version: 66.09
glider: 167
mission: 8
dive: 304
start: 8 15 111 19 1 43
data:
$ID,167
$MISSION,8
$DIVE,304
$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,-56770.23
$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,73
$R_STBD_OVSHOOT,79
$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
$GPS1,150811,185337,2001.349,12419.835,33,0.9,34,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.3
$GPS2,150811,190120,2001.443,12419.806,13,1.6,13,-2.5
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,185.2,244901,-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,-194.6,0.0,0.0,0,114,0.00,0.00,-90.88,0.000,2,0.000,0.000,111,1973,3012,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.6,-10.1,12,149,9.98,2.22,-10.55,0.000,4,0.230,0.039,2596,479,3637,0,0,0,0,0,0
$GC,241,-0.62,-194.6,44.8,-23.5,32,250,0.00,2.03,0.00,0.000,6,0.000,0.022,2589,1854,3638,0,0,0,0,0,0
$GC,319,-0.62,-194.6,62.7,-21.4,45,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1854,3638,0,0,0,0,0,0
$GC,399,-0.62,-194.6,79.7,-20.5,58,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1854,3638,0,0,0,0,0,0
$GC,478,-0.62,-194.6,92.7,-16.9,71,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1854,3639,0,0,0,0,0,0
$GC,557,-0.62,-194.6,105.6,-16.8,84,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1854,3639,0,0,0,0,0,0
$GC,635,-0.62,-194.6,117.9,-16.1,97,644,0.00,2.12,0.00,0.000,4,0.000,0.032,2579,3279,3640,0,0,0,0,0,0
$GC,675,-0.62,-194.6,124.5,-16.4,103,684,0.00,2.03,0.00,0.000,6,0.000,0.017,2579,1854,3640,0,0,0,0,0,0
$GC,752,-0.62,-194.6,137.6,-16.9,116,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1854,3640,0,0,0,0,0,0
$GC,828,-0.62,-194.6,151.2,-17.3,129,836,0.00,1.98,0.00,0.000,4,0.000,0.028,2579,499,3640,0,0,0,0,0,0
$GC,855,-0.62,-194.6,155.5,-16.9,133,863,0.00,2.08,0.00,0.000,6,0.000,0.020,2572,1930,3640,0,0,0,0,0,0
$GC,931,-0.62,-194.6,168.0,-16.8,146,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1930,3640,0,0,0,0,0,0
$GC,1010,-0.62,-194.6,181.1,-16.6,159,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1930,3640,0,0,0,0,0,0
$GC,1085,-0.62,-194.6,193.9,-17.1,172,1093,0.00,2.03,0.00,0.000,4,0.000,0.031,2562,3283,3640,0,0,0,0,0,0
$GC,1107,-0.62,-194.6,197.6,-17.1,175,1117,0.10,1.92,0.00,0.000,6,0.149,0.017,2593,1896,3640,0,0,0,0,0,0
$GC,1191,-0.62,-194.6,210.4,-15.3,183,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1895,3640,0,0,0,0,0,0
$GC,1518,-0.62,-194.6,257.9,-14.2,214,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1895,3640,0,0,0,0,0,0
$GC,1838,-0.62,-194.6,302.6,-14.0,244,1842,0.00,2.05,0.00,0.000,4,0.000,0.029,2588,3273,3638,0,0,0,0,0,0
$GC,1864,-0.62,-194.6,307.0,-13.8,246,1872,0.00,1.83,0.00,0.000,6,0.000,0.017,2587,1960,3638,0,0,0,0,0,0
$GC,2190,-0.62,-194.6,350.6,-14.0,277,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1959,3637,0,0,0,0,0,0
$GC,2510,-0.62,-194.6,394.5,-14.5,307,2514,0.00,2.08,0.00,0.000,4,0.000,0.028,2588,533,3636,0,0,0,0,0,0
$GC,2550,-0.62,-194.6,400.7,-14.7,310,2558,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1985,3635,0,0,0,0,0,0
$GC,2877,-0.62,-194.6,444.0,-13.2,341,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1985,3634,0,0,0,0,0,0
$GC,3197,-0.62,-194.6,479.9,-9.8,371,3201,0.00,1.92,0.00,0.000,4,0.000,0.035,2587,3272,3633,0,0,0,0,0,0
$GC,3277,-0.62,-194.6,486.8,-8.0,378,3281,0.00,1.75,0.00,0.000,6,0.000,0.018,2587,1980,3633,0,0,0,0,0,0
$GC,3607,-0.62,-194.6,512.0,-7.8,402,3612,0.00,2.12,0.00,0.000,4,0.000,0.028,2587,531,3630,0,0,0,0,0,0
$GC,3646,-0.62,-194.6,515.9,-8.8,403,3653,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1993,3630,0,0,0,0,0,0
$GC,3963,-0.62,-194.6,546.9,-10.3,419,3967,0.00,1.92,0.00,0.000,4,0.000,0.035,2587,3279,3628,0,0,0,0,0,0
$GC,4014,-0.62,-194.6,552.2,-10.2,421,4018,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1970,3628,0,0,0,0,0,0
$GC,4342,-0.62,-194.6,587.0,-10.4,437,4346,0.00,2.10,0.00,0.000,4,0.000,0.028,2586,538,3626,0,0,0,0,0,0
$GC,4397,-0.62,-194.6,592.9,-10.3,439,4400,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1949,3625,0,0,0,0,0,0
$GC,4721,-0.62,-194.6,623.6,-9.1,455,4725,0.00,1.98,0.00,0.000,4,0.000,0.034,2587,3281,3623,0,0,0,0,0,0
$GC,4793,-0.62,-194.6,630.2,-8.1,458,4797,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1973,3622,0,0,0,0,0,0
$GC,5123,-0.62,-194.6,659.0,-9.0,474,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1972,3620,0,0,0,0,0,0
$GC,5430,-0.62,-194.6,690.1,-10.1,489,5435,0.00,2.12,0.00,0.000,4,0.000,0.029,2587,534,3618,0,0,0,0,0,0
$GC,5480,-0.62,-194.6,695.4,-10.7,491,5484,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1962,3618,0,0,0,0,0,0
$GC,5810,-0.62,-194.6,727.4,-9.3,507,5813,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3270,3615,0,0,0,0,0,0
$GC,5843,-0.62,-194.6,730.7,-8.9,508,5847,0.00,1.80,0.00,0.000,6,0.000,0.018,2587,1968,3615,0,0,0,0,0,0
$GC,6165,-0.62,-194.6,756.1,-7.5,524,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1967,3613,0,0,0,0,0,0
$GC,6476,-0.62,-194.6,777.6,-6.8,539,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1967,3611,0,0,0,0,0,0
$GC,6783,-0.62,-194.6,798.7,-7.1,554,6788,0.00,2.12,0.00,0.000,4,0.000,0.029,2587,532,3608,0,0,0,0,0,0
$GC,6810,-0.62,-194.6,801.0,-7.3,555,6814,0.00,2.08,0.00,0.000,6,0.000,0.021,2587,1956,3608,0,0,0,0,0,0
$GC,7142,-0.62,-194.6,828.2,-8.7,571,7145,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3270,3606,0,0,0,0,0,0
$GC,7197,-0.62,-194.6,833.2,-8.3,573,7201,0.00,1.77,0.00,0.000,6,0.000,0.018,2587,1979,3606,0,0,0,0,0,0
$GC,7521,-0.62,-194.6,860.5,-8.9,589,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1979,3604,0,0,0,0,0,0
$GC,7828,-0.62,-194.6,886.5,-7.9,604,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1980,3603,0,0,0,0,0,0
$GC,8138,-0.62,-194.6,909.4,-6.8,619,8143,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3271,3600,0,0,0,0,0,0
$GC,8208,-0.62,-194.6,913.9,-6.5,622,8212,0.00,1.83,0.00,0.000,6,0.000,0.019,2586,1975,3600,0,0,0,0,0,0
$GC,8542,-0.62,-194.6,935.1,-6.4,638,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1974,3599,0,0,0,0,0,0
$GC,8853,-0.62,-194.6,954.8,-6.1,653,8857,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3267,3598,0,0,0,0,0,0
$GC,8914,-0.62,-194.6,958.6,-5.8,655,8921,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,1980,3598,0,0,0,0,0,0
$GC,9231,-0.62,-194.6,977.8,-6.1,671,9236,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3268,3596,0,0,0,0,0,0
$GC,9265,-0.62,-194.6,980.0,-6.5,672,9269,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,1989,3595,0,0,0,0,0,0
$STATE,9440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9440,begin apogee
$GC,9446,-0.20,0.0,991.3,6.5,681,9607,0.43,0.00,155.75,1.385,4,0.112,0.000,2731,2079,2839,0,0,0,0,0,0
$STATE,9608,end apogee,CONTROL_FINISHED_OK
$STATE,9608,begin climb
$GC,9610,0.62,194.6,997.0,0.0,688,9787,0.75,0.00,169.73,1.334,6,0.078,0.000,2997,2079,2044,0,0,0,0,0,0
$GC,10101,0.62,194.6,953.5,10.2,712,10105,0.00,2.15,0.00,0.000,4,0.000,0.038,2997,3475,2034,0,0,0,0,0,0
$GC,10166,0.62,194.6,945.6,11.5,715,10170,0.00,2.00,0.00,0.000,6,0.000,0.019,3005,2101,2032,0,0,0,0,0,0
$GC,10496,0.62,194.6,909.1,11.7,731,10499,0.00,2.08,0.00,0.000,4,0.000,0.032,3014,710,2031,0,0,0,0,0,0
$GC,10613,0.62,194.6,894.5,11.9,736,10617,0.00,1.95,0.00,0.000,6,0.000,0.024,3014,2036,2031,0,0,0,0,0,0
$GC,10942,0.62,194.6,855.0,11.7,752,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2037,2030,0,0,0,0,0,0
$GC,11250,0.62,194.6,818.7,11.8,767,11251,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2037,2029,0,0,0,0,0,0
$GC,11559,0.62,194.6,783.4,11.6,782,11563,0.00,2.17,0.00,0.000,4,0.000,0.039,3014,3471,2029,0,0,0,0,0,0
$GC,11645,0.62,194.6,772.5,12.7,786,11649,0.00,2.08,0.00,0.000,6,0.000,0.020,3022,2034,2028,0,0,0,0,0,0
$GC,11973,0.62,194.6,731.6,12.6,802,11977,0.00,2.00,0.00,0.000,4,0.000,0.032,3032,703,2028,0,0,0,0,0,0
$GC,12068,0.62,194.6,719.0,13.2,806,12073,0.08,1.95,0.00,0.000,6,0.132,0.024,3006,2009,2028,0,0,0,0,0,0
$GC,12395,0.62,194.6,680.5,11.2,822,12399,0.00,2.20,0.00,0.000,4,0.000,0.038,3006,3465,2027,0,0,0,0,0,0
$GC,12474,0.62,194.6,671.3,11.6,825,12480,0.00,2.10,0.00,0.000,6,0.000,0.020,3014,2019,2027,0,0,0,0,0,0
$GC,12789,0.62,194.6,639.1,9.8,841,12793,0.00,1.95,0.00,0.000,4,0.000,0.032,3024,694,2027,0,0,0,0,0,0
$GC,12858,0.62,194.6,632.0,10.3,844,12862,0.00,1.92,0.00,0.000,6,0.000,0.022,3024,2019,2027,0,0,0,0,0,0
$GC,13192,0.62,194.6,593.4,12.1,860,13193,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2019,2026,0,0,0,0,0,0
$GC,13500,0.62,194.6,556.4,11.9,875,13505,0.00,2.20,0.00,0.000,4,0.000,0.038,3024,3461,2026,0,0,0,0,0,0
$GC,13647,0.62,194.6,538.0,12.0,881,13653,0.08,2.12,0.00,0.000,6,0.145,0.020,3006,2013,2026,0,0,0,0,0,0
$GC,13969,0.67,233.6,510.1,8.4,897,14006,0.00,2.00,31.45,1.027,4,0.000,0.031,3015,688,1885,0,0,0,0,0,0
$GC,14077,0.68,239.8,500.6,9.5,901,14088,0.00,2.00,6.65,0.835,6,0.000,0.021,3014,2034,1861,0,0,0,0,0,0
$GC,14414,0.68,239.8,464.4,11.5,932,14418,0.00,2.15,0.00,0.000,4,0.000,0.037,3014,3468,1857,0,0,0,0,0,0
$GC,14459,0.68,239.8,458.7,12.9,935,14466,0.00,2.10,0.00,0.000,6,0.000,0.020,3022,2009,1857,0,0,0,0,0,0
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$STATE,18601,end climb,SURFACE_DEPTH_REACHED
$STATE,18601,begin surface coast
$FINISH,1.0,1.020901
$STATE,18637,end surface coast,CONTROL_FINISHED_OK
$STATE,18637,begin surface
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$IRIDIUM_FIX,1955.00,12418.94,150811,131301
$TT8_MAMPS,0.027713,0.027713
$HUMID,36.92
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,28.00
$XPDR_PINGS,61
$24V_AH,22.9,55.951
$10V_AH,9.9,49.719
$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
$DEVICE_SECS,19.825,165.175,618.800,0.000,0.000,28.288,22.910,233.355,15.250,0.000,14.236,3643.064,10542.377,738.575,3367.540,863.404,0.000,2324.824,0.000,3335.820,0.000,0.543,0.000
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$SENSOR_SECS,980.081,1114.083,1366.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329652
$DATA_FILE_SIZE,83514,1448
$CAP_FILE_SIZE,199507,0
$CFSIZE,260165632,112627712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189, 67.0,1
$GPS,160811,001455,1959.261,12421.412,37,1.2,38,-2.5