version: 66.09
glider: 167
mission: 8
dive: 353
start: 8 27 111 1 55 54
data:
$ID,167
$MISSION,8
$DIVE,353
$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,-56840.141
$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,97
$R_STBD_OVSHOOT,48
$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
$GPS1,270811,013706,1817.508,12424.851,39,0.8,39,-2.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-53.1
$GPS2,270811,015531,1817.634,12425.251,14,1.3,14,-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,150.2,53988,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-90.85,0.000,2,0.000,0.000,107,1945,3173,0,0,0,0,0,0
$GC,118,-0.62,-194.6,5.5,-10.0,13,140,9.90,0.00,-7.40,0.000,6,0.224,0.000,2592,1945,3635,0,0,0,0,0,0
$GC,274,-0.62,-194.6,65.8,-28.4,40,282,0.00,2.00,0.00,0.000,4,0.000,0.033,2583,3277,3637,0,0,0,0,0,0
$GC,452,-0.62,-194.6,107.7,-24.1,71,460,0.00,1.98,0.00,0.000,6,0.000,0.018,2583,1871,3637,0,0,0,0,0,0
$GC,596,-0.62,-194.6,142.2,-22.0,96,603,0.00,2.00,0.00,0.000,4,0.000,0.027,2583,494,3637,0,0,0,0,0,0
$GC,622,-0.62,-194.6,148.1,-21.3,100,630,0.00,1.95,0.00,0.000,6,0.000,0.021,2574,1841,3638,0,0,0,0,0,0
$GC,768,-0.62,-194.6,178.5,-21.5,125,774,0.00,2.10,0.00,0.000,4,0.000,0.032,2564,3271,3638,0,0,0,0,0,0
$GC,819,-0.62,-194.6,190.0,-20.5,134,827,0.10,1.90,0.00,0.000,6,0.142,0.017,2596,1897,3637,0,0,0,0,0,0
$GC,966,-0.62,-194.6,215.5,-17.3,152,970,0.00,1.98,0.00,0.000,4,0.000,0.026,2596,516,3638,0,0,0,0,0,0
$GC,994,-0.62,-194.6,220.7,-16.1,154,1001,0.00,1.98,0.00,0.000,6,0.000,0.021,2593,1899,3638,0,0,0,0,0,0
$GC,1321,-0.62,-194.6,269.7,-15.2,185,1325,0.00,2.00,0.00,0.000,4,0.000,0.033,2587,3262,3637,0,0,0,0,0,0
$GC,1404,-0.62,-194.6,281.9,-14.6,192,1411,0.00,1.85,0.00,0.000,6,0.000,0.017,2588,1942,3637,0,0,0,0,0,0
$GC,1730,-0.62,-194.6,328.2,-13.3,223,1733,0.00,1.95,0.00,0.000,4,0.000,0.032,2588,3262,3635,0,0,0,0,0,0
$GC,1760,-0.62,-194.6,331.6,-13.8,225,1763,0.00,1.80,0.00,0.000,6,0.000,0.017,2588,1960,3635,0,0,0,0,0,0
$GC,2091,-0.62,-194.6,370.9,-10.7,256,2095,0.00,2.08,0.00,0.000,4,0.000,0.028,2588,524,3634,0,0,0,0,0,0
$GC,2249,-0.62,-194.6,387.9,-10.9,269,2256,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1914,3633,0,0,0,0,0,0
$GC,2575,-0.62,-194.6,421.7,-10.5,300,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1914,3631,0,0,0,0,0,0
$GC,2898,-0.62,-194.6,452.4,-10.1,330,2902,0.00,2.00,0.00,0.000,4,0.000,0.035,2587,3267,3629,0,0,0,0,0,0
$GC,2947,-0.62,-194.6,457.9,-9.8,334,2954,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1935,3629,0,0,0,0,0,0
$GC,3274,-0.62,-194.6,487.4,-8.1,365,3278,0.00,2.08,0.00,0.000,4,0.000,0.030,2587,525,3627,0,0,0,0,0,0
$GC,3344,-0.62,-194.6,493.8,-9.0,371,3352,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,1907,3626,0,0,0,0,0,0
$GC,3675,-0.62,-194.6,520.9,-8.3,391,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1907,3623,0,0,0,0,0,0
$GC,3982,-0.62,-194.6,548.7,-9.5,406,3986,0.00,2.03,0.00,0.000,4,0.000,0.036,2587,3267,3621,0,0,0,0,0,0
$GC,4046,-0.62,-194.6,554.4,-9.3,408,4053,0.00,1.92,0.00,0.000,6,0.000,0.019,2587,1903,3620,0,0,0,0,0,0
$GC,4362,-0.62,-194.6,580.9,-7.5,424,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1903,3618,0,0,0,0,0,0
$GC,4671,-0.62,-194.6,604.6,-7.9,439,4675,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,508,3615,0,0,0,0,0,0
$GC,4728,-0.62,-194.6,609.3,-8.6,441,4733,0.00,2.05,0.00,0.000,6,0.000,0.022,2587,1892,3615,0,0,0,0,0,0
$GC,5050,-0.62,-194.6,635.6,-8.3,457,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1892,3612,0,0,0,0,0,0
$GC,5359,-0.62,-194.6,660.7,-8.0,472,5363,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3268,3610,0,0,0,0,0,0
$GC,5455,-0.62,-194.6,668.4,-7.7,476,5459,0.00,1.98,0.00,0.000,6,0.000,0.019,2587,1879,3608,0,0,0,0,0,0
$GC,5784,-0.62,-194.6,694.7,-8.2,492,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1879,3606,0,0,0,0,0,0
$GC,6094,-0.62,-194.6,720.4,-8.1,507,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1879,3604,0,0,0,0,0,0
$GC,6401,-0.62,-194.6,745.4,-7.9,522,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1879,3602,0,0,0,0,0,0
$GC,6710,-0.62,-194.6,769.7,-7.7,537,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1879,3599,0,0,0,0,0,0
$GC,7021,-0.62,-194.6,793.2,-7.5,552,7025,0.00,2.10,0.00,0.000,4,0.000,0.037,2587,3271,3598,0,0,0,0,0,0
$GC,7085,-0.62,-194.6,798.1,-7.4,555,7089,0.00,2.00,0.00,0.000,6,0.000,0.019,2587,1877,3598,0,0,0,0,0,0
$GC,7420,-0.62,-194.6,822.3,-7.1,571,7424,0.00,2.10,0.00,0.000,4,0.000,0.037,2587,3268,3595,0,0,0,0,0,0
$GC,7469,-0.62,-194.6,826.0,-6.8,573,7474,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1908,3595,0,0,0,0,0,0
$GC,7791,-0.62,-194.6,847.5,-6.6,589,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1907,3594,0,0,0,0,0,0
$GC,8102,-0.62,-194.6,867.4,-6.5,604,8106,0.00,2.10,0.00,0.000,4,0.000,0.032,2587,491,3592,0,0,0,0,0,0
$GC,8129,-0.62,-194.6,869.5,-6.6,605,8133,0.00,2.08,0.00,0.000,6,0.000,0.024,2587,1896,3592,0,0,0,0,0,0
$GC,8453,-0.62,-194.6,891.3,-7.0,621,8457,0.00,2.08,0.00,0.000,4,0.000,0.041,2587,3273,3591,0,0,0,0,0,0
$GC,8503,-0.62,-194.6,895.1,-7.0,623,8507,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1918,3590,0,0,0,0,0,0
$GC,8826,-0.62,-194.6,917.5,-6.9,639,8829,0.00,2.12,0.00,0.000,4,0.000,0.034,2587,492,3589,0,0,0,0,0,0
$GC,8860,-0.62,-194.6,920.1,-6.9,640,8867,0.00,2.12,0.00,0.000,6,0.000,0.025,2587,1924,3588,0,0,0,0,0,0
$GC,9177,-0.62,-194.6,941.3,-6.5,656,9181,0.00,2.03,0.00,0.000,4,0.000,0.041,2587,3268,3587,0,0,0,0,0,0
$GC,9223,-0.62,-194.6,944.2,-6.2,658,9227,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1920,3587,0,0,0,0,0,0
$GC,9558,-0.62,-194.6,964.0,-5.8,674,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1919,3586,0,0,0,0,0,0
$GC,9866,-0.62,-194.6,982.2,-5.8,689,9869,0.00,2.05,0.00,0.000,4,0.000,0.039,2587,3268,3585,0,0,0,0,0,0
$GC,9895,-0.62,-194.6,983.9,-5.6,690,9899,0.00,1.95,0.00,0.000,6,0.000,0.021,2587,1918,3585,0,0,0,0,0,0
$STATE,10014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10014,begin apogee
$GC,10020,-0.20,0.0,990.3,5.4,696,10184,0.43,0.00,156.75,1.392,4,0.112,0.000,2732,2076,2840,0,0,0,0,0,0
$STATE,10185,end apogee,CONTROL_FINISHED_OK
$STATE,10185,begin climb
$GC,10189,0.62,194.6,994.0,0.0,703,10367,0.75,0.00,171.45,1.342,6,0.078,0.000,2995,2076,2044,0,0,0,0,0,0
$GC,10678,0.62,194.6,942.5,11.6,727,10682,0.00,2.15,0.00,0.000,4,0.000,0.040,2995,3472,2033,0,0,0,0,0,0
$GC,10755,0.62,194.6,932.2,12.7,730,10763,0.00,2.03,0.00,0.000,6,0.000,0.020,3004,2113,2031,0,0,0,0,0,0
$GC,11073,0.62,194.6,895.2,11.6,746,11077,0.00,2.12,0.00,0.000,4,0.000,0.033,3011,686,2031,0,0,0,0,0,0
$GC,11185,0.62,194.6,881.7,11.6,751,11190,0.00,2.05,0.00,0.000,6,0.000,0.025,3011,2040,2030,0,0,0,0,0,0
$GC,11514,0.62,194.6,842.9,11.9,767,11518,0.00,2.00,0.00,0.000,4,0.000,0.032,3019,692,2030,0,0,0,0,0,0
$GC,11540,0.62,194.6,839.4,11.8,768,11545,0.00,2.00,0.00,0.000,6,0.000,0.025,3019,2045,2030,0,0,0,0,0,0
$GC,11868,0.62,194.6,800.0,12.0,784,11872,0.00,2.17,0.00,0.000,4,0.000,0.040,3019,3472,2029,0,0,0,0,0,0
$GC,11932,0.62,194.6,791.8,13.6,787,11936,0.00,2.08,0.00,0.000,6,0.000,0.021,3028,2055,2028,0,0,0,0,0,0
$GC,12260,0.62,194.6,749.9,12.7,803,12263,0.00,2.05,0.00,0.000,4,0.000,0.034,3038,680,2028,0,0,0,0,0,0
$GC,12352,0.62,194.6,738.1,12.9,807,12357,0.10,1.95,0.00,0.000,6,0.131,0.025,3005,1977,2028,0,0,0,0,0,0
$GC,12685,0.62,194.6,702.0,10.4,823,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1977,2028,0,0,0,0,0,0
$GC,12994,0.62,195.0,671.3,9.7,838,12998,0.00,2.28,0.00,0.000,4,0.000,0.039,3005,3471,2027,0,0,0,0,0,0
$GC,13156,0.62,195.0,653.8,11.1,845,13160,0.00,2.08,0.00,0.000,6,0.000,0.021,3012,2049,2026,0,0,0,0,0,0
$GC,13478,0.62,195.0,618.8,10.9,861,13481,0.00,2.00,0.00,0.000,4,0.000,0.034,3023,690,2026,0,0,0,0,0,0
$GC,13595,0.62,195.0,605.5,12.3,866,13598,0.00,2.03,0.00,0.000,6,0.000,0.024,3023,2061,2026,0,0,0,0,0,0
$GC,13927,0.62,195.0,565.9,11.5,882,13929,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2061,2026,0,0,0,0,0,0
$GC,14239,0.62,195.0,529.7,11.5,897,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2061,2026,0,0,0,0,0,0
$GC,14548,0.62,195.0,496.0,10.7,913,14552,0.00,2.15,0.00,0.000,4,0.000,0.039,3023,3472,2026,0,0,0,0,0,0
$GC,14600,0.62,195.0,490.2,11.2,917,14605,0.12,2.10,0.00,0.000,6,0.167,0.021,2998,2027,2025,0,0,0,0,0,0
$GC,14925,0.64,213.9,460.0,9.1,947,14949,0.00,2.05,14.82,0.975,4,0.000,0.034,3006,688,1965,0,0,0,0,0,0
$GC,15037,0.66,228.7,450.0,9.2,956,15057,0.00,1.95,14.35,0.952,6,0.000,0.022,3006,1984,1905,0,0,0,0,0,0
$GC,15377,0.68,245.5,418.6,9.1,988,15401,0.00,2.33,15.77,0.932,4,0.000,0.038,3006,3471,1837,0,0,0,0,0,0
$GC,15441,0.68,245.5,412.1,9.8,993,15448,0.00,2.17,0.00,0.000,6,0.000,0.021,3014,1985,1835,0,0,0,0,0,0
$GC,15767,0.69,254.4,380.2,9.4,1024,15781,0.00,2.00,8.62,0.830,4,0.000,0.033,3024,682,1801,0,0,0,0,0,0
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$STATE,19298,end climb,SURFACE_DEPTH_REACHED
$STATE,19299,begin surface coast
$FINISH,0.9,1.021553
$STATE,19326,end surface coast,CONTROL_FINISHED_OK
$STATE,19326,begin surface
$SM_CCo,19403,0.00,0.000,0,0,634,540.89
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$IRIDIUM_FIX,1807.77,12422.33,270811,010152
$TT8_MAMPS,0.028462,0.028462
$HUMID,37.95
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,28.30
$XPDR_PINGS,56
$24V_AH,22.7,66.332
$10V_AH,9.7,56.748
$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,19.400,154.950,616.600,0.000,0.000,119.575,79.502,500.931,14.000,0.000,14.921,3691.052,11811.556,697.385,3480.306,803.760,0.000,2191.371,0.000,2955.412,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,45.900,1391.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.598,1070.081,521.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86907,1475
$CAP_FILE_SIZE,199429,0
$CFSIZE,260165632,107802624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,224.4,1
$GPS,270811,072037,1814.572,12426.239,42,2.0,43,-2.1