version: 66.09
glider: 167
mission: 8
dive: 401
start: 9 7 111 20 29 13
data:
$ID,167
$MISSION,8
$DIVE,401
$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,-5
$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,-79464.125
$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,76
$R_STBD_OVSHOOT,83
$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
$GPS1,060911,120429,1814.584,12250.390,901,99.0,901,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-70.3
$GPS2,060911,120429,1814.584,12250.390,901,99.0,901,-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,299.7,67411,-15.3,-9.706
$D_GRID,3745
$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,-90.38,0.000,2,0.000,0.000,112,1807,2994,0,0,0,0,0,0
$GC,116,-0.62,-194.6,5.0,-8.0,13,146,9.98,2.17,-10.95,0.000,4,0.225,0.041,2581,3256,3634,0,0,0,0,0,0
$GC,251,-0.62,-194.6,49.7,-27.8,35,258,0.00,1.98,0.00,0.000,6,0.000,0.019,2581,1878,3634,0,0,0,0,0,0
$GC,396,-0.62,-194.6,85.0,-21.7,60,403,0.00,2.03,0.00,0.000,4,0.000,0.025,2581,479,3634,0,0,0,0,0,0
$GC,429,-0.62,-194.6,92.7,-22.8,65,436,0.00,2.08,0.00,0.000,6,0.000,0.023,2573,1896,3634,0,0,0,0,0,0
$GC,571,-0.62,-194.6,121.1,-18.6,90,581,0.00,2.05,0.00,0.000,4,0.000,0.033,2564,3275,3634,0,0,0,0,0,0
$GC,664,-0.62,-194.6,136.8,-17.8,105,671,0.12,1.77,0.00,0.000,6,0.163,0.016,2596,1964,3634,0,0,0,0,0,0
$GC,810,-0.62,-194.6,161.1,-16.7,130,819,0.00,2.15,0.00,0.000,4,0.000,0.027,2596,485,3634,0,0,0,0,0,0
$GC,845,-0.62,-194.6,167.3,-18.1,135,851,0.00,2.22,0.00,0.000,6,0.000,0.021,2588,2032,3635,0,0,0,0,0,0
$GC,987,-0.62,-194.6,188.7,-13.9,160,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2033,3634,0,0,0,0,0,0
$GC,1135,-0.62,-194.6,209.4,-14.5,180,1139,0.00,2.25,0.00,0.000,4,0.000,0.026,2588,485,3634,0,0,0,0,0,0
$GC,1179,-0.62,-194.6,216.3,-15.2,183,1186,0.00,2.15,0.00,0.000,6,0.000,0.021,2587,1980,3634,0,0,0,0,0,0
$GC,1505,-0.62,-194.6,260.3,-12.5,214,1509,0.00,1.88,0.00,0.000,4,0.000,0.034,2587,3275,3633,0,0,0,0,0,0
$GC,1568,-0.62,-194.6,267.6,-10.9,219,1575,0.00,1.83,0.00,0.000,6,0.000,0.025,2587,1972,3632,0,0,0,0,0,0
$GC,1893,-0.62,-194.6,303.4,-11.4,250,1897,0.00,2.15,0.00,0.000,4,0.000,0.028,2587,482,3630,0,0,0,0,0,0
$GC,1963,-0.62,-194.6,310.9,-10.9,255,1970,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1962,3630,0,0,0,0,0,0
$GC,2288,-0.62,-194.6,343.4,-9.9,286,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1963,3627,0,0,0,0,0,0
$GC,2610,-0.62,-194.6,376.1,-10.8,316,2614,0.00,1.92,0.00,0.000,4,0.000,0.034,2586,3280,3625,0,0,0,0,0,0
$GC,2694,-0.62,-194.6,384.5,-9.2,323,2701,0.00,1.88,0.00,0.000,6,0.000,0.018,2586,1941,3624,0,0,0,0,0,0
$GC,3020,-0.62,-194.6,415.0,-10.3,354,3024,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,482,3622,0,0,0,0,0,0
$GC,3048,-0.62,-194.6,418.2,-10.6,356,3053,0.00,2.22,0.00,0.000,6,0.000,0.022,2587,2002,3622,0,0,0,0,0,0
$GC,3381,-0.62,-194.6,450.2,-8.3,387,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2002,3618,0,0,0,0,0,0
$GC,3708,-0.62,-194.6,476.3,-8.6,418,3713,0.00,2.25,0.00,0.000,4,0.000,0.028,2586,491,3615,0,0,0,0,0,0
$GC,3840,-0.62,-194.6,489.2,-10.0,429,3847,0.00,2.17,0.00,0.000,6,0.000,0.021,2587,1986,3614,0,0,0,0,0,0
$GC,4171,-0.62,-194.6,521.3,-9.6,451,4174,0.00,1.92,0.00,0.000,4,0.000,0.036,2586,3279,3611,0,0,0,0,0,0
$GC,4226,-0.62,-194.6,526.6,-9.0,453,4230,0.00,1.88,0.00,0.000,6,0.000,0.020,2586,1952,3610,0,0,0,0,0,0
$GC,4551,-0.62,-194.6,553.4,-7.9,469,4555,0.00,2.15,0.00,0.000,4,0.000,0.030,2586,485,3607,0,0,0,0,0,0
$GC,4591,-0.62,-194.6,556.8,-7.7,471,4596,0.00,2.20,0.00,0.000,6,0.000,0.022,2586,1989,3607,0,0,0,0,0,0
$GC,4921,-0.62,-194.6,582.5,-7.7,487,4925,0.00,1.92,0.00,0.000,4,0.000,0.037,2586,3277,3604,0,0,0,0,0,0
$GC,4948,-0.62,-194.6,584.8,-7.5,488,4952,0.00,1.88,0.00,0.000,6,0.000,0.020,2586,1949,3603,0,0,0,0,0,0
$GC,5276,-0.62,-194.6,608.9,-7.3,504,5280,0.00,2.17,0.00,0.000,4,0.000,0.031,2586,487,3601,0,0,0,0,0,0
$GC,5310,-0.62,-194.6,611.6,-7.4,505,5314,0.00,2.20,0.00,0.000,6,0.000,0.022,2586,1988,3601,0,0,0,0,0,0
$GC,5626,-0.62,-194.6,632.4,-6.2,520,5631,0.00,1.95,0.00,0.000,4,0.000,0.037,2587,3273,3598,0,0,0,0,0,0
$GC,5724,-0.62,-194.6,638.6,-6.7,524,5728,0.00,1.83,0.00,0.000,6,0.000,0.020,2586,1981,3598,0,0,0,0,0,0
$GC,6052,-0.62,-194.6,661.0,-7.2,540,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1981,3596,0,0,0,0,0,0
$GC,6362,-0.62,-194.6,684.5,-7.7,555,6366,0.00,2.20,0.00,0.000,4,0.000,0.030,2586,490,3594,0,0,0,0,0,0
$GC,6430,-0.62,-194.6,690.3,-8.7,558,6434,0.00,2.20,0.00,0.000,6,0.000,0.024,2586,1982,3593,0,0,0,0,0,0
$GC,6752,-0.62,-194.6,715.7,-8.2,574,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1982,3592,0,0,0,0,0,0
$GC,7063,-0.62,-194.6,742.6,-8.6,589,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1982,3589,0,0,0,0,0,0
$GC,7370,-0.62,-194.6,767.4,-7.7,604,7374,0.00,1.95,0.00,0.000,4,0.000,0.038,2586,3273,3587,0,0,0,0,0,0
$GC,7432,-0.62,-194.6,771.8,-7.1,606,7440,0.00,1.90,0.00,0.000,6,0.000,0.020,2586,1942,3587,0,0,0,0,0,0
$GC,7750,-0.62,-194.6,791.1,-5.6,622,7754,0.00,2.15,0.00,0.000,4,0.000,0.032,2586,494,3585,0,0,0,0,0,0
$GC,7793,-0.62,-194.6,793.9,-5.5,624,7797,0.00,2.12,0.00,0.000,6,0.000,0.023,2586,1938,3585,0,0,0,0,0,0
$GC,8122,-0.62,-194.6,811.3,-5.3,640,8126,0.00,2.03,0.00,0.000,4,0.000,0.039,2586,3275,3584,0,0,0,0,0,0
$GC,8218,-0.62,-194.6,816.6,-5.5,644,8222,0.00,1.90,0.00,0.000,6,0.000,0.020,2587,1944,3584,0,0,0,0,0,0
$GC,8546,-0.62,-194.6,837.2,-6.8,660,8551,0.00,2.17,0.00,0.000,4,0.000,0.031,2586,495,3582,0,0,0,0,0,0
$GC,8608,-0.62,-194.6,841.7,-7.6,662,8616,0.00,2.17,0.00,0.000,6,0.000,0.023,2586,1967,3581,0,0,0,0,0,0
$GC,8925,-0.62,-194.6,863.8,-7.3,678,8928,0.00,1.95,0.00,0.000,4,0.000,0.039,2586,3269,3580,0,0,0,0,0,0
$GC,9055,-0.62,-194.6,873.6,-7.2,683,9061,0.00,1.85,0.00,0.000,6,0.000,0.021,2586,1978,3580,0,0,0,0,0,0
$GC,9372,-0.62,-194.6,890.9,-4.7,699,9376,0.00,2.22,0.00,0.000,4,0.000,0.031,2586,497,3579,0,0,0,0,0,0
$GC,9417,-0.62,-194.6,893.4,-4.7,701,9422,0.00,2.25,0.00,0.000,6,0.000,0.024,2587,1998,3579,0,0,0,0,0,0
$GC,9752,-0.62,-194.6,909.4,-5.4,717,9755,0.00,1.92,0.00,0.000,4,0.000,0.039,2586,3269,3578,0,0,0,0,0,0
$GC,9779,-0.62,-194.6,911.3,-5.7,718,9783,0.00,1.85,0.00,0.000,6,0.000,0.020,2586,1971,3578,0,0,0,0,0,0
$GC,10109,-0.62,-194.6,934.7,-8.1,734,10113,0.00,2.22,0.00,0.000,4,0.000,0.031,2586,491,3577,0,0,0,0,0,0
$GC,10159,-0.62,-194.6,939.8,-9.7,736,10163,0.00,2.20,0.00,0.000,6,0.000,0.022,2586,1978,3577,0,0,0,0,0,0
$GC,10481,-0.62,-194.6,968.5,-8.5,752,10484,0.00,1.98,0.00,0.000,4,0.000,0.039,2586,3277,3575,0,0,0,0,0,0
$GC,10574,-0.62,-194.6,975.8,-7.8,756,10577,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1974,3575,0,0,0,0,0,0
$STATE,10802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10802,begin apogee
$GC,10808,-0.20,0.0,990.4,5.8,767,10972,0.43,0.00,157.43,1.395,4,0.116,0.000,2729,2100,2838,0,0,0,0,0,0
$STATE,10973,end apogee,CONTROL_FINISHED_OK
$STATE,10973,begin climb
$GC,10975,0.62,194.6,993.1,0.0,774,11157,0.80,2.20,172.07,1.343,4,0.083,0.041,2996,3457,2045,0,0,0,0,0,0
$GC,11279,0.62,194.6,955.1,15.2,788,11283,0.00,2.08,0.00,0.000,6,0.000,0.021,3005,2071,2036,0,0,0,0,0,0
$GC,11603,0.62,194.6,912.6,13.0,804,11606,0.00,2.12,0.00,0.000,4,0.000,0.037,3005,3451,2034,0,0,0,0,0,0
$GC,11861,0.62,194.6,876.1,14.5,815,11868,0.00,2.03,0.00,0.000,6,0.000,0.021,3014,2068,2032,0,0,0,0,0,0
$GC,12177,0.62,194.6,836.3,12.9,831,12180,0.00,2.05,0.00,0.000,4,0.000,0.034,3022,692,2031,0,0,0,0,0,0
$GC,12215,0.62,194.6,831.1,13.0,832,12222,0.00,1.95,0.00,0.000,6,0.000,0.024,3022,1990,2031,0,0,0,0,0,0
$GC,12533,0.62,194.6,789.6,13.3,848,12538,0.00,2.25,0.00,0.000,4,0.000,0.039,3022,3455,2030,0,0,0,0,0,0
$GC,12605,0.62,194.6,778.3,15.1,851,12609,0.00,2.03,0.00,0.000,6,0.000,0.021,3031,2074,2030,0,0,0,0,0,0
$GC,12935,0.62,194.6,733.1,13.7,867,12937,0.12,0.00,0.00,0.000,6,0.165,0.000,2998,2074,2030,0,0,0,0,0,0
$GC,13242,0.62,194.6,697.0,11.8,882,13245,0.00,2.03,0.00,0.000,4,0.000,0.032,3006,699,2029,0,0,0,0,0,0
$GC,13336,0.62,194.6,685.2,12.2,886,13341,0.00,2.05,0.00,0.000,6,0.000,0.024,3006,2074,2029,0,0,0,0,0,0
$GC,13666,0.62,194.6,645.6,12.4,902,13670,0.00,2.10,0.00,0.000,4,0.000,0.031,3014,689,2029,0,0,0,0,0,0
$GC,13692,0.62,194.6,641.7,12.4,903,13696,0.00,2.08,0.00,0.000,6,0.000,0.024,3014,2085,2029,0,0,0,0,0,0
$GC,14020,0.62,194.6,599.5,12.8,919,14024,0.00,2.10,0.00,0.000,4,0.000,0.040,3014,3468,2029,0,0,0,0,0,0
$GC,14077,0.62,194.6,591.2,14.4,921,14084,0.00,1.98,0.00,0.000,6,0.000,0.021,3022,2105,2028,0,0,0,0,0,0
$GC,14393,0.62,194.6,549.5,13.0,937,14398,0.00,2.12,0.00,0.000,4,0.000,0.034,3031,694,2028,0,0,0,0,0,0
$GC,14455,0.62,194.6,541.0,13.8,939,14464,0.10,2.10,0.00,0.000,6,0.157,0.024,3004,2109,2028,0,0,0,0,0,0
$GC,14771,0.62,194.6,504.5,10.6,955,14772,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2109,2028,0,0,0,0,0,0
$GC,15091,0.62,194.6,472.9,9.8,982,15097,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2109,2028,0,0,0,0,0,0
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$STATE,19457,end climb,SURFACE_DEPTH_REACHED
$STATE,19457,begin surface coast
$FINISH,0.8,1.008208
$STATE,19493,end surface coast,CONTROL_FINISHED_OK
$STATE,19493,begin surface
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$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.028462,0.028462
$HUMID,40.43
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,26.40
$XPDR_PINGS,55
$24V_AH,22.8,76.124
$10V_AH,9.8,63.984
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSOR_SECS,1037.713,1115.736,578.840,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324008
$DATA_FILE_SIZE,90127,1526
$CAP_FILE_SIZE,202229,0
$CFSIZE,260165632,102658048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,303.7,1
$GPS,060911,120429,1814.584,12250.390,901,99.0,901,-2.0