version: 66.09
glider: 167
mission: 8
dive: 346
start: 8 25 111 9 50 2
data:
$ID,167
$MISSION,8
$DIVE,346
$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,-56829.121
$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,71
$R_STBD_OVSHOOT,78
$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
$GPS1,250811,093907,1833.251,12421.376,39,1.1,39,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-59.4
$GPS2,250811,094936,1833.305,12421.196,35,1.1,39,-2.1
$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,142.9,83811,-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,-194.6,0.0,0.0,0,103,0.00,0.00,-82.40,0.000,2,0.000,0.000,107,1902,2856,0,0,0,0,0,0
$GC,106,-0.62,-194.6,5.5,-11.8,12,136,10.05,2.15,-13.62,0.000,4,0.230,0.039,2595,469,3636,0,0,0,0,0,0
$GC,195,-0.62,-194.6,34.9,-26.1,26,204,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1850,3638,0,0,0,0,0,0
$GC,340,-0.62,-194.6,69.4,-20.9,51,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1850,3638,0,0,0,0,0,0
$GC,485,-0.62,-194.6,98.8,-20.1,76,493,0.00,2.12,0.00,0.000,4,0.000,0.032,2576,3277,3638,0,0,0,0,0,0
$GC,540,-0.62,-194.6,110.2,-20.8,85,547,0.00,2.00,0.00,0.000,6,0.000,0.017,2576,1850,3638,0,0,0,0,0,0
$GC,686,-0.62,-194.6,140.2,-20.2,110,695,0.00,1.98,0.00,0.000,4,0.000,0.028,2576,492,3639,0,0,0,0,0,0
$GC,743,-0.62,-194.6,150.8,-17.9,119,750,0.00,1.90,0.00,0.000,6,0.000,0.021,2570,1826,3639,0,0,0,0,0,0
$GC,887,-0.62,-194.6,179.0,-19.6,144,894,0.00,2.10,0.00,0.000,4,0.000,0.032,2561,3261,3639,0,0,0,0,0,0
$GC,945,-0.62,-194.6,189.5,-18.9,153,953,0.12,1.98,0.00,0.000,6,0.162,0.018,2594,1838,3639,0,0,0,0,0,0
$GC,1090,-0.62,-194.6,213.8,-15.4,171,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1839,3639,0,0,0,0,0,0
$GC,1414,-0.62,-194.6,257.7,-12.3,201,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1839,3639,0,0,0,0,0,0
$GC,1741,-0.62,-194.6,297.4,-12.1,232,1744,0.00,2.08,0.00,0.000,4,0.000,0.030,2588,3262,3638,0,0,0,0,0,0
$GC,1763,-0.62,-194.6,300.5,-12.3,233,1770,0.00,1.90,0.00,0.000,6,0.000,0.018,2587,1900,3637,0,0,0,0,0,0
$GC,2088,-0.62,-194.6,341.7,-12.7,264,2092,0.00,2.00,0.00,0.000,4,0.000,0.028,2587,510,3636,0,0,0,0,0,0
$GC,2116,-0.62,-194.6,345.4,-12.9,266,2124,0.00,1.98,0.00,0.000,6,0.000,0.021,2588,1870,3635,0,0,0,0,0,0
$GC,2441,-0.62,-194.6,382.5,-11.3,297,2445,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3269,3634,0,0,0,0,0,0
$GC,2524,-0.62,-194.6,391.5,-10.3,304,2531,0.00,1.92,0.00,0.000,6,0.000,0.018,2587,1891,3633,0,0,0,0,0,0
$GC,2852,-0.62,-194.6,425.1,-9.6,335,2855,0.00,2.00,0.00,0.000,4,0.000,0.029,2587,511,3631,0,0,0,0,0,0
$GC,2879,-0.62,-194.6,428.3,-10.1,337,2886,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1905,3631,0,0,0,0,0,0
$GC,3204,-0.62,-194.6,460.1,-9.9,368,3208,0.00,2.00,0.00,0.000,4,0.000,0.034,2587,3273,3629,0,0,0,0,0,0
$GC,3296,-0.62,-194.6,468.2,-8.3,376,3299,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1944,3628,0,0,0,0,0,0
$GC,3628,-0.62,-194.6,498.9,-9.2,407,3632,0.00,2.10,0.00,0.000,4,0.000,0.029,2587,499,3626,0,0,0,0,0,0
$GC,3672,-0.62,-194.6,503.5,-9.7,409,3676,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1952,3627,0,0,0,0,0,0
$GC,3994,-0.62,-194.6,534.8,-9.8,425,3997,0.00,1.92,0.00,0.000,4,0.000,0.034,2587,3267,3624,0,0,0,0,0,0
$GC,4019,-0.62,-194.6,536.9,-9.8,426,4022,0.00,1.85,0.00,0.000,6,0.000,0.018,2587,1933,3624,0,0,0,0,0,0
$GC,4352,-0.62,-194.6,567.2,-8.6,442,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1933,3622,0,0,0,0,0,0
$GC,4661,-0.62,-194.6,592.8,-8.1,457,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1933,3619,0,0,0,0,0,0
$GC,4972,-0.62,-194.6,619.1,-8.7,472,4977,0.00,2.03,0.00,0.000,4,0.000,0.035,2587,3262,3617,0,0,0,0,0,0
$GC,4999,-0.62,-194.6,621.7,-8.6,473,5003,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1943,3616,0,0,0,0,0,0
$GC,5329,-0.62,-194.6,650.2,-9.0,489,5333,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,514,3614,0,0,0,0,0,0
$GC,5363,-0.62,-194.6,653.5,-8.8,490,5370,0.00,2.05,0.00,0.000,6,0.000,0.022,2587,1919,3614,0,0,0,0,0,0
$GC,5679,-0.62,-194.6,679.3,-8.0,506,5683,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3268,3611,0,0,0,0,0,0
$GC,5749,-0.62,-194.6,684.2,-7.1,509,5753,0.00,1.90,0.00,0.000,6,0.000,0.019,2587,1924,3611,0,0,0,0,0,0
$GC,6082,-0.62,-194.6,709.5,-8.0,525,6087,0.00,2.05,0.00,0.000,4,0.000,0.035,2587,3263,3609,0,0,0,0,0,0
$GC,6121,-0.62,-194.6,712.6,-7.9,526,6129,0.00,1.90,0.00,0.000,6,0.000,0.019,2587,1937,3609,0,0,0,0,0,0
$GC,6439,-0.62,-194.6,738.1,-8.2,542,6443,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,511,3606,0,0,0,0,0,0
$GC,6489,-0.62,-194.6,742.8,-8.9,544,6493,0.00,2.08,0.00,0.000,6,0.000,0.024,2587,1927,3605,0,0,0,0,0,0
$GC,6813,-0.62,-194.6,770.3,-8.5,560,6817,0.00,2.00,0.00,0.000,4,0.000,0.038,2587,3269,3603,0,0,0,0,0,0
$GC,6859,-0.62,-194.6,774.1,-7.8,562,6863,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1931,3602,0,0,0,0,0,0
$GC,7193,-0.62,-194.6,797.5,-6.7,578,7196,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3264,3601,0,0,0,0,0,0
$GC,7250,-0.62,-194.6,801.4,-6.8,580,7253,0.00,1.88,0.00,0.000,6,0.000,0.020,2587,1948,3601,0,0,0,0,0,0
$GC,7572,-0.62,-194.6,823.6,-7.3,596,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1946,3599,0,0,0,0,0,0
$GC,7883,-0.62,-194.6,846.8,-7.7,611,7887,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,510,3596,0,0,0,0,0,0
$GC,7927,-0.62,-194.6,850.7,-8.2,613,7931,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1954,3597,0,0,0,0,0,0
$GC,8249,-0.62,-194.6,876.6,-8.3,629,8254,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3261,3595,0,0,0,0,0,0
$GC,8311,-0.62,-194.6,881.7,-8.1,631,8318,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1949,3595,0,0,0,0,0,0
$GC,8627,-0.62,-194.6,906.9,-7.8,647,8631,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,511,3594,0,0,0,0,0,0
$GC,8670,-0.62,-194.6,910.3,-7.8,649,8673,0.00,2.10,0.00,0.000,6,0.000,0.022,2587,1944,3593,0,0,0,0,0,0
$GC,9004,-0.62,-194.6,935.0,-7.2,665,9007,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3263,3592,0,0,0,0,0,0
$GC,9175,-0.62,-194.6,947.1,-7.1,672,9180,0.00,1.85,0.00,0.000,6,0.000,0.023,2587,1997,3591,0,0,0,0,0,0
$GC,9497,-0.62,-194.6,968.2,-6.1,688,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1997,3590,0,0,0,0,0,0
$GC,9806,-0.62,-194.6,985.2,-5.1,703,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1997,3589,0,0,0,0,0,0
$STATE,9906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9906,begin apogee
$GC,9914,-0.20,0.0,990.1,4.8,708,10078,0.43,0.00,157.50,1.388,4,0.111,0.000,2731,2094,2838,0,0,0,0,0,0
$STATE,10079,end apogee,CONTROL_FINISHED_OK
$STATE,10079,begin climb
$GC,10083,0.62,194.6,991.7,0.0,715,10265,0.80,2.20,172.00,1.334,4,0.077,0.030,3002,707,2044,0,0,0,0,0,0
$GC,10421,0.62,194.6,952.0,13.8,731,10425,0.00,2.05,0.00,0.000,6,0.000,0.024,3002,2060,2035,0,0,0,0,0,0
$GC,10751,0.62,194.6,908.7,13.0,747,10754,0.00,2.12,0.00,0.000,4,0.000,0.039,3002,3467,2030,0,0,0,0,0,0
$GC,10985,0.62,194.6,876.4,13.3,757,10992,0.00,2.05,0.00,0.000,6,0.000,0.021,3011,2063,2028,0,0,0,0,0,0
$GC,11302,0.62,194.6,837.3,12.3,773,11307,0.00,2.05,0.00,0.000,4,0.000,0.033,3020,699,2027,0,0,0,0,0,0
$GC,11439,0.62,194.6,821.2,11.9,779,11443,0.00,1.92,0.00,0.000,6,0.000,0.024,3020,1983,2027,0,0,0,0,0,0
$GC,11771,0.62,194.6,782.1,11.7,795,11775,0.00,2.25,0.00,0.000,4,0.000,0.038,3020,3464,2026,0,0,0,0,0,0
$GC,11895,0.62,194.6,766.4,12.9,800,11903,0.00,2.08,0.00,0.000,6,0.000,0.021,3029,2044,2026,0,0,0,0,0,0
$GC,12211,0.62,194.6,729.0,11.9,816,12215,0.00,2.03,0.00,0.000,4,0.000,0.033,3038,685,2025,0,0,0,0,0,0
$GC,12340,0.62,194.6,713.1,12.5,821,12348,0.12,1.92,0.00,0.000,6,0.151,0.024,3004,1992,2025,0,0,0,0,0,0
$GC,12657,0.62,194.6,679.2,11.0,837,12662,0.00,2.25,0.00,0.000,4,0.000,0.039,3004,3460,2025,0,0,0,0,0,0
$GC,12811,0.62,194.6,659.8,12.9,843,12818,0.00,2.08,0.00,0.000,6,0.000,0.021,3011,2034,2024,0,0,0,0,0,0
$GC,13127,0.62,194.6,621.8,11.8,859,13131,0.00,2.00,0.00,0.000,4,0.000,0.034,3021,688,2024,0,0,0,0,0,0
$GC,13276,0.62,194.6,605.0,11.0,865,13279,0.00,1.92,0.00,0.000,6,0.000,0.023,3021,1995,2024,0,0,0,0,0,0
$GC,13599,0.62,194.6,570.8,10.5,881,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1996,2024,0,0,0,0,0,0
$GC,13909,0.62,194.6,539.3,10.4,896,13913,0.00,2.22,0.00,0.000,4,0.000,0.038,3021,3465,2024,0,0,0,0,0,0
$GC,13938,0.62,194.6,535.8,10.7,897,13942,0.00,2.12,0.00,0.000,6,0.000,0.021,3031,2010,2023,0,0,0,0,0,0
$GC,14254,0.62,194.6,498.5,12.2,912,14258,0.00,1.98,0.00,0.000,4,0.000,0.033,3041,683,2023,0,0,0,0,0,0
$GC,14391,0.62,194.6,482.4,11.5,924,14396,0.15,1.85,0.00,0.000,6,0.141,0.022,2998,1956,2023,0,0,0,0,0,0
$GC,14722,0.65,214.9,452.8,9.0,955,14746,0.00,2.33,15.27,0.968,4,0.000,0.037,2998,3467,1961,0,0,0,0,0,0
$GC,14854,0.65,221.5,440.1,9.5,966,14866,0.00,2.15,7.30,0.847,6,0.000,0.021,3005,1997,1935,0,0,0,0,0,0
$GC,15187,0.70,255.4,411.4,8.6,997,15224,0.00,2.00,30.45,0.954,4,0.000,0.033,3015,700,1796,0,0,0,0,0,0
$GC,15366,0.72,276.3,395.1,9.0,1013,15390,0.00,1.85,18.98,0.905,6,0.000,0.021,3015,1959,1711,0,0,0,0,0,0
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$STATE,19184,end climb,SURFACE_DEPTH_REACHED
$STATE,19184,begin surface coast
$FINISH,0.9,1.021215
$STATE,19220,end surface coast,CONTROL_FINISHED_OK
$STATE,19220,begin surface
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$IRIDIUM_FIX,1828.22,12417.98,250811,090952
$TT8_MAMPS,0.028462,0.028462
$HUMID,36.96
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.80
$XPDR_PINGS,44
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$10V_AH,9.8,55.780
$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
$DEVICE_SECS,19.775,178.550,657.200,0.000,0.000,51.734,74.652,233.666,11.000,0.000,42.830,3836.507,11107.460,758.047,3372.213,832.235,0.000,2354.376,0.000,3197.192,0.000,0.543,0.000
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$SENSOR_SECS,1026.940,1122.070,608.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329628
$DATA_FILE_SIZE,86763,1517
$CAP_FILE_SIZE,207267,0
$CFSIZE,260165632,108511232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,281.2,1
$GPS,250811,151301,1831.325,12421.589,42,1.3,43,-2.1