version: 66.09
glider: 167
mission: 8
dive: 396
start: 9 6 111 12 38 19
data:
$ID,167
$MISSION,8
$DIVE,396
$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,576.20972
$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,-70435.305
$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,70
$R_STBD_OVSHOOT,73
$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
$GPS1,040911,220906,1813.430,12313.849,901,99.0,901,-2.0
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,9
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.8
$GPS2,040911,220906,1813.430,12313.849,901,99.0,901,-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,289.5,106321,-15.3,-9.706
$D_GRID,3821
$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,20,-0.62,-194.6,0.0,0.0,0,117,0.00,0.00,-93.97,0.000,2,0.000,0.000,111,1907,3128,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.2,-12.0,14,144,10.07,2.05,-8.43,0.000,4,0.230,0.043,2584,3266,3635,0,0,0,0,0,0
$GC,286,-0.62,-194.6,58.7,-24.8,42,294,0.00,2.00,0.00,0.000,6,0.000,0.018,2584,1856,3635,0,0,0,0,0,0
$GC,435,-0.62,-194.6,94.0,-19.8,67,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1856,3635,0,0,0,0,0,0
$GC,577,-0.62,-194.6,122.9,-16.6,92,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1856,3636,0,0,0,0,0,0
$GC,722,-0.62,-194.6,147.0,-17.6,117,729,0.00,2.05,0.00,0.000,4,0.000,0.029,2575,3260,3636,0,0,0,0,0,0
$GC,753,-0.62,-194.6,152.7,-16.7,122,761,0.00,1.85,0.00,0.000,6,0.000,0.017,2574,1935,3636,0,0,0,0,0,0
$GC,900,-0.62,-194.6,177.5,-17.2,147,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1935,3636,0,0,0,0,0,0
$GC,1040,-0.62,-194.6,201.9,-16.5,171,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1935,3636,0,0,0,0,0,0
$GC,1363,-0.62,-194.6,246.5,-13.3,201,1366,0.00,2.08,0.00,0.000,4,0.000,0.028,2575,499,3634,0,0,0,0,0,0
$GC,1459,-0.62,-194.6,259.3,-13.2,209,1466,0.12,2.15,0.00,0.000,6,0.161,0.021,2601,1991,3634,0,0,0,0,0,0
$GC,1784,-0.62,-194.6,295.2,-10.4,240,1788,0.00,2.17,0.00,0.000,4,0.000,0.028,2601,499,3631,0,0,0,0,0,0
$GC,1823,-0.62,-194.6,299.3,-10.3,243,1827,0.00,2.10,0.00,0.000,6,0.000,0.021,2601,1956,3631,0,0,0,0,0,0
$GC,2153,-0.62,-194.6,329.5,-8.6,273,2157,0.00,1.92,0.00,0.000,4,0.000,0.034,2601,3264,3629,0,0,0,0,0,0
$GC,2203,-0.62,-194.6,334.2,-8.3,277,2210,0.00,1.77,0.00,0.000,6,0.000,0.018,2601,1984,3629,0,0,0,0,0,0
$GC,2531,-0.62,-194.6,365.9,-10.3,308,2535,0.00,2.17,0.00,0.000,4,0.000,0.030,2601,505,3627,0,0,0,0,0,0
$GC,2616,-0.62,-194.6,376.1,-11.8,315,2622,0.00,2.10,0.00,0.000,6,0.000,0.021,2600,1956,3625,0,0,0,0,0,0
$GC,2944,-0.62,-194.6,407.5,-7.9,346,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1957,3623,0,0,0,0,0,0
$GC,3274,-0.62,-194.6,436.1,-8.9,377,3277,0.00,1.92,0.00,0.000,4,0.000,0.036,2600,3257,3620,0,0,0,0,0,0
$GC,3346,-0.62,-194.6,443.0,-8.6,383,3354,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1958,3620,0,0,0,0,0,0
$GC,3672,-0.62,-194.6,467.8,-6.8,414,3676,0.00,2.12,0.00,0.000,4,0.000,0.030,2600,502,3617,0,0,0,0,0,0
$GC,3750,-0.62,-194.6,473.8,-7.4,420,3757,0.00,2.08,0.00,0.000,6,0.000,0.021,2600,1929,3616,0,0,0,0,0,0
$GC,4076,-0.62,-194.6,497.7,-8.4,451,4080,0.00,1.95,0.00,0.000,4,0.000,0.035,2600,3257,3613,0,0,0,0,0,0
$GC,4115,-0.62,-194.6,501.2,-8.4,454,4122,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1945,3613,0,0,0,0,0,0
$GC,4433,-0.62,-194.6,529.3,-8.9,470,4437,0.00,2.12,0.00,0.000,4,0.000,0.031,2600,493,3610,0,0,0,0,0,0
$GC,4478,-0.62,-194.6,533.6,-9.2,472,4482,0.00,2.08,0.00,0.000,6,0.000,0.021,2600,1920,3611,0,0,0,0,0,0
$GC,4808,-0.62,-194.6,559.7,-7.5,488,4812,0.00,2.00,0.00,0.000,4,0.000,0.037,2600,3269,3608,0,0,0,0,0,0
$GC,4914,-0.62,-194.6,567.6,-7.0,492,4922,0.00,1.85,0.00,0.000,6,0.000,0.019,2600,1964,3607,0,0,0,0,0,0
$GC,5230,-0.62,-194.6,588.9,-6.8,508,5235,0.00,2.17,0.00,0.000,4,0.000,0.031,2600,505,3604,0,0,0,0,0,0
$GC,5315,-0.62,-194.6,595.6,-7.8,511,5322,0.00,2.12,0.00,0.000,6,0.000,0.023,2600,1953,3603,0,0,0,0,0,0
$GC,5631,-0.62,-194.6,616.1,-6.3,527,5636,0.00,1.98,0.00,0.000,4,0.000,0.037,2600,3259,3601,0,0,0,0,0,0
$GC,5694,-0.62,-194.6,620.0,-6.3,529,5701,0.00,1.85,0.00,0.000,6,0.000,0.020,2600,1961,3601,0,0,0,0,0,0
$GC,6011,-0.62,-194.6,642.4,-7.6,545,6015,0.00,2.15,0.00,0.000,4,0.000,0.032,2600,504,3598,0,0,0,0,0,0
$GC,6038,-0.62,-194.6,644.8,-7.7,546,6042,0.00,2.12,0.00,0.000,6,0.000,0.024,2600,1946,3598,0,0,0,0,0,0
$GC,6356,-0.62,-194.6,667.8,-6.7,561,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1947,3595,0,0,0,0,0,0
$GC,6663,-0.62,-194.6,687.0,-6.1,576,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1947,3595,0,0,0,0,0,0
$GC,6974,-0.62,-194.6,705.3,-5.9,591,6979,0.00,2.00,0.00,0.000,4,0.000,0.038,2600,3262,3592,0,0,0,0,0,0
$GC,7068,-0.62,-194.6,711.2,-6.3,595,7073,0.00,1.92,0.00,0.000,6,0.000,0.021,2600,1939,3592,0,0,0,0,0,0
$GC,7395,-0.62,-194.6,730.7,-5.7,611,7399,0.00,2.12,0.00,0.000,4,0.000,0.034,2600,507,3590,0,0,0,0,0,0
$GC,7482,-0.62,-194.6,735.9,-6.1,615,7486,0.00,2.08,0.00,0.000,6,0.000,0.024,2600,1915,3589,0,0,0,0,0,0
$GC,7815,-0.62,-194.6,756.4,-6.8,631,7820,0.00,2.08,0.00,0.000,4,0.000,0.039,2600,3272,3587,0,0,0,0,0,0
$GC,7894,-0.62,-194.6,762.1,-7.2,634,7898,0.00,1.92,0.00,0.000,6,0.000,0.020,2601,1930,3587,0,0,0,0,0,0
$GC,8217,-0.62,-194.6,787.3,-8.2,650,8220,0.00,2.12,0.00,0.000,4,0.000,0.032,2600,498,3585,0,0,0,0,0,0
$GC,8251,-0.62,-194.6,790.6,-8.5,651,8258,0.00,2.10,0.00,0.000,6,0.000,0.024,2600,1921,3585,0,0,0,0,0,0
$GC,8569,-0.62,-194.6,816.8,-8.0,667,8572,0.00,2.03,0.00,0.000,4,0.000,0.039,2600,3273,3583,0,0,0,0,0,0
$GC,8692,-0.62,-194.6,826.3,-7.0,672,8696,0.00,1.88,0.00,0.000,6,0.000,0.021,2600,1973,3583,0,0,0,0,0,0
$GC,9015,-0.62,-194.6,847.9,-6.6,688,9019,0.00,2.20,0.00,0.000,4,0.000,0.033,2600,494,3582,0,0,0,0,0,0
$GC,9065,-0.62,-194.6,851.5,-6.7,690,9070,0.00,2.20,0.00,0.000,6,0.000,0.024,2600,1961,3582,0,0,0,0,0,0
$GC,9389,-0.62,-194.6,870.2,-5.4,706,9392,0.00,1.98,0.00,0.000,4,0.000,0.039,2600,3269,3581,0,0,0,0,0,0
$GC,9444,-0.62,-194.6,873.6,-5.5,708,9448,0.00,1.88,0.00,0.000,6,0.000,0.020,2600,1957,3581,0,0,0,0,0,0
$GC,9767,-0.62,-194.6,891.7,-5.6,724,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1956,3580,0,0,0,0,0,0
$GC,10078,-0.62,-194.6,908.0,-4.9,739,10082,0.00,2.17,0.00,0.000,4,0.000,0.034,2600,500,3579,0,0,0,0,0,0
$GC,10120,-0.62,-194.6,910.4,-4.9,741,10124,0.00,2.17,0.00,0.000,6,0.000,0.025,2600,1961,3579,0,0,0,0,0,0
$GC,10449,-0.62,-194.6,927.0,-5.4,757,10453,0.00,2.00,0.00,0.000,4,0.000,0.041,2600,3275,3578,0,0,0,0,0,0
$GC,10496,-0.62,-194.6,929.5,-5.2,759,10499,0.00,1.90,0.00,0.000,6,0.000,0.021,2600,1955,3578,0,0,0,0,0,0
$GC,10829,-0.62,-194.6,946.8,-5.4,775,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1954,3577,0,0,0,0,0,0
$GC,11140,-0.62,-194.6,965.7,-6.3,790,11144,0.00,2.17,0.00,0.000,4,0.000,0.032,2600,497,3576,0,0,0,0,0,0
$GC,11172,-0.62,-194.6,968.2,-6.3,791,11179,0.00,2.20,0.00,0.000,6,0.000,0.025,2600,1971,3575,0,0,0,0,0,0
$STATE,11404,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11404,begin apogee
$GC,11412,-0.20,0.0,983.6,6.2,803,11576,0.38,0.00,157.45,1.390,4,0.116,0.000,2729,2094,2838,0,0,0,0,0,0
$STATE,11577,end apogee,CONTROL_FINISHED_OK
$STATE,11577,begin climb
$GC,11580,0.62,194.6,989.6,0.0,810,11757,0.77,0.00,172.12,1.340,6,0.080,0.000,2998,2093,2045,0,0,0,0,0,0
$GC,12069,0.62,194.6,935.2,13.6,833,12073,0.00,2.12,0.00,0.000,4,0.000,0.033,3006,705,2034,0,0,0,0,0,0
$GC,12098,0.62,194.6,931.0,13.9,834,12103,0.00,2.05,0.00,0.000,6,0.000,0.025,3006,2048,2034,0,0,0,0,0,0
$GC,12419,0.62,194.6,885.2,14.2,850,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2048,2031,0,0,0,0,0,0
$GC,12730,0.62,194.6,845.3,12.4,865,12731,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2048,2031,0,0,0,0,0,0
$GC,13038,0.62,194.6,811.8,10.3,880,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2049,2030,0,0,0,0,0,0
$GC,13347,0.62,194.6,779.1,10.5,895,13352,0.00,2.17,0.00,0.000,4,0.000,0.039,3006,3468,2029,0,0,0,0,0,0
$GC,13375,0.62,194.6,775.9,10.6,896,13379,0.00,2.05,0.00,0.000,6,0.000,0.021,3013,2064,2029,0,0,0,0,0,0
$GC,13704,0.62,194.6,740.9,10.7,912,13708,0.00,2.03,0.00,0.000,4,0.000,0.034,3023,690,2028,0,0,0,0,0,0
$GC,13776,0.62,194.6,732.2,12.0,915,13780,0.00,2.03,0.00,0.000,6,0.000,0.027,3024,2047,2029,0,0,0,0,0,0
$GC,14106,0.62,194.6,690.1,13.2,931,14110,0.00,2.17,0.00,0.000,4,0.000,0.038,3024,3482,2028,0,0,0,0,0,0
$GC,14179,0.62,194.6,679.2,14.1,934,14184,0.08,2.08,0.00,0.000,6,0.146,0.021,3008,2076,2028,0,0,0,0,0,0
$GC,14502,0.62,194.6,642.2,11.2,950,14506,0.00,2.05,0.00,0.000,4,0.000,0.034,3016,694,2028,0,0,0,0,0,0
$GC,14619,0.62,194.6,628.6,11.5,955,14624,0.00,2.03,0.00,0.000,6,0.000,0.025,3016,2040,2027,0,0,0,0,0,0
$GC,14948,0.62,194.6,590.8,12.0,971,14952,0.00,2.17,0.00,0.000,4,0.000,0.038,3016,3471,2028,0,0,0,0,0,0
$GC,15021,0.62,194.6,580.2,14.1,974,15025,0.00,2.03,0.00,0.000,6,0.000,0.021,3026,2076,2027,0,0,0,0,0,0
$GC,15343,0.62,194.6,537.6,12.6,990,15347,0.00,2.08,0.00,0.000,4,0.000,0.034,3036,692,2027,0,0,0,0,0,0
$GC,15481,0.62,194.6,522.3,10.9,996,15485,0.12,1.95,0.00,0.000,6,0.150,0.024,3002,1998,2027,0,0,0,0,0,0
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$GC,16641,0.64,206.9,407.8,10.7,1091,16646,0.00,2.30,0.00,0.000,4,0.000,0.037,3019,3467,1993,0,0,0,0,0,0
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$STATE,20637,end climb,SURFACE_DEPTH_REACHED
$STATE,20637,begin surface coast
$FINISH,0.7,1.001263
$STATE,20674,end surface coast,CONTROL_FINISHED_OK
$STATE,20674,begin surface
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$TT8_MAMPS,0.028462,0.028462
$HUMID,40.31
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,26.70
$XPDR_PINGS,122
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$10V_AH,9.8,63.071
$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
$DEVICE_SECS,19.875,192.950,641.725,15.900,0.000,164.931,67.731,1011.345,30.500,0.000,903.115,4070.292,12315.516,767.125,5220.355,916.380,0.000,2433.934,0.000,3307.244,0.000,0.546,0.000
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$SENSOR_SECS,1096.391,1169.269,622.129,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329588
$DATA_FILE_SIZE,93478,1614
$CAP_FILE_SIZE,233190,0
$CFSIZE,260165632,103333888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.038,291.7,1
$GPS,040911,220906,1813.430,12313.849,901,99.0,901,-2.0