version: 66.09
glider: 167
mission: 8
dive: 419
start: 9 11 111 16 16 36
data:
$ID,167
$MISSION,8
$DIVE,419
$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,-109265.86
$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,77
$R_STBD_OVSHOOT,59
$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
$GPS1,110911,155100,1947.254,12127.384,37,1.0,37,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.9
$GPS2,110911,155100,1947.254,12127.384,901,99.0,901,-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,129.8,164693,-15.3,-9.706
$D_GRID,1049
$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,-91.07,0.000,2,0.000,0.000,111,1861,3024,0,0,0,0,0,0
$GC,117,-0.62,-194.6,5.1,-8.2,13,147,10.18,2.03,-10.20,0.000,4,0.230,0.039,2594,481,3635,0,0,0,0,0,0
$GC,195,-0.62,-194.6,35.2,-30.1,25,201,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1879,3636,0,0,0,0,0,0
$GC,336,-0.62,-194.6,69.4,-15.1,50,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1880,3636,0,0,0,0,0,0
$GC,478,-0.62,-194.6,89.9,-12.6,75,485,0.00,2.05,0.00,0.000,4,0.000,0.031,2576,3279,3637,0,0,0,0,0,0
$GC,623,-0.62,-194.6,111.1,-15.0,101,630,0.00,1.92,0.00,0.000,6,0.000,0.016,2576,1891,3637,0,0,0,0,0,0
$GC,767,-0.62,-194.6,132.6,-15.1,126,774,0.00,2.00,0.00,0.000,4,0.000,0.025,2576,508,3637,0,0,0,0,0,0
$GC,815,-0.62,-194.6,140.0,-14.5,134,824,0.00,2.03,0.00,0.000,6,0.000,0.021,2574,1901,3637,0,0,0,0,0,0
$GC,960,-0.62,-194.6,160.0,-14.6,159,968,0.00,2.03,0.00,0.000,4,0.000,0.032,2564,3283,3637,0,0,0,0,0,0
$GC,1003,-0.62,-194.6,166.5,-13.2,166,1012,0.10,1.88,0.00,0.000,6,0.138,0.017,2597,1927,3636,0,0,0,0,0,0
$GC,1149,-0.62,-194.6,181.9,-12.3,191,1157,0.00,2.05,0.00,0.000,4,0.000,0.026,2597,488,3636,0,0,0,0,0,0
$GC,1190,-0.62,-194.6,187.7,-12.7,198,1198,0.00,2.08,0.00,0.000,6,0.000,0.019,2590,1924,3636,0,0,0,0,0,0
$GC,1332,-0.62,-194.6,203.2,-12.3,221,1335,0.00,1.95,0.00,0.000,4,0.000,0.033,2587,3270,3635,0,0,0,0,0,0
$GC,1541,-0.62,-194.6,222.5,-7.6,239,1549,0.00,1.75,0.00,0.000,6,0.000,0.018,2587,2018,3635,0,0,0,0,0,0
$GC,1869,-0.62,-194.6,262.4,-9.8,270,1872,0.00,1.83,0.00,0.000,4,0.000,0.033,2587,3264,3633,0,0,0,0,0,0
$GC,2039,-0.62,-194.6,281.2,-10.8,285,2042,0.00,1.62,0.00,0.000,6,0.000,0.018,2587,2123,3632,0,0,0,0,0,0
$GC,2371,-0.62,-194.6,310.5,-7.1,316,2375,0.00,2.33,0.00,0.000,4,0.000,0.028,2587,508,3631,0,0,0,0,0,0
$GC,2449,-0.62,-194.6,317.7,-8.9,322,2455,0.00,2.22,0.00,0.000,6,0.000,0.022,2587,2040,3630,0,0,0,0,0,0
$GC,2775,-0.62,-194.6,344.4,-9.6,353,2779,0.00,2.25,0.00,0.000,4,0.000,0.027,2588,508,3628,0,0,0,0,0,0
$GC,2792,-0.62,-194.6,346.3,-10.8,354,2796,0.00,2.25,0.00,0.000,6,0.000,0.023,2587,2043,3628,0,0,0,0,0,0
$GC,3123,-0.62,-194.6,361.3,-3.4,384,3126,0.00,1.80,0.00,0.000,4,0.000,0.037,2587,3259,3624,0,0,0,0,0,0
$GC,3170,-0.62,-194.6,364.1,-4.8,388,3173,0.00,1.67,0.00,0.000,6,0.000,0.018,2588,2046,3624,0,0,0,0,0,0
$GC,3503,-0.62,-194.6,387.5,-8.0,419,3508,0.00,2.25,0.00,0.000,4,0.000,0.029,2587,523,3621,0,0,0,0,0,0
$GC,3549,-0.62,-194.6,391.8,-9.0,423,3553,0.00,2.20,0.00,0.000,6,0.000,0.023,2587,2028,3620,0,0,0,0,0,0
$GC,3876,-0.62,-194.6,423.7,-10.9,453,3881,0.00,2.25,0.00,0.000,4,0.000,0.028,2587,508,3618,0,0,0,0,0,0
$GC,3911,-0.62,-194.6,428.3,-12.5,455,3919,0.00,2.22,0.00,0.000,6,0.000,0.023,2587,2026,3617,0,0,0,0,0,0
$GC,4237,-0.62,-194.6,465.6,-10.9,486,4241,0.00,2.25,0.00,0.000,4,0.000,0.028,2587,508,3614,0,0,0,0,0,0
$GC,4318,-0.62,-194.6,474.9,-11.2,492,4325,0.00,2.17,0.00,0.000,6,0.000,0.023,2587,1986,3613,0,0,0,0,0,0
$GC,4644,-0.62,-194.6,507.8,-10.9,520,4648,0.00,2.17,0.00,0.000,4,0.000,0.030,2587,519,3611,0,0,0,0,0,0
$GC,4713,-0.62,-194.6,515.4,-10.1,523,4717,0.00,2.08,0.00,0.000,6,0.000,0.024,2587,1918,3611,0,0,0,0,0,0
$GC,5039,-0.62,-194.6,542.9,-10.2,539,5043,0.00,2.00,0.00,0.000,4,0.000,0.037,2587,3269,3608,0,0,0,0,0,0
$GC,5134,-0.62,-194.6,552.4,-11.4,543,5138,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1975,3607,0,0,0,0,0,0
$GC,5464,-0.62,-194.6,580.1,-9.0,559,5468,0.00,2.17,0.00,0.000,4,0.000,0.030,2587,514,3605,0,0,0,0,0,0
$GC,5501,-0.62,-194.6,584.6,-10.7,560,5509,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1956,3605,0,0,0,0,0,0
$GC,5820,-0.62,-194.6,611.3,-9.2,576,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1956,3603,0,0,0,0,0,0
$GC,6127,-0.62,-194.6,639.9,-9.0,591,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1957,3601,0,0,0,0,0,0
$GC,6436,-0.62,-194.6,659.0,-5.6,606,6440,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,518,3599,0,0,0,0,0,0
$GC,6482,-0.62,-194.6,661.1,-5.3,608,6487,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1940,3599,0,0,0,0,0,0
$GC,6810,-0.62,-194.6,672.1,-5.3,624,6814,0.00,2.12,0.00,0.000,4,0.000,0.030,2587,518,3597,0,0,0,0,0,0
$GC,6844,-0.62,-194.6,674.3,-6.4,625,6850,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1940,3597,0,0,0,0,0,0
$GC,7162,-0.62,-194.6,696.0,-8.5,641,7165,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3277,3595,0,0,0,0,0,0
$GC,7217,-0.62,-194.6,701.3,-9.5,643,7222,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1951,3595,0,0,0,0,0,0
$GC,7540,-0.62,-194.6,737.5,-10.5,659,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1949,3594,0,0,0,0,0,0
$GC,7848,-0.62,-194.6,767.3,-8.0,674,7852,0.00,2.12,0.00,0.000,4,0.000,0.031,2587,512,3592,0,0,0,0,0,0
$GC,7891,-0.62,-194.6,773.8,-15.4,676,7895,0.00,2.12,0.00,0.000,6,0.000,0.024,2587,1950,3592,0,0,0,0,0,0
$GC,8222,-0.62,-194.6,799.6,-4.5,692,8226,0.00,1.98,0.00,0.000,4,0.000,0.039,2587,3267,3591,0,0,0,0,0,0
$GC,8261,-0.62,-194.6,799.4,-4.1,693,8267,0.00,1.85,0.00,0.000,6,0.000,0.020,2587,1969,3591,0,0,0,0,0,0
$GC,8579,-0.62,-194.6,808.2,-4.3,709,8582,0.00,1.98,0.00,0.000,4,0.000,0.041,2587,3266,3590,0,0,0,0,0,0
$GC,8651,-0.62,-194.6,811.4,-4.5,712,8654,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1989,3589,0,0,0,0,0,0
$GC,8979,-0.62,-194.6,820.3,-2.1,728,8984,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3272,3588,0,0,0,0,0,0
$GC,8997,-0.62,-194.6,821.7,-3.2,728,9003,0.00,1.83,0.00,0.000,6,0.000,0.019,2587,1975,3588,0,0,0,0,0,0
$GC,9314,-0.62,-194.6,824.5,-0.9,744,9319,0.00,2.00,0.00,0.000,4,0.000,0.040,2587,3260,3586,0,0,0,0,0,0
$GC,9433,-0.62,-194.6,823.3,-0.3,749,9437,0.00,1.80,0.00,0.000,6,0.000,0.023,2587,2013,3586,0,0,0,0,0,0
$GC,9761,-0.62,-194.6,834.9,-15.3,765,9765,0.00,2.22,0.00,0.000,4,0.000,0.031,2587,518,3584,0,0,0,0,0,0
$GC,9802,-0.62,-194.6,844.6,-22.8,767,9806,0.00,2.10,0.00,0.000,6,0.000,0.021,2587,1960,3584,0,0,0,0,0,0
$GC,10131,-0.62,-194.6,880.6,-9.9,783,10134,0.00,1.98,0.00,0.000,4,0.000,0.042,2587,3264,3584,0,0,0,0,0,0
$GC,10188,-0.62,-194.6,882.9,-8.1,785,10192,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1978,3583,0,0,0,0,0,0
$GC,10510,-0.62,-194.6,912.5,-16.0,801,10514,0.00,2.17,0.00,0.000,4,0.000,0.031,2587,518,3582,0,0,0,0,0,0
$GC,10523,-0.62,-194.6,913.9,-15.6,801,10530,0.00,2.10,0.00,0.000,6,0.000,0.022,2587,1943,3582,0,0,0,0,0,0
$GC,10840,-0.62,-194.6,934.1,-4.3,817,10844,0.00,2.00,0.00,0.000,4,0.000,0.043,2587,3264,3582,0,0,0,0,0,0
$GC,10921,-0.62,-194.6,933.2,-4.5,820,10925,0.00,1.90,0.00,0.000,6,0.000,0.022,2587,1959,3582,0,0,0,0,0,0
$GC,11243,-0.62,-194.6,941.8,-5.3,836,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1958,3581,0,0,0,0,0,0
$STATE,11405,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11405,begin apogee
$GC,11412,-0.20,0.0,949.8,3.8,844,11576,0.43,0.00,157.15,1.366,4,0.119,0.000,2728,2086,2839,0,0,0,0,0,0
$STATE,11577,end apogee,CONTROL_FINISHED_OK
$STATE,11577,begin climb
$GC,11579,0.62,194.6,950.5,0.0,851,11762,0.75,2.25,169.95,1.313,4,0.079,0.044,3001,3448,2043,0,0,0,0,0,0
$GC,11931,0.62,194.6,911.8,10.6,867,11935,0.00,2.00,0.00,0.000,6,0.000,0.021,3010,2102,2035,0,0,0,0,0,0
$GC,12253,0.62,194.6,873.8,12.7,883,12258,0.00,2.12,0.00,0.000,4,0.000,0.040,3011,3458,2033,0,0,0,0,0,0
$GC,12464,0.62,194.6,844.5,13.2,892,12468,0.00,2.08,0.00,0.000,6,0.000,0.022,3018,2049,2032,0,0,0,0,0,0
$GC,12786,0.64,208.1,809.7,9.3,908,12802,0.00,2.20,11.35,1.153,4,0.000,0.039,3018,3465,1989,0,0,0,0,0,0
$GC,12865,0.64,208.1,800.6,11.5,910,12873,0.00,2.00,0.00,0.000,6,0.000,0.021,3028,2105,1987,0,0,0,0,0,0
$GC,13181,0.64,208.1,766.1,11.5,926,13185,0.00,2.12,0.00,0.000,4,0.000,0.034,3039,682,1986,0,0,0,0,0,0
$GC,13293,0.64,208.1,753.7,11.5,931,13297,0.12,2.05,0.00,0.000,6,0.151,0.024,3003,2062,1986,0,0,0,0,0,0
$GC,13616,0.64,208.1,716.5,12.7,947,13620,0.00,2.15,0.00,0.000,4,0.000,0.041,3003,3467,1985,0,0,0,0,0,0
$GC,13671,0.64,208.1,707.1,17.0,949,13678,0.00,2.10,0.00,0.000,6,0.000,0.021,3010,2048,1985,0,0,0,0,0,0
$GC,13989,0.64,208.1,664.1,11.8,965,13993,0.00,2.00,0.00,0.000,4,0.000,0.032,3021,685,1985,0,0,0,0,0,0
$GC,14080,0.64,208.1,650.0,15.8,969,14084,0.00,2.00,0.00,0.000,6,0.000,0.024,3020,2028,1984,0,0,0,0,0,0
$GC,14414,0.64,208.1,607.3,11.9,985,14419,0.00,2.22,0.00,0.000,4,0.000,0.041,3020,3467,1984,0,0,0,0,0,0
$GC,14504,0.64,208.1,595.1,13.1,989,14509,0.00,2.12,0.00,0.000,6,0.000,0.021,3030,2030,1984,0,0,0,0,0,0
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$STATE,19857,end climb,SURFACE_DEPTH_REACHED
$STATE,19857,begin surface coast
$FINISH,1.0,1.020997
$STATE,19881,end surface coast,CONTROL_FINISHED_OK
$STATE,19882,begin surface
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$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.028462,0.028462
$HUMID,41.10
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,28.20
$XPDR_PINGS,46
$24V_AH,23.0,79.355
$10V_AH,9.8,66.903
$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
$DEVICE_SECS,20.075,193.600,639.725,0.000,0.000,167.410,36.038,0.000,11.500,0.000,901.481,4044.448,11556.381,735.132,4271.240,849.148,0.000,2424.730,0.000,3374.247,0.000,0.544,0.000
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$SENSOR_SECS,1081.819,1203.257,671.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93630,1591
$CAP_FILE_SIZE,210513,0
$CFSIZE,260165632,100499456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,3.110,132.7,1
$GPS,110911,155100,1947.254,12127.384,901,99.0,901,-2.3