$GC,2173,-0.71,-75.4,330.6,-10.4,279,2176,0.00,2.05,0.00,0.000,4,0.000,0.030,2557,504,3151,0,0,0,0,0,0
$GC,2245,-0.71,-75.4,339.2,-12.8,285,2249,0.00,1.92,0.00,0.000,6,0.000,0.019,2548,1854,3151,0,0,0,0,0,0
$GC,2577,-0.71,-75.4,378.1,-11.8,316,2581,0.00,2.05,0.00,0.000,4,0.000,0.033,2547,3267,3150,0,0,0,0,0,0
$GC,2607,-0.71,-75.4,381.6,-11.5,318,2611,0.00,1.90,0.00,0.000,6,0.000,0.018,2547,1896,3150,0,0,0,0,0,0
$GC,2938,-0.71,-75.4,416.9,-11.2,349,2943,0.00,2.05,0.00,0.000,4,0.000,0.030,2548,499,3148,0,0,0,0,0,0
$GC,3068,-0.71,-75.4,431.0,-11.5,360,3074,0.00,2.00,0.00,0.000,6,0.000,0.021,2547,1892,3147,0,0,0,0,0,0
$GC,3395,-0.73,-85.5,464.3,-8.8,391,3399,0.00,2.05,0.00,0.000,4,0.000,0.030,2547,501,3146,0,0,0,0,0,0
$GC,3423,-0.74,-99.8,467.1,-8.5,393,3430,0.00,2.08,0.00,0.000,6,0.000,0.021,2544,1934,3145,0,0,0,0,0,0
$GC,3749,-0.75,-105.2,495.7,-9.2,424,3753,0.00,2.10,0.00,0.000,4,0.000,0.029,2544,505,3143,0,0,0,0,0,0
$GC,3836,-0.75,-106.9,503.9,-9.6,430,3839,0.00,2.03,0.00,0.000,6,0.000,0.019,2535,1926,3144,0,0,0,0,0,0
$GC,4169,-0.75,-106.9,538.9,-10.6,446,4174,0.00,2.12,0.00,0.000,4,0.000,0.029,2535,498,3141,0,0,0,0,0,0
$GC,4192,-0.75,-106.9,541.3,-10.5,447,4196,0.00,1.98,0.00,0.000,6,0.000,0.021,2532,1877,3141,0,0,0,0,0,0
$GC,4527,-0.77,-120.6,572.8,-8.5,463,4531,0.00,2.03,0.00,0.000,4,0.000,0.032,2524,3267,3139,0,0,0,0,0,0
$GC,4680,-0.78,-129.6,586.5,-8.9,469,4688,0.00,1.90,0.00,0.000,6,0.000,0.019,2524,1908,3138,0,0,0,0,0,0
$GC,4998,-0.80,-147.5,612.5,-8.2,485,5003,0.00,2.08,0.00,0.000,4,0.000,0.031,2524,510,3136,0,0,0,0,0,0
$GC,5053,-0.82,-161.7,617.5,-8.5,487,5057,0.00,2.03,0.00,0.000,6,0.000,0.021,2520,1914,3136,0,0,0,0,0,0
$GC,5376,-0.83,-166.5,644.7,-9.3,503,5380,0.00,2.08,0.00,0.000,4,0.000,0.029,2520,507,3133,0,0,0,0,0,0
$GC,5551,-0.83,-166.5,662.1,-10.2,511,5554,0.00,1.95,0.00,0.000,6,0.000,0.022,2519,1860,3133,0,0,0,0,0,0
$GC,5885,-0.83,-172.0,693.1,-9.2,527,5890,0.00,2.10,0.00,0.000,4,0.000,0.034,2519,3258,3132,0,0,0,0,0,0
$GC,5991,-0.83,-172.0,703.7,-9.8,531,5998,0.00,1.95,0.00,0.000,6,0.000,0.019,2519,1900,3130,0,0,0,0,0,0
$GC,6309,-0.83,-172.0,737.2,-11.0,547,6312,0.00,2.05,0.00,0.000,4,0.000,0.031,2519,510,3128,0,0,0,0,0,0
$GC,6484,-0.83,-172.0,758.0,-11.4,554,6490,0.00,1.95,0.00,0.000,6,0.000,0.021,2519,1851,3127,0,0,0,0,0,0
$GC,6800,-0.86,-193.0,786.3,-7.9,570,6805,0.00,2.12,0.00,0.000,4,0.000,0.035,2510,3263,3126,0,0,0,0,0,0
$GC,6949,-0.86,-194.6,797.4,-7.4,576,6954,0.00,1.98,0.00,0.000,6,0.000,0.020,2510,1897,3125,0,0,0,0,0,0
$GC,7270,-0.86,-194.6,817.4,-6.0,592,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1897,3123,0,0,0,0,0,0
$GC,7581,-0.86,-194.6,838.1,-7.6,607,7585,0.00,2.08,0.00,0.000,4,0.000,0.033,2510,495,3121,0,0,0,0,0,0
$GC,7670,-0.86,-194.6,845.8,-8.5,611,7674,0.00,2.05,0.00,0.000,6,0.000,0.022,2506,1902,3121,0,0,0,0,0,0
$GC,8000,-0.86,-194.6,871.1,-7.8,627,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1902,3119,0,0,0,0,0,0
$GC,8307,-0.86,-194.6,895.2,-8.0,642,8311,0.00,2.05,0.00,0.000,4,0.000,0.037,2507,3266,3118,0,0,0,0,0,0
$GC,8336,-0.86,-194.6,897.6,-8.0,643,8340,0.00,1.98,0.00,0.000,6,0.000,0.020,2507,1885,3118,0,0,0,0,0,0
$GC,8665,-0.86,-194.6,926.1,-9.1,659,8669,0.00,2.10,0.00,0.000,4,0.000,0.036,2500,3274,3116,0,0,0,0,0,0
$GC,8781,-0.86,-194.6,937.7,-9.9,664,8785,0.00,1.92,0.00,0.000,6,0.000,0.021,2500,1946,3115,0,0,0,0,0,0
$GC,9105,-0.86,-194.6,969.3,-9.6,680,9109,0.00,2.12,0.00,0.000,4,0.000,0.031,2500,507,3115,0,0,0,0,0,0
$GC,9237,-0.86,-194.6,982.6,-9.8,686,9241,0.00,2.05,0.00,0.000,6,0.000,0.022,2493,1911,3113,0,0,0,0,0,0
$STATE,9335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9335,begin apogee
$GC,9343,-0.20,0.0,991.3,8.6,691,9409,0.77,0.00,58.47,1.385,4,0.154,0.000,2727,2089,2838,0,0,0,0,0,0
$STATE,9410,end apogee,CONTROL_FINISHED_OK
$STATE,9410,begin climb
$GC,9412,0.86,194.6,993.3,0.0,694,9586,0.98,0.00,168.23,1.349,6,0.079,0.000,3077,2089,2045,0,0,0,0,0,0
$GC,9914,0.86,194.6,917.1,17.9,718,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2089,2033,0,0,0,0,0,0
$GC,10225,0.86,194.6,862.9,17.4,733,10228,0.00,2.08,0.00,0.000,4,0.000,0.031,3086,711,2031,0,0,0,0,0,0
$GC,10270,0.86,194.6,854.5,17.7,735,10275,0.00,2.08,0.00,0.000,6,0.000,0.024,3086,2102,2030,0,0,0,0,0,0
$GC,10598,0.86,194.6,796.3,17.8,751,10599,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2102,2029,0,0,0,0,0,0
$GC,10909,0.86,194.6,742.2,17.1,766,10914,0.00,2.10,0.00,0.000,4,0.000,0.031,3096,709,2028,0,0,0,0,0,0
$GC,10964,0.86,194.6,732.3,17.2,768,10968,0.00,2.05,0.00,0.000,6,0.000,0.024,3095,2108,2028,0,0,0,0,0,0
$GC,11286,0.86,194.6,676.8,17.4,784,11290,0.00,2.10,0.00,0.000,4,0.000,0.029,3104,694,2027,0,0,0,0,0,0
$GC,11375,0.86,194.6,661.7,17.4,788,11379,0.00,2.03,0.00,0.000,6,0.000,0.024,3105,2068,2027,0,0,0,0,0,0
$GC,11703,0.86,194.6,602.2,18.3,804,11707,0.00,2.12,0.00,0.000,4,0.000,0.037,3105,3469,2026,0,0,0,0,0,0
$GC,11732,0.86,194.6,596.6,19.5,805,11737,0.10,2.00,0.00,0.000,6,0.164,0.020,3082,2095,2026,0,0,0,0,0,0
$GC,12054,0.86,194.6,546.9,14.6,821,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2095,2025,0,0,0,0,0,0
$GC,12363,0.86,194.6,506.1,13.1,836,12366,0.00,2.05,0.00,0.000,4,0.000,0.031,3092,696,2024,0,0,0,0,0,0
$GC,12477,0.86,194.6,489.9,15.1,844,12482,0.00,2.15,0.00,0.000,6,0.000,0.024,3092,2139,2024,0,0,0,0,0,0
$GC,12807,0.86,194.6,442.3,15.0,875,12811,0.00,2.15,0.00,0.000,4,0.000,0.029,3101,694,2024,0,0,0,0,0,0
$GC,12886,0.86,194.6,431.0,14.5,881,12894,0.00,2.05,0.00,0.000,6,0.000,0.023,3101,2111,2024,0,0,0,0,0,0
$GC,13211,0.86,194.6,387.9,12.3,912,13215,0.00,2.08,0.00,0.000,4,0.000,0.030,3110,695,2023,0,0,0,0,0,0
$GC,13312,0.86,194.6,375.0,12.7,920,13320,0.08,1.95,0.00,0.000,6,0.142,0.022,3084,2024,2024,0,0,0,0,0,0
$GC,13637,0.86,194.6,340.1,10.6,951,13641,0.00,2.15,0.00,0.000,4,0.000,0.036,3084,3476,2024,0,0,0,0,0,0
$GC,13671,0.86,194.6,336.1,11.7,953,13679,0.00,2.08,0.00,0.000,6,0.000,0.018,3092,2031,2024,0,0,0,0,0,0
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$STATE,16914,end climb,SURFACE_DEPTH_REACHED
$STATE,16915,begin surface coast
$FINISH,1.1,1.021356
$STATE,16946,end surface coast,CONTROL_FINISHED_OK
$STATE,16946,begin surface
$SM_CCo,16965,26.65,0.348,1,0,1207,400.08
$SM_GC,2.16,0.00,0.00,26.65,0.000,0.000,0.348,118,1891,1207,-8.38,0.45,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2006.47,12411.35,130811,121254
$TT8_MAMPS,0.028462,0.028462
$HUMID,37.04
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,28.60
$XPDR_PINGS,80
$24V_AH,23.3,54.123
$10V_AH,9.9,48.257
$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,20.225,172.900,374.500,26.650,0.000,31.102,20.837,245.320,20.000,0.000,12.310,3615.713,8971.559,591.795,3433.965,849.870,0.000,2110.177,0.000,3391.675,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,56.610,1384.650,348.075,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.262,1146.266,1523.799,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329648
$DATA_FILE_SIZE,83702,1411
$CAP_FILE_SIZE,194275,0
$CFSIZE,260165632,113553408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.185, 76.4,1
$GPS,130811,230736,2013.603,12420.740,37,1.1,38,-2.5