version: 66.09
glider: 167
mission: 8
dive: 367
start: 8 30 111 9 56 5
data:
$ID,167
$MISSION,8
$DIVE,367
$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,-3
$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,-58668.27
$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,72
$R_STBD_OVSHOOT,51
$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
$GPS1,300811,035552,1750.602,12429.462,901,99.0,901,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-69.2
$GPS2,300811,095537,1751.011,12426.484,39,0.8,39,-2.0
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,245.1,240460,-27.8,-9.706
$D_GRID,4178
$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,-0.77,-60.3,0.0,0.0,0,115,0.00,0.00,-93.45,0.000,6,0.000,0.000,107,1916,3086,0,0,0,0,0,0
$GC,118,-0.77,-60.3,6.5,-12.6,14,134,10.12,2.15,0.00,0.000,4,0.236,0.021,2551,450,3088,0,0,0,0,0,0
$GC,158,-0.77,-60.3,24.9,-44.4,20,167,0.00,2.10,0.00,0.000,6,0.000,0.020,2543,1888,3088,0,0,0,0,0,0
$GC,306,-0.77,-60.3,67.1,-28.7,45,313,0.00,2.05,0.00,0.000,4,0.000,0.025,2543,466,3088,0,0,0,0,0,0
$GC,327,-0.77,-60.3,72.6,-24.6,48,336,0.00,2.00,0.00,0.000,6,0.000,0.021,2534,1847,3088,0,0,0,0,0,0
$GC,474,-0.77,-60.3,103.2,-22.5,73,481,0.00,2.08,0.00,0.000,4,0.000,0.031,2523,3266,3089,0,0,0,0,0,0
$GC,534,-0.77,-60.3,114.0,-15.1,83,542,0.00,2.03,0.00,0.000,6,0.000,0.017,2523,1838,3089,0,0,0,0,0,0
$GC,677,-0.77,-60.3,137.7,-18.5,108,688,0.00,1.95,0.00,0.000,4,0.000,0.028,2523,498,3089,0,0,0,0,0,0
$GC,782,-0.77,-60.3,155.6,-17.8,125,789,0.08,1.98,0.00,0.000,6,0.181,0.020,2545,1867,3089,0,0,0,0,0,0
$GC,928,-0.77,-60.3,176.8,-13.7,150,936,0.00,2.03,0.00,0.000,4,0.000,0.027,2545,492,3089,0,0,0,0,0,0
$GC,996,-0.77,-60.3,186.5,-14.6,161,1003,0.00,2.03,0.00,0.000,6,0.000,0.028,2537,1895,3089,0,0,0,0,0,0
$GC,1142,-0.77,-60.3,208.2,-14.8,182,1145,0.00,2.00,0.00,0.000,4,0.000,0.031,2527,3270,3089,0,0,0,0,0,0
$GC,1181,-0.77,-60.3,213.8,-14.0,185,1188,0.00,1.88,0.00,0.000,6,0.000,0.017,2527,1918,3088,0,0,0,0,0,0
$GC,1506,-0.77,-60.3,263.8,-15.3,216,1510,0.00,2.03,0.00,0.000,4,0.000,0.028,2527,513,3088,0,0,0,0,0,0
$GC,1716,-0.77,-60.3,290.9,-11.6,234,1723,0.12,2.03,0.00,0.000,6,0.191,0.019,2549,1932,3087,0,0,0,0,0,0
$GC,2042,-0.78,-72.0,319.3,-8.4,265,2047,0.00,1.95,0.00,0.000,4,0.000,0.031,2541,3257,3086,0,0,0,0,0,0
$GC,2111,-0.78,-72.0,326.5,-10.8,271,2115,0.00,1.83,0.00,0.000,6,0.000,0.018,2541,1941,3085,0,0,0,0,0,0
$GC,2443,-0.80,-85.0,358.0,-8.3,302,2447,0.00,2.08,0.00,0.000,4,0.000,0.028,2541,512,3084,0,0,0,0,0,0
$GC,2525,-0.81,-89.8,365.3,-9.2,309,2529,0.00,2.08,0.00,0.000,6,0.000,0.020,2533,1947,3083,0,0,0,0,0,0
$GC,2856,-0.82,-97.4,393.3,-8.9,340,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1948,3081,0,0,0,0,0,0
$GC,3178,-0.83,-108.4,421.1,-8.5,370,3183,0.00,2.12,0.00,0.000,4,0.000,0.029,2533,516,3079,0,0,0,0,0,0
$GC,3258,-0.84,-119.6,428.2,-8.5,377,3262,0.00,2.05,0.00,0.000,6,0.000,0.021,2532,1916,3079,0,0,0,0,0,0
$GC,3588,-0.87,-139.5,451.8,-7.6,408,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1917,3077,0,0,0,0,0,0
$GC,3909,-0.89,-160.9,477.1,-7.4,438,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1917,3074,0,0,0,0,0,0
$GC,4238,-0.92,-178.8,501.8,-7.8,468,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1917,3073,0,0,0,0,0,0
$GC,4544,-0.93,-194.6,523.3,-6.3,483,4549,0.00,2.10,0.00,0.000,4,0.000,0.030,2532,514,3070,0,0,0,0,0,0
$GC,4705,-0.93,-194.6,534.5,-7.3,490,4709,0.00,2.08,0.00,0.000,6,0.000,0.021,2524,1946,3069,0,0,0,0,0,0
$GC,5038,-0.93,-194.6,559.3,-7.7,506,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1947,3067,0,0,0,0,0,0
$GC,5350,-0.93,-194.6,582.1,-7.0,521,5354,0.00,1.98,0.00,0.000,4,0.000,0.035,2519,3262,3065,0,0,0,0,0,0
$GC,5485,-0.93,-194.6,591.3,-6.8,527,5490,0.00,1.92,0.00,0.000,6,0.000,0.020,2519,1922,3064,0,0,0,0,0,0
$GC,5820,-0.93,-194.6,610.9,-5.5,543,5823,0.00,2.03,0.00,0.000,4,0.000,0.034,2512,3273,3062,0,0,0,0,0,0
$GC,5833,-0.93,-194.6,611.7,-5.5,543,5836,0.00,1.92,0.00,0.000,6,0.000,0.019,2512,1917,3062,0,0,0,0,0,0
$GC,6155,-0.93,-194.6,630.9,-6.4,559,6158,0.00,2.05,0.00,0.000,4,0.000,0.031,2512,514,3060,0,0,0,0,0,0
$GC,6292,-0.93,-194.6,641.7,-8.6,565,6296,0.00,2.05,0.00,0.000,6,0.000,0.022,2505,1907,3059,0,0,0,0,0,0
$GC,6626,-0.93,-194.6,668.6,-7.9,581,6630,0.00,2.05,0.00,0.000,4,0.000,0.035,2497,3277,3056,0,0,0,0,0,0
$GC,6775,-0.93,-194.6,680.4,-7.9,587,6779,0.00,1.92,0.00,0.000,6,0.000,0.020,2497,1933,3056,0,0,0,0,0,0
$GC,7097,-0.93,-194.6,704.2,-6.9,603,7102,0.00,2.12,0.00,0.000,4,0.000,0.032,2497,509,3054,0,0,0,0,0,0
$GC,7323,-0.93,-194.6,721.5,-7.7,613,7327,0.00,2.05,0.00,0.000,6,0.000,0.024,2493,1903,3053,0,0,0,0,0,0
$GC,7657,-0.93,-194.6,744.1,-6.6,629,7660,0.00,2.05,0.00,0.000,4,0.000,0.037,2493,3267,3051,0,0,0,0,0,0
$GC,7714,-0.93,-194.6,748.1,-7.0,631,7718,0.00,2.00,0.00,0.000,6,0.000,0.019,2493,1876,3051,0,0,0,0,0,0
$GC,8037,-0.93,-194.6,766.8,-5.6,647,8041,0.00,2.12,0.00,0.000,4,0.000,0.036,2493,3274,3050,0,0,0,0,0,0
$GC,8066,-0.93,-194.6,768.3,-5.6,648,8071,0.00,1.98,0.00,0.000,6,0.000,0.020,2493,1913,3049,0,0,0,0,0,0
$GC,8388,-0.93,-194.6,785.4,-5.3,664,8392,0.00,2.10,0.00,0.000,4,0.000,0.032,2493,494,3048,0,0,0,0,0,0
$GC,8498,-0.93,-194.6,792.5,-6.5,669,8502,0.00,2.05,0.00,0.000,6,0.000,0.024,2492,1889,3047,0,0,0,0,0,0
$GC,8833,-0.93,-194.6,813.8,-6.6,685,8837,0.00,2.10,0.00,0.000,4,0.000,0.038,2492,3277,3046,0,0,0,0,0,0
$GC,8952,-0.93,-194.6,822.1,-6.7,690,8956,0.00,1.95,0.00,0.000,6,0.000,0.021,2492,1918,3046,0,0,0,0,0,0
$GC,9276,-0.93,-194.6,842.6,-6.0,706,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1918,3045,0,0,0,0,0,0
$GC,9584,-0.93,-194.6,860.2,-6.0,721,9588,0.00,2.05,0.00,0.000,4,0.000,0.037,2492,3273,3044,0,0,0,0,0,0
$GC,9670,-0.93,-194.6,865.2,-6.0,724,9677,0.00,1.95,0.00,0.000,6,0.000,0.021,2492,1925,3044,0,0,0,0,0,0
$GC,9986,-0.93,-194.6,883.2,-5.8,740,9991,0.00,2.15,0.00,0.000,4,0.000,0.031,2492,491,3043,0,0,0,0,0,0
$GC,10089,-0.93,-194.6,889.9,-6.7,744,10093,0.00,2.10,0.00,0.000,6,0.000,0.023,2488,1918,3043,0,0,0,0,0,0
$GC,10411,-0.93,-194.6,908.7,-5.7,760,10414,0.00,2.03,0.00,0.000,4,0.000,0.039,2480,3269,3042,0,0,0,0,0,0
$GC,10512,-0.93,-194.6,914.9,-6.1,764,10516,0.00,1.95,0.00,0.000,6,0.000,0.021,2480,1936,3041,0,0,0,0,0,0
$GC,10835,-0.93,-194.6,933.2,-5.6,780,10838,0.00,2.05,0.00,0.000,4,0.000,0.039,2480,3272,3040,0,0,0,0,0,0
$GC,10880,-0.93,-194.6,935.9,-5.9,782,10884,0.00,1.90,0.00,0.000,6,0.000,0.020,2480,1949,3040,0,0,0,0,0,0
$GC,11216,-0.93,-194.6,956.3,-6.2,798,11220,0.00,2.15,0.00,0.000,4,0.000,0.031,2480,498,3039,0,0,0,0,0,0
$GC,11357,-0.93,-194.6,966.2,-7.2,804,11361,0.00,2.17,0.00,0.000,6,0.000,0.025,2480,1956,3039,0,0,0,0,0,0
$STATE,11423,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11423,begin apogee
$GC,11431,-0.20,0.0,970.5,6.3,807,11480,0.82,0.00,44.75,1.376,4,0.158,0.000,2724,2077,2839,0,0,0,0,0,0
$STATE,11481,end apogee,CONTROL_FINISHED_OK
$STATE,11481,begin climb
$GC,11484,0.93,194.6,971.8,0.0,809,11664,1.05,0.00,173.52,1.349,6,0.082,0.000,3098,2077,2045,0,0,0,0,0,0
$GC,11983,0.93,194.6,894.1,18.4,833,11987,0.00,2.12,0.00,0.000,4,0.000,0.040,3097,3460,2032,0,0,0,0,0,0
$GC,12026,0.93,194.6,885.1,19.7,835,12030,0.00,2.00,0.00,0.000,6,0.000,0.021,3107,2098,2031,0,0,0,0,0,0
$GC,12356,0.93,194.6,822.6,19.1,851,12360,0.00,2.12,0.00,0.000,4,0.000,0.032,3118,693,2029,0,0,0,0,0,0
$GC,12371,0.93,194.6,818.9,18.9,851,12378,0.00,2.10,0.00,0.000,6,0.000,0.025,3118,2098,2029,0,0,0,0,0,0
$GC,12689,0.93,194.6,761.0,17.9,867,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2098,2028,0,0,0,0,0,0
$GC,12997,0.93,194.6,706.1,18.1,882,13001,0.00,2.10,0.00,0.000,4,0.000,0.040,3118,3464,2027,0,0,0,0,0,0
$GC,13097,0.93,194.6,686.2,19.8,886,13100,0.00,2.00,0.00,0.000,6,0.000,0.020,3127,2090,2026,0,0,0,0,0,0
$GC,13420,0.93,194.6,626.4,18.4,902,13423,0.00,2.08,0.00,0.000,4,0.000,0.032,3137,693,2026,0,0,0,0,0,0
$GC,13466,0.93,194.6,617.7,18.6,904,13471,0.12,2.12,0.00,0.000,6,0.171,0.025,3104,2115,2026,0,0,0,0,0,0
$GC,13797,0.93,194.6,562.0,17.2,920,13800,0.00,2.08,0.00,0.000,4,0.000,0.040,3104,3479,2025,0,0,0,0,0,0
$GC,13843,0.93,194.6,553.1,18.1,922,13846,0.00,1.92,0.00,0.000,6,0.000,0.020,3112,2149,2025,0,0,0,0,0,0
$GC,14167,0.93,194.6,494.5,17.4,939,14168,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2148,2024,0,0,0,0,0,0
$GC,14488,0.93,194.6,444.0,15.7,969,14492,0.00,2.17,0.00,0.000,4,0.000,0.032,3123,681,2024,0,0,0,0,0,0
$GC,14596,0.93,194.6,427.8,14.6,978,14601,0.00,2.25,0.00,0.000,6,0.000,0.024,3123,2176,2024,0,0,0,0,0,0
$GC,14927,0.93,194.6,374.5,16.9,1009,14931,0.00,1.98,0.00,0.000,4,0.000,0.039,3123,3474,2023,0,0,0,0,0,0
$GC,15010,0.93,194.6,359.8,16.8,1016,15019,0.08,1.92,0.00,0.000,6,0.169,0.019,3098,2153,2023,0,0,0,0,0,0
$GC,15336,0.93,194.6,316.6,12.7,1047,15340,0.00,2.17,0.00,0.000,4,0.000,0.032,3108,681,2023,0,0,0,0,0,0
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$STATE,18399,end climb,SURFACE_DEPTH_REACHED
$STATE,18399,begin surface coast
$FINISH,1.0,1.021559
$STATE,18436,end surface coast,CONTROL_FINISHED_OK
$STATE,18436,begin surface
$SM_CCo,18454,90.85,0.519,1,0,1208,400.08
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$IRIDIUM_FIX,1742.84,12432.26,300811,030316
$TT8_MAMPS,0.028462,0.028462
$HUMID,36.73
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,28.80
$XPDR_PINGS,74
$24V_AH,23.1,69.075
$10V_AH,9.8,58.729
$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
$DEVICE_SECS,20.275,168.625,304.725,90.850,0.000,24.469,48.658,235.433,18.500,0.000,40.501,3869.653,10498.601,552.609,3315.645,816.473,0.000,2069.300,0.000,3193.348,0.000,0.545,0.000
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$SENSOR_SECS,1018.112,1128.367,659.786,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330264
$DATA_FILE_SIZE,86940,1497
$CAP_FILE_SIZE,197075,0
$CFSIZE,260165632,106422272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137,240.7,1
$GPS,300811,150637,1749.426,12423.518,39,1.1,40,-2.0