version: 66.09
glider: 167
mission: 8
dive: 418
start: 9 11 111 11 48 26
data:
$ID,167
$MISSION,8
$DIVE,418
$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,-108363.75
$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,80
$R_STBD_OVSHOOT,64
$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
$GPS1,110911,072100,1943.455,12129.316,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.1
$GPS2,110911,072100,1943.455,12129.316,901,99.0,901,-2.3
$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,105.5,156922,-15.3,-9.706
$D_GRID,678
$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,19,-0.62,-194.6,0.0,0.0,0,113,0.00,0.00,-91.15,0.000,2,0.000,0.000,110,1938,3091,0,0,0,0,0,0
$GC,116,-0.62,-194.6,5.7,-11.2,13,146,10.07,2.03,-8.82,0.000,4,0.228,0.044,2582,3272,3636,0,0,0,0,0,0
$GC,177,-0.62,-194.6,33.0,-39.1,22,185,0.00,2.00,0.00,0.000,6,0.000,0.019,2582,1882,3637,0,0,0,0,0,0
$GC,321,-0.62,-194.6,66.7,-18.4,47,329,0.00,2.03,0.00,0.000,4,0.000,0.027,2582,487,3637,0,0,0,0,0,0
$GC,354,-0.62,-194.6,72.6,-18.2,52,363,0.00,1.98,0.00,0.000,6,0.000,0.021,2574,1851,3637,0,0,0,0,0,0
$GC,499,-0.62,-194.6,99.6,-21.5,77,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1851,3638,0,0,0,0,0,0
$GC,637,-0.62,-194.6,123.4,-19.5,102,645,0.00,2.15,0.00,0.000,4,0.000,0.041,2567,3272,3638,0,0,0,0,0,0
$GC,660,-0.62,-194.6,127.9,-20.2,105,668,0.12,2.03,0.00,0.000,6,0.162,0.017,2599,1817,3637,0,0,0,0,0,0
$GC,802,-0.62,-194.6,149.2,-12.0,130,810,0.00,2.15,0.00,0.000,4,0.000,0.030,2592,3263,3638,0,0,0,0,0,0
$GC,874,-0.62,-194.6,159.1,-14.6,142,882,0.00,1.95,0.00,0.000,6,0.000,0.017,2592,1878,3638,0,0,0,0,0,0
$GC,1019,-0.62,-194.6,177.0,-11.3,167,1026,0.00,2.08,0.00,0.000,4,0.000,0.034,2588,3264,3637,0,0,0,0,0,0
$GC,1083,-0.62,-194.6,185.1,-12.7,178,1093,0.00,1.88,0.00,0.000,6,0.000,0.017,2588,1922,3637,0,0,0,0,0,0
$GC,1230,-0.62,-194.6,205.0,-15.4,201,1234,0.00,2.00,0.00,0.000,4,0.000,0.034,2587,3262,3636,0,0,0,0,0,0
$GC,1354,-0.62,-194.6,222.2,-13.4,212,1357,0.00,1.67,0.00,0.000,6,0.000,0.016,2587,2026,3635,0,0,0,0,0,0
$GC,1685,-0.62,-194.6,252.6,-13.0,243,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2026,3634,0,0,0,0,0,0
$GC,2007,-0.62,-194.6,287.8,-7.0,273,2011,0.00,2.20,0.00,0.000,4,0.000,0.028,2587,507,3633,0,0,0,0,0,0
$GC,2036,-0.62,-194.6,290.1,-6.4,275,2040,0.00,2.28,0.00,0.000,6,0.000,0.021,2587,2076,3633,0,0,0,0,0,0
$GC,2365,-0.62,-194.6,319.4,-11.3,305,2369,0.00,2.30,0.00,0.000,4,0.000,0.028,2587,509,3631,0,0,0,0,0,0
$GC,2398,-0.62,-194.6,324.5,-13.8,307,2406,0.00,2.25,0.00,0.000,6,0.000,0.020,2587,2069,3630,0,0,0,0,0,0
$GC,2724,-0.62,-194.6,357.3,-8.2,338,2728,0.00,1.77,0.00,0.000,4,0.000,0.036,2587,3274,3627,0,0,0,0,0,0
$GC,2788,-0.62,-194.6,361.6,-6.5,343,2796,0.00,1.67,0.00,0.000,6,0.000,0.018,2587,2045,3627,0,0,0,0,0,0
$GC,3114,-0.62,-194.6,387.0,-7.5,374,3117,0.00,1.83,0.00,0.000,4,0.000,0.034,2587,3265,3623,0,0,0,0,0,0
$GC,3154,-0.62,-194.6,389.5,-6.4,377,3162,0.00,1.60,0.00,0.000,6,0.000,0.018,2587,2116,3623,0,0,0,0,0,0
$GC,3481,-0.62,-194.6,399.9,-2.4,408,3485,0.00,2.33,0.00,0.000,4,0.000,0.028,2588,518,3620,0,0,0,0,0,0
$GC,3526,-0.62,-194.6,402.0,-3.1,411,3534,0.00,2.33,0.00,0.000,6,0.000,0.022,2587,2108,3620,0,0,0,0,0,0
$GC,3852,-0.62,-194.6,415.0,-4.8,442,3857,0.00,2.38,0.00,0.000,4,0.000,0.029,2587,521,3617,0,0,0,0,0,0
$GC,3933,-0.62,-194.6,417.3,-3.5,449,3938,0.00,2.20,0.00,0.000,6,0.000,0.024,2587,1996,3616,0,0,0,0,0,0
$GC,4265,-0.62,-194.6,429.6,-6.6,480,4268,0.00,1.85,0.00,0.000,4,0.000,0.035,2587,3262,3613,0,0,0,0,0,0
$GC,4347,-0.62,-194.6,431.3,-4.1,487,4350,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2045,3612,0,0,0,0,0,0
$GC,4678,-0.62,-194.6,447.7,-4.1,518,4683,0.00,2.25,0.00,0.000,4,0.000,0.028,2587,521,3610,0,0,0,0,0,0
$GC,4718,-0.62,-194.6,450.1,-5.2,521,4725,0.00,2.20,0.00,0.000,6,0.000,0.021,2587,2022,3610,0,0,0,0,0,0
$GC,5044,-0.62,-194.6,465.4,-2.7,552,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2023,3607,0,0,0,0,0,0
$GC,5365,-0.62,-194.6,488.6,-5.2,582,5369,0.00,2.22,0.00,0.000,4,0.000,0.028,2587,521,3605,0,0,0,0,0,0
$GC,5398,-0.62,-194.6,490.7,-5.2,584,5405,0.00,2.22,0.00,0.000,6,0.000,0.024,2587,2030,3604,0,0,0,0,0,0
$GC,5729,-0.62,-194.6,522.3,-10.1,606,5734,0.00,2.25,0.00,0.000,4,0.000,0.027,2587,510,3602,0,0,0,0,0,0
$GC,5771,-0.62,-194.6,525.8,-8.4,608,5775,0.00,2.22,0.00,0.000,6,0.000,0.023,2587,2021,3602,0,0,0,0,0,0
$GC,6100,-0.62,-194.6,549.6,-7.0,624,6103,0.00,1.85,0.00,0.000,4,0.000,0.037,2587,3262,3600,0,0,0,0,0,0
$GC,6141,-0.62,-194.6,552.7,-6.9,625,6148,0.00,1.73,0.00,0.000,6,0.000,0.020,2587,2028,3600,0,0,0,0,0,0
$GC,6457,-0.62,-194.6,580.7,-10.1,641,6461,0.00,2.22,0.00,0.000,4,0.000,0.029,2587,515,3599,0,0,0,0,0,0
$GC,6529,-0.62,-194.6,587.9,-9.9,644,6533,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1979,3598,0,0,0,0,0,0
$GC,6854,-0.62,-194.6,620.1,-9.7,660,6858,0.00,1.92,0.00,0.000,4,0.000,0.038,2587,3262,3598,0,0,0,0,0,0
$GC,6881,-0.62,-194.6,623.5,-9.7,661,6885,0.00,1.83,0.00,0.000,6,0.000,0.020,2587,1991,3597,0,0,0,0,0,0
$GC,7211,-0.62,-194.6,650.4,-7.6,677,7216,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,518,3595,0,0,0,0,0,0
$GC,7281,-0.62,-194.6,655.7,-7.3,680,7285,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1981,3595,0,0,0,0,0,0
$GC,7609,-0.62,-194.6,675.5,-5.8,696,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1981,3593,0,0,0,0,0,0
$STATE,7667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7667,begin apogee
$GC,7676,-0.20,0.0,679.0,5.8,699,7831,0.43,0.00,150.75,1.148,4,0.119,0.000,2729,2070,2839,0,0,0,0,0,0
$STATE,7832,end apogee,CONTROL_FINISHED_OK
$STATE,7832,begin climb
$GC,7834,0.62,194.6,679.0,0.0,706,8001,0.75,0.00,158.90,1.107,6,0.083,0.000,2999,2070,2044,0,0,0,0,0,0
$GC,8314,0.62,196.1,620.4,9.7,729,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2070,2034,0,0,0,0,0,0
$GC,8621,0.62,196.1,588.0,10.7,744,8625,0.00,2.03,0.00,0.000,4,0.000,0.031,3008,715,2033,0,0,0,0,0,0
$GC,8676,0.62,196.1,581.6,10.7,746,8680,0.00,2.00,0.00,0.000,6,0.000,0.022,3008,2075,2032,0,0,0,0,0,0
$GC,9000,0.62,196.1,544.7,11.5,762,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2076,2031,0,0,0,0,0,0
$GC,9307,0.62,196.1,513.1,10.0,777,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2075,2030,0,0,0,0,0,0
$GC,9624,0.62,196.1,481.9,10.7,800,9625,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2075,2029,0,0,0,0,0,0
$GC,9943,0.62,196.1,449.1,10.4,830,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2075,2029,0,0,0,0,0,0
$GC,10271,0.63,201.0,416.5,9.5,861,10283,0.00,2.08,4.15,0.671,4,0.000,0.031,3016,730,2019,0,0,0,0,0,0
$GC,10389,0.65,221.5,405.6,9.0,871,10413,0.00,1.95,19.05,0.950,6,0.000,0.022,3016,2059,1936,0,0,0,0,0,0
$GC,10732,0.65,221.5,372.0,10.5,903,10737,0.00,2.15,0.00,0.000,4,0.000,0.038,3016,3462,1932,0,0,0,0,0,0
$GC,10770,0.65,221.5,367.6,11.0,906,10778,0.00,2.03,0.00,0.000,6,0.000,0.020,3023,2071,1931,0,0,0,0,0,0
$GC,11097,0.65,221.5,324.9,16.3,937,11101,0.00,2.03,0.00,0.000,4,0.000,0.031,3034,697,1931,0,0,0,0,0,0
$GC,11258,0.65,221.5,303.7,11.3,951,11262,0.00,1.88,0.00,0.000,6,0.000,0.021,3034,1984,1931,0,0,0,0,0,0
$GC,11589,0.65,221.5,281.6,10.0,982,11593,0.00,2.25,0.00,0.000,4,0.000,0.037,3034,3474,1931,0,0,0,0,0,0
$GC,11847,0.75,300.6,254.5,7.1,1004,11922,0.00,2.05,65.82,0.854,6,0.000,0.019,3044,2049,1612,0,0,0,0,0,0
$GC,12237,0.75,300.6,217.9,10.6,1041,12242,0.00,2.17,0.00,0.000,4,0.000,0.034,3044,3462,1604,0,0,0,0,0,0
$GC,12285,0.75,300.6,212.3,12.2,1045,12289,0.00,2.00,0.00,0.000,6,0.000,0.020,3047,2082,1603,0,0,0,0,0,0
$GC,12623,0.75,300.6,177.6,13.0,1094,12633,0.00,2.08,0.00,0.000,4,0.000,0.031,3057,689,1602,0,0,0,0,0,0
$GC,12852,0.75,300.6,149.9,10.6,1133,12859,0.00,1.92,0.00,0.000,6,0.000,0.019,3057,2017,1602,0,0,0,0,0,0
$GC,12998,0.75,300.6,134.0,12.0,1158,13007,0.00,2.00,0.00,0.000,4,0.000,0.032,3066,693,1602,0,0,0,0,0,0
$GC,13034,0.75,300.6,130.1,11.0,1163,13041,0.00,1.92,0.00,0.000,6,0.000,0.022,3066,2014,1602,0,0,0,0,0,0
$GC,13180,0.77,312.5,114.9,9.3,1188,13196,0.00,2.03,9.73,0.635,4,0.000,0.029,3074,692,1565,0,0,0,0,0,0
$GC,13252,0.83,365.0,109.2,7.9,1199,13300,0.00,1.80,44.10,0.691,6,0.000,0.020,3074,1946,1351,0,0,0,0,0,0
$GC,13440,0.90,421.1,93.9,7.8,1230,13490,0.00,0.00,46.12,0.667,6,0.000,0.000,3074,1946,1121,0,0,0,0,0,0
$GC,13628,0.94,454.0,77.1,8.6,1261,13661,0.00,0.00,27.15,0.636,6,0.000,0.000,3074,1946,986,0,0,0,0,0,0
$GC,13802,0.94,454.0,57.5,10.3,1290,13811,0.00,2.30,0.00,0.000,4,0.000,0.033,3074,3468,983,0,0,0,0,0,0
$GC,13825,0.96,473.4,55.7,9.1,1293,13848,0.00,2.22,16.73,0.605,6,0.000,0.018,3077,1931,908,0,0,0,0,0,0
$GC,13987,1.02,517.6,41.8,8.2,1320,14030,0.15,1.85,35.55,0.612,4,0.082,0.029,3159,692,727,0,0,0,0,0,0
$GC,14124,1.07,557.3,29.7,8.4,1342,14161,0.00,1.70,31.25,0.595,6,0.000,0.018,3159,1878,566,0,0,0,0,0,0
$GC,14298,1.07,557.3,12.7,9.7,1371,14305,0.00,2.40,0.00,0.000,4,0.000,0.033,3159,3467,560,0,0,0,0,0,0
$GC,14330,1.07,557.3,9.2,10.9,1376,14339,0.00,2.35,0.00,0.000,6,0.000,0.018,3163,1863,560,0,0,0,0,0,0
$STATE,14399,end climb,SURFACE_DEPTH_REACHED
$STATE,14399,begin surface coast
$FINISH,0.9,1.007239
$STATE,14431,end surface coast,CONTROL_FINISHED_OK
$STATE,14432,begin surface
$SM_CCo,14449,19.15,0.253,1,0,490,576.21
$SM_GC,1.60,0.00,0.00,19.15,0.000,0.000,0.253,115,1862,490,-8.39,-0.37,576.21,0,0,0,0,1,0
$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.73
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,27.80
$XPDR_PINGS,57
$24V_AH,23.8,79.159
$10V_AH,9.8,66.738
$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,19.425,131.275,609.300,19.150,0.000,168.513,29.584,0.000,14.250,0.000,901.465,3428.616,7458.428,699.762,3656.820,720.514,0.000,2054.168,0.000,2765.365,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,105.570,1148.265,253.215,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,943.882,1056.667,664.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323984
$DATA_FILE_SIZE,80240,1393
$CAP_FILE_SIZE,163401,0
$CFSIZE,260165632,100679680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.727,320.2,1
$GPS,110911,155100,1947.254,12127.384,37,1.0,37,-2.3