version: 66.09
glider: 167
mission: 8
dive: 426
start: 9 13 111 10 25 41
data:
$ID,167
$MISSION,8
$DIVE,426
$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,-121002.33
$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,72
$R_STBD_OVSHOOT,55
$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
$GPS1,120911,212024,1950.403,12122.909,901,99.0,901,-2.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-60.9
$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,118.0,173808,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.62,-194.6,0.0,0.0,0,120,0.00,0.00,-97.22,0.000,2,0.000,0.000,108,1799,3233,0,0,0,0,0,0
$GC,123,-0.62,-194.6,6.4,-11.8,14,147,10.25,1.95,-6.50,0.000,4,0.230,0.037,2596,470,3636,0,0,0,0,0,0
$GC,185,-0.62,-194.6,30.7,-28.6,23,192,0.00,2.03,0.00,0.000,6,0.000,0.022,2589,1877,3638,0,0,0,0,0,0
$GC,329,-0.62,-194.6,65.5,-22.3,48,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1877,3638,0,0,0,0,0,0
$GC,477,-0.62,-194.6,94.5,-19.2,73,484,0.00,2.05,0.00,0.000,4,0.000,0.034,2584,3273,3638,0,0,0,0,0,0
$GC,571,-0.62,-194.6,111.4,-14.1,89,578,0.00,2.10,0.00,0.000,6,0.000,0.018,2584,1794,3638,0,0,0,0,0,0
$GC,715,-0.62,-194.6,126.6,-9.5,114,723,0.00,1.90,0.00,0.000,4,0.000,0.028,2584,489,3638,0,0,0,0,0,0
$GC,759,-0.62,-194.6,131.3,-10.3,121,767,0.00,1.90,0.00,0.000,6,0.000,0.019,2575,1815,3638,0,0,0,0,0,0
$GC,902,-0.62,-194.6,149.0,-12.3,146,910,0.00,2.17,0.00,0.000,4,0.000,0.033,2566,3275,3638,0,0,0,0,0,0
$GC,938,-0.62,-194.6,152.9,-12.6,151,945,0.12,2.10,0.00,0.000,6,0.157,0.017,2600,1777,3638,0,0,0,0,0,0
$GC,1085,-0.62,-194.6,172.2,-13.5,176,1094,0.00,2.25,0.00,0.000,4,0.000,0.033,2598,3268,3637,0,0,0,0,0,0
$GC,1166,-0.62,-194.6,181.9,-11.3,189,1173,0.00,1.98,0.00,0.000,6,0.000,0.018,2598,1877,3637,0,0,0,0,0,0
$GC,1309,-0.62,-194.6,200.5,-13.0,214,1313,0.00,2.05,0.00,0.000,4,0.000,0.030,2590,3283,3636,0,0,0,0,0,0
$GC,1338,-0.62,-194.6,204.5,-13.3,216,1342,0.00,1.90,0.00,0.000,6,0.000,0.017,2590,1897,3636,0,0,0,0,0,0
$GC,1670,-0.62,-194.6,239.0,-10.9,247,1673,0.00,2.00,0.00,0.000,4,0.000,0.028,2591,513,3634,0,0,0,0,0,0
$GC,1761,-0.62,-194.6,251.2,-13.9,255,1764,0.00,2.00,0.00,0.000,6,0.000,0.021,2588,1901,3634,0,0,0,0,0,0
$GC,2093,-0.62,-194.6,290.3,-6.9,286,2097,0.00,2.00,0.00,0.000,4,0.000,0.034,2588,3273,3631,0,0,0,0,0,0
$GC,2209,-0.62,-194.6,298.0,-6.7,296,2213,0.00,1.85,0.00,0.000,6,0.000,0.017,2588,1942,3631,0,0,0,0,0,0
$GC,2540,-0.62,-194.6,326.4,-9.9,327,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1942,3628,0,0,0,0,0,0
$GC,2865,-0.62,-194.6,358.1,-9.8,357,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1942,3625,0,0,0,0,0,0
$GC,3192,-0.62,-194.6,386.6,-8.5,388,3196,0.00,2.10,0.00,0.000,4,0.000,0.031,2588,508,3622,0,0,0,0,0,0
$GC,3278,-0.62,-194.6,395.0,-9.8,395,3282,0.00,2.10,0.00,0.000,6,0.000,0.021,2588,1951,3621,0,0,0,0,0,0
$GC,3607,-0.62,-194.6,426.3,-9.1,425,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1951,3618,0,0,0,0,0,0
$GC,3936,-0.62,-194.6,457.1,-9.4,456,3939,0.00,1.95,0.00,0.000,4,0.000,0.035,2588,3263,3615,0,0,0,0,0,0
$GC,3971,-0.62,-194.6,460.6,-9.0,459,3974,0.00,1.80,0.00,0.000,6,0.000,0.018,2588,1976,3615,0,0,0,0,0,0
$GC,4302,-0.62,-194.6,488.7,-8.1,490,4306,0.00,2.12,0.00,0.000,4,0.000,0.028,2588,510,3612,0,0,0,0,0,0
$GC,4369,-0.62,-194.6,494.9,-9.1,495,4377,0.00,2.15,0.00,0.000,6,0.000,0.022,2588,1959,3612,0,0,0,0,0,0
$GC,4689,-0.62,-194.6,522.4,-8.6,514,4693,0.00,1.95,0.00,0.000,4,0.000,0.037,2588,3263,3609,0,0,0,0,0,0
$GC,4772,-0.62,-194.6,529.3,-7.6,517,4779,0.00,1.80,0.00,0.000,6,0.000,0.018,2588,1982,3609,0,0,0,0,0,0
$GC,5089,-0.62,-194.6,554.0,-7.7,533,5094,0.00,1.95,0.00,0.000,4,0.000,0.036,2588,3256,3606,0,0,0,0,0,0
$GC,5118,-0.62,-194.6,556.1,-7.5,534,5122,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,2008,3606,0,0,0,0,0,0
$GC,5446,-0.62,-194.6,579.0,-6.6,550,5450,0.00,2.20,0.00,0.000,4,0.000,0.031,2587,515,3603,0,0,0,0,0,0
$GC,5486,-0.62,-194.6,581.8,-6.7,552,5490,0.00,2.17,0.00,0.000,6,0.000,0.024,2588,1991,3603,0,0,0,0,0,0
$GC,5815,-0.62,-194.6,601.7,-6.2,568,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1991,3601,0,0,0,0,0,0
$GC,6122,-0.62,-194.6,622.9,-7.4,583,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1991,3600,0,0,0,0,0,0
$GC,6433,-0.62,-194.6,647.6,-8.4,598,6438,0.00,1.92,0.00,0.000,4,0.000,0.039,2588,3254,3598,0,0,0,0,0,0
$GC,6524,-0.62,-194.6,655.3,-7.8,602,6529,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,2026,3597,0,0,0,0,0,0
$GC,6858,-0.62,-194.6,683.5,-8.5,618,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2025,3595,0,0,0,0,0,0
$GC,7166,-0.62,-194.6,709.4,-8.4,633,7170,0.00,2.22,0.00,0.000,4,0.000,0.030,2588,520,3594,0,0,0,0,0,0
$GC,7194,-0.62,-194.6,712.0,-8.2,634,7198,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1973,3594,0,0,0,0,0,0
$GC,7512,-0.62,-194.6,734.1,-6.2,649,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1974,3593,0,0,0,0,0,0
$GC,7820,-0.62,-194.6,753.1,-6.1,664,7824,0.00,2.17,0.00,0.000,4,0.000,0.030,2587,520,3591,0,0,0,0,0,0
$GC,7892,-0.62,-194.6,758.1,-6.9,667,7896,0.00,2.12,0.00,0.000,6,0.000,0.022,2588,1959,3591,0,0,0,0,0,0
$GC,8217,-0.62,-194.6,775.4,-5.1,683,8221,0.00,2.00,0.00,0.000,4,0.000,0.039,2587,3263,3589,0,0,0,0,0,0
$GC,8339,-0.62,-194.6,782.2,-5.5,688,8343,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1996,3589,0,0,0,0,0,0
$GC,8663,-0.62,-194.6,801.9,-6.3,704,8668,0.00,2.20,0.00,0.000,4,0.000,0.030,2587,523,3588,0,0,0,0,0,0
$GC,8701,-0.62,-194.6,804.8,-6.3,705,8708,0.00,2.12,0.00,0.000,6,0.000,0.022,2587,1972,3588,0,0,0,0,0,0
$GC,9019,-0.62,-194.6,827.4,-7.4,721,9022,0.00,1.95,0.00,0.000,4,0.000,0.039,2587,3261,3587,0,0,0,0,0,0
$GC,9093,-0.62,-194.6,833.3,-8.2,724,9097,0.00,1.83,0.00,0.000,6,0.000,0.021,2587,2001,3586,0,0,0,0,0,0
$GC,9419,-0.62,-194.6,863.5,-9.9,740,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2000,3586,0,0,0,0,0,0
$GC,9731,-0.62,-194.6,891.8,-8.7,755,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2000,3584,0,0,0,0,0,0
$GC,10038,-0.62,-194.6,917.0,-7.7,770,10042,0.00,1.95,0.00,0.000,4,0.000,0.040,2587,3266,3583,0,0,0,0,0,0
$GC,10088,-0.62,-194.6,920.8,-7.4,772,10091,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,1998,3583,0,0,0,0,0,0
$GC,10418,-0.62,-194.6,943.4,-6.9,788,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1998,3582,0,0,0,0,0,0
$GC,10725,-0.62,-194.6,964.1,-6.8,803,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1997,3581,0,0,0,0,0,0
$GC,11036,-0.62,-194.6,986.7,-7.6,818,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1998,3581,0,0,0,0,0,0
$STATE,11094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11094,begin apogee
$GC,11100,-0.20,0.0,991.6,7.9,821,11264,0.43,0.00,158.82,1.397,4,0.116,0.000,2730,2068,2839,0,0,0,0,0,0
$STATE,11264,end apogee,CONTROL_FINISHED_OK
$STATE,11265,begin climb
$GC,11269,0.62,194.6,999.5,0.0,828,11449,0.73,2.30,172.20,1.350,4,0.078,0.041,2996,3466,2045,0,0,0,0,0,0
$GC,11622,0.62,194.6,965.7,12.4,844,11626,0.00,2.03,0.00,0.000,6,0.000,0.021,3005,2100,2035,0,0,0,0,0,0
$GC,11946,0.62,194.6,924.4,13.0,860,11950,0.00,2.12,0.00,0.000,4,0.000,0.038,3005,3475,2033,0,0,0,0,0,0
$GC,12153,0.62,194.6,893.4,15.4,869,12157,0.00,2.05,0.00,0.000,6,0.000,0.021,3014,2071,2032,0,0,0,0,0,0
$GC,12478,0.62,194.6,847.6,14.0,885,12482,0.00,2.05,0.00,0.000,4,0.000,0.033,3024,694,2031,0,0,0,0,0,0
$GC,12524,0.62,194.6,841.0,13.3,887,12528,0.00,2.08,0.00,0.000,6,0.000,0.024,3024,2088,2031,0,0,0,0,0,0
$GC,12851,0.62,194.6,798.5,12.7,903,12856,0.00,2.12,0.00,0.000,4,0.000,0.040,3024,3467,2031,0,0,0,0,0,0
$GC,12885,0.62,194.6,794.0,13.6,904,12890,0.12,2.00,0.00,0.000,6,0.168,0.021,3000,2095,2030,0,0,0,0,0,0
$GC,13202,0.63,200.4,762.0,9.5,919,13203,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2094,2030,0,0,0,0,0,0
$GC,13512,0.63,200.4,727.1,12.2,934,13517,0.00,2.10,0.00,0.000,4,0.000,0.032,3009,696,2029,0,0,0,0,0,0
$GC,13648,0.63,200.4,709.2,13.3,940,13651,0.00,2.00,0.00,0.000,6,0.000,0.024,3009,2042,2029,0,0,0,0,0,0
$GC,13980,0.63,200.4,662.1,14.1,956,13982,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2043,2029,0,0,0,0,0,0
$GC,14292,0.63,200.4,623.7,12.4,971,14296,0.00,2.17,0.00,0.000,4,0.000,0.045,3009,3465,2029,0,0,0,0,0,0
$GC,14399,0.63,200.4,610.1,12.5,976,14403,0.00,2.03,0.00,0.000,6,0.000,0.021,3018,2079,2028,0,0,0,0,0,0
$GC,14734,0.63,200.4,565.9,13.0,992,14737,0.00,2.05,0.00,0.000,4,0.000,0.033,3028,691,2028,0,0,0,0,0,0
$GC,14869,0.63,200.4,547.5,14.1,998,14873,0.00,1.98,0.00,0.000,6,0.000,0.024,3028,2015,2028,0,0,0,0,0,0
$GC,15204,0.63,200.4,498.1,14.8,1014,15209,0.00,2.22,0.00,0.000,4,0.000,0.039,3028,3464,2028,0,0,0,0,0,0
$GC,15309,0.63,200.4,481.9,14.6,1023,15317,0.12,2.08,0.00,0.000,6,0.171,0.021,3004,2035,2028,0,0,0,0,0,0
$GC,15636,0.63,203.8,447.6,9.6,1054,15648,0.00,2.08,6.57,0.863,4,0.000,0.033,3012,695,2007,0,0,0,0,0,0
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$STATE,19122,end climb,SURFACE_DEPTH_REACHED
$STATE,19122,begin surface coast
$FINISH,0.8,1.008546
$STATE,19168,end surface coast,CONTROL_FINISHED_OK
$STATE,19168,begin surface
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$IRIDIUM_FIX,1814.58,12250.39,060911,121229
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.89
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,26.50
$XPDR_PINGS,55
$24V_AH,22.8,80.765
$10V_AH,9.8,68.134
$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
$DEVICE_SECS,20.250,163.925,630.175,20.625,0.000,164.105,29.198,0.000,13.750,0.000,902.566,3758.814,11389.881,739.986,4024.502,800.774,0.000,2287.965,0.000,3119.672,0.000,0.543,0.000
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$SENSOR_SECS,1015.915,1073.407,593.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86868,1491
$CAP_FILE_SIZE,195741,0
$CFSIZE,260165632,99590144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.572,283.3,1
$GPS,130911,154707,1950.442,12119.195,33,1.2,33,-2.3