version: 66.09
glider: 167
mission: 8
dive: 358
start: 8 28 111 6 43 0
data:
$ID,167
$MISSION,8
$DIVE,358
$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,-56846.438
$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,69
$R_STBD_OVSHOOT,54
$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
$GPS1,280811,063427,1804.804,12429.220,34,2.1,53,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-57.2
$GPS2,280811,064237,1804.826,12429.304,17,1.4,34,-2.0
$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,155.4,29237,-15.3,-9.706
$D_GRID,4837
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.62,-194.6,0.0,0.0,0,121,0.00,0.00,-96.28,0.000,2,0.000,0.000,108,1940,3170,0,0,0,0,0,0
$GC,124,-0.62,-194.6,6.3,-11.6,14,148,10.23,2.08,-7.45,0.000,4,0.235,0.047,2583,3288,3635,0,0,0,0,0,0
$GC,173,-0.62,-194.6,29.9,-47.2,21,180,0.00,2.03,0.00,0.000,6,0.000,0.018,2583,1868,3636,0,0,0,0,0,0
$GC,312,-0.62,-194.6,76.4,-33.3,46,320,0.00,2.12,0.00,0.000,4,0.000,0.032,2573,3273,3637,0,0,0,0,0,0
$GC,382,-0.62,-194.6,94.3,-24.3,57,389,0.00,1.88,0.00,0.000,6,0.000,0.017,2573,1936,3637,0,0,0,0,0,0
$GC,523,-0.62,-194.6,124.6,-21.0,82,531,0.00,2.10,0.00,0.000,4,0.000,0.027,2573,495,3637,0,0,0,0,0,0
$GC,580,-0.62,-194.6,137.1,-21.0,91,588,0.12,2.00,0.00,0.000,6,0.171,0.022,2596,1897,3638,0,0,0,0,0,0
$GC,726,-0.62,-194.6,163.3,-16.6,116,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1897,3638,0,0,0,0,0,0
$GC,868,-0.62,-194.6,186.9,-15.7,141,875,0.00,2.00,0.00,0.000,4,0.000,0.032,2588,3273,3639,0,0,0,0,0,0
$GC,897,-0.62,-194.6,192.1,-15.5,146,905,0.00,1.92,0.00,0.000,6,0.000,0.028,2588,1926,3638,0,0,0,0,0,0
$GC,1038,-0.62,-194.6,214.0,-15.3,163,1041,0.00,1.98,0.00,0.000,4,0.000,0.032,2587,3273,3638,0,0,0,0,0,0
$GC,1065,-0.62,-194.6,218.9,-16.0,165,1072,0.00,1.77,0.00,0.000,6,0.000,0.017,2587,2007,3638,0,0,0,0,0,0
$GC,1391,-0.62,-194.6,270.0,-14.6,196,1396,0.00,2.22,0.00,0.000,4,0.000,0.028,2587,484,3638,0,0,0,0,0,0
$GC,1485,-0.62,-194.6,282.6,-12.6,204,1492,0.00,2.17,0.00,0.000,6,0.000,0.022,2587,2000,3638,0,0,0,0,0,0
$GC,1811,-0.62,-194.6,323.9,-12.9,235,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1999,3637,0,0,0,0,0,0
$GC,2133,-0.62,-194.6,363.3,-12.4,265,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2000,3636,0,0,0,0,0,0
$GC,2462,-0.62,-194.6,400.8,-10.7,296,2466,0.00,2.22,0.00,0.000,4,0.000,0.028,2587,495,3634,0,0,0,0,0,0
$GC,2511,-0.62,-194.6,406.9,-11.4,300,2518,0.00,2.17,0.00,0.000,6,0.000,0.021,2587,1998,3633,0,0,0,0,0,0
$GC,2836,-0.62,-194.6,440.8,-9.9,331,2840,0.00,2.22,0.00,0.000,4,0.000,0.028,2587,481,3632,0,0,0,0,0,0
$GC,2871,-0.62,-194.6,444.5,-10.9,333,2877,0.00,2.15,0.00,0.000,6,0.000,0.022,2587,1976,3632,0,0,0,0,0,0
$GC,3197,-0.62,-194.6,474.1,-8.6,364,3201,0.00,1.92,0.00,0.000,4,0.000,0.036,2587,3263,3629,0,0,0,0,0,0
$GC,3245,-0.62,-194.6,477.8,-8.0,368,3249,0.00,1.83,0.00,0.000,6,0.000,0.018,2587,1956,3629,0,0,0,0,0,0
$GC,3587,-0.62,-194.6,505.7,-8.0,397,3591,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,482,3626,0,0,0,0,0,0
$GC,3706,-0.62,-194.6,516.5,-9.2,402,3710,0.00,2.17,0.00,0.000,6,0.000,0.023,2587,1958,3626,0,0,0,0,0,0
$GC,4027,-0.62,-194.6,541.8,-7.5,418,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1958,3623,0,0,0,0,0,0
$GC,4338,-0.62,-194.6,566.1,-8.3,433,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1958,3621,0,0,0,0,0,0
$GC,4646,-0.62,-194.6,593.9,-9.0,448,4649,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3262,3619,0,0,0,0,0,0
$GC,4759,-0.62,-194.6,603.7,-8.3,453,4763,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1954,3618,0,0,0,0,0,0
$GC,5094,-0.62,-194.6,630.6,-7.8,469,5098,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,490,3615,0,0,0,0,0,0
$GC,5128,-0.62,-194.6,633.5,-7.8,470,5134,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1971,3615,0,0,0,0,0,0
$GC,5446,-0.62,-194.6,654.8,-6.6,486,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1971,3613,0,0,0,0,0,0
$GC,5753,-0.62,-194.6,676.2,-7.2,501,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1971,3611,0,0,0,0,0,0
$GC,6063,-0.62,-194.6,700.4,-8.3,516,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1971,3609,0,0,0,0,0,0
$GC,6374,-0.62,-194.6,725.3,-7.9,531,6378,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3263,3607,0,0,0,0,0,0
$GC,6421,-0.62,-194.6,728.7,-7.4,533,6425,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1951,3606,0,0,0,0,0,0
$GC,6754,-0.62,-194.6,749.4,-5.8,549,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1951,3604,0,0,0,0,0,0
$GC,7066,-0.62,-194.6,767.2,-5.9,564,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1951,3601,0,0,0,0,0,0
$GC,7373,-0.62,-194.6,787.9,-7.0,579,7378,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,497,3599,0,0,0,0,0,0
$GC,7425,-0.62,-194.6,791.9,-8.1,581,7429,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1966,3599,0,0,0,0,0,0
$GC,7747,-0.62,-194.6,816.6,-7.7,597,7750,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3268,3598,0,0,0,0,0,0
$GC,7774,-0.62,-194.6,818.8,-7.7,598,7778,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1963,3598,0,0,0,0,0,0
$GC,8103,-0.62,-194.6,841.6,-6.6,614,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1963,3596,0,0,0,0,0,0
$GC,8411,-0.62,-194.6,860.9,-5.9,629,8415,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,498,3594,0,0,0,0,0,0
$GC,8439,-0.62,-194.6,862.9,-6.0,630,8443,0.00,2.15,0.00,0.000,6,0.000,0.025,2587,1962,3594,0,0,0,0,0,0
$GC,8763,-0.62,-194.6,883.0,-6.3,646,8767,0.00,1.95,0.00,0.000,4,0.000,0.041,2587,3260,3593,0,0,0,0,0,0
$GC,8802,-0.62,-194.6,885.8,-6.3,647,8810,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1961,3593,0,0,0,0,0,0
$GC,9120,-0.62,-194.6,905.6,-6.2,663,9124,0.00,2.17,0.00,0.000,4,0.000,0.033,2587,499,3592,0,0,0,0,0,0
$GC,9170,-0.62,-194.6,909.2,-6.6,665,9175,0.00,2.17,0.00,0.000,6,0.000,0.026,2587,1943,3591,0,0,0,0,0,0
$GC,9492,-0.62,-194.6,927.6,-5.7,681,9496,0.00,2.00,0.00,0.000,4,0.000,0.042,2587,3270,3591,0,0,0,0,0,0
$GC,9555,-0.62,-194.6,930.9,-5.2,683,9563,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1973,3590,0,0,0,0,0,0
$GC,9871,-0.62,-194.6,947.9,-5.5,699,9876,0.00,2.22,0.00,0.000,4,0.000,0.032,2587,494,3589,0,0,0,0,0,0
$GC,9932,-0.62,-194.6,951.9,-6.7,701,9939,0.00,2.15,0.00,0.000,6,0.000,0.025,2587,1952,3589,0,0,0,0,0,0
$GC,10250,-0.62,-194.6,970.6,-6.0,717,10254,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3263,3588,0,0,0,0,0,0
$GC,10278,-0.62,-194.6,972.4,-6.3,718,10282,0.00,1.88,0.00,0.000,6,0.000,0.021,2587,1964,3588,0,0,0,0,0,0
$STATE,10562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10562,begin apogee
$GC,10570,-0.20,0.0,990.1,6.3,732,10733,0.43,0.00,158.38,1.399,4,0.113,0.000,2730,2095,2839,0,0,0,0,0,0
$STATE,10734,end apogee,CONTROL_FINISHED_OK
$STATE,10734,begin climb
$GC,10738,0.62,194.6,995.6,0.0,739,10917,0.75,0.00,172.88,1.345,6,0.080,0.000,2993,2095,2044,0,0,0,0,0,0
$GC,11240,0.62,194.6,946.2,11.0,763,11244,0.00,2.10,0.00,0.000,4,0.000,0.034,2999,697,2032,0,0,0,0,0,0
$GC,11289,0.62,194.6,940.3,11.4,765,11293,0.00,2.03,0.00,0.000,6,0.000,0.025,2999,2042,2032,0,0,0,0,0,0
$GC,11613,0.62,194.6,901.6,12.4,781,11617,0.00,2.20,0.00,0.000,4,0.000,0.040,2999,3469,2030,0,0,0,0,0,0
$GC,11658,0.62,194.6,895.3,13.7,783,11663,0.00,2.05,0.00,0.000,6,0.000,0.021,3008,2090,2030,0,0,0,0,0,0
$GC,11990,0.62,194.6,850.6,13.2,799,11994,0.00,2.10,0.00,0.000,4,0.000,0.034,3018,680,2029,0,0,0,0,0,0
$GC,12100,0.62,194.6,836.8,12.4,804,12104,0.00,2.05,0.00,0.000,6,0.000,0.026,3018,2044,2029,0,0,0,0,0,0
$GC,12432,0.62,194.6,796.6,11.6,820,12436,0.00,2.15,0.00,0.000,4,0.000,0.039,3018,3474,2028,0,0,0,0,0,0
$GC,12528,0.62,194.6,784.5,12.9,824,12532,0.00,2.05,0.00,0.000,6,0.000,0.021,3028,2070,2027,0,0,0,0,0,0
$GC,12851,0.62,194.6,745.0,12.5,840,12854,0.00,2.03,0.00,0.000,4,0.000,0.034,3035,692,2027,0,0,0,0,0,0
$GC,12912,0.62,194.6,736.9,12.7,842,12920,0.12,2.05,0.00,0.000,6,0.155,0.025,3002,2070,2027,0,0,0,0,0,0
$GC,13230,0.62,194.6,702.8,10.7,858,13234,0.00,2.15,0.00,0.000,4,0.000,0.039,3002,3469,2027,0,0,0,0,0,0
$GC,13276,0.62,194.6,697.2,12.0,860,13280,0.00,2.05,0.00,0.000,6,0.000,0.021,3009,2083,2027,0,0,0,0,0,0
$GC,13610,0.62,194.6,659.7,11.1,876,13614,0.00,2.08,0.00,0.000,4,0.000,0.034,3019,694,2026,0,0,0,0,0,0
$GC,13732,0.62,194.6,645.5,11.0,881,13736,0.00,2.00,0.00,0.000,6,0.000,0.025,3019,2041,2026,0,0,0,0,0,0
$GC,14056,0.62,194.6,607.8,11.8,897,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2041,2026,0,0,0,0,0,0
$GC,14364,0.62,194.6,573.6,10.6,912,14368,0.00,2.17,0.00,0.000,4,0.000,0.040,3019,3471,2026,0,0,0,0,0,0
$GC,14390,0.62,194.6,570.5,10.4,913,14395,0.00,2.10,0.00,0.000,6,0.000,0.021,3029,2027,2026,0,0,0,0,0,0
$GC,14714,0.62,194.6,534.4,11.4,929,14715,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2027,2025,0,0,0,0,0,0
$GC,15022,0.62,194.6,499.5,10.8,944,15027,0.00,2.03,0.00,0.000,4,0.000,0.034,3037,683,2025,0,0,0,0,0,0
$GC,15134,0.62,194.6,487.1,11.2,954,15139,0.12,1.92,0.00,0.000,6,0.149,0.024,3003,1985,2025,0,0,0,0,0,0
$GC,15466,0.66,225.1,457.1,8.7,985,15500,0.00,2.33,24.27,1.008,4,0.000,0.039,3003,3466,1919,0,0,0,0,0,0
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$STATE,20006,end climb,SURFACE_DEPTH_REACHED
$STATE,20006,begin surface coast
$FINISH,1.1,1.021659
$STATE,20036,end surface coast,CONTROL_FINISHED_OK
$STATE,20036,begin surface
$SM_CCo,20114,0.00,0.000,0,0,486,577.19
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$IRIDIUM_FIX,1800.97,12426.07,280811,010154
$TT8_MAMPS,0.027713,0.027713
$HUMID,37.04
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.60
$XPDR_PINGS,39
$24V_AH,22.6,67.411
$10V_AH,9.8,57.443
$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
$DEVICE_SECS,20.250,173.250,645.175,0.000,0.000,28.252,39.014,228.779,9.750,0.000,35.051,3889.990,11891.637,732.585,3250.482,816.382,0.000,2327.446,0.000,3148.290,0.000,0.544,0.000
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$SENSOR_SECS,1052.976,1137.318,599.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329692
$DATA_FILE_SIZE,90144,1553
$CAP_FILE_SIZE,204700,0
$CFSIZE,260165632,107302912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,223.7,1
$GPS,280811,122000,1801.435,12429.924,68,1.4,68,-2.0