version: 66.09
glider: 167
mission: 8
dive: 385
start: 9 3 111 17 21 31
data:
$ID,167
$MISSION,8
$DIVE,385
$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,-58691.023
$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,66
$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
$GPS1,030911,171307,1808.348,12329.789,35,1.1,36,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.2
$GPS2,030911,172107,1808.334,12329.709,10,1.3,15,-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,299.7,135727,-15.3,-9.706
$D_GRID,4725
$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,20,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-89.82,0.000,2,0.000,0.000,111,1874,3125,0,0,0,0,0,0
$GC,116,-0.62,-194.6,6.0,-12.0,13,140,10.32,2.15,-8.12,0.000,4,0.236,0.043,2582,3274,3636,0,0,0,0,0,0
$GC,185,-0.62,-194.6,37.0,-35.1,24,194,0.00,2.03,0.00,0.000,6,0.000,0.018,2581,1877,3638,0,0,0,0,0,0
$GC,330,-0.62,-194.6,77.4,-24.0,49,336,0.00,2.03,0.00,0.000,4,0.000,0.029,2581,477,3638,0,0,0,0,0,0
$GC,368,-0.62,-194.6,88.1,-25.8,55,376,0.00,2.10,0.00,0.000,6,0.000,0.021,2573,1924,3639,0,0,0,0,0,0
$GC,511,-0.62,-194.6,119.3,-20.3,80,519,0.00,2.00,0.00,0.000,4,0.000,0.033,2563,3269,3639,0,0,0,0,0,0
$GC,548,-0.62,-194.6,127.1,-19.5,86,556,0.10,2.08,0.00,0.000,6,0.148,0.024,2594,1812,3639,0,0,0,0,0,0
$GC,694,-0.62,-194.6,152.6,-18.6,111,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1812,3639,0,0,0,0,0,0
$GC,834,-0.62,-194.6,175.3,-15.3,136,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1812,3639,0,0,0,0,0,0
$GC,975,-0.62,-194.6,196.8,-14.6,161,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1812,3639,0,0,0,0,0,0
$GC,1118,-0.62,-194.6,217.6,-15.4,176,1122,0.00,2.17,0.00,0.000,4,0.000,0.030,2587,3280,3639,0,0,0,0,0,0
$GC,1151,-0.62,-194.6,223.4,-15.8,178,1158,0.00,2.00,0.00,0.000,6,0.000,0.018,2587,1851,3639,0,0,0,0,0,0
$GC,1477,-0.62,-194.6,268.2,-12.8,209,1481,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,3282,3639,0,0,0,0,0,0
$GC,1584,-0.62,-194.6,280.5,-11.3,218,1588,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1920,3639,0,0,0,0,0,0
$GC,1915,-0.62,-194.6,324.2,-13.0,249,1918,0.00,2.05,0.00,0.000,4,0.000,0.028,2588,509,3638,0,0,0,0,0,0
$GC,1983,-0.62,-194.6,332.7,-12.3,255,1988,0.00,1.98,0.00,0.000,6,0.000,0.021,2587,1864,3638,0,0,0,0,0,0
$GC,2314,-0.62,-194.6,368.5,-10.4,286,2317,0.00,2.05,0.00,0.000,4,0.000,0.033,2587,3267,3636,0,0,0,0,0,0
$GC,2416,-0.62,-194.6,378.3,-9.6,294,2423,0.00,1.90,0.00,0.000,6,0.000,0.017,2587,1902,3635,0,0,0,0,0,0
$GC,2741,-0.62,-194.6,408.8,-10.2,325,2745,0.00,2.00,0.00,0.000,4,0.000,0.031,2587,3262,3633,0,0,0,0,0,0
$GC,2768,-0.62,-194.6,411.6,-9.9,327,2776,0.00,1.88,0.00,0.000,6,0.000,0.018,2587,1931,3633,0,0,0,0,0,0
$GC,3097,-0.62,-194.6,441.9,-9.4,358,3100,0.00,2.08,0.00,0.000,4,0.000,0.030,2587,516,3632,0,0,0,0,0,0
$GC,3203,-0.62,-194.6,453.3,-10.3,367,3210,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1917,3631,0,0,0,0,0,0
$GC,3531,-0.62,-194.6,485.2,-9.1,398,3535,0.00,2.00,0.00,0.000,4,0.000,0.036,2587,3263,3629,0,0,0,0,0,0
$GC,3623,-0.62,-194.6,493.3,-8.3,406,3627,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1957,3628,0,0,0,0,0,0
$GC,3957,-0.62,-194.6,519.9,-8.2,426,3960,0.00,2.10,0.00,0.000,4,0.000,0.030,2587,519,3626,0,0,0,0,0,0
$GC,4003,-0.62,-194.6,524.0,-8.9,428,4007,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1963,3625,0,0,0,0,0,0
$GC,4330,-0.62,-194.6,552.4,-8.5,444,4334,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3271,3623,0,0,0,0,0,0
$GC,4382,-0.62,-194.6,556.9,-8.3,446,4386,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1994,3623,0,0,0,0,0,0
$GC,4710,-0.62,-194.6,580.8,-6.8,462,4714,0.00,2.17,0.00,0.000,4,0.000,0.029,2587,508,3620,0,0,0,0,0,0
$GC,4776,-0.62,-194.6,585.8,-7.4,465,4779,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1966,3620,0,0,0,0,0,0
$GC,5106,-0.62,-194.6,608.8,-7.2,481,5109,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3265,3617,0,0,0,0,0,0
$GC,5223,-0.62,-194.6,618.5,-8.0,486,5227,0.00,1.77,0.00,0.000,6,0.000,0.020,2587,1999,3616,0,0,0,0,0,0
$GC,5553,-0.62,-194.6,648.1,-9.4,502,5557,0.00,2.17,0.00,0.000,4,0.000,0.029,2587,517,3614,0,0,0,0,0,0
$GC,5597,-0.62,-194.6,652.9,-9.8,504,5601,0.00,2.15,0.00,0.000,6,0.000,0.022,2587,1988,3613,0,0,0,0,0,0
$GC,5925,-0.62,-194.6,680.5,-8.0,520,5930,0.00,1.92,0.00,0.000,4,0.000,0.038,2587,3257,3611,0,0,0,0,0,0
$GC,6009,-0.62,-194.6,686.7,-7.0,523,6016,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2018,3610,0,0,0,0,0,0
$GC,6325,-0.62,-194.6,706.5,-6.2,539,6330,0.00,2.22,0.00,0.000,4,0.000,0.030,2587,522,3608,0,0,0,0,0,0
$GC,6399,-0.62,-194.6,711.4,-6.7,542,6402,0.00,2.15,0.00,0.000,6,0.000,0.022,2587,1984,3608,0,0,0,0,0,0
$GC,6727,-0.62,-194.6,730.0,-5.9,558,6731,0.00,1.90,0.00,0.000,4,0.000,0.039,2587,3260,3606,0,0,0,0,0,0
$GC,6785,-0.62,-194.6,733.5,-6.0,560,6788,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,2010,3606,0,0,0,0,0,0
$GC,7107,-0.62,-194.6,755.8,-7.3,576,7112,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,525,3604,0,0,0,0,0,0
$GC,7162,-0.62,-194.6,760.7,-8.7,578,7166,0.00,2.17,0.00,0.000,6,0.000,0.023,2587,1998,3603,0,0,0,0,0,0
$GC,7480,-0.62,-194.6,785.1,-8.1,593,7484,0.00,1.88,0.00,0.000,4,0.000,0.038,2587,3259,3602,0,0,0,0,0,0
$GC,7559,-0.62,-194.6,792.0,-8.3,596,7562,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,2005,3601,0,0,0,0,0,0
$GC,7883,-0.62,-194.6,819.0,-8.4,612,7888,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,518,3599,0,0,0,0,0,0
$GC,7933,-0.62,-194.6,823.8,-9.3,614,7937,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,2003,3599,0,0,0,0,0,0
$GC,8255,-0.62,-194.6,848.9,-7.2,630,8259,0.00,1.90,0.00,0.000,4,0.000,0.040,2587,3260,3598,0,0,0,0,0,0
$GC,8290,-0.62,-194.6,851.3,-7.1,631,8294,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,2019,3598,0,0,0,0,0,0
$GC,8612,-0.62,-194.6,869.7,-5.2,647,8617,0.00,2.25,0.00,0.000,4,0.000,0.030,2587,515,3597,0,0,0,0,0,0
$GC,8639,-0.62,-194.6,871.4,-5.2,648,8643,0.00,2.20,0.00,0.000,6,0.000,0.023,2587,2004,3596,0,0,0,0,0,0
$GC,8965,-0.62,-194.6,887.9,-5.4,664,8968,0.00,1.90,0.00,0.000,4,0.000,0.040,2587,3261,3596,0,0,0,0,0,0
$GC,9037,-0.62,-194.6,892.4,-5.9,667,9042,0.00,1.75,0.00,0.000,6,0.000,0.021,2587,2046,3595,0,0,0,0,0,0
$GC,9366,-0.62,-194.6,913.2,-6.9,683,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2046,3593,0,0,0,0,0,0
$GC,9673,-0.62,-194.6,935.4,-7.2,698,9677,0.00,1.88,0.00,0.000,4,0.000,0.040,2587,3265,3592,0,0,0,0,0,0
$GC,9720,-0.62,-194.6,938.6,-6.8,700,9724,0.00,1.75,0.00,0.000,6,0.000,0.020,2587,2025,3592,0,0,0,0,0,0
$GC,10056,-0.62,-194.6,961.7,-6.9,716,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2024,3591,0,0,0,0,0,0
$GC,10363,-0.62,-194.6,982.8,-6.8,731,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2024,3590,0,0,0,0,0,0
$STATE,10484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10484,begin apogee
$GC,10492,-0.20,0.0,991.1,6.6,737,10662,0.43,0.00,159.55,1.389,4,0.118,0.000,2729,2020,2838,0,0,0,0,0,0
$STATE,10662,end apogee,CONTROL_FINISHED_OK
$STATE,10663,begin climb
$GC,10665,0.62,194.6,997.0,0.0,745,10843,0.75,0.00,172.95,1.338,6,0.080,0.000,2994,2020,2044,0,0,0,0,0,0
$GC,11174,0.62,194.6,946.4,11.2,769,11178,0.00,2.22,0.00,0.000,4,0.000,0.038,2994,3462,2033,0,0,0,0,0,0
$GC,11236,0.62,194.6,938.6,12.2,772,11241,0.00,2.00,0.00,0.000,6,0.000,0.021,3002,2113,2031,0,0,0,0,0,0
$GC,11569,0.62,194.6,897.8,12.8,788,11573,0.00,2.10,0.00,0.000,4,0.000,0.032,3011,692,2031,0,0,0,0,0,0
$GC,11636,0.62,194.6,888.9,13.1,791,11640,0.00,2.00,0.00,0.000,6,0.000,0.024,3011,2037,2030,0,0,0,0,0,0
$GC,11963,0.62,194.6,845.9,12.8,807,11967,0.00,2.17,0.00,0.000,4,0.000,0.039,3011,3468,2029,0,0,0,0,0,0
$GC,12004,0.62,194.6,840.2,13.9,809,12008,0.00,2.08,0.00,0.000,6,0.000,0.021,3020,2055,2029,0,0,0,0,0,0
$GC,12334,0.62,194.6,796.7,13.2,825,12338,0.00,2.03,0.00,0.000,4,0.000,0.034,3030,686,2028,0,0,0,0,0,0
$GC,12448,0.62,194.6,781.2,12.9,830,12451,0.00,1.95,0.00,0.000,6,0.000,0.023,3030,1999,2028,0,0,0,0,0,0
$GC,12782,0.62,194.6,736.1,13.2,846,12783,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1999,2028,0,0,0,0,0,0
$GC,13090,0.62,194.6,696.1,12.6,861,13094,0.00,2.25,0.00,0.000,4,0.000,0.038,3030,3480,2027,0,0,0,0,0,0
$GC,13112,0.62,194.6,693.1,12.4,862,13117,0.15,2.25,0.00,0.000,6,0.167,0.021,3001,1946,2027,0,0,0,0,0,0
$GC,13435,0.62,194.6,659.3,10.1,878,13439,0.00,1.88,0.00,0.000,4,0.000,0.034,3009,676,2027,0,0,0,0,0,0
$GC,13512,0.62,194.6,650.5,10.9,881,13516,0.00,1.88,0.00,0.000,6,0.000,0.023,3009,1933,2027,0,0,0,0,0,0
$GC,13836,0.62,194.6,616.2,10.8,897,13840,0.00,2.35,0.00,0.000,4,0.000,0.037,3009,3478,2027,0,0,0,0,0,0
$GC,13899,0.62,194.6,608.5,12.2,900,13903,0.00,2.25,0.00,0.000,6,0.000,0.021,3019,1950,2026,0,0,0,0,0,0
$GC,14227,0.62,194.6,574.3,9.9,916,14230,0.00,1.88,0.00,0.000,4,0.000,0.034,3028,685,2027,0,0,0,0,0,0
$GC,14254,0.62,194.6,571.5,9.8,917,14258,0.00,1.85,0.00,0.000,6,0.000,0.022,3029,1928,2026,0,0,0,0,0,0
$GC,14582,0.62,194.6,537.9,11.0,933,14587,0.00,2.38,0.00,0.000,4,0.000,0.038,3028,3474,2026,0,0,0,0,0,0
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$STATE,19988,end climb,SURFACE_DEPTH_REACHED
$STATE,19988,begin surface coast
$FINISH,0.8,1.009645
$STATE,20023,end surface coast,CONTROL_FINISHED_OK
$STATE,20023,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,37.91
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,26.70
$XPDR_PINGS,59
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$10V_AH,9.8,61.238
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$MEM,329656
$DATA_FILE_SIZE,90118,1574
$CAP_FILE_SIZE,213664,0
$CFSIZE,260165632,104579072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,232.3,1
$GPS,030911,225754,1809.239,12326.303,40,1.2,41,-2.0