version: 66.09
glider: 167
mission: 8
dive: 424
start: 9 12 111 21 46 16
data:
$ID,167
$MISSION,8
$DIVE,424
$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,-117391.1
$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,73
$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
$GPS1,120911,212024,1950.403,12122.909,44,1.2,61,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-61.0
$GPS2,120911,212024,1950.403,12122.909,901,99.0,901,-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,113.8,173808,-15.3,-9.706
$D_GRID,1748
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.62,-194.6,0.0,0.0,0,117,0.00,0.00,-95.70,0.000,2,0.000,0.000,108,1847,3168,0,0,0,0,0,0
$GC,120,-0.62,-194.6,6.5,-12.6,14,145,10.27,1.98,-7.57,0.000,4,0.230,0.037,2598,477,3635,0,0,0,0,0,0
$GC,226,-0.62,-194.6,44.2,-25.0,31,233,0.00,2.03,0.00,0.000,6,0.000,0.021,2590,1879,3636,0,0,0,0,0,0
$GC,368,-0.62,-194.6,77.6,-21.5,56,376,0.00,2.05,0.00,0.000,4,0.000,0.031,2580,3268,3636,0,0,0,0,0,0
$GC,403,-0.62,-194.6,85.3,-24.1,61,410,0.00,1.92,0.00,0.000,6,0.000,0.017,2580,1895,3636,0,0,0,0,0,0
$GC,543,-0.62,-194.6,113.3,-20.1,86,552,0.00,2.05,0.00,0.000,4,0.000,0.031,2573,3263,3636,0,0,0,0,0,0
$GC,568,-0.62,-194.6,117.1,-18.1,89,575,0.00,1.88,0.00,0.000,6,0.000,0.017,2573,1908,3636,0,0,0,0,0,0
$GC,711,-0.62,-194.6,140.2,-18.4,114,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1908,3636,0,0,0,0,0,0
$GC,853,-0.62,-194.6,162.7,-16.2,139,860,0.00,2.00,0.00,0.000,4,0.000,0.031,2564,3274,3637,0,0,0,0,0,0
$GC,946,-0.62,-194.6,177.8,-15.0,155,955,0.10,1.85,0.00,0.000,6,0.131,0.017,2599,1940,3637,0,0,0,0,0,0
$GC,1095,-0.62,-194.6,198.9,-13.8,180,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1935,3637,0,0,0,0,0,0
$GC,1231,-0.62,-194.6,216.6,-11.7,193,1235,0.00,1.98,0.00,0.000,4,0.000,0.031,2592,3274,3637,0,0,0,0,0,0
$GC,1257,-0.62,-194.6,219.4,-11.1,195,1260,0.00,1.85,0.00,0.000,6,0.000,0.017,2591,1940,3637,0,0,0,0,0,0
$GC,1589,-0.62,-194.6,259.1,-10.9,226,1593,0.00,2.05,0.00,0.000,4,0.000,0.030,2591,513,3635,0,0,0,0,0,0
$GC,1599,-0.62,-194.6,260.4,-10.7,226,1607,0.00,2.10,0.00,0.000,6,0.000,0.021,2588,1953,3635,0,0,0,0,0,0
$GC,1926,-0.62,-194.6,297.6,-11.5,257,1930,0.00,2.10,0.00,0.000,4,0.000,0.026,2588,513,3633,0,0,0,0,0,0
$GC,1979,-0.62,-194.6,302.6,-9.2,261,1983,0.00,1.98,0.00,0.000,6,0.000,0.021,2588,1890,3633,0,0,0,0,0,0
$GC,2313,-0.62,-194.6,338.2,-10.0,292,2317,0.00,2.00,0.00,0.000,4,0.000,0.033,2587,3261,3630,0,0,0,0,0,0
$GC,2398,-0.62,-194.6,346.3,-9.3,299,2406,0.00,1.95,0.00,0.000,6,0.000,0.018,2587,1870,3630,0,0,0,0,0,0
$GC,2724,-0.62,-194.6,373.6,-7.0,330,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1870,3627,0,0,0,0,0,0
$GC,3047,-0.62,-194.6,401.6,-9.0,360,3050,0.00,1.98,0.00,0.000,4,0.000,0.030,2588,513,3624,0,0,0,0,0,0
$GC,3070,-0.62,-194.6,404.2,-8.7,362,3074,0.00,1.95,0.00,0.000,6,0.000,0.021,2588,1864,3623,0,0,0,0,0,0
$GC,3402,-0.62,-194.6,430.9,-7.1,393,3406,0.00,2.10,0.00,0.000,4,0.000,0.035,2587,3259,3620,0,0,0,0,0,0
$GC,3508,-0.62,-194.6,437.6,-6.1,402,3514,0.00,1.90,0.00,0.000,6,0.000,0.019,2588,1902,3620,0,0,0,0,0,0
$GC,3834,-0.62,-194.6,463.7,-9.1,433,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1902,3616,0,0,0,0,0,0
$GC,4153,-0.62,-194.6,495.2,-10.2,463,4156,0.00,2.05,0.00,0.000,4,0.000,0.030,2588,510,3613,0,0,0,0,0,0
$GC,4189,-0.62,-194.6,499.2,-11.2,466,4192,0.00,2.03,0.00,0.000,6,0.000,0.021,2587,1898,3613,0,0,0,0,0,0
$GC,4511,-0.62,-194.6,528.7,-8.9,482,4515,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3263,3610,0,0,0,0,0,0
$GC,4579,-0.62,-194.6,534.2,-7.9,485,4583,0.00,1.92,0.00,0.000,6,0.000,0.020,2587,1911,3610,0,0,0,0,0,0
$GC,4914,-0.62,-194.6,563.7,-8.5,501,4918,0.00,2.05,0.00,0.000,4,0.000,0.031,2587,505,3607,0,0,0,0,0,0
$GC,4978,-0.62,-194.6,569.5,-8.8,504,4982,0.00,2.03,0.00,0.000,6,0.000,0.022,2587,1891,3606,0,0,0,0,0,0
$GC,5312,-0.62,-194.6,593.5,-6.3,520,5315,0.00,2.08,0.00,0.000,4,0.000,0.037,2588,3264,3604,0,0,0,0,0,0
$GC,5373,-0.62,-194.6,597.2,-5.9,522,5380,0.00,1.95,0.00,0.000,6,0.000,0.019,2588,1910,3604,0,0,0,0,0,0
$GC,5691,-0.62,-194.6,617.2,-5.3,538,5695,0.00,2.08,0.00,0.000,4,0.000,0.037,2587,3268,3602,0,0,0,0,0,0
$GC,5730,-0.62,-194.6,620.7,-7.3,539,5738,0.00,1.90,0.00,0.000,6,0.000,0.019,2587,1941,3602,0,0,0,0,0,0
$GC,6046,-0.62,-194.6,646.9,-8.3,555,6051,0.00,2.05,0.00,0.000,4,0.000,0.037,2587,3267,3600,0,0,0,0,0,0
$GC,6103,-0.62,-194.6,651.5,-8.4,557,6107,0.00,1.88,0.00,0.000,6,0.000,0.020,2588,1950,3600,0,0,0,0,0,0
$GC,6425,-0.62,-194.6,679.7,-8.6,573,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1951,3598,0,0,0,0,0,0
$GC,6735,-0.62,-194.6,699.7,-5.9,588,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1950,3596,0,0,0,0,0,0
$GC,7046,-0.62,-194.6,721.2,-7.7,603,7050,0.00,2.15,0.00,0.000,4,0.000,0.030,2587,511,3595,0,0,0,0,0,0
$GC,7096,-0.62,-194.6,725.9,-9.1,605,7100,0.00,2.08,0.00,0.000,6,0.000,0.021,2588,1929,3594,0,0,0,0,0,0
$GC,7425,-0.62,-194.6,753.5,-7.3,621,7429,0.00,2.03,0.00,0.000,4,0.000,0.038,2588,3268,3593,0,0,0,0,0,0
$GC,7453,-0.62,-194.6,755.5,-6.4,622,7456,0.00,1.92,0.00,0.000,6,0.000,0.019,2587,1917,3593,0,0,0,0,0,0
$GC,7781,-0.62,-194.6,770.8,-4.7,638,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1916,3592,0,0,0,0,0,0
$GC,8092,-0.62,-194.6,790.0,-6.3,653,8097,0.00,2.08,0.00,0.000,4,0.000,0.038,2588,3256,3591,0,0,0,0,0,0
$GC,8119,-0.62,-194.6,791.9,-6.3,654,8123,0.00,1.90,0.00,0.000,6,0.000,0.021,2588,1931,3591,0,0,0,0,0,0
$GC,8447,-0.62,-194.6,807.6,-4.5,670,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1930,3589,0,0,0,0,0,0
$GC,8758,-0.62,-194.6,822.7,-4.9,685,8762,0.00,2.10,0.00,0.000,4,0.000,0.031,2587,514,3588,0,0,0,0,0,0
$GC,8786,-0.62,-194.6,824.5,-5.4,686,8790,0.00,2.10,0.00,0.000,6,0.000,0.024,2587,1934,3588,0,0,0,0,0,0
$GC,9110,-0.62,-194.6,842.4,-5.7,702,9113,0.00,2.03,0.00,0.000,4,0.000,0.040,2588,3263,3586,0,0,0,0,0,0
$GC,9157,-0.62,-194.6,845.2,-5.2,704,9160,0.00,1.88,0.00,0.000,6,0.000,0.021,2588,1951,3586,0,0,0,0,0,0
$GC,9490,-0.62,-194.6,866.8,-6.2,720,9494,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,501,3586,0,0,0,0,0,0
$GC,9516,-0.62,-194.6,868.5,-6.9,721,9520,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1942,3585,0,0,0,0,0,0
$GC,9838,-0.62,-194.6,889.0,-6.3,737,9842,0.00,2.03,0.00,0.000,4,0.000,0.040,2587,3272,3584,0,0,0,0,0,0
$GC,9908,-0.62,-194.6,894.1,-7.8,740,9912,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1969,3584,0,0,0,0,0,0
$GC,10244,-0.62,-194.6,913.4,-5.7,756,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1967,3583,0,0,0,0,0,0
$GC,10551,-0.62,-194.6,928.8,-5.3,771,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1968,3583,0,0,0,0,0,0
$GC,10862,-0.62,-194.6,947.6,-7.4,786,10866,0.00,2.00,0.00,0.000,4,0.000,0.038,2588,3257,3582,0,0,0,0,0,0
$GC,10939,-0.62,-194.6,953.8,-12.7,789,10943,0.00,1.83,0.00,0.000,6,0.000,0.022,2587,2000,3582,0,0,0,0,0,0
$GC,11263,-0.62,-194.6,980.4,-10.4,805,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1996,3581,0,0,0,0,0,0
$STATE,11423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11423,begin apogee
$GC,11432,-0.20,0.0,990.3,5.5,813,11596,0.43,0.00,158.80,1.392,4,0.119,0.000,2729,2069,2838,0,0,0,0,0,0
$STATE,11597,end apogee,CONTROL_FINISHED_OK
$STATE,11597,begin climb
$GC,11601,0.62,194.6,990.8,0.0,820,11783,0.80,2.15,173.40,1.342,4,0.074,0.031,3002,711,2044,0,0,0,0,0,0
$GC,11950,0.62,194.6,954.0,10.1,836,11957,0.00,2.08,0.00,0.000,6,0.000,0.025,3002,2070,2034,0,0,0,0,0,0
$GC,12267,0.62,194.6,909.9,13.9,852,12271,0.00,2.08,0.00,0.000,4,0.000,0.031,3010,704,2029,0,0,0,0,0,0
$GC,12524,0.62,194.6,878.1,10.4,863,12528,0.00,2.10,0.00,0.000,6,0.000,0.024,3010,2104,2029,0,0,0,0,0,0
$GC,12847,0.62,194.6,841.3,12.4,879,12850,0.00,2.08,0.00,0.000,4,0.000,0.040,3010,3465,2027,0,0,0,0,0,0
$GC,12874,0.62,194.6,837.1,13.3,880,12878,0.00,2.03,0.00,0.000,6,0.000,0.021,3019,2095,2026,0,0,0,0,0,0
$GC,13202,0.62,194.6,793.6,13.3,896,13203,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2094,2026,0,0,0,0,0,0
$GC,13511,0.62,194.6,748.1,14.3,911,13516,0.00,2.10,0.00,0.000,4,0.000,0.032,3029,695,2025,0,0,0,0,0,0
$GC,13601,0.62,194.6,735.5,13.5,915,13606,0.08,2.10,0.00,0.000,6,0.132,0.024,3004,2091,2025,0,0,0,0,0,0
$GC,13936,0.62,194.6,694.2,12.8,931,13940,0.00,2.10,0.00,0.000,4,0.000,0.031,3011,689,2025,0,0,0,0,0,0
$GC,14002,0.62,194.6,684.7,13.8,934,14006,0.00,2.05,0.00,0.000,6,0.000,0.024,3011,2073,2025,0,0,0,0,0,0
$GC,14329,0.62,194.6,641.6,12.7,950,14333,0.00,2.12,0.00,0.000,4,0.000,0.040,3012,3467,2025,0,0,0,0,0,0
$GC,14426,0.62,194.6,627.6,14.7,954,14430,0.00,2.03,0.00,0.000,6,0.000,0.021,3020,2094,2024,0,0,0,0,0,0
$GC,14747,0.62,194.6,586.3,12.1,970,14750,0.00,2.08,0.00,0.000,4,0.000,0.032,3030,693,2024,0,0,0,0,0,0
$GC,14795,0.62,194.6,580.7,11.9,972,14799,0.00,2.08,0.00,0.000,6,0.000,0.024,3030,2088,2024,0,0,0,0,0,0
$GC,15122,0.62,194.6,544.2,10.7,988,15123,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2088,2023,0,0,0,0,0,0
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$STATE,20183,end climb,SURFACE_DEPTH_REACHED
$STATE,20183,begin surface coast
$FINISH,1.0,1.000093
$STATE,20212,end surface coast,CONTROL_FINISHED_OK
$STATE,20212,begin surface
$SM_CCo,20233,21.75,0.298,1,0,489,576.21
$SM_GC,1.46,0.00,0.00,21.75,0.000,0.000,0.298,114,1937,489,-8.39,1.78,576.21,0,0,0,0,1,0
$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.028462,0.028462
$HUMID,41.69
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,27.30
$XPDR_PINGS,39
$24V_AH,22.7,80.362
$10V_AH,9.7,67.773
$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,20.175,170.550,623.850,21.750,0.000,160.233,35.932,0.000,9.750,0.000,901.540,3986.436,12110.868,720.697,4118.575,830.495,0.000,2329.186,0.000,3223.397,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,103.275,1391.535,298.350,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.880,1160.672,589.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93565,1577
$CAP_FILE_SIZE,202963,0
$CFSIZE,260165632,99852288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,3.207,114.6,1
$GPS,120911,212024,1950.403,12122.909,901,99.0,901,-2.3